KR102101189B1 - Steering system of transform vehicles for agriculture - Google Patents

Abstract

The present invention relates to a steering apparatus for an agricultural transport vehicle having an automatic alignment function and, more specifically, to a steering apparatus for an agricultural transport vehicle, which includes driving motors provided to be connected to front wheels and rear wheels of a chassis frame, respectively, to separately drive the front wheels and the rear wheels, and axle bodies provided at the front and rear portions of the chassis frame to rotate the front wheels and the rear wheels, respectively. The present invention provides the steering apparatus for the agricultural transport vehicle, comprising: front and rear side cylinders provided to be fixed in the chassis frame; cylinder rods provided to enter and exit both sides of the cylinders and having both ends connected to both front wheels and both rear wheels, respectively; a chain bracket fixed to the front side or the rear side cylinder rod to move along with the cylinder rod; a chain provided to fix both ends to the chain bracket; a driving wheel rotatably provided in the chassis frame and provided to get the chain to be caught on the outer circumferential surface; an encoder provided in the chassis frame to sense the rotating direction and the rotation amount of the driving wheel; and an ECU reading a value sensed and detected by the encoder to reversely operate each of the cylinder rods such that the front wheels and the rear wheels are automatically aligned in a straight driving state.

Description

Steering system of transform vehicles for agriculture with automatic alignment function

The present invention relates to a steering device for an agricultural transport vehicle having an automatic alignment function, and more particularly, after the steering of the agricultural transport vehicle, an agricultural transport vehicle having an automatic alignment function capable of automatically aligning the wheels in a straight state after steering. It relates to a steering device.

In general, agricultural machinery used in agriculture is divided into walking-type agricultural machinery that manipulates agricultural machinery while the worker walks, and passenger agricultural machinery that directly manipulates agricultural machinery while the operator is on board. A remote control farm machine has also been developed that allows the operator to operate the farm machine only by operating the remote control without directly boarding the farm machine through a connected remote control.

A working machine suitable for the application is attached to the rear of the agricultural machine to perform the necessary work. As a working machine mounted and used on the agricultural machine, a pesticide sprayer, fertilizer sprayer, plastic coating machine, dumpling molding machine, rotary, plow, and lifting machine are used. There are various types, such as.

In this way, the work machine is installed (connected) necessary for the farm machine, moved to the work site, and then the work machine is operated to perform the work. Most farm machines used in this way are selected according to the steering mode button provided in the driver's seat. Two-wheel steering (front-wheel steering or rear-wheel steering) and four-wheel steering can be selected to perform the operation more conveniently.

These agricultural machines transmit power generated from the engine to the wheels through a power transmission device to make driving, and the two-wheel or four-wheel steering methods of agricultural machines can be mainly used by switching hydraulically, and planting or controlling in batteries or land When performing work, etc., it can be appropriately selected and used in consideration of work conditions, environment, and terrain.

Such a two-wheel or four-wheel hydraulic steering system for agricultural machinery has been proposed in Korean Patent Registration No. 10-1315024 (hereinafter referred to as 'prior technical literature').

In this prior art document, an engine is installed on the upper portion of the frame, and connecting means provided to allow a user to connect a driver's seat and a working machine for seating and manipulation; Front and rear wheels are mounted on both front and rear sides of the frame for driving and steering; The front and rear wheels are operated by the steering mode selection button installed on the driver's seat and the steering wheel, so that the controller moves the front wheel steering hydraulic cylinder and the rear wheel steering hydraulic cylinder installed on the front wheel through the front wheel control valve and the rear wheel control valve. A steering device for a riding agricultural machine configured to be capable of selecting front wheel steering, rear wheel steering, and four wheel steering; When the front wheel steering is selected, if the rear wheel cannot maintain the normal alignment due to its own clearance or external pressure of the work sheet, it is immediately corrected to the normal alignment, and when selecting the corner steering, the rear wheel is steered in the same direction as the front wheel Compensation control valve is further installed to make it easier to enter the corner of the work place. In the correction control valve, when the front wheel steering is selected from the steering mode selection buttons, the controller receiving the detection information of the detection sensor installed on the rear wheel steering shaft controls the correction control valve to move the rear wheel steering hydraulic cylinder so that the rear wheel is in normal alignment. Disclosed is a steering device for a riding agricultural machine, characterized in that to maintain.

