JPS63193984U

JPS63193984U -

Info

Publication number: JPS63193984U
Application number: JP8398787U
Authority: JP
Priority date: 1987-05-30
Filing date: 1987-05-30
Publication date: 1988-12-14

Description

[Brief explanation of the drawing]

第１図は本考案に係る四輪ステアリング式自走
車のステアリング装置の概略構成説明図、第２図
は同上装置に於ける演算処理手段のフローチヤー
ト、第３図ａ，ｂはステアリングレバーと、各車
輪のステアリング角の相違を示す説明図、第４図
は左右車輪のステア角と最終目標値を同一テーブ
ルで比較した説明図、第５図ａ，ｂは本考案に係
るステアリング装置で自走車の総輪ステアリング
を行つた一例をしめす説明図と表である。１……ステアリングモードの全操作系、２……
ステアリング操作パネル、２ａ……ステアリング
レバー、２ｂ……ステアリングモード切り換えス
イツチ、３……コントローラ、３ａ……モード演
算処理手段、４ａ，４ｂ，４ｃ，４ｄ……ソレノ
イドリレー、５ａ，５ｂ，５ｃ，５ｄ……ソレノ
イドバルブ、６ａ，６ｂ，６ｃ，６ｄ……油圧シ
リンダー、７ａ，７ｂ，７ｃ，７ｄ……ステア角
検出器、８……油圧供給源、９……マニユアルス
テアリングスイツチ、１０……上部操作ボツクス
、１０ａ……緊急停止スイツチ、１１……下部操
作ボツクス、１２……最終目標値設定部、１３…
…比較判断部、１４……カウント部、１５……変
換部、１６……判断部、１７……ステアリング出
力部。 Fig. 1 is a schematic configuration explanatory diagram of a steering device for a four-wheel steering type self-propelled vehicle according to the present invention, Fig. 2 is a flowchart of the arithmetic processing means in the same device, and Fig. 3 a and b are a diagram showing the steering lever and the steering device. , an explanatory diagram showing the difference in the steering angle of each wheel, FIG. 4 is an explanatory diagram comparing the steering angle of the left and right wheels and the final target value in the same table, and FIGS. These are an explanatory diagram and a table showing an example of all-wheel steering of a vehicle. 1... All operating systems in steering mode, 2...
Steering operation panel, 2a...Steering lever, 2b...Steering mode changeover switch, 3...Controller, 3a...Mode calculation processing means, 4a, 4b, 4c, 4d...Solenoid relay, 5a, 5b, 5c, 5d ...Solenoid valve, 6a, 6b, 6c, 6d...Hydraulic cylinder, 7a, 7b, 7c, 7d...Steering angle detector, 8...Hydraulic pressure supply source, 9...Manual steering switch, 10...Top operation Box, 10a...Emergency stop switch, 11...Lower operation box, 12...Final target value setting section, 13...
... Comparison and judgment section, 14 ... Count section, 15 ... Conversion section, 16 ... Judgment section, 17 ... Steering output section.

Claims

[Scope of utility model registration request]

In a steering device for a four-wheel steering self-propelled vehicle equipped with a hydraulically driven steering actuator, the control means for the steering actuator is a final target value setting unit, and the final target value and the actual steering angle of the wheels are connected. A comparison judgment section that makes a comparative judgment, a counting section that counts the target value, and a conversion section that converts the final target setting value and the actual steering angle of the wheels into the same table,
Steering for a four-wheel steering type self-propelled vehicle, comprising: a detection unit that detects a steering angle transition state of wheels; and a steering output unit that sequentially outputs a target steering angle steering signal to the steering actuator. Device.