JPS59156848A - Nonskid device for driving wheel - Google Patents
Nonskid device for driving wheelInfo
- Publication number
- JPS59156848A JPS59156848A JP3130883A JP3130883A JPS59156848A JP S59156848 A JPS59156848 A JP S59156848A JP 3130883 A JP3130883 A JP 3130883A JP 3130883 A JP3130883 A JP 3130883A JP S59156848 A JPS59156848 A JP S59156848A
- Authority
- JP
- Japan
- Prior art keywords
- revolution
- speed
- wheel
- slip
- wheels
- 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
Links
Classifications
-
- 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
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
- B60T8/48—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition connecting the brake actuator to an alternative or additional source of fluid pressure, e.g. traction control systems
Landscapes
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
Description
【発明の詳細な説明】
この発明は、トラクタ等走行車輌における駆動輪のスリ
ップ防止装置に関するものである０トラクタ等の走行車
輌には、回行時の左右駆動輪の速置差を補うために差動
装置が設けら九でいるが、駆動輪がぬかるみ等に入った
ときは、その−駆動軸のみが空転して脱出不能となるこ
とが多かった。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a drive wheel slip prevention device for a traveling vehicle such as a tractor. Although a differential gear is provided, when the drive wheels get into mud or the like, often only the drive shaft spins, making it impossible to escape.
こｆ′Ｌを防止するものとして、前後の走行車輪の各駆
動系に、電気パルスに比例した回転出力を出す電気油圧
パルスモータを設け、該電気油圧パルスモータに、ハン
ドルの切れ角に応じて一義的に定まる旋回中心から各走
行車輪までの距離の相対比に配分さ几ると共に車速設定
値に比例した電気パルスを出力する制御装置を連係した
トラクタの操向装置が提案されている（特開昭５７−５
５２６０号）が、この装置では各走行車輪の駆動軸が電
気油圧パルスモータによって駆動される構造であるので
、従来のトラクタ等に適用するには大巾な設計変更が必
要であった。In order to prevent f'L, each drive system of the front and rear running wheels is equipped with an electro-hydraulic pulse motor that outputs a rotational output proportional to the electric pulse, and the electro-hydraulic pulse motor is provided with a rotational output proportional to the turning angle of the steering wheel. A tractor steering system has been proposed that is linked to a control device that outputs electrical pulses proportional to the vehicle speed setting value, which are distributed according to the relative ratio of the distance from a uniquely determined turning center to each traveling wheel. Kaisho 57-5
No. 5260), but since this device has a structure in which the drive shaft of each traveling wheel is driven by an electro-hydraulic pulse motor, extensive design changes were required to apply it to conventional tractors and the like.
この発明は、上記事情に鑑みてなされたもので、駆動輪
がぬかるみ等に入り込んで起るスリップを旋回時におい
ても効果的に防止することができるような構造の簡単な
スリップ防止装置を提供するものである。The present invention has been made in view of the above circumstances, and provides a slip prevention device with a simple structure that can effectively prevent slips caused by driving wheels getting into mud etc. even when turning. It is something.
不発明にかかる駆動軸のスリップ防止装置は、操向車輪
の操向角を検出する角度センサ、各駆動輪の回転速度を
検出する回転速度センサ、および各駆動輪を制御するブ
レーキ装置を設けるとともに、前記回転速度センサの検
出結果から左右の駆動輪の回転速度比を計算し、この値
と前記角度セ／すが検出した操向角によって定まる左右
の理論回転速度比とを比較して駆動輪のスリップを検出
し、スリップしている駆動輪側のブレーキ装置を作動さ
せる制御装置を設けたことを特徴としている。 以下、
図面にあられされた実施例について説明する。The drive shaft slip prevention device according to the invention includes an angle sensor that detects the steering angle of the steering wheel, a rotation speed sensor that detects the rotation speed of each drive wheel, and a brake device that controls each drive wheel. The rotation speed ratio of the left and right drive wheels is calculated from the detection result of the rotation speed sensor, and this value is compared with the theoretical rotation speed ratio of the left and right wheels determined by the steering angle detected by the angle sensor. The vehicle is characterized by being equipped with a control device that detects slippage and operates the brake device on the drive wheel side that is slipping. below,
The embodiment shown in the drawings will be described.
第１図は不発明にかかるスリップ防止装置をそなえたト
ラクタの側面図、第２図は不発明の構成を例示するブロ
ック図である。 図示例のトラクタ１では、前輪２．２
′が操向輪であり、後輪３゜３′が駆動輪となっている
。前輪２，２′支持邪にはステアリングハンドルの切ｎ
角と関係する操向角を検出する角度センサ５，５′が設
けられており、エンジン６によって駆動される後輪３．
３′の回転軸ｖＣ１それぞｎの回転速度を検出する回転
速度センサ７．７′および各後輪全別個に制御する電気
式ブレーキ装置９，９′が設けられている。 これら角
度センサ５，５′、回転速度センサ７．７−およびブレ
ーキ装置９．９′は、マイクロコンピュータ等 ゛
を含む制御装置１０に接続さｎている。FIG. 1 is a side view of a tractor equipped with an anti-slip device according to the invention, and FIG. 2 is a block diagram illustrating the structure of the invention. In the illustrated example of the tractor 1, the front wheels 2.2
' is the steering wheel, and the rear wheel 3°3' is the driving wheel. The steering handle must be turned to support the front wheels 2 and 2'.
