JPH0195980A - Steering device for trailer - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention This invention relates to a control device for a trailer connected to a tractor.

In the conventional technology and the trailer that is connected to the rear side of a tractor and towed, which is the problem to be solved by the present invention, a skilled technique is required for reverse steering operation.

In order to turn the trailer in the same direction from side to side while backing up, first turn the front wheels in the same direction as the trailer so that the tractor is steered in the opposite direction to the direction of the trailer. operation required.

This cutting steering is followed by a rounding steering in which the front wheels are steered in the opposite direction to the trailer, and setting of each of these steering angles is difficult in relation to the backward speed.

Means for Solving the Problems This invention provides a means for reversing the tractor (1) and trailer (1) during reverse steering.
2), the front wheels (3) of the tractor (1) are steered in the same direction as the trailer (2) is steered backward. and an automatic reverse steering bag M (B) that automatically steers the trailer (2) from the cutting steering to the turning steering in the opposite direction to the backward steering of the trailer (2). The structure of the trailer control device is provided.

Effect of the invention Tractor (1) when moving the trailer (2) backwards
By setting the turning angle (A) between the trailer (2) and the trailer (2), the tractor (1) is steered backward.

Automatic steering is performed by the automatic reverse steering device (B), and by steering the front wheels (3), the front wheels (3) are turned in the same direction as the backward steering of the trailer (1). Automatically steer the vehicle to approach the set turning angle (A).

Subsequently, turning steering is performed, and the turning angle (A) is achieved by steering the front wheel (3) of the cutting steering in the opposite direction to the backward steering of the trailer (2). It will be converted.

When the backward steering is completed, the angle of the front wheels (3) is returned to a state parallel to the trailer (2), and the tractor (1) and the trailer (2) are aligned on a straight line.

Effects of the Invention By setting the turning angle (A) between the tractor (1) and the trailer (2) in advance during reverse steering as described above, the automatic reverse steering device (B) can automatically steer the vehicle. As a result, the front wheels (3) receive the cutting steering and turning steering, and are automatically controlled to a constant backward position, allowing easy and accurate maneuvering with fewer steering errors. .

Embodiment In the example shown in Figure 1, the tractor (1) is equipped with a power steering wheel (5") with a steering handle (4") at the front of the vehicle body.
) is provided with a front vehicle * C31 that is steered through the engine (6) and the left and right rear wheels that are driven through the transmission device (7) at the rear! 81 have been set up. (9) is the cockpit.

(1[ is a front wheel axle that supports the front wheel (3) so that it can be steered freely, and the power steering (5) has a steering sensor C1υ that detects the steering angle of the steering handle (4).
, and a steering operation sensor for detecting the operating force of the steering handle (4). In addition, the transmission device (7) is provided with a clutch (13) that turns on and off transmission to the rear wheels (8), a steering brake (b) that brakes the rotation of each of the left and right rear wheels (8), etc. 09 is the brake pedal, (IS is the brake cylinder operated by the brake control valve of the hydraulic circuit. +171 is the vehicle speed sensor, which is configured to detect the rotation of a part of the transmission mechanism of the rear wheel (8). The transmission device is equipped with a transmission, a forward/reverse switching device, etc., and a forward/reverse switch (
It is provided that it can also be done by 1υ.

The trailer (2) has a pair of left and right wheels (FJ), and the front end of a connecting rod is connected to a hit part at the rear end of the vehicle body of the tractor (1) by a pin 21 so as to be rotatable left and right. Further, a bending angle sensor (22) is provided at the rear end of the tractor body to detect the turning angle of the connecting rod (pink) as a bending angle (A). Also, the rear of the tractor (1) body has a bend (
A) is provided with a bending angle setting device (to).

C4 is a warning device consisting of a buzzer, sound, lamp, etc. that warns when the steering angle of the front wheel +31 is operated beyond a predetermined range.

Regarding the control of the automatic reverse steering system (B) consisting of a microcomputer (CPU) etc., the microcomputer (CPU) etc.
CPU) has a trailer (2) for the tractor (1).
The relationship between the reverse speed and the steering angle of the front wheels (3) to obtain the bending angle (A) of the connection part is registered, and while outputting the power steering (5) according to this relationship, the target The steering control is performed to obtain the turning angle (A), and the relationship with these steering angles, etc. is registered by graphical etc. using experimental values for each turning angle (A), and the automatic reverse steering control is controlled. It is used as a standard.

Turn the bend angle setting ■ (To) handle to set the bend angle (A) that you have estimated in advance. If the turning direction of the trailer (2) with respect to the tractor (1) is to the left (FIG. 1), the turning angle (A) is also set as the turning angle on the left side. When reverse switch + Ill is turned on, power steering (5)
, a power steering sensor (1)), etc., the front wheel (3) is turned rightward at a certain angle and the steering control is performed (FIG. 6). This cutting steering control allows the cutting angle (
C) is detected by the turning angle sensor Q3, the power steering (5) and the power steering sensor (
1)) etc., the front wheels (3) are steered to the left, which is opposite to the cutting steering, and turning steering control is performed (first
figure). When the turn angle (A) reaches the set angle due to this turning steering, it is detected by the turn angle sensor ■, so the power steering (5) and the power steering sensor (mark etc.) The front wheels (3) are steered to the right, which is the opposite direction to the steering control, and return to the straight-ahead position.When the front wheels (3) are in the straight-ahead position, they are detected by the turning angle sensor (2).
3 is detected, the brake (IQ) is applied, and the clutch 03 is disengaged to stop the backward movement (FIG. 7). The cutting angle (C) is automatically determined by the setting of the turning angle (A).

The power steering (5) is connected to the steering wheel (
In addition to the operating force in 4), automatic reverse steering is activated by the detection of turning angles (A), (C), etc. by the turning angle sensor ■ as described above, but this power steering (5) When the operation exceeds the predetermined control range detected by the power steering sensor (1) 1 and becomes unsafe, the operation of the power steering (5) is checked or activated by the alarm device (2). The gradient will be detected and an alarm will be issued.

In addition to the steering using the power steering (5), when the vehicle speed is too high or when the steering angle control is insufficient, the steering Brake (14
1, clutch (13, etc.) will be activated automatically, and even with this, if the speed still exceeds the steering control range or if the steering is incomplete.

Alarm is issued by alarm device Q4.

In addition, this information device Q/p is used in the automatic steering control described above.
Operation of the steering handle (4) by the driver.

It may also be provided to warn when the steering control falls into an incomplete region due to operation of the clutch (+3.) or the steering brake (14+).

[Brief explanation of the drawing]

The figure shows an embodiment of the invention, and FIG. Figure 2 is a plan view showing the operating state, Figure 3 is a side view, Figure 4 is a side view, and Figure 4 is a side view.
The figure is a partially enlarged plan sectional view, FIG. 5 is a block diagram, and FIGS. 6 and 7 are plan views showing the operation. In the figure, (1) is a tractor, (2) is a trailer, and (3) is a tractor.
) is the front wheel, (5) is the power steering, (1υ is the forward/backward switch, (2δ is the turning angle setting device, and (2 is the alarm device.) Name of patent issuer: Iseki Agricultural Machinery Co., Ltd. Representative: Iseki Masa Takashi Figure 1?

Claims (1)

[Claims] By setting the turning angle (A) between the tractor (1) and the trailer (2) during reverse steering, the tractor (1)
) is steered so that the front wheels (3) of the trailer (2) are steered in the same direction as the reverse steering of the trailer (2); and Automatic reverse steering device (
B) A trailer control device comprising: