WO2004071161A1 - トラクタおよび被牽引車両の操向操作装置とその制御方法 - Google Patents
トラクタおよび被牽引車両の操向操作装置とその制御方法 Download PDFInfo
- Publication number
- WO2004071161A1 WO2004071161A1 PCT/JP2004/001559 JP2004001559W WO2004071161A1 WO 2004071161 A1 WO2004071161 A1 WO 2004071161A1 JP 2004001559 W JP2004001559 W JP 2004001559W WO 2004071161 A1 WO2004071161 A1 WO 2004071161A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- tractor
- towed
- vehicle
- tow
- center point
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60D—VEHICLE CONNECTIONS
- B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
- B60D1/24—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions
- B60D1/42—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions for being adjustable
- B60D1/44—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions for being adjustable horizontally
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
- A01B69/003—Steering or guiding of machines or implements pushed or pulled by or mounted on agricultural vehicles such as tractors, e.g. by lateral shifting of the towing connection
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D13/00—Steering specially adapted for trailers
Definitions
- the present invention relates to a steering operation device for a tractor and a towed vehicle, and a control method thereof.
- the present invention belongs to the field of tractors towed by a tractor, such as ⁇ 1 ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ .
- the present invention relates to a steering operation for controlling a point and a control method thereof.
- tow-type w ⁇ i (to be referred to as “difficulty ⁇ 3 ⁇ 4” or “ ⁇ » j ”), which is towed by a tractor, is highly valued in order to prevent the soil from becoming dense. ing.
- Patent Document 1 Japanese Patent Laid-Open No. Hei 01-223804. ⁇ The method was partly used.
- the method of steering the wheels of the working machine has a problem that the mechanism is complicated, the cost is high, and the method cannot be applied to a working machine in which steering the wheels is structurally difficult. Disclosure of the invention
- the present invention has been made in view of the above problem ⁇ , does not require ⁇ ⁇ for steering operation, and has the following features: «leaking without « leakage «is simple and inexpensive ⁇ -mi
- the purpose of the present invention is to provide a steering operation that can be easily mounted on a machine and a control method thereof.
- a towed vehicle towed by a tractor detects and controls a steering angle of a front wheel of the tractor and a towed angle of the towed vehicle to control a rear center point of the tractor and a glue center of the towed vehicle.
- a tractor and a skin towing vehicle that move a tractor's traction point in the left-right direction so as to make a point travel.
- the towed vehicles referred to here include towed vehicles such as ⁇ ⁇ ⁇ , camping power, carts, and Lya power (the same applies hereinafter).
- a second invention is a tractor and a skin tractor vehicle according to the first invention, in which the knitted BI skin tractor vehicle is a small number of vehicles.
- a tractor and a skin tow vehicle according to the first or second invention, wherein the right and left movements of the towing point I of the tractor are hidden by a hydraulic motor.
- a tractor and a skin towing vehicle that are to be performed by steering operation consisting of:
- the leftward movement of the towed point of the disgusting tractor is constituted by a swing arm hidden by a hydraulic motor.
- a fifth aspect of the present invention in a towed vehicle towed by a tractor, the degree of maneuvering of the front wheels of the tractor and the towing angle of the towed vehicle are detected and controlled to control the rear glue center point of the tractor and the towed vehicle;
- This is a steering control method for a tractor and a towing vehicle that controls the movement of a tractor's towing point in the left-right direction so that the traveling fog at the center point coincides.
- the tractor and the skin towed bow are configured such that the vehicle I is a single-use fis wheel. I This is the vehicle steering control method.
- the moving amount X in the direction of the traction point of the three tractors is defined by the relationship of (A) and (B). This is a method for controlling the steering of a vehicle with a track and skin tow I.
- the leftward movement of the towed point of the Kamikami tractor is represented by (C) or (D).
- FIG. 1 is an explanatory view showing a state of a tow pillow for A by a tractor according to an embodiment of the present invention
- FIG. 2 ( ⁇ ) a steering apparatus according to a difficult embodiment of the bowl invention
- FIG. 3 is a front view showing the related parts
- FIG. 3 is a plan view
- FIG. 3 is an explanatory view of the principle of information at the time of turning according to the difficult embodiment of the present invention.
