JPS6133370A - Hydraulic steering gear in vehicles for farm working - Google Patents

Hydraulic steering gear in vehicles for farm working

Info

Publication number
JPS6133370A
JPS6133370A JP15657084A JP15657084A JPS6133370A JP S6133370 A JPS6133370 A JP S6133370A JP 15657084 A JP15657084 A JP 15657084A JP 15657084 A JP15657084 A JP 15657084A JP S6133370 A JPS6133370 A JP S6133370A
Authority
JP
Japan
Prior art keywords
valve
solenoid valve
tank
pump
center bypass
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
JP15657084A
Other languages
Japanese (ja)
Inventor
Shuichi Matsuba
松葉　秀一
Hiroyuki Iriyama
入山　博行
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.)
Kawasaki Heavy Industries Ltd
Original Assignee
Kawasaki Heavy Industries 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 Kawasaki Heavy Industries Ltd filed Critical Kawasaki Heavy Industries Ltd
Priority to JP15657084A priority Critical patent/JPS6133370A/en
Publication of JPS6133370A publication Critical patent/JPS6133370A/en
Pending legal-status Critical Current

Links

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

Abstract

PURPOSE:To simplify a hydraulic circuit in structure, by setting up a solenoid valve and a manual selector valve both in an interconnecting passage between a hydraulic pressure source and both pressure chambers of a steering cylinder in parallel, while interconnecting the hydraulic pressure source to a tank at each neutral position of both these valves. CONSTITUTION:Each of actuator ports 6, 7 and 8, 9 of a center bypass type manual selector valve 2 and a center bypass type solenoid valve 3 is connected to both pressure chambers 10 and 11 of a steering cylinder 1. And, a pump 4 is connected to a pump port 12 of the solenoid valve 3 via a flow regulating valve 13. A tank port 15 of the solenoid valve 3 and a pump port 16 of the manual valve 2 both are connected to a flow passage 17, while a tank port 18 of the manual valve 2 is interconnected to a tank 5. In addition, the pump 4 is connected to the said flow passage 17 via a flow regulating valve 20. Therefore, at each neutral position of both these valves 2 and 3, a hydraulic fluid out of the pump 4 flows back to the tank by way of these valves 2 and 3 so that such a solenoid valve as being connected to the hydraulic pressure source and the tank becomes useless.

Description

【発明の詳細な説明】 〔産業上の利用分野〕 本発明は遠隔操縦及び手動のどちらでもステアリング操
作ができる作業用車両の液圧ステアリング装置に関する
ものである。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a hydraulic steering device for a work vehicle that can be operated by either remote control or manual steering.

〔従来の技術〕[Conventional technology]

この種の従来装置には例えば実開昭５３−１２’９０３
３号公報記載の液圧ステアリング装置がある。この装置
は第６図に示すようにステアリングハンドル（図示せず
）にて操作される手動切換弁（２）のアクチュエータポ
ーＮ６）、（力と遠隔操縦される電磁弁（３）のアクチ
ュエータポート（８）、　’（９）をそれぞれステアリ
ングシリンダ（］）、の両正圧力室１０）、　（１１）
Ｋ接続Ｌ、ポンプポート（１２）、（１６）ヲ第１電磁
弁（２３）によシポンプ（４）に交互に接続し、タンク
ポート（１５）、　（１８）を第２電磁弁（２４）によ
りタンク（５）に交互に接続すると共に、第１電磁弁（
２３）と第２電磁弁（２４はスイッチ（２５）操作によ
って同時に切換わるようにしている。Conventional devices of this type include, for example,
There is a hydraulic steering device described in Publication No. 3. As shown in Fig. 6, this device consists of an actuator port (N6) of a manual switching valve (2) which is operated by a steering handle (not shown), and an actuator port (N6) of a solenoid valve (3) which is controlled by force and remotely. 8), '(9) respectively in the steering cylinder (]), both positive pressure chambers 10), (11)
K connection L, pump ports (12) and (16) are connected alternately to the first solenoid valve (23) and pump (4), and tank ports (15) and (18) are connected to the second solenoid valve (24). are alternately connected to the tank (5), and the first solenoid valve (
23) and the second solenoid valve (24) are switched simultaneously by operating a switch (25).