Angle sensors 5, 5' are provided for detecting the steering angle associated with the rear wheels 3.
A rotational speed sensor 7,7' for detecting the rotational speed of each rotational axis vC1 of the vehicle 3', and an electric brake device 9,9' for individually controlling each rear wheel are provided. These angle sensors 5, 5', rotational speed sensor 7.7- and brake device 9.9' are connected to a control device 10 including a microcomputer and the like.
第３図は、旋回Ｆｆ？ｊにおけるトラクタ１の説明図で
あり、前後両輪の車軸の間隔（ホイールベース）ｆａ、
トレッド−ｉｂとし、旋回中心Ｐから各車輪までの距離
をＲ，、Ｒ１，Ｒ，、Ｒ，、また旋回時における内側の
前輪２′の操向角をα、外側の前輪２のそれをβとする
と、次の式が成立する。Figure 3 shows the turning Ff? It is an explanatory diagram of the tractor 1 at J, and the distance between the axles of both the front and rear wheels (wheelbase) fa,
The tread is -ib, the distance from the turning center P to each wheel is R,, R1, R,, R,, the steering angle of the inside front wheel 2' during turning is α, and that of the outside front wheel 2 is β. Then, the following formula holds.
Ｒ１＝−＝ａ ／ ｓｕｉ ａ 、 Ｒ２＝ａ ／ ｓ
１ｎβＲ３＝ ａ ／ ｔａｎ ａ 、 Ｒ４＝ ａ
／ｌａｎβここで、Ｒ，＝Ｒ，＋ｂであるから、
となる。 すなわち、旋回時における回転半径は上記操
向角αまたはβを測定することによって求めらｎる。
ステアリングツ・ンドル４の切れ角（のと上記操向角α
、βとは近似的に比例する関係にあるので、直接操向角
を測定するかわりにステアリングハンドル４の切れ角（
のを測定するようにしてもよい。R1=-=a/suia, R2=a/s
1nβR3=a/tan a, R4=a
/lanβHere, since R,=R,+b, it becomes. That is, the radius of rotation during turning is determined by measuring the steering angle α or β.
Steering angle of steering wheel 4 (steering angle α above)
, β are approximately proportional to each other, so instead of directly measuring the steering angle, the turning angle of the steering wheel 4 (
It may also be possible to measure the
第４図はこのスリップ防止装置の動作をあられすフロー
チャートであり、トラクタの走行中、角度センサ５．５
′による操向角の測定と、回転速度センサ７．７′によ
る左右の駆動輪３，３′の回転速度（ｓ、ｓ’）の測定
とが行なわ几、測定さｆ′した操向角から駆動輪の回転
半径およびこｎにもとづく左右の回転速度比（Ｋｏ）が
計算さｎるとともに、実測された回転速度（ｓ、ｓ’）
から実際の回転速度（Ｋ）が計算される。 上記回転半
径から算出された理論回転速度比（Ｋ、）と実際の回転
速度比（Ｋ）とが比較さｎ、ＫがＫ。を越えた場合、す
なわちスリップが発生した場合は、スリップ側のブレー
キ装置が作動して、車輪にブレーキがかけらｎる。FIG. 4 is a flowchart showing the operation of this anti-slip device.
The steering angle is measured by f', and the rotational speed (s, s') of the left and right drive wheels 3, 3' is measured by the rotational speed sensor 7.7'. The rotational radius of the driving wheels and the left and right rotational speed ratio (Ko) based on this are calculated, and the actually measured rotational speeds (s, s') are calculated.
The actual rotational speed (K) is calculated from The theoretical rotation speed ratio (K,) calculated from the above rotation radius and the actual rotation speed ratio (K) are compared, n, and K is K. If the vehicle exceeds this limit, that is, if a slip occurs, the brake device on the slip side is activated and brakes are applied to the wheels.
これによって、スリップ側の車輪が自動的に半ブレーキ
状態となり、スリップが防止されるのである。 旋回時
ではなく、直進時においてもスリップ防止効果が発揮さ
れることに云うまでもない。This automatically puts the wheel on the slipping side into a half-brake state, preventing slippage. Needless to say, the anti-slip effect is exhibited not only when turning but also when driving straight.