However, the wheel applied to the agricultural machine disclosed in the prior art document is maintained in a rotated state in the steering direction after steering, so that when the operator drives the agricultural machine without checking the alignment of the wheel of the agricultural machine, the steering direction is steered. As a result, the agricultural machinery continues to turn, which has the disadvantage of damaging the surrounding crops.

Domestic registered patent No. 10-1315024

Accordingly, the present invention was devised to solve the problems of the prior art as described above, and an automatic alignment function that enables the wheels to be automatically aligned in a straight state after a certain time has elapsed after steering of the agricultural transport vehicle. The aim of the present invention is to provide a steering device for an agricultural transport vehicle.

And, for another purpose of the present invention, when steering the agricultural transport vehicle, the front wheel and the rear wheel are always steered in the opposite direction of the same angle at the same time, so that the rear wheel can rotate while driving along the trajectory of the front wheel. It is intended to provide a steering device for an agricultural transport vehicle.

The steering device for an agricultural transport vehicle having an automatic alignment function according to the present invention for achieving the above object is provided to be connected to the front and rear wheels of the vehicle body frame, respectively, and the driving motor for separately driving the front and rear wheels, and the vehicle body frame. A steering device for an agricultural transport vehicle including an axle body that is provided at the front and rear parts and pivots the front and rear wheels, respectively, and includes a front and rear cylinder fixed to the vehicle frame; A cylinder rod provided to be brought in and out of both sides of each cylinder, and both ends of which are connected to both front and rear wheels, respectively; A chain bracket fixed to the front or rear cylinder rod and moved like a cylinder rod; A chain having both ends fixed to the chain bracket; A drive wheel rotatably provided on the vehicle body frame and having a chain locked on its outer circumferential surface; An encoder provided in the vehicle body frame to detect a rotation direction and a rotation amount of the driving wheel; And an ECU that reads the detected and detected values from the encoder to reversely operate each cylinder rod to automatically align the front and rear wheels in a straight state.

In addition, the vehicle body frame may be provided with an idling wheel rotatably coupled to the chain and supporting the chain to the drive wheel side, the body frame is provided with a guide pin protruding to the chain bracket side, and the chain bracket is guided through the guide pin. A guide hole to be coupled is provided, and may be configured to guide the linear movement of the chain bracket.

In addition, the vehicle body frame is provided with a power bag for supplying hydraulic pressure to the front and rear cylinders, the power bag includes a sandwich block provided to be connected to the front and rear cylinders, respectively; A directional valve provided on the sandwich block to change the flow path of the sandwich block; It may be configured to steer the front and rear wheels in the opposite direction of the same angle, including; a hydraulic pump for supplying hydraulic pressure to the front cylinder or the rear cylinder through the sandwich block.

In addition, the front cylinder and the rear cylinder are respectively provided with first and second ports, and the sandwich block has a first port connected to any one of the first and second ports of the front cylinder and a first and second port of the rear cylinder. A second port connected to any one of the ports may be provided.

In addition, the first and second ports of the sandwich block are provided to be connected to the ports of the front and rear cylinders provided at different positions, and the remaining ports of the front and rear cylinders are connected to each other so that hydraulic pressure can circulate. It can also be configured.

According to the steering device for an agricultural transport vehicle having an automatic alignment function of the present invention, when a certain time has elapsed after steering of the agricultural transport vehicle, the wheels of the front and rear wheels that have been rotated by the detection module and the ECU, which are the automatic alignment means, automatically go straight. By arranging in a state, it is possible to prevent a malfunction of an agricultural transport vehicle infinitely turning in advance, thereby minimizing damage to a damaged crop.

