CN117068262A - Farming tractor with four-wheel drive system and steering control method thereof - Google Patents

Farming tractor with four-wheel drive system and steering control method thereof Download PDF

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Publication number
CN117068262A
CN117068262A CN202311208210.5A CN202311208210A CN117068262A CN 117068262 A CN117068262 A CN 117068262A CN 202311208210 A CN202311208210 A CN 202311208210A CN 117068262 A CN117068262 A CN 117068262A
Authority
CN
China
Prior art keywords
steering
wheel
drive axle
axle
tractor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202311208210.5A
Other languages
Chinese (zh)
Inventor
李兴龙
谭雪
吕建洋
赵同磊
周广峰
武海防
魏庆余
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Taian Jiuzhou Jincheng Machinery Co ltd
Original Assignee
Taian Jiuzhou Jincheng Machinery Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Taian Jiuzhou Jincheng Machinery Co ltd filed Critical Taian Jiuzhou Jincheng Machinery Co ltd
Priority to CN202311208210.5A priority Critical patent/CN117068262A/en
Publication of CN117068262A publication Critical patent/CN117068262A/en
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
    • B62D5/062—Details, component parts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B35/00—Axle units; Parts thereof ; Arrangements for lubrication of axles
    • B60B35/12—Torque-transmitting axles
    • B60B35/16—Axle housings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T1/00—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles
    • B60T1/02—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels
    • B60T1/06—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels acting otherwise than on tread, e.g. employing rim, drum, disc, or transmission or on double wheels
    • B60T1/067—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels acting otherwise than on tread, e.g. employing rim, drum, disc, or transmission or on double wheels employing drum
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/021—Determination of steering angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/001—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits the torque NOT being among the input parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/18—Steering knuckles; King pins

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Arrangement And Driving Of Transmission Devices (AREA)

Abstract

The invention discloses a farming tractor with a four-wheel drive system and a steering control method thereof, and relates to the technical field of farming tools; the front drive axle and the rear drive axle are respectively connected with the drive axle housing and the wheel assemblies at the two ends through steering knuckles, and steering drivers are respectively arranged on the drive axle housings of the front drive axle and the rear drive axle. The control method comprises a conventional steering control mode, a small turning radius steering control mode and an oblique walking steering control mode; the steering angle difference value of the wheel edge assemblies of the front drive axle and the rear drive axle is controlled, so that the switching of different steering control modes is realized. The invention can realize different functions such as front wheel steering, rear wheel steering, four-wheel simultaneous steering and the like by utilizing the steering drivers of the front drive axle and the rear drive axle.