- FIG. 4 is a traveling fog diagram showing the effect of the invention according to the difficult aspect of the present invention
- FIG. 5 is an explanatory view of wa (swing arm) during turning according to the embodiment of the present invention.
- V Traction center point of swing arm Best mode for carrying out the invention
- FIG. 1 is an explanatory view showing a state in which a tractor according to an embodiment of the present invention is pulled by M ⁇ W ⁇ I.
- FIG. 2 is a steering operation device according to an embodiment of the present invention and its related components.
- (A) is a top view
- (B) is a plan view.
- FIGs. 1 and 2 6 is a tractor, 7 is a tractor steering handle, 8 is a tractor ft wheel, 9 is a rear wheel, 10 is a tractor tow rod, 12 is a tractor (work), and 17 is This is the report, and 13 is the towed rod of.
- Reference numeral 1 denotes a steering operation device for moving the traction center point P of the tractor to the left (G direction), and is firmly and detachably fixed to the crane 1 of the tractor.
- the steering operation device 11 is composed of a screw 4 housed in the inside thereof and a ball nut 5 which moves leftward by a hole in the screw 4.
- a towed rod 13 is connected to the towed pin 14.
- Reference numeral 1 denotes a controller for controlling the operation of the steering operation device 11, which has a built-in microcomputer and is disposed near the fiber seat of the tractor 6.
- Numeral 3 denotes a hydraulic motor, which is connected to the controller 1 via the electric relay 2 and hides the screw 4 according to the control of the controller 1 so that the traction pin 14 formed on the pole nut 5 and the pole nut 5 is formed. Move horizontally horizontally.
- FIG. 3 is an explanatory view of the tractor according to the embodiment of the present invention and the «JJ ⁇ at the time of how many turns, in which the square slash dlt tractor and the left and right wheels of the ⁇ are replaced by one wheel. This shows a situation in which evening 6 and the Shizu 12 are making the same judgment R and turning around the same spot.
- FIG. 3 is an explanatory view of the tractor according to the embodiment of the present invention and the «JJ ⁇ at the time of how many turns, in which the square slash dlt tractor and the left and right wheels of the ⁇ are replaced by one wheel. This shows a situation in which evening 6 and the Shizu 12 are making the same judgment R and turning around the same spot.
- L is the shaft of the tractor 6
- L h is the length of the towing rod of the tractor 6
- L t is the length of the towed liver of f ⁇ f
- X is the steering attached to the tractor 6. The amount of movement of the towing center point P of the operating device in the left and right direction.
- ⁇ is the leakage of the tractor 6 and the ⁇ is the angle between the center line of the tractor 6 and the number of towed rods (hereinafter referred to as the “traction angle ⁇ ]). It is measured by evenings 15 and 16.
- R indicates the turning pattern of tractor 6 (and.
- the front wheel 8 of the tractor 6 is steered through a steering linkage (not shown). Perform a left turn of the center turn judgment R.
- the maneuvering degree ⁇ of ⁇ ⁇ is measured by the potentiometer 15 and input to the controller 1.
- the traction angle ⁇ of the tractor 6 is measured by the potentiometer 16 and is manually input to the controller 1.
- the rotation of the hydraulic motor 3 and the screw nuts 4 and the pole nuts are shifted by ⁇ ⁇ X outside the center point of the bonfire I so that the towing angle ⁇ of the tractor 6 becomes a predetermined value under the control of the controller 1.
- the center point ⁇ of the rear axis of the tractor 6 and the center point S of the 12 make a turn of the same ⁇ f ⁇ R around the same point ⁇ .
- FIG. 4 is a diagram illustrating a traveling state of the tractor 6 and the ⁇ t 12 when turning, showing the effect of the invention according to the embodiment 5S of the present invention.
- the return spring a is a traveling fog at the rear axle center point T of the tractor 6, a dotted line according to the form of »in the description of“ ⁇ ”, and the traveling sugar at the center point s, M c ⁇ 1 center point S of $ f indicates the running $ W.
- the cultivation unit 12 faithfully follows the tractor 6, so that the operator does not need the barbs, and If you drive along the f-train, you will automatically travel along the f-train, and you will be able to perform high-precision f-trains and reduce fatigue.