In addition, according to the present invention, the front wheel and the rear wheel of the agricultural transport vehicle are simultaneously steered in the opposite direction of the same angle, and the rear wheel is rotated along the trajectory of the front wheel, thereby minimizing damage to the crops due to the turning operation of the rear wheel .

1 is a block diagram of an agricultural transport vehicle according to the present invention.
2 is a configuration diagram of the upper front of the agricultural transport vehicle according to the present invention.
3 is a configuration diagram of the lower front of the agricultural transport vehicle according to the present invention.
4 is a configuration diagram of the upper rear of the agricultural transport vehicle according to the present invention.
5 is a configuration diagram of the lower rear of the agricultural transport vehicle according to the present invention.
Figure 6 is a plan view showing the automatic alignment means of the wheels configured in the agricultural transport vehicle according to the present invention.
7 is a view showing the steering principle when the right turn of the agricultural transport vehicle according to the present invention.
8 is a view showing a steering principle when turning left of an agricultural transport vehicle according to the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

Terms used in the present invention are terms defined in consideration of functions in the present invention, which may vary depending on the intention or custom of the user or operator, and thus, definitions of these terms are consistent with technical matters of the present invention. And should be interpreted as a concept.

In addition, the embodiments of the present invention are not intended to limit the scope of the present invention, but are merely exemplary of the components presented in the claims of the present invention, and are included in the technical idea throughout the specification of the present invention and of the claims. It is an embodiment including a component that can be substituted as an equivalent in the component.

In addition, the optional terms in the embodiments below are used to distinguish one component from other components, and the component is not limited by the terms.

Accordingly, in describing the present invention, detailed descriptions of related well-known technologies that may unnecessarily obscure the subject matter of the present invention are omitted, and the same reference numerals are assigned to the same parts as in the prior art, and overlapping descriptions are omitted.

1 to 8 are views showing an agricultural transport vehicle and a steering device constructed therein according to the present invention.

As shown in Figures 1 to 5, the agricultural transport vehicle 100 according to the present invention is provided with a vehicle body frame 110 formed side by side in the center thereof, side by side, and agricultural transport is provided on the upper portion of the vehicle body frame 110. A battery pack 120 for providing power to the vehicle 100 and a distribution box 130 in which the ECU 500 and a plurality of substrates are installed are provided.

In addition, the front and rear wheels 140 and the rear wheels 150 are provided on both front and rear outer portions of the vehicle body frame 110, and both wheels of the front and rear wheels 140 and 150 are front and rear of the driving module 200 to be described later. After that, it is rotatably provided on the axle body (230, 240), it rolls the ground.

Meanwhile, a driving module 200 for driving the front wheel 140 and the rear wheel 150 is provided below the vehicle body frame 110.

3 and 5, the driving module 200 is provided with axle bodies 230 and 240 fixed to the front and rear portions of the vehicle body frame 110, respectively, and each axle body 230. It includes a driving motor 210, 220 is driven forward and reverse rotation is respectively connected to the drive shaft 211, 221 to (240).

Each of the driving motors 210 and 220 driving the front wheel 140 and the rear wheel 150 are respectively fixed to the lower portion of the vehicle body frame 110 and driven by receiving power from the battery pack 120. Since no fuel is used, there is an advantage of preventing environmental pollution by combustion gas generated during the combustion process of fossil fuels.

The driving shafts 211 and 221 are connected to the driving motors 210 and 220, so that the driving shafts 211 and 221 can be rotated forward or reverse when power is supplied.

In addition, the axle bodies 230 and 240 are provided such that the axles of both ends of the axles protrude outward from the vehicle body frame 110, and the front and rear wheels 140 and 150 are provided on both axles of the axle body 230 and 240. Each wheel of the is provided to be fixed and rotated.

The front and rear axle bodies 230 and 240 are provided with protruding rotational shafts 231 and 241 so as to face each other, and each traveling motor is provided with rotating shafts 231 and 241 of the axle bodies 230 and 240. The driving shafts 211 and 221 provided on the 210 and 220 are connected to the universal joints 212 and 222 to be provided.

