WO2014178084A2 - Electric power steering system for farm and utility tractors - Google Patents
Electric power steering system for farm and utility tractors Download PDFInfo
- Publication number
- WO2014178084A2 WO2014178084A2 PCT/IN2014/000295 IN2014000295W WO2014178084A2 WO 2014178084 A2 WO2014178084 A2 WO 2014178084A2 IN 2014000295 W IN2014000295 W IN 2014000295W WO 2014178084 A2 WO2014178084 A2 WO 2014178084A2
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- electric power
- power steering
- steering
- shaft
- steering system
- Prior art date
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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
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0403—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by constructional features, e.g. common housing for motor and gear box
- B62D5/0406—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by constructional features, e.g. common housing for motor and gear box including housing for electronic control unit
-
- 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
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0409—Electric motor acting on the steering column
- B62D5/0412—Electric motor acting on the steering column the axes of motor and steering column being parallel
Definitions
- the subject matter of the present in ention relates to an electric power steering system for farm and utility tractors having an integrated steering electronic control unit (EC3 ⁇ 4 j j and torque sensor.
- EC3 ⁇ 4 j j integrated steering electronic control unit
- the manual steering system comprises steering wheel (1) which is mounted on a steering shaft (2) passing through a steering jacket (3);
- the steering shaft (2) is iirther connected to a steering gear box (4) having a sector shaft (5) and a drop arm (6).
- FIG.2 An internal schematic of the steering gear box (4) used in manual steering systems for utility tractors is illustrated in Fig.2.
- a worm shaft (4a) is mounte in the gear box housing (4c) with the support of a lower spherical rollei ball bearing (4d) and an upper spherical roller ball 1 ⁇ 4aring 4ig .
- a ball nut assembly (4b) is mouterrorism on the w ⁇ rrh shaft (4a).
- the worm shaft (4a) and ball nut assembly (4b) are perpendicular to each other.
- the sector shaft (5) is attached to the 3 ⁇ 4all nut assembly (4b) by a dovetail guide (4c). As shown in Fig., 2 3 ⁇ 4 the drop arm (6) is mounted on the sector shaft (5).
- the drop arm (6) is connected to a steering knuckle arm (8) through a tic rod (7).
- the steering knuckle arm (8) is further connected by drag link (9).
- the steering system operates to steer the tires 1 mounted on the front axle bea (10) in the driver intended direction.
- the torque required to c steej a : tg eti r depends on various parameters such as "road conditions, weight of the tractor, speed of the tractor and loading condition of the tractor, etc.” and is usually as high as about 90 Nm.
- the complex structure of the manual steering system makes it very difficult and painful toi use and causes r gue to the driver in long run. Further ⁇ because of very high sferirig torque requirements, it becomes very difficult for old aged and female drivers to drive the tractor.
- the steering wheel (V) mounted on the steering shaft (2) and passing through the ⁇ 3 ⁇ 4lunm jacket (3) is connected to a ⁇ _ra jfe motor direetioti control valve (M% A h ⁇ f ulie steering pump (h3) is connected to the tractor engine via a belt and pulley afr3 ⁇ 4hgemeni
- the hydraulic steering pump (h3) is also connected to an oil reservoir (h2).
- the hydraulic motor/direction control valve (hi) is further connected to a hydraulic steering cylinder (h6) via hose pipes (h4).
- the hydraulic steering cylinder (h6) is connected to
- the hydraulic motor/direction control valve (hi) rotates and opens a passage for hydraulic oil to move towards the hydraulic steering cylinder (h6) to turn the tire (1 1).
- the hydraulic motor/direction control valve (hi) is ;£fO3 ⁇ 4id with pressurized oil coming from the oil reservoir (h2) through the hydraulic steering pump (h3).
- hydrostatic steering system makes steering off the vehicle eas for the driver but is not safe in case of situation when oil comes out from the hydraulic steering cylinder or hose pipes due to many reasons including damage. If oil seal is leaked or hose pipes are damaged ⁇ the tractor is unable to be steere which indicates a big concern for the safety of the users.