従って、図示状態においてステアリングシリンダ（１）
を遠隔操縦するには、まずスイッチ（２勺をスイッチオ
ンにして第１及び第２電磁弁（２３）＋　（２ａを位置
ａから載置すに切換えてから、遠隔操縦で電磁弁（３）
を位置Ａ又はＢに切換えている。これによシポンプ（４
）からの圧液は第１電磁弁（２３）、電磁弁（３）を経
てステアリングシリンダ（１）の一方の圧力室に流入し
他方の圧力室は電磁弁（３）、第２電磁弁（２４）を経
てタンク（５）に連通してステアリングシリンダ（１）
は作動することになる。ここでステアリングシリンダ（
１）を手動で操作するには電磁弁（３）を中立位置にと
り、スイッチ（２艶をスイッチオンにして第１及び第２
′電磁弁（２３）、　（２４）を位置ａに切換えてから
、手動切換弁（２）を位置Ａ又は位置Ｂに切換えている
。これによりポンプ（４）からの圧液は第１電磁弁（２
３）　、手動切換弁（２）を経てステアリングシリンダ
（１）の一方の圧力室に流入し他方の圧力室は手動切換
弁（２）、第２電磁弁（２４）を経てタンク（５）に連
通してステアリングシリンダ（１）は作動する。Therefore, in the illustrated state, the steering cylinder (1)
To remotely control the switch, first turn on the switch (2) and switch the first and second solenoid valves (23) + (2a to place from position a), then remotely control the solenoid valve (3).
is switched to position A or B. This is a pump (4
) flows into one pressure chamber of the steering cylinder (1) via the first solenoid valve (23) and the solenoid valve (3), and the other pressure chamber flows through the solenoid valve (3) and the second solenoid valve ( 24) to the tank (5) and the steering cylinder (1)
will be activated. Here the steering cylinder (
To manually operate the solenoid valve (3), set the solenoid valve (3) to the neutral position, turn on the switch (2) and turn on the first and second valves.
'After switching the electromagnetic valves (23) and (24) to position a, the manual switching valve (2) is switched to position A or position B. As a result, the pressure liquid from the pump (4) is transferred to the first solenoid valve (2).
3) It flows into one pressure chamber of the steering cylinder (1) via the manual switching valve (2), and the other pressure chamber flows into the tank (5) via the manual switching valve (2) and the second solenoid valve (24). The steering cylinder (1) is operated in communication.

尚、第１電磁弁（２３）と電磁弁（３）との間に介装さ
れたフローデバイダＧ６１は遠隔操縦時のステアリング
速度を調整するだめのものである。The flow divider G61 interposed between the first solenoid valve (23) and the solenoid valve (3) is used to adjust the steering speed during remote control.

〔発明が解決しようとする問題点〕[Problem that the invention seeks to solve]

上記するような従来装置では手動から遠隔操縦に、又、
遠隔操縦から手動に切換える場合には、操作すべき切換
弁にポンプ（４）とタンク’５）を接続するため、２つ
の電磁弁（２３）、　（２４）及びスイッチ（２ωを含
む制御機構を必要とした。Conventional devices such as those mentioned above can be changed from manual to remote control, and
When switching from remote control to manual control, a control mechanism including two solenoid valves (23), (24) and a switch (2ω) is required to connect the pump (4) and tank '5) to the switching valve to be operated. I needed it.

よって、本発明は上記するような２つの電磁弁及びその
制御機構を必要としない簡潔な液圧回路によシ手動切換
弁と電磁弁のステアリング操作を可能にするものである
。Therefore, the present invention enables steering operation of a manual switching valve and a solenoid valve using a simple hydraulic circuit that does not require the two solenoid valves and their control mechanism as described above.