- This time is the average running speed of the keypad when the movement of the center point P is started when the 13 ⁇ 41 22 is moved to the position of the rear axis of the tractor 6.
- the fixed value calculated by the tractor may be used, but if the variability of the tractor is changed according to the situation, it is possible to increase the followability of the tractor.
- ⁇ control of h can be solved ⁇ T.
- a hydraulic concealed electric swing arm fixed to the tractor 6 so as to be rotatable may be used to move the tractor 6 in an arc shape in the left-right direction.
- FIG. 5 is an explanatory diagram of fi3 ⁇ 4ja at the time of turning when the towing center point moves in the direction of fefcfc in an arc shape by the swing arm according to the embodiment of the present invention.
- the invention according to the above-mentioned difficult form of the present invention is based on a screw and a pole nut or a swing arm: fc is a simple device that does not give up ⁇ M ⁇ like «. From the above, it is possible to obtain the above 3-1 result by retrofitting the existing tractor and its tractor.
- the steering angle of the tractor and the towing angle of the towed vehicle are detected and controlled, and after the tractor: the center point and the center of the towed vehicle Since the tractor and the skin towing vehicle are taught to move the tractor's traction point to the left so that the running traces of the points coincide, the towed $ follows the tractor faithfully, so the operator
- the tractor can easily run without the need to use the fiber for the steering operation in the truck, reducing fatigue. This is particularly effective when traveling on a narrow curved road or a crank road.
- the second invention is a tractor and a skin towing vehicle according to the first invention, which is a tractor and a skin towing vehicle whose main component is that the key vehicle is a key vehicle. Since the operator follows the tractor, the operator does not need to knead the tractor to operate the tractor. High work can be performed, and the effect of reducing fatigue can be obtained.
- the tractor and the skin towing vehicle according to the first or second aspect, wherein the left and right movement of the tow point of the tractor includes a screw driven by a hydraulic motor and a pocket nut.
- ⁇ ⁇ ⁇ follows the tractor faithfully with a simple device. If the tractor travels along the train line without the need for training, it will automatically travel 13 ⁇ 4 along the work train, and can perform ⁇ 1 ⁇ with high accuracy, thus reducing fatigue. can get.
- an operation comprising a swing arm which is asleep by a laterally moving fine pressure motor at a point I of a disgusting tractor.
- a tractor and a skin tow that use glue-laying to be performed by head-to-head maneuvering I The power of the vehicle is a simpler device, and since ⁇ i ⁇ faithfully follows the tractor, the operator The tractor does not need to be easy to steer, and if the tractor is driven along the I column, the ⁇ ! Will automatically be driven along the working column to achieve high precision conditions. And the effect of reducing fatigue can be obtained.
- the steering of the front wheels of the tractor and the towed bow (by detecting and controlling the towing angle of the vehicle, the rear center point of the tractor and the )
- the towing vehicle is a steering control method for tractors and skin towing vehicles, which involves controlling the movement of the tractor I point in the left and right direction so that the center point keeps running. Since the tractor follows the tractor faithfully, the operator does not need to grind the steering operation of the tractor and can easily reduce the running force and reduce fatigue. This is particularly effective when traveling on narrow bends and cranks. '
- the steering control of the tractor and the towed vehicle is performed based on the fact that the towed vehicle is used. Since the method is simple, the operator needs a great deal of steering operation of the tractor, since it is easy to follow the method of leaking the ⁇ ffl ⁇ f number and the machine faithfully follows the tractor. If the tractor is driven along a row without any need, it will automatically run along the row, providing the ability to perform high-precision fatigue and reduce fatigue.
- the movement amount X in the left direction of the towed tractor; fc ⁇ direction is ⁇ (A), ( This is a steering control method for a tractor and a towed vehicle that has the relationship of B).
- the ⁇ f ⁇ 3 ⁇ 4 »$ ⁇ in the province is made simpler than the method of grace, and the ⁇ tractor follows the tractor faithfully, so the operator does not need to train the tractor, By running along the working train, it is possible to automatically run along the train of crops, perform high-precision training, and reduce fatigue.