- the tractor with manual steering can be towed without any problem in case tractor engine is not working due t non-availability of steering capability because* of the presence of mechanical linkages between various components, whereas, it requires special vehicle to tow the tractor in hydrostatic steering systejn whenever there is oil leakage from the hydraulic steering cylinder or hose ⁇ pipes bec ⁇ se of the absence of m naltic l Iinfeges ⁇ ⁇
- the present invention proposes an easy, less complex and safe steering system t be used by farm and utility tractors without loss of mechanical linkages and using state of the art EPS technology specially developed for tractors.
- EPS electric power steering
- Fig. 1 is aselkmatie ili ⁇
- Fig. 2 is an isolat d* internal schematic view of the steerin gear box of the manual steering system of fig,. 1.
- Fig. 3 is a schematic illustration of the hydrostatic power steering used in tractors rating above SO hOTse power.
- FIG. 4 igi .il ⁇ schematic illustration of an EPS system having mechanical linkages ⁇ in accordance with an aspect of the present invention.
- Fig ⁇ S is an isolated ⁇ partially schematic, cross-sectional view of the EPS od ⁇ tmit of EPS system of fig. 4.
- Fig is an exploded view of the EPS module/uriit oflPS systern of fig s
- Fig. 7 shows schematic of position of sensor chips on integrated electronic control board and roagtietf for torque sensing, in ac ⁇ rdance with an aspect of the presetit invention.
- EPS Electric Power Steering
- Fig. 4 shows an EPS system for farm tractors ih accordance with one embodiment of the present invention.
- an EPS module (13) is pla3 ⁇ 4di i between steering gear box (4A) and steering shaft (2) of the The EPS module (13) provides steering assist to the driver and the EP i module ( ⁇ 3) in.
- ⁇ he ⁇ present invention is connected to steering shaft (2) via coupler inside upper bracket (12) and to steering
- FIGs. 5 & 6 the schematic and exploded views of proposed 3 ⁇ 4PS module (13) are shown respectively in accordance with an aspect of the present invention.
- force is appHed at the steering wheel (I) (shown in Fig. 4) which is mounted on a steering shaft; 23 ⁇ 4 it causes the input shaft (13a) which is connected to steerin shaft (2) via coupler inside upper bracket to rotate and creates twist in the torsion bar (13d) (i.e., it experiences torsion) which further, causes rotation of the output shaft (13f).
- the input shaft (13a) and output shaft (13f) are connected by way of a torsion bar (13d) such that one end of a torsion bar (13d) rotates with the input shaft (13a) and the other end rotates with the output shaft (13f)-
- an EPS module ( 3) in the present invention incorporates an input gear female stopper (13bl) and output gear male stopper (13c 1).
- the rotation or rotational Motion of the input shaft (13a) and output shaft (I3f) is transmitted to input sensor pinion (13n) and output sensor cum intermediate pinion (131) through input gear (i b and output; gear (13c) respectively.
- the rotat » ⁇ 3 ⁇ 4 oftrte injpt sensor pinion (13n) and output sensor cum intermediate pinion (131) further causes rotation of the magnets (13jl 8c 13j2) mounted on input sensor pinion (1 n) a output sensor cum intemediate pim 7.
- 3j3 ⁇ 4 are sappojfed by magnel holders (13k I & 13k2) r ⁇ etfvel .
- the rotation angle of magnets (13jl & 13j2) are sensed by sensor chips (1311 & 13i2) placid on an integrated electronic control unit assenibl (13s) as shown in Fig. 7. ⁇
- the rotation angle inibnttauore sens ⁇ 1312) is converted into torque f r atign that detects the torque or force applied at the input shaft connected to steering wheel (1) (show in Fig. 4) and this torque information 1 ⁇ 2 sent to the microprocessor of an integrated electronic control unit assembly (13s) which further supplies electrical current to the motor (13r) based on the signals or torque iirtfbTfmation received from the torque sensor in-built in an electronic control unit through supply connector (13t).
- the motor After receiving inrorm ori in the form of electrical current, the motor applies assisting torque to the output shaft (13f) that helps rotate the output shaft (131) through motor pinion (13o), inteonediate gear (13m), i-uerme iate pinion (131) and output gear (13c).
- the output s aft; (131) of EPS module (13) is connected to steering gear box (4A) via coupler inside lower bracket (14) having a sector shaft (5) and drop arm (6).