〔問題点を解決するだめの手段〕[Failure to solve the problem]

上記するような問題点を解決するだめに本発明において
は、ステアリングシリンダの両圧力室にセンタバイパス
型電磁弁のアクチュエータポートとセンタバイパス型手
動切換弁のアクチュエータポートをそれぞれ接続し、液
圧源はセンタバイパス型電磁弁のポンプポートに接続す
ると共に、センタバイパス型電磁弁及びセ〉タバイパス
型手動切換弁が共に中立位置ではセンタバイパス型電磁
弁、センタバイパス型手動切換弁を介してタンクへ接続
するようにしている〔作　用〕 手動切換弁及び電磁弁がそれぞれ中立位置では液圧源か
らの作動液はタンクへ還流しステアリングシリンダは静
止している。いま、手動切換弁を中立位置から機能位置
に切換えると、液圧源からの作動液は電磁弁、手動切換
弁を経てステアリングシリンダの一方の圧力室へ流入し
他方の圧力室は手動切換弁を経てタンクに連通ずるので
ステアリングシリンダが作動し搭乗運転によるステアリ
ング操作が行える。ここで手動切換弁を中立位置にとる
と液圧源からの作動液はタンクへ還流しステアリングの
作動は停止する。この状愈から電磁弁を中立位置から機
能位置に切換えると、圧力源からの作動液は電磁弁を通
ってステアリングシリンダの一方の圧力室へ流入し他方
の圧力室は電磁弁、手動切換弁を経てタンクに連通ずる
のでステアリングシリンダが作動し遠隔操縦によるステ
アリング操作が行える。In order to solve the above problems, in the present invention, the actuator port of the center bypass type solenoid valve and the actuator port of the center bypass type manual switching valve are respectively connected to both pressure chambers of the steering cylinder, and the hydraulic pressure source is Connects to the pump port of the center bypass type solenoid valve, and connects to the tank via the center bypass type solenoid valve and the center bypass type manual changeover valve when both the center bypass type solenoid valve and the center bypass type manual changeover valve are in the neutral position. [Operation] When the manual switching valve and the solenoid valve are in their respective neutral positions, the hydraulic fluid from the hydraulic pressure source is returned to the tank and the steering cylinder is stationary. Now, when the manual switching valve is switched from the neutral position to the functional position, the hydraulic fluid from the hydraulic pressure source flows into one pressure chamber of the steering cylinder via the solenoid valve and the manual switching valve, and the other pressure chamber flows through the manual switching valve. Since it communicates with the tank, the steering cylinder operates and steering operations can be performed by the passenger. When the manual switching valve is placed in the neutral position, the hydraulic fluid from the hydraulic pressure source is returned to the tank and the steering operation is stopped. In this situation, when the solenoid valve is switched from the neutral position to the functional position, the hydraulic fluid from the pressure source flows through the solenoid valve into one pressure chamber of the steering cylinder, and the other pressure chamber is switched between the solenoid valve and the manual switching valve. Since it communicates with the tank, the steering cylinder is activated and steering operations can be performed remotely.

〔実施例〕〔Example〕

本発明の実施例を第１図について説明する。 An embodiment of the invention will be described with reference to FIG.

（１１は作業用車両の車体に取付けられてステアリング
車輪（図示せず）を左折及び右折させるだめのステアリ
ングシリンダ、（２）は車体運転室のステアリングハン
ドル（図示せず）にて操作されるセンタバイパス型手動
切換弁、（３１）は車外から無線信号によシ操縦される
センタ・（イ・くス型電磁弁、（４）はポンプ、（５）
はタンクである。(11 is a steering cylinder that is attached to the body of a work vehicle and is used to turn a steering wheel (not shown) to the left or right; (2) is a center cylinder that is operated by a steering wheel (not shown) in the driver's cab of the vehicle body. Bypass type manual switching valve, (31) is a center solenoid valve operated by radio signals from outside the vehicle, (4) is a pump, (5)
is a tank.