Accordingly, when the driving shafts 211 and 221 are rotated as each driving motor 210 and 220 is driven, the axle body 230 connected to the driving shafts 211 and 221 and the universal joints 212 and 222 ( The rotating shafts 231 and 241 of 240 are rotated, and both axles of the axle bodies 230 and 240 connected to the rotating shafts 231 and 241 are rotated to rotate each wheel fixed thereto.

Although not shown in the drawing inside the axle body 230, 240, a differential gear connecting the rotating shaft 231, 241 and the axle of the axle body 230, 240 is provided, and the front wheel when turning Both wheels of the 140 and rear wheels 150 may be rotated at different rotational speeds to prevent slipping.

On the other hand, each cylinder 250, 260 is provided at the front end and the rear end of the vehicle body frame 110, and each cylinder 250, 260 is provided with a first and second for supplying or discharging hydraulic pressure therein. The ports 251, 252, 261, and 262 are each bent.

In addition, the cylinder rods 270 and 280 are provided at both ends of each cylinder 250 and 260 so that the cylinder rods 270 and 280 have one rod and the cylinders 250 and 260 It may be provided to protrude to both sides of, or a plurality of rods may be provided to protrude to each side of the cylinder (250, 260), respectively.

In addition, at each end of the cylinder rod 270 and 280 protruding outward of the cylinder 250 and 260, each cylinder rod 270 and 280 is connected to each wheel of the front wheel 140 and the rear wheel 150. The connecting rods 271 and 281 are respectively provided.

The connecting rods 271 and 281 are rotatably coupled to one end of the cylinder rod 270 and 280, and the other end of the connecting rod is pivoted at both ends of the axle body 230 and 240. It is provided to be rotatably coupled. The pivot portion is hinged and pivotably hinged with the axle wrapped at both ends of the axle bodies 230 and 240, and may be provided as a case connected to each wheel so as not to rotate relative to each other.

Accordingly, as the cylinder rods 270 and 280 are pulled out in one direction from the cylinders 250 and 260, both wheels rotate at the same angle in one direction from the axle body 230 and 240.

In particular, the front connecting rod 271 is connected to the front of the front wheel 140 based on the connecting portion (rotation) of the front wheel 140 and the axle body 230, and the rear connecting rod 281 is the rear wheel 150 and the axle It is provided to be connected to the rear of the rear wheel 150 based on the connection portion of the body 240 so that the front wheel 140 and the rear wheel 150 are rotated at the same angle in opposite directions when steering.

In addition, the wheels of the front and rear wheels 140 and 150 as described above are provided to be supported by three points or four points on the ground by the axle bodies 230 and 240.

In other words, when the ground on which the agricultural transport vehicle 100 is moved is flat, all four wheels of the transport vehicle 100 are in contact with the ground to maintain the 4-point support, but if the ground is uneven, the minimum of the four wheels on the ground. Only by maintaining the three-point support state in contact with the three wheels is it possible to drive and steer the transport vehicle 100.

Thus, in the embodiment of the present invention, in order to satisfy the above points, considering that the work machine is connected to the rear of the transport vehicle 100, the rear axle body 240 is as shown in FIGS. 4 and 5 It is provided to be fixed to the lower surface of the body frame 110, the front axle body 230 is provided to be hinged with a pivot pin 160 so that it can swing from side to side on the bottom of the body frame 110 as shown in FIG. .

As a result, the rear wheel 150 of the transport vehicle 100 is always in contact with the ground, and the front wheel 140 maintains a four-point support shape in which both wheels are in contact depending on the state of the ground, or only one of the wheels is ground. It maintains the three-point support shape in contact with.

Therefore, regardless of the ground state, the steering angle detection module 400, which will be described later, is configured on the rear wheel 150 that is always in contact with the ground and is clouded.

On the other hand, the top of the vehicle body frame 110, the front wheel 140 and rear wheel 150 configured as described above are simultaneously steered in the opposite direction of the same angle, so that the power pack 300 can be rotated by the agricultural transport vehicle 100 It is equipped.