Description

Farming tractor with four-wheel drive system and steering control method thereof
Technical Field
The invention relates to the technical field of farming tools, in particular to a farming tractor with a four-wheel drive system and a steering control method thereof.
Background
The farmland cultivation operation is to select tractors with more than 120 horsepower, with the gradual increase of the ultra-large agricultural co-workers in China, the requirements for tractors with more than 300 horsepower are more and more, and the power transmission systems of tractors with more than 300 horsepower mainly comprise three types: the front axle steering drive system is a front axle steering tractor transmission system driven by a rear axle only; the front axle and the rear axle are only driven, and the transmission system of the articulated steering tractor is articulated and steered through the middle; one type is a track-type tractor drive system that transmits power to a four-wheeled belt by mechanical or hydraulic means.
The existing transmission system of the tractor with more than 300 horsepower has the following problems:
1. front axle steering tractor transmission system:
the front axle of the transmission system is steering drive, the integral strength and the transmission torque of the drive axle are weaker than those of the rear axle, so that the diameter of a front tire is smaller than that of a rear tire, the transmission system has a complex and compact structure, and the overall dimension of the whole machine can be reduced, but is limited by the steering transmission system, the turning radius is large, the traction force is relatively small, the ground is damaged greatly during steering, the efficient transverse operation cannot be performed in a special planting environment, and the large-area cultivated land of the land cannot be mechanically cultivated due to the large turning radius, so that the large land cultivation resources are wasted.
2. Articulated steering tractor drive system:
the front axle and the rear axle of the transmission system are all drive axles, the middle articulated steering is adopted, the diameters of front tires and rear tires are the same, the transmission system has simple structure, is convenient for the whole machine arrangement, has larger overall dimension, has smaller turning radius than the front axle steering drive system and has large traction force. Because the transmission system requires a large vehicle body, large-land head cultivation land is wasted in actual turning cultivation operation, and transverse operation cannot be performed in special planting environments.
3. Crawler tractor transmission system:
the transmission system belongs to crawler-type driving, can solve the utilization problem of the farmland and lateral movement, but is rarely used, mainly has low speed, heavy vehicles and needs to be transported by a separate transport means, and has low overall working efficiency and high cost.
In view of the problems of the three transmission systems, how to combine the advantages and disadvantages of the transmission systems of the wheeled tractor and the crawler tractor, and provide a transmission system with large traction force, small turning radius and capable of moving obliquely under special planting environments is a problem which needs to be solved by those skilled in the art.
Disclosure of Invention
In view of the above, the present invention provides a farm tractor with four-wheel drive system and a steering control method thereof, which aims to solve the above technical problems.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
an agro-tractor having a four wheel drive system, comprising: the power transmission device comprises a front drive axle and a rear drive axle, wherein a power shift gearbox is connected between drive axle input flanges of the front drive axle and the rear drive axle, and the power shift gearbox realizes power input through an engine; the front drive axle and the drive axle housing of the rear drive axle and wheel assemblies at two ends are all connected through steering knuckles, steering drivers are all installed on the drive axle housing of the front drive axle and the rear drive axle, the steering drivers are respectively connected with the steering knuckles corresponding to two sides, and the front drive axle and the rear drive axle can be driven by the respective steering drivers to enable the wheel assemblies at two ends of the front drive axle and the rear drive axle to rotate around the steering knuckles.
Through the technical scheme, the novel power transmission system of the high-horsepower four-wheel steering tractor is provided, and the power of an engine is transmitted to tires through a gearbox and the transmission system, so that the vehicle is driven to advance and retreat, different functions such as front wheel steering, rear wheel steering, four-wheel simultaneous steering and the like can be realized by utilizing steering drivers of a front driving axle and a rear driving axle, and the transmission system can be further applied to engineering vehicles in special working environments such as narrow working space and the like.
Preferably, in the farm tractor with a four-wheel drive system, a rim and a tire are fixed on the outer side of the wheel rim assembly, and the front drive axle and the rear drive axle are the same in size. The diameters of the front and rear tires are designed to be as large, so that the whole machine is convenient to arrange, and the traction force is large.
Preferably, in the agro-tractor with four-wheel drive system, the wheel-side assembly is braked by a drum brake. The drum brake can be used for effectively braking a large-sized vehicle body.