- the drop arm (6) is connected to tie rod 7) and tie rod (7) is connected to steering knuckle arm (8) which is further connected by drag link (9).
- the torque at the: output shaft (sum of torque applied at the steering wheel (1) and the assist torque provided by motor (13r)) helps turn the tires 11 ®un (10).
- an EPS module (13) has an integr ⁇ tfed housing (13g), an upper cover (13p) and a lower cover 3 ⁇ 4 ,
- the upper cover fl3p) and the lower cover 13h) are fastened ith tte integrated housing (13g) by means of fasteners (13q) such as boltey nuts, rivets etc.
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Steering Mechanism (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
An electric power steering system for farm and utility tractors segment incorporates a unique and innovative electric power steering module (13) between steering gear box (4A) and steering shaft (2) of the manual steering system, thus, making it a safe and much more reliable power steering system for tractors since it also has mechanical linkages present between various components. The electric power steering module (13) provides steering assist to the driver and is connected to steering shaft (2) via coupler inside upper bracket (12) and to steering gear box (4A) via coupler inside lower bracket (14). The electric power steering module (13) has a torsion bar (13d), an integrated torque sensor and integrated electronic control unit assembly (13s) on a printed circuit board for cost effective design, a motor (13r) and a robust reduction gear train comprising motor pinion (13o), intermediate gear (13m), intermediate pinion (131), and output Gear (13c) mechanism.
Description
ELECTRIC POWER STEERING SYSTEM FOR FARM AND UTILITY TRACTORS
Technical Field
The subject matter of the present in ention relates to an electric power steering system for farm and utility tractors having an integrated steering electronic control unit (EC¾jj and torque sensor.
Background
ConvenfionaH in farm tractors having power less than 50 horsepower, manual steering systems are used, the schematic view of which is illustrated in Fig.1. In general and as schematica shown in Fig.1 , the manual steering system comprises steering wheel (1) which is mounted on a steering shaft (2) passing through a steering jacket (3); The steering shaft (2) is iirther connected to a steering gear box (4) having a sector shaft (5) and a drop arm (6).
An internal schematic of the steering gear box (4) used in manual steering systems for utility tractors is illustrated in Fig.2. A worm shaft (4a) is mounte in the gear box housing (4c) with the support of a lower spherical rollei ball bearing (4d) and an upper spherical roller ball ¼aring 4ig . A ball nut assembly (4b) is mouniei on the w^rrh shaft (4a). The worm shaft (4a) and ball nut assembly (4b) are perpendicular to each other. The sector shaft (5) is attached to the ¾all nut assembly (4b) by a dovetail guide (4c). As shown in Fig., 2¾ the drop arm (6) is mounted on the sector shaft (5). When the worm shaft (4a) is related i clockwise or ticldek ise direction* the ball nut assembly (4b) moves up or down re$peeiiyel i The movement of the ball nut assembly (4b) enables rotation of the sector shaft (5) and hence, the drop arm (6) Mounted cm the sector shaft
Referring Fig. 1, the drop arm (6) is connected to a steering knuckle arm (8) through a tic rod (7). The steering knuckle arm (8) is further connected by drag link (9). When the driver applies steering force on the steering wheel (1), the steering system operates to steer the tires 1 mounted on the front axle bea (10) in the driver
intended direction. In such conventional manual steering systems, the torque required to c steej a : tg eti r depends on various parameters such as "road conditions, weight of the tractor, speed of the tractor and loading condition of the tractor, etc." and is usually as high as about 90 Nm. The complex structure of the manual steering system makes it very difficult and painful toi use and causes r gue to the driver in long run. Further^ because of very high sferirig torque requirements, it becomes very difficult for old aged and female drivers to drive the tractor.
In order to overcome the abovemeritloned lim¾tiohs of the manual steering st m* especially for tractors having more than 50 ho*s^ hydrostatic power steering
oil in a f ira tlic s steering cylinder (h6). The steering wheel (V) mounted on the steering shaft (2) and passing through the <¾lunm jacket (3) is connected to a <_ra jfe motor direetioti control valve (M% A h^ f ulie steering pump (h3) is connected to the tractor engine via a belt and pulley afr¾hgemeni The hydraulic steering pump (h3) is also connected to an oil reservoir (h2). The hydraulic motor/direction control valve (hi) is further connected to a hydraulic steering cylinder (h6) via hose pipes (h4). The hydraulic steering cylinder (h6) is connected to
mechanically connected to the tires (11) of the tractor.