2 and 4, the power pack 300 is a center block 340 and a center block 340 provided to be fixed in an erected state on the upper surface of the vehicle body frame 110 as shown in FIGS. 2 and 4. A hydraulic tank 330 coupled to the side and having hydraulic pressure stored therein, a hydraulic pump 330 provided inside the hydraulic tank 310 to supply hydraulic pressure to the center block 340, and the center block 340 It is coupled to the other side of the) includes a hydraulic motor 320 to drive the hydraulic pump 330.

In addition, the sandwich block 350 provided to communicate with the center block 340 on the upper surface of the center block 340, and a directional valve provided in the sandwich block 350 to change the flow path of the sandwich block 350 (directional) valve) (360).

The first and second ports 351 and 352 connected to the ports 251, 252, 261 and 262 of the front and rear cylinders 250 and 260, respectively, on both front and rear sides of the sandwich block 350. ) Is provided.

In more detail, the first port 351 provided on the front surface of the sandwich block 350 is connected to the first port 251 provided on the left side of the front cylinder 250 based on FIGS. 6 to 8. The second hydraulic hose connected to the second port 262 provided on the right side of the rear cylinder 260 is connected to the first hydraulic hose 370 and provided on the rear side of the sandwich block 350. 371), the remaining ports of the front and rear cylinders 250 and 260, that is, the second port 252 of the front cylinder 250 and the first port 261 of the rear cylinder 260 are the third hydraulic pressure. It is provided to be connected as a hose 372.

Accordingly, as the hydraulic pressure is supplied to the front or rear cylinders 250 and 260 when steering the agricultural transport vehicle 100, the hydraulic pressure discharged from the cylinders 250 and 260 is again the other rear or front cylinder on the opposite side. (250) 260 is supplied to both cylinders 250, 260 can be steered in opposite directions at the same angle at the same time, the hydraulic pressure discharged from the rest of the cylinder 250, 260 side again sandwich block 350 ), It is possible to have a circulation structure that is supplied to and stored in the hydraulic tank 310 through the first or second ports 351 and 352, thereby minimizing the loss of hydraulic pressure.

And, the directional spool (not shown) is provided in the directional spool 360, and current flows through the spool in the electromagnets 361 and 362 provided at both ends of the directional spool. In accordance with the movement to the front or rear, the first port 351 or the second port 352 of the sandwich block 350 is formed as a hydraulic supply path, and the remaining ports are formed as a hydraulic recovery path.

On the other hand, the steering angle of the front wheel 140 and rear wheel 150 as described above is sensed and detected by the sensing module 400, and the sensing module 400 is always in contact with the ground and rolling regardless of the ground state ( It is desirable to detect the steering angle of 150).

4 and 6, the sensing module is provided rotatably on the upper surface of the base plate 410 and the base plate 410 fixed to protrude outwardly to the rear end of the vehicle body frame 110. Encoder 430 which is provided on the lower surface of the driving wheel 420 and the base plate 410 and detects the rotation direction and the amount of rotation of the driving wheel 420 rotated forward and backward, and outputs the value to the ECU 500. With, the chain bracket 450 fixedly coupled to both side rear cylinder rods 280 protruding to both sides of the rear cylinder 260, and to be engaged with the drive wheel 420 while traversing both ends of the chain bracket 450. It includes a chain 460 is provided.

Here, the drive wheel 420 is preferably provided as a sprocket wheel for a solid connection with the chain 460, such a drive wheel 420 and the chain 460 is more responsive and accurate than the pulley and belt Therefore, it has the advantage of accurately detecting the steering angle of the wheel.

And, since the chain bracket 450 is fixedly coupled to both sides of the rear cylinder rod 280, it is moved like the rear cylinder rod 280, and the chain 460 is moved with the chain bracket 450 while driving wheels coupled thereto. The 420 is rotated forward or reverse.