なお、上記スリップ防止用のブレーキは、運転手が意識
的にブレーキをかけたときは解除されるように構成して
おくのが好ましい０ また、スリップ防止用のブレーキ
は、スリップ側の車輪を効果的に制動することができる
ものならどのようなものでもよい。 本例では、前輪が
操向輪で後輪が駆動輪となっているが、前輪が駆動輪で
後輪が操向輪である場合、および４輪駆動の場合も同様
である。It is preferable that the above-mentioned anti-slip brake be configured so that it is released when the driver consciously applies the brake.0 Also, the anti-slip brake should be configured so that it is released when the driver consciously applies the brake. Any type of material that can be braked can be used. In this example, the front wheels are the steering wheels and the rear wheels are the driving wheels, but the same applies to cases where the front wheels are the driving wheels and the rear wheels are the steering wheels, and in the case of four-wheel drive.
以上に説明したように、本発明にかかるスリップ防止装
置は、構造耐に簡単で、旋回時における駆動輪のスリッ
プを効果的に防止することができる実用性の高いもので
ある。As explained above, the slip prevention device according to the present invention has a simple structure and is highly practical because it can effectively prevent the drive wheels from slipping during turning.
第１図はトラクタの概略図、第２図はスリップ防止装置
の構成説明図、第３図はトラクタの旋回状態の説明図、
第４図はフローチャートである。
１・・・トラクタ、２．２’・・・前輪、３．８′・・
・駆動輪、４・・・ステアリングハンドル、５゜５′・
・・角度センサ、６・・・エンジン、７．７′・・・回
転速度センサ、９，９′・・・ブレーキ装置、１０・・
・制御装置。
特許出願人 井関農機株式会社
代理人 弁理士 菅 原 弘 志
第３図
ＰFig. 1 is a schematic diagram of the tractor, Fig. 2 is an explanatory diagram of the configuration of the anti-slip device, and Fig. 3 is an explanatory diagram of the turning state of the tractor.
FIG. 4 is a flowchart. 1...Tractor, 2.2'...Front wheel, 3.8'...
・Drive wheel, 4...Steering handle, 5゜5'・
... Angle sensor, 6... Engine, 7.7'... Rotational speed sensor, 9,9'... Brake device, 10...
·Control device. Patent applicant: Iseki Agricultural Machinery Co., Ltd. Agent: Patent attorney Hiroshi Sugawara Figure 3P
Claims (1)
駆動軸の回転速度を検出する回転速度センサ、および各
駆動輪を制御するブレーキ装置を設けるとともに、前記
回転速度センサの検出結果から左右の駆動輪の回転速度
比を計算し、この値と前記角度センサが検出した操向角
によって定まる左右の理論回転速度比とを比較して駆動
軸のスリップを検出し、スリップしている駆動輪側のブ
レーキ装置を作動させる制御装置を設けてなる駆動軸の
スリップ防止装置。(1) An angle sensor that detects the steering angle of the steering wheel, a rotation speed sensor that detects the rotation speed of each drive shaft, and a brake device that controls each drive wheel are provided, and based on the detection results of the rotation speed sensor, The rotational speed ratio of the left and right drive wheels is calculated, and this value is compared with the theoretical rotational speed ratio of the left and right wheels determined by the steering angle detected by the angle sensor to detect slippage of the driveshaft and detect the slippage of the drive shaft. A slip prevention device for a drive shaft that is equipped with a control device that operates a brake device on the wheel side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3130883A JPS59156848A (en) | 1983-02-26 | 1983-02-26 | Nonskid device for driving wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3130883A JPS59156848A (en) | 1983-02-26 | 1983-02-26 | Nonskid device for driving wheel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS59156848A true JPS59156848A (en) | 1984-09-06 |
Family
ID=12327656
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP3130883A Pending JPS59156848A (en) | 1983-02-26 | 1983-02-26 | Nonskid device for driving wheel |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS59156848A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61291261A (en) * | 1985-06-18 | 1986-12-22 | Fujitsu Ten Ltd | Antiskid device for vehicle |
| JPS6338064A (en) * | 1986-08-01 | 1988-02-18 | Mazda Motor Corp | Slip controller for automobile |
| FR2674194A1 (en) * | 1991-03-20 | 1992-09-25 | Peugeot | Method for monitoring the rotational speed of the wheels of a motor vehicle when cornering and device for implementing it |
| US6106081A (en) * | 1997-05-20 | 2000-08-22 | Toyota Jidosha Kabushiki Kaisha | Running stability control device of automobile by unifying ratio of longitudinal/lateral force to vertical load at each wheel |
-
1983
- 1983-02-26 JP JP3130883A patent/JPS59156848A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61291261A (en) * | 1985-06-18 | 1986-12-22 | Fujitsu Ten Ltd | Antiskid device for vehicle |
| JPS6338064A (en) * | 1986-08-01 | 1988-02-18 | Mazda Motor Corp | Slip controller for automobile |
| FR2674194A1 (en) * | 1991-03-20 | 1992-09-25 | Peugeot | Method for monitoring the rotational speed of the wheels of a motor vehicle when cornering and device for implementing it |
| US6106081A (en) * | 1997-05-20 | 2000-08-22 | Toyota Jidosha Kabushiki Kaisha | Running stability control device of automobile by unifying ratio of longitudinal/lateral force to vertical load at each wheel |
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