センタバイパス型手動切換弁（２）のアクチュエータポ
ート＋６）、　Ｉ力及びセンタバイノくス型電磁弁（３
）のアクチュエータポート（８）、　’（９）はそれぞ
れステアリングシリンダ（１）の圧力室（１，０）、　
（ｌυに接続し、ポンプ（４）と電磁弁（３）のポンプ
ポート（１２１とをリリーフ付流量調整弁０３）を介装
した流路側により連通し、電磁弁（３）のタンクポー’
ｐ　（１５）と手動切換弁（２）のポンプポート（１６
）とを流路（１７）により連通し、手動切換弁（２）の
タンクボー）　（１８）と夕／り（５）とを戻り流路Ｑ
［有］によシ連通すると共に、流路０４１と（１７）と
を可変形流量調整弁（２０）を介装した流路（２１）に
よシ連通している。Actuator port +6 of center bypass type manual switching valve (2), I-force and center bypass type solenoid valve (3)
) actuator ports (8) and '(9) are the pressure chambers (1, 0) of the steering cylinder (1), respectively.
(connected to lυ, the pump (4) and the pump port (121) of the solenoid valve (3) are communicated through the flow path side with the relief flow regulating valve 03), and the tank port of the solenoid valve (3) is connected to the tank port of the solenoid valve (3).
p (15) and the pump port (16) of the manual switching valve (2).
) are connected through a flow path (17), and a return flow path Q
At the same time, the flow path 041 and (17) are communicated through a flow path (21) having a variable flow rate regulating valve (20) interposed therebetween.

図示中立状態においては、ポンプ（４）からの作動液は
リリーフ付流量調整弁０３）によシ流量制御され、リリ
ーフ付流量調整弁（Ｉ３）を出た作動液は電磁弁（３）
と可変形流量調整弁（２０）に分流し流路（Ｉ７）で再
び合流すると手動切換弁（２）を経てタンク（５）へ還
流するので、ステアリングシリンダ（１）は静止してい
る。ここで電磁弁（３）を無線信号によシ位置Ａ又は位
置Ｂに切換えると、ポンプ（４）からの分流液は電磁弁
（３）を通ってステアリングシリンダ（１）の一方の圧
力室００）又は（１υに流入し他方の圧力室（１１）又
は（１０）は電磁弁（３）、手動切換弁（２）を経てタ
ンク（５）に連通してシリンダ（１）が作動するので、
遠隔操縦によるステアリング操作が行える。この遠隔操
縦時のステアリング速度は回路全体の作動液流量を制御
するＩＪ　ＩＪ−フ付流量調整弁（１３）と電磁弁（３
）への作動液流入量を調節する可変形流量調整弁（２０
）により設定している。電磁弁（３）を中立位置にとる
と、ポンプ（４）から電磁弁（３）へ流入した作動液は
可変形流量調整弁（２０）を通過した作動液と流路（力
で合流して手動切換弁（２）を経てタンク（５）へ還流
するので、ステアリングシリンダ（１）の作動は停止す
る。ここで、手動切換弁（２）を位置Ａ又は位置Ｂに切
換えると、ポンプ（４）からの作動液は手動切換弁（２
）を通ってシリンダ（１）の一方の圧力室（１０）又は
（ｌυに流入し他方の圧力室（ｌυ又は００）は手動切
換弁（２）を経てタンク（５）に連通してシリンダ（１
）が作動するので、搭乗運転によるステアリング操作が
行える。この操作では手動切換弁（２）には可変形流量
調整弁（２０）の設定値にかかわらずリリーフ付流量調
整弁０３）を通過した全油量が流入するので、手動操作
時のステアリング速度は遠隔操縦時のステアリング速度
を設定する可変形流量調整弁（２０）の影響をうけるこ
とはない。In the neutral state shown in the figure, the flow rate of the hydraulic fluid from the pump (4) is controlled by the flow regulating valve with relief (03), and the hydraulic fluid exiting the flow regulating valve with relief (I3) is controlled by the solenoid valve (3).
The steering cylinder (1) remains stationary because the flow is diverted to the variable flow rate adjustment valve (20) and rejoined at the flow path (I7), and then returned to the tank (5) via the manual switching valve (2). Here, when the solenoid valve (3) is switched to position A or position B by a radio signal, the diverted liquid from the pump (4) passes through the solenoid valve (3) to one pressure chamber 00 of the steering cylinder (1). ) or (1υ, and the other pressure chamber (11) or (10) communicates with the tank (5) via the solenoid valve (3) and manual switching valve (2), and the cylinder (1) operates.
Steering operation can be performed by remote control. The steering speed during remote control is determined by the IJ flow rate adjustment valve with a valve (13) and the solenoid valve (3), which control the hydraulic fluid flow rate in the entire circuit.
) is a variable flow rate regulating valve (20
). When the solenoid valve (3) is placed in the neutral position, the hydraulic fluid flowing into the solenoid valve (3) from the pump (4) merges with the hydraulic fluid that has passed through the variable flow rate regulating valve (20) in the flow path (by force). Since the flow returns to the tank (5) via the manual switching valve (2), the operation of the steering cylinder (1) is stopped.Here, when the manual switching valve (2) is switched to position A or position B, the pump (4) ) from the manual switching valve (2
) into one pressure chamber (10) or (lυ) of the cylinder (1), and the other pressure chamber (lυ or 00) communicates with the tank (5) via the manual switching valve (2) and flows into the cylinder (1). 1
) is activated, so steering operations can be performed by the passenger. In this operation, the entire amount of oil that has passed through the flow control valve with relief (03) flows into the manual switching valve (2) regardless of the setting value of the variable flow control valve (20), so the steering speed during manual operation is It is not affected by the variable flow rate regulating valve (20) that sets the steering speed during remote control.