In the encoder 430, the rear wheel 150 is rotated to the left for a right turn as shown in FIG. 7 in a state where the rear wheel 150 is set to “0” in parallel with the straight wheel, and the driving wheel 420 is half When it is rotated clockwise, it is rotated to the right for a left turn, as shown in FIG. 8, and when the drive wheel 420 is rotated clockwise, the value detected as a value of “+” is used for the agricultural vehicle 100. After outputting to the ECU 500, the ECU 500 restarts the hydraulic pump 330 in the state in which the directional valve 360 is reversed after the agricultural transport vehicle 100 is stopped, thereby supplying hydraulic pressure in reverse. The rotated front wheel 140 and rear wheel 150 are rotated in reverse to automatically align the vehicle in a straight state.

On the other hand, the idling wheel 440 is rotatably provided on the base plate 410 on the opposite side of the drive wheel 420 based on the chain 460, and the idling wheel 440 is also a sprocket wheel. It is provided to be jammed.

The idling wheel 440 is to allow the chain 460 to be firmly coupled while maintaining tension to the drive wheel 420 by pushing the chain 460 to the drive wheel 420 side. 440) is installed to be biased toward the drive wheel 420 side is provided to have the same function as the tensioner.

In addition, the chain bracket 450, which is moved like the rear cylinder rod 280, is guided to be accurately linearly moved on the base plate 410, and the chain bracket 450 is provided with a guide hole 451 formed in the linear movement direction. In addition, the base plate 410 is provided with a guide pin 411 that is constrained through the guide hole 451.

Therefore, the chain bracket 450 is provided to be linearly moved right and left without flow on the base plate 410 by the guide pin 411 and the guide hole 451 provided as described above, thereby being moved like the chain bracket 450. Since it is possible to induce an accurate linear movement of the chain 460, it is possible to accurately detect the steering angle through the drive wheel 420 having a rotation amount relative to the movement amount of the chain 460.

On the other hand, the method of automatically aligning the wheels of the agricultural transport vehicle 100 steered in one direction side by side in a straight state, the driving wheel 420 rotated by the chain 460 according to the steering direction and angle of the rear wheel 150 The step of detecting and detecting the rotation direction and the amount of rotation by the encoder 430, and the output value detected by the encoder 430 is determined by the ECU 500, and then the directional valve 360 after the agricultural transport vehicle 100 stops. And operating the hydraulic pump 330 in a reversed state to supply hydraulic pressure in reverse to automatically rotate the rotated front wheels 140 and rear wheels 150 in a straight state.

Here, the steering direction and angle of the rear wheel 150 can be calculated as the moving direction and the moving distance of the chain 460 moved like the chain bracket 450, which is again a drive wheel 420 coupled with the chain 460 ), The ECU 500 can determine the steering direction and angle of the rear wheel 150.

In addition, in the automatic alignment process as described above, the ECU 500 reversely operates the directional valve 360 after the agricultural transport vehicle 100 steered in one direction stops for a certain period of time, but within a period of about 1 to 3 minutes. It is desirable to set.

In addition, the automatic alignment of the agricultural transport vehicle 100 as described above is preferably performed in a remote control mode in which an operator adjusts the agricultural transport vehicle with a wired or wireless remote control, and the remote control runs forward and backward and left and right of the agricultural transport vehicle 100. It is preferable that a joystick capable of adjusting steering is provided.

The driving and steering process of the agricultural transport vehicle according to the present invention as described above will be described.

First, the agricultural transport vehicle 100 is a driving motor 210, 220 provided below the body frame 110 in a state where both wheels of the front wheel 140 and the rear wheel 150 are placed side by side as shown in FIG. ) Is operated, the front wheels 140 and the rear wheels 150 are respectively driven, so that the driving of the agricultural transport vehicle 100 is made.

That is, the power of each driving motor 210 and 220 is output through the drive shaft 211 and 221, and the axle body 230 connected to the drive shaft 211 and 221 by the universal joint 212 and 222 ( The rotating shafts 231 and 241 of 240 are rotated like the driving shafts 211 and 221, and both axles of the axle body 230 and 240 are rotated by the rotation of the rotating shafts 231 and 241, and are coupled thereto. Both wheels of the front and rear wheels 140 and 150 are rotated to drive straight or backward.