- the left-right movement of the tow point of the three tractors is (C), (D),
- the method of obtaining the mffli ⁇ i is made simpler and faithfully follows the tractor. If the tractor travels along the crop row without requiring any special measures, it will automatically travel along the crop row, and will be able to perform highly accurate work and reduce fatigue. can get.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Guiding Agricultural Machines (AREA)
- Agricultural Machines (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2003-038285 | 2003-02-17 | ||
JP2003038285A JP2006180702A (ja) | 2003-02-17 | 2003-02-17 | トラクタおよび被牽引車両の操向操作装置とその制御方法 |
Publications (1)
Publication Number | Publication Date |
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WO2004071161A1 true WO2004071161A1 (ja) | 2004-08-26 |
Family
ID=32866384
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2004/001559 WO2004071161A1 (ja) | 2003-02-17 | 2004-02-13 | トラクタおよび被牽引車両の操向操作装置とその制御方法 |
Country Status (2)
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JP (1) | JP2006180702A (ja) |
WO (1) | WO2004071161A1 (ja) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105216860A (zh) * | 2015-09-08 | 2016-01-06 | 江苏大学 | 半挂汽车列车精确转向和制动稳定性的半主动油液分流型控制装置和方法 |
US11325435B1 (en) * | 2019-12-03 | 2022-05-10 | Les Riddle | Bale accumulator offset hitch |
IT202100005609A1 (it) * | 2021-03-10 | 2022-09-10 | Rudiflex S R L | Dispositivo di traino, assieme, metodo di gestione |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7130549B2 (ja) * | 2018-12-26 | 2022-09-05 | 株式会社クボタ | 作業車両及び作業車両を備えた作業機 |
CN112896155B (zh) * | 2021-02-24 | 2022-06-21 | 江苏大学 | 一种果园自动驾驶牵引车牵引装置的辅助控制系统及方法 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS59158559U (ja) * | 1983-04-12 | 1984-10-24 | 坪井特殊車体株式会社 | フルトレ−ラ−のステヤリング装置 |
JPS6441478A (en) * | 1987-08-03 | 1989-02-13 | Mazda Motor | Steering device for trailer |
JPH01223084A (ja) * | 1988-03-02 | 1989-09-06 | Seibutsukei Tokutei Sangyo Gijutsu Kenkyu Suishin Kiko | 農用牽引式作業機の操向操作方法 |
JPH0419206A (ja) * | 1990-05-15 | 1992-01-23 | Takakita Co Ltd | トラクタにおける2輪作業車の牽引装置 |
JPH05316807A (ja) * | 1992-05-18 | 1993-12-03 | Seibutsukei Tokutei Sangyo Gijutsu Kenkyu Suishin Kiko | 農用牽引式作業機の操向制御方法 |
-
2003
- 2003-02-17 JP JP2003038285A patent/JP2006180702A/ja active Pending
-
2004
- 2004-02-13 WO PCT/JP2004/001559 patent/WO2004071161A1/ja not_active Application Discontinuation
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS59158559U (ja) * | 1983-04-12 | 1984-10-24 | 坪井特殊車体株式会社 | フルトレ−ラ−のステヤリング装置 |
JPS6441478A (en) * | 1987-08-03 | 1989-02-13 | Mazda Motor | Steering device for trailer |
JPH01223084A (ja) * | 1988-03-02 | 1989-09-06 | Seibutsukei Tokutei Sangyo Gijutsu Kenkyu Suishin Kiko | 農用牽引式作業機の操向操作方法 |
JPH0419206A (ja) * | 1990-05-15 | 1992-01-23 | Takakita Co Ltd | トラクタにおける2輪作業車の牽引装置 |
JPH05316807A (ja) * | 1992-05-18 | 1993-12-03 | Seibutsukei Tokutei Sangyo Gijutsu Kenkyu Suishin Kiko | 農用牽引式作業機の操向制御方法 |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105216860A (zh) * | 2015-09-08 | 2016-01-06 | 江苏大学 | 半挂汽车列车精确转向和制动稳定性的半主动油液分流型控制装置和方法 |
US11325435B1 (en) * | 2019-12-03 | 2022-05-10 | Les Riddle | Bale accumulator offset hitch |
IT202100005609A1 (it) * | 2021-03-10 | 2022-09-10 | Rudiflex S R L | Dispositivo di traino, assieme, metodo di gestione |
Also Published As
Publication number | Publication date |
---|---|
JP2006180702A (ja) | 2006-07-13 |
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