Preferably, in the agro-tractor with four-wheel drive system, the steering drive includes a cylinder, a pushrod and a piston; the cylinder body is fixed on the driving axle housing, end covers at two ends of the cylinder body are provided with through holes, and the end covers are provided with oil supply/return ports communicated with the interior of the cylinder body; the push rod passes through the cylinder body and is in sealed sliding connection with the through hole, and an oil cavity is formed between the outer side wall of the push rod and the inner side wall of the cylinder body; the piston is fixedly sleeved on the push rod and is in sealing sliding connection with the inner wall of the cylinder body. The steering driver provided by the invention adopts a hydraulic cylinder control structure, and can meet the stable and reliable driving effect.
Preferably, in the agro-tractor with four-wheel drive system, the oil supply/return port is connected with the four-wheel steering hydraulic control system through a pipeline, and an electric control end of the four-wheel steering hydraulic control system is electrically connected with the overall control system.
Preferably, in the agro-farming tractor with the four-wheel drive system, the four-wheel steering hydraulic control system adopts a bidirectional pump as a power source, and is matched with an oil tank to realize pumping and pumping of oil in the cylinder body.
Preferably, in the agro-farming tractor with four-wheel drive system, a color difference sensor is installed on an end cover of the cylinder body, a color mark is marked on the push rod, and a detection probe of the color difference sensor corresponds to the color mark. The invention utilizes the color difference sensor to monitor the working state and the steering angle of the steering oil circuit in real time, and provides data for accurate steering.
Preferably, in the agricultural tractor with a four-wheel drive system, the electric signal port of the color difference sensor is electrically connected with a four-wheel steering electric control system, and the electric control end of the four-wheel steering electric control system is electrically connected with the overall control system.
The invention also provides a control method of the farming tractor with the four-wheel drive system, which comprises a conventional steering control mode, a small turning radius steering control mode and an oblique walking steering control mode; the steering angle difference value of the wheel edge assemblies of the front drive axle and the rear drive axle is controlled, so that the switching of different steering control modes is realized.
The invention realizes the switching of different steering control modes by controlling the steering angle difference value of the wheel edge assemblies of the front drive axle and the rear drive axle, and solves the defects that the traditional tractor only has large turning radius of front wheel steering and hinged steering, thereby wasting land cultivated land is caused, and the vehicle can not realize oblique work according to different planted crops, and the like.
Preferably, in the control method of the agro-tractor with four-wheel drive system, in the conventional steering control mode, the wheel assembly of the front drive axle performs steering driving, and the wheel assembly of the rear drive axle maintains a steering angle of 0; in a small turning radius steering control mode, steering driving is carried out on the wheel edge assembly of the front driving axle and the wheel edge assembly of the rear driving axle, and a steering angle difference exists between the wheel edge assembly of the front driving axle and the wheel edge assembly of the rear driving axle; in the oblique walking steering control mode, the wheel edge assembly of the front drive axle and the wheel edge assembly of the rear drive axle are both subjected to steering driving, and the steering angles of the wheel edge assembly of the front drive axle and the wheel edge assembly of the rear drive axle are the same.
Compared with the prior art, the invention discloses a farm tractor with a four-wheel drive system and a steering control method thereof, and has the following beneficial effects:
1. the invention provides a novel power transmission system of a high-horsepower four-wheel steering tractor, which transmits the power of an engine to tires through a gearbox and the transmission system, so as to drive the vehicle to advance and retreat, and the steering drivers of a front driving axle and a rear driving axle can realize different functions of front wheel steering, rear wheel steering, four-wheel simultaneous steering and the like.
2. The invention realizes the switching of different steering control modes by controlling the steering angle difference value of the wheel edge assemblies of the front drive axle and the rear drive axle, and solves the defects that the traditional tractor only has large turning radius of front wheel steering and hinged steering, thereby wasting land cultivated land is caused, and the vehicle can not realize oblique work according to different planted crops, and the like.
3. The steering driver provided by the invention adopts a hydraulic cylinder control structure, so that stable and reliable driving effect can be met; the working state and the steering angle of the steering oil way are monitored in real time by using the color difference sensor, and data are provided for accurate steering.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of a tractor with four wheel drive system according to the present invention;
FIG. 2 is a schematic view of the internal structure of the steering driver according to the present invention;
FIG. 3 is a schematic view of steering angle of a tractor with four wheel drive system in normal driving state;
FIG. 4 is a schematic view of steering angles in a conventional steering control mode for a tractor having a four wheel drive system according to the present invention;
FIG. 5 is a schematic view of steering angle in a small turning radius steering control mode for a tractor having a four wheel drive system according to the present invention;