In addition, when the joystick of the remote controller is operated to turn the transport vehicle 100 to the right, as shown in FIG. 7, the ECU 500 is operated according to the right turn signal, so that the hydraulic motor 320 of the power pack 300 is the hydraulic pump 330 ) And the second electromagnet 362 of the directional valve 360 is operated to connect the first port 351 of the sandwich block 350 with the hydraulic pump 330.

Then, the hydraulic pressure pumped from the hydraulic tank 310 by the hydraulic pump 330 flows into the sandwich block 350 through the center block 340, the first port 351 and the first of the sandwich block 350 It is supplied to the first port 251 of the front cylinder 250 through the hydraulic hose 370.

Accordingly, the front cylinder rod 270 is moved to the right by the hydraulic pressure supplied to the first port 251 of the front cylinder 250 to rotate the front wheel 140 in the right direction, and in this process, the front cylinder 250 ) Is stored in the hydraulic pressure is discharged through the second port 252 and the third hydraulic hose 372 is supplied to the first port 261 of the rear cylinder 260.

Then, the rear cylinder rod 280 is also moved to the right from the rear cylinder 260 by the hydraulic pressure supplied to the first port 261 of the rear cylinder 260 to rotate the rear wheel 150 in the left direction. In the process, the hydraulic pressure stored in the rear cylinder 260 is discharged through the second port 262 and the second hydraulic hose 371 and supplied to the second port 352 of the sandwich block 350.

Therefore, the hydraulic pressure supplied to the second port 352 of the sandwich block 350 flows back through the center block 340 to the hydraulic tank 310 and is stored.

Thereafter, when a predetermined time has elapsed after the vehicle is stopped, the ECU 500 of the vehicle automatically aligns the steered front wheel 140 and the rear wheel 150 to the straight state.

That is, the chain bracket 450 is guide pin on the base plate 410 according to the steering direction and angle of the rear wheel 150 rotated in the left direction by the rear cylinder rod 280 pulled out from the rear cylinder 260 to the right. The drive wheel 420 is linearly moved to the left by the 411 and the guide hole 451, and the chain 460 provided in the chain bracket 450 is linearly moved to the left like the chain bracket 450, thereby being caught. ) Is rotated counterclockwise.

The rotation direction and the amount of rotation of the driving wheel 420 are detected and detected by the encoder 430 provided in the driving wheel 420, and the detected value of the encoder 430 is output to the ECU 500 again and the ECU ( 500, the ECU 500 reversely operates the directional valve 360, then restarts the hydraulic pump 330 to supply the hydraulic pressure in reverse, thereby rotating the rotated rear wheel 150 and the front wheel 140. It will automatically align straight.

Of course, the automatic alignment operation is automatically stopped by the ECU 500 when the detection value of the encoder 430 becomes "0".

Then, when turning left as in FIG. 8, the flow of hydraulic pressure flows in the opposite direction.

That is, according to the left turn signal, the ECU 500 operates the first electromagnet portion 361 of the directional valve 360 to connect the second port 352 of the sandwich block 350 with the hydraulic pump 330. In the hydraulic pressure from the hydraulic pump 330 is supplied to the second port 262 of the rear cylinder 260 through the second port 352 of the sandwich block 350.

Then, the rear cylinder rod 280 is moved to the left from the rear cylinder 260 to rotate the rear wheel 150 in the right direction, wherein the hydraulic pressure stored in the rear cylinder 260 is the first port 261 It is discharged through the second port 252 of the front cylinder 250 and supplied.

Thus, the front cylinder rod 270 is moved to the left from the front cylinder 250 by the hydraulic pressure supplied to the second port 252 of the front cylinder 250 to rotate the front wheel 140 in the left direction. The hydraulic pressure stored in the front cylinder 250 is discharged and supplied to the first port 351 of the sandwich block 350 through the first port 251.

The hydraulic pressure supplied to the first port 351 of the sandwich block 350 flows into the hydraulic tank 310 through the center block 340 and is stored.