伺、本発明における電磁弁は上記実施例の電磁弁（３）
に限定されるものではなく、電気信°号によって切換わ
る切換弁であれば適宜使用することができる。例えば電
磁弁（３）の代シに電磁パイロット切換弁を使用しても
よく、電気信号により制御される空気圧で切換わる切換
弁を使用してもよい。又、本発明における手動切換弁は
ステアリングハンドルを操作することにより切換わる切
換弁であればよく、上記実施例の手動切換弁（２）に限
定されない。例えば第２図に示すような手動パイロット
弁（２２）とこの手動パイロット弁からのパイロット圧
によシ切換わるセンタバイパス型パイロット操作弁（イ
）とを組合せて使用してもよい。The solenoid valve in the present invention is the solenoid valve (3) of the above embodiment.
The present invention is not limited to this, and any switching valve that is switched by an electric signal can be used as appropriate. For example, an electromagnetic pilot switching valve may be used in place of the electromagnetic valve (3), or a switching valve that is switched by pneumatic pressure controlled by an electric signal may be used. Further, the manual switching valve in the present invention may be any switching valve that is switched by operating a steering handle, and is not limited to the manual switching valve (2) of the above embodiment. For example, a manual pilot valve (22) as shown in FIG. 2 and a center bypass type pilot operated valve (a) which is switched by pilot pressure from the manual pilot valve may be used in combination.

〔発明の効果〕〔Effect of the invention〕

以上の説明よシ明らかなように本発明においては、セン
タバイパス型の電磁弁及び手動切換弁が共に中立位置で
は液圧源からの作動液は電磁弁、手動切換弁を経てタン
クへ還流するので、操作すべき切換弁に液圧源及びタン
クを接続するための電磁弁及びその制御機構は一切不要
となり、コンパクトで簡潔な回路構成となし得てこの種
の作業用車両における液圧ステアリング装置を安価に提
供することができる。As is clear from the above explanation, in the present invention, when both the center bypass type solenoid valve and the manual switching valve are in the neutral position, the hydraulic fluid from the hydraulic pressure source flows back to the tank via the solenoid valve and the manual switching valve. , the electromagnetic valve and its control mechanism for connecting the hydraulic pressure source and tank to the switching valve to be operated are completely unnecessary, and a compact and simple circuit configuration can be achieved, making it possible to use the hydraulic steering system in this type of work vehicle. It can be provided at low cost.