FIG. 6 is a schematic view of steering angle of a steering control mode for a four wheel drive tractor with a four wheel drive system according to the present invention.
Wherein:
10-front drive axle; 20-rear drive axle;
100-a drive axle input flange; 101-a power shift gearbox; 102-an engine; 103-driving axle housing; 104-wheel edge assembly; 105-knuckle; 106-a steering driver; 107-rim; 108-tyre; 109-drum brake; 110-cylinder; 111-push rod; 112-a piston; 113-end caps; 114-a through hole; 115—supply/return port; 116-oil chamber; 117-four-wheel steering hydraulic control system; 118-overall control system; 119-a color difference sensor; 120-color identification; 121-four-wheel steering electrical appliance control system.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, an embodiment of the present invention discloses a farming tractor with a four wheel drive system, comprising: a power shift gearbox 101 is connected between drive axle input flanges 100 of the front drive axle 10 and the rear drive axle 20, and the power shift gearbox 101 realizes power input through an engine 102; the driving axle housing 103 of the front driving axle 10 and the driving axle 20 and the wheel assemblies 104 at two ends are connected through steering knuckles 105, steering drivers 106 are arranged on the driving axle housing 103 of the front driving axle 10 and the driving axle 20, the steering drivers 106 are respectively connected with the steering knuckles 105 corresponding to two sides, and the front driving axle 10 and the driving axle 20 can be driven by the respective steering drivers 106 to enable the wheel assemblies 104 at two ends to rotate around the steering knuckles 105.
To further optimize the solution described above, rim assembly 104 is provided with rim 107 and tires 108, and tires 108 of front axle 10 and rear axle 20 are the same size.
To further optimize the solution described above, rim assembly 104 is braked by drum brake 109.
Referring to fig. 2, the steering driver 106 includes a cylinder 110, a push rod 111, and a piston 112; the cylinder 110 is fixed on the driving axle housing 103, the end covers 113 at the two ends of the cylinder 110 are provided with through holes 114, and the end covers 113 are provided with oil supply/return ports 115 communicated with the interior of the cylinder 110; the push rod 111 passes through the cylinder 110 and is in sealed sliding connection with the through hole 114, and an oil cavity 116 is formed between the outer side wall of the push rod 111 and the inner side wall of the cylinder 110; the piston 112 is fixedly sleeved on the push rod 111 and is in sealing sliding connection with the inner wall of the cylinder 110.
In order to further optimize the above technical solution, the oil supply/return port 115 is connected to the four-wheel steering hydraulic control system 117 through a pipeline, and the electric control end of the four-wheel steering hydraulic control system 117 is electrically connected to the overall control system 118.
To further optimize the above technical solution, the four-wheel steering hydraulic control system 117 uses a bi-directional pump as a power source, and is matched with an oil tank to realize pumping and pumping of the oil in the cylinder 110.
In order to further optimize the above technical solution, a color difference sensor 119 is installed on an end cover 113 of the cylinder 110, a color mark 120 is marked on the push rod 111, and a detection probe of the color difference sensor 119 corresponds to the color mark 120.
In order to further optimize the above technical solution, the electrical signal port of the color difference sensor 119 is electrically connected to the four-wheel steering electrical control system 121, and the electrical control end of the four-wheel steering electrical control system 121 is electrically connected to the overall control system 118.
The control method of the agro-tractor with the four-wheel drive system comprises a conventional steering control mode, a small turning radius steering control mode and an oblique walking steering control mode; by controlling the steering angle difference of the wheel rim assemblies 104 of the front drive axle 10 and the rear drive axle 20, switching of different steering control modes is achieved.
Specific:
in the normal running state, the state of the tire 108 is as shown in fig. 3.
In the normal steering control mode, the wheel side assembly 104 of the front transaxle 10 is steering-driven, the wheel side assembly 104 of the rear transaxle 20 maintains the steering angle at 0, and the tire state is as shown in fig. 4.
In the small turning radius steering control mode, both the wheel side assembly 104 of the front transaxle 10 and the wheel side assembly 104 of the rear transaxle 20 are steering-driven, and there is a steering angle difference α between the wheel side assembly 104 of the front transaxle 10 and the wheel side assembly 104 of the rear transaxle 20, and the state of the tire is as shown in fig. 5.
In the diagonal travel steering control mode, the wheel side assemblies 104 of the front transaxle 10 and the wheel side assemblies 104 of the rear transaxle 20 are both steering-driven, and the steering angles of the wheel side assemblies 104 of the front transaxle 10 and the wheel side assemblies 104 of the rear transaxle 20 are the same, and the tire states are shown in fig. 6.