Thereafter, when a predetermined time has elapsed after the vehicle is stopped, the ECU 500 automatically aligns the steered front wheel 140 and the rear wheel 150 in the same manner as described above, and aligns them in a straight state.

Although the present invention has been described in detail through specific embodiments, the present invention is specifically for describing the present invention, and the present invention is not limited to this, and by those skilled in the art within the technical spirit of the present invention. It is clear that the modification and improvement are possible.

All simple modifications or changes of the present invention belong to the scope of the present invention, and the specific protection scope of the present invention will be clarified by the appended claims.

100: agricultural transport vehicle 110: body frame
120: battery pack 130: distribution box
140,150: front and rear wheels 160: pivot pin
200: driving module 210,220: driving motor
211,221: Drive shaft 212,222: Universal joint
230,240: Axle body 231,241: Rotating shaft
250,260: cylinder 251,252,261,262: port
270,280: cylinder rod 271,281: connecting rod
300: Power Pack 310: Hydraulic Tank
320: hydraulic motor 330: hydraulic pump
340: Center block 350: Sandwich block
351,352: Port 360: Directional valve
361,362: Electromagnet 370,371,372: Hydraulic hose
400: detection module 410: base plate
411: guide pin 420: drive wheel
430: Encoder 440: Idling Wheel
450: Chain bracket 451: Guide hole
460: Chain 500: ECU

Claims (8)

Steering system for agricultural transport vehicles including a driving motor provided to be connected to the front and rear wheels of the vehicle body frame to drive the front and rear wheels separately, and an axle body provided at the front and rear of the vehicle body frame to pivot the front and rear wheels, respectively. as,
Front and rear cylinders are fixed to the vehicle body frame;
A cylinder rod provided to be brought in and out of both sides of each cylinder, and both ends of which are connected to both front and rear wheels, respectively;
A chain bracket fixed to the front or rear cylinder rod and moved like a cylinder rod;
A chain having both ends fixed to the chain bracket;
A drive wheel rotatably provided on the vehicle body frame and provided with a chain to be locked on its outer circumferential surface to rotate forward and reverse by a moving chain;
It includes; ECU to automatically align the front and rear wheels in a straight state by reversing each cylinder rod according to the rotational state of the drive wheel;
The body frame is provided with an encoder that detects and detects the rotation direction and amount of rotation of the drive wheel, and is provided so that the detection value detected by the encoder is input to the ECU,
While the ECU reads the detected value from the encoder and reverses each cylinder rod until the encoder reaches "0", the front and rear wheels are automatically aligned in a straight state,
The body frame is provided with a guide pin protruding toward the chain bracket side, and the chain bracket is provided with a guide hole through which the guide pin is penetrated to guide the linear movement of the chain bracket,
The body frame is equipped with a power bag that supplies hydraulic pressure to the front and rear cylinders.
The power bag includes a sandwich block provided to be connected to front and rear cylinders, respectively;
A directional valve provided on the sandwich block to change the flow path of the sandwich block;
Including a hydraulic pump for supplying hydraulic pressure to the front cylinder or the rear cylinder through the sandwich block; including,
Steering system for agricultural transport vehicles that allows the front and rear wheels to be steered in opposite directions at the same angle.
delete delete The method according to claim 1,
Steering system of an agricultural transport vehicle in which an idling wheel that is coupled to a chain and is supported by pushing the chain toward the drive wheel is rotatably provided in the vehicle frame.
delete delete The method according to claim 1,
The front and rear cylinders are provided with first and second ports, respectively.
The sandwich block is provided with a first port connected to any one of the first and second ports of the front cylinder and a second port connected to any one of the first and second ports of the rear cylinder. Steering system.
The method according to claim 7,
The first and second ports of the sandwich block are provided to be connected to the ports of the front and rear cylinders provided at different positions, and the remaining ports of the front and rear cylinders are provided to be connected to each other, so that the hydraulic transportation can be circulated. Vehicle steering system.

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