【図面の簡単な説明】[Brief explanation of drawings]

第１図及び第２図はそれぞれ本発明の実施例を示す油圧
回路図、第３図は従来装置の油圧回路図である。 １・・・ステアリングシリンダ、２・・・センタノくイ
パス型手動切換弁、６・・・センタバイパス型電磁弁、
４・・・ポンプ、６，７，８．９・・・アクチュエータ
ボート、１０．１１・・・圧力室、１２．１６・・・ポ
ンプボート、１６・・・リリーフ付流量調整弁、２０・
・・可変形流量調整弁。1 and 2 are hydraulic circuit diagrams showing an embodiment of the present invention, and FIG. 3 is a hydraulic circuit diagram of a conventional device. 1... Steering cylinder, 2... Center bypass type manual switching valve, 6... Center bypass type solenoid valve,
4...Pump, 6,7,8.9...Actuator boat, 10.11...Pressure chamber, 12.16...Pump boat, 16...Flow rate adjustment valve with relief, 20.
...Variable flow rate adjustment valve.

Claims (1)

【特許請求の範囲】[Claims] ステアリングシリンダの両圧力室にセンタバイパス型電
磁弁のアクチュエータポートとセンタバイパス型手動切
換弁のアクチュエータポートをそれぞれ接続し、液圧源
はセンタバイパス型電磁弁のポンプポートに接続すると
共に、センタバイパス型電磁弁及びセンタバイパス型手
動切換弁が共に中立位置ではセンタバイパス型電磁弁、
センタバイパス型手動切換弁を介してタンクへ接続する
ようにしたことを特徴とする作業用車両の液圧ステアリ
ング装置。The actuator port of the center bypass type solenoid valve and the actuator port of the center bypass type manual switching valve are respectively connected to both pressure chambers of the steering cylinder, and the hydraulic pressure source is connected to the pump port of the center bypass type solenoid valve, and the actuator port of the center bypass type manual switching valve is connected to both pressure chambers of the steering cylinder. When both the solenoid valve and center bypass type manual switching valve are in the neutral position, the center bypass type solenoid valve
A hydraulic steering device for a work vehicle, characterized in that it is connected to a tank via a center bypass type manual switching valve.
JP15657084A 1984-07-26 1984-07-26 Hydraulic steering gear in vehicles for farm working Pending JPS6133370A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP15657084A JPS6133370A (en) 1984-07-26 1984-07-26 Hydraulic steering gear in vehicles for farm working

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP15657084A JPS6133370A (en) 1984-07-26 1984-07-26 Hydraulic steering gear in vehicles for farm working

Publications (1)

Publication Number Publication Date
JPS6133370A true JPS6133370A (en) 1986-02-17

Family

ID=15630656

Family Applications (1)

Application Number Title Priority Date Filing Date
JP15657084A Pending JPS6133370A (en) 1984-07-26 1984-07-26 Hydraulic steering gear in vehicles for farm working

Country Status (1)

Country Link
JP (1) JPS6133370A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59184840A (en) * 1983-04-06 1984-10-20 Mitsubishi Chem Ind Ltd Method and device for measuring dust in liquid
JPH0211472A (en) * 1988-06-27 1990-01-16 Mitsubishi Agricult Mach Co Ltd Manual, remote control, and hydraulic steering device for moving agricultural machine

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5314815A (en) * 1976-07-23 1978-02-09 Kobayashi Seisakusho Screen combining tipe paper screening apparatus
JPS57191706A (en) * 1981-05-20 1982-11-25 Caterpillar Mitsubishi Ltd Steering indirect controlling system for articulated car

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5314815A (en) * 1976-07-23 1978-02-09 Kobayashi Seisakusho Screen combining tipe paper screening apparatus
JPS57191706A (en) * 1981-05-20 1982-11-25 Caterpillar Mitsubishi Ltd Steering indirect controlling system for articulated car

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59184840A (en) * 1983-04-06 1984-10-20 Mitsubishi Chem Ind Ltd Method and device for measuring dust in liquid
JPH0211472A (en) * 1988-06-27 1990-01-16 Mitsubishi Agricult Mach Co Ltd Manual, remote control, and hydraulic steering device for moving agricultural machine

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