The special needs to be noted are that the oblique walking steering control mode is aimed at specific farming terrains, the vehicle body is required to realize free switching between straight walking and oblique walking so as to meet actual use requirements, the problem of the lack of farming area caused by turning can be avoided, and the control mode can be more flexibly adapted to the use requirements of terrains.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. An agro-tractor having a four wheel drive system, comprising: the front drive axle (10) and the rear drive axle (20), wherein a power shift gearbox (101) is connected between a drive axle input flange (100) of the front drive axle (10) and a drive axle input flange (100) of the rear drive axle (20), and the power shift gearbox (101) realizes power input through an engine (102); the method is characterized in that: front driving axle (10) with driving axle housing (103) and wheel limit assembly (104) at both ends of rear driving axle (20) all are connected through knuckle (105), front driving axle (10) with all install steering driver (106) on driving axle housing (103) of rear driving axle (20), steering driver (106) respectively with both sides are corresponding knuckle (105) is connected, front driving axle (10) with rear driving axle (20) all can make its both ends wheel limit assembly (104) wind knuckle (105) under the drive of respective steering driver (106).
2. A tractor with four wheel drive system according to claim 1, characterized in that the rim assembly (104) is fastened with a rim (107) and a tyre (108) outside, the front drive axle (10) and the tyre (108) of the rear drive axle (20) being of the same size.
3. A tractor having a four wheel drive system according to claim 2, wherein the wheel rim assembly (104) is braked by a drum brake (109).
4. A tractor with four wheel drive system according to any of claims 1-3, characterized in that the steering drive (106) comprises a cylinder (110), a push rod (111) and a piston (112); the cylinder body (110) is fixed on the driving axle housing (103), end covers (113) at two ends of the cylinder body (110) are provided with through holes (114), and the end covers (113) are provided with oil supply/return ports (115) communicated with the interior of the cylinder body (110); the push rod (111) penetrates through the cylinder body (110) and is in sealed sliding connection with the through hole (114), and an oil cavity (116) is formed between the outer side wall of the push rod (111) and the inner side wall of the cylinder body (110); the piston (112) is fixedly sleeved on the push rod (111) and is in sealing sliding connection with the inner wall of the cylinder body (110).
5. The farm tractor with a four-wheel drive system according to claim 4, wherein the oil supply/return port (115) is connected to a four-wheel steering hydraulic control system (117) through a pipeline, and an electric control end of the four-wheel steering hydraulic control system (117) is electrically connected to a general control system (118).
6. The farm tractor with a four-wheel drive system according to claim 4, wherein the four-wheel steering hydraulic control system (117) uses a bi-directional pump as a power source, and is matched with an oil tank to pump and pump oil in the cylinder (110).
7. The farming tractor with a four-wheel drive system according to claim 5, wherein a color difference sensor (119) is mounted on one end cap (113) of the cylinder (110), a color mark (120) is marked on the push rod (111), and a detection probe of the color difference sensor (119) corresponds to the color mark (120).
8. The farm tractor with a four-wheel drive system according to claim 7, wherein the electrical signal port of the color difference sensor (119) is electrically connected to a four-wheel steering electrical control system (121), and the electrical control end of the four-wheel steering electrical control system (121) is electrically connected to the overall control system (118).
9. A method of controlling a tractor having a four wheel drive system as claimed in any one of claims 1 to 8, comprising a conventional steering control mode, a small turning radius steering control mode and a diagonal walk steering control mode; the steering angle difference of the wheel edge assemblies (104) of the front drive axle (10) and the rear drive axle (20) is controlled, so that the switching of different steering control modes is realized.
10. The steering control method of a tractor with four-wheel drive system according to claim 9, wherein in the normal steering control mode, the wheel side assembly (104) of the front transaxle (10) is steering-driven, and the wheel side assembly (104) of the rear transaxle (20) maintains a steering angle of 0; in a small turning radius steering control mode, the wheel edge assembly (104) of the front drive axle (10) and the wheel edge assembly (104) of the rear drive axle (20) are driven in a steering mode, and a steering angle difference exists between the wheel edge assembly (104) of the front drive axle (10) and the wheel edge assembly (104) of the rear drive axle (20); in the oblique walking steering control mode, the wheel rim assemblies (104) of the front drive axle (10) and the wheel rim assemblies (104) of the rear drive axle (20) are both driven in a steering mode, and steering angles of the wheel rim assemblies (104) of the front drive axle (10) and the wheel rim assemblies (104) of the rear drive axle (20) are the same.
CN202311208210.5A 2023-09-19 2023-09-19 Farming tractor with four-wheel drive system and steering control method thereof Pending CN117068262A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202311208210.5A CN117068262A (en) 2023-09-19 2023-09-19 Farming tractor with four-wheel drive system and steering control method thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202311208210.5A CN117068262A (en) 2023-09-19 2023-09-19 Farming tractor with four-wheel drive system and steering control method thereof

Publications (1)

Publication Number Publication Date
CN117068262A true CN117068262A (en) 2023-11-17

Family

ID=88717121

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202311208210.5A Pending CN117068262A (en) 2023-09-19 2023-09-19 Farming tractor with four-wheel drive system and steering control method thereof

Country Status (1)

Country Link
CN (1) CN117068262A (en)

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