When the driver applies force on the steering wheel (1), the hydraulic motor/direction control valve (hi) rotates and opens a passage for hydraulic oil to move towards the hydraulic steering cylinder (h6) to turn the tire (1 1). To make steering easy, the
hydraulic motor/direction control valve (hi) is ;£fO¾id with pressurized oil coming from the oil reservoir (h2) through the hydraulic steering pump (h3).
The use of hydrostatic steering system though makes steering off the vehicle eas for the driver but is not safe in case of situation when oil comes out from the hydraulic steering cylinder or hose pipes due to many reasons including damage. If oil seal is leaked or hose pipes are damaged^ the tractor is unable to be steere which indicates a big concern for the safety of the users.
The tractor with manual steering can be towed without any problem in case tractor engine is not working due t non-availability of steering capability because* of the presence of mechanical linkages between various components, whereas, it requires special vehicle to tow the tractor in hydrostatic steering systejn whenever there is oil leakage from the hydraulic steering cylinder or hose ^ pipes bec^se of the absence of m naltic l Iinfeges ν ^
In view of folrejoifig it is highly desrable to alleviate the limitations of both manual and hydrostatic steering systems respectively. Therefore, the present invention proposes an easy, less complex and safe steering system t be used by farm and utility tractors without loss of mechanical linkages and using state of the art EPS technology specially developed for tractors.
Summary
It is an object of the present invention to provide a compact, less complex and cost electi e steering system.
It is another object of the present invention to provide a simple electric power steering (EPS) system for farm and utility tractors.
It is yet another object of the present invention to provide a safe and reliable steerin system in various vulnerable conditions.
Brief Description of the Drawings
The foregoing and further objects, features and advantages of the invention will become apparent from the following description of example embodiments with e&reMee?¾¾ the accompanying drawings, w rein like numerals are used to represent like; elements ajnd y¾erein:
Fig. 1 is aselkmatie ili ^
Fig. 2 is an isolat d* internal schematic view of the steerin gear box of the manual steering system of fig,. 1.
Fig. 3 is a schematic illustration of the hydrostatic power steering used in tractors rating above SO hOTse power.
Fig. 4 igi .il· schematic illustration of an EPS system having mechanical linkages^ in accordance with an aspect of the present invention.
Fig^ S is an isolated^ partially schematic, cross-sectional view of the EPS od ^ tmit of EPS system of fig. 4.
Fig, is an exploded view of the EPS module/uriit oflPS systern of figs
Fig. 7 shows schematic of position of sensor chips on integrated electronic control board and roagtietf for torque sensing, in ac^rdance with an aspect of the presetit invention.
Detailed Deseirii itiiOin of the Invention
Referring in greater detail to the drawings, in which like numerals refer t like parts throughout the several views, examples of embodiments of the present invention are described in the following description.
It is an aspect of the present invention to provide an Electric Power Steering (EPS) system for farm and; utilit tractor segment with an integrated torque sensor arid electronic control unit on a printed circuit board such that the torque sensor circuit is in-built in the electronic control unit. This eliminates the undesirable need of an external wire harness and connectors used to connect torque sensor and electronic control unit placed on different printed circuit boards in the conventional EPS systems.
Fig. 4 shows an EPS system for farm tractors ih accordance with one embodiment of the present invention. To convert a manual steering into power steering, an EPS module (13) is pla¾di i between steering gear box (4A) and steering shaft (2) of the
The EPS module (13) provides steering assist to the driver and the EP i module (\3) in. }he ^ present invention is connected to steering shaft (2) via coupler inside upper bracket (12) and to steering
Referring Figs. 5 & 6, the schematic and exploded views of proposed ¾PS module (13) are shown respectively in accordance with an aspect of the present invention. When force is appHed at the steering wheel (I) (shown in Fig. 4) which is mounted on a steering shaft; 2¾ it causes the input shaft (13a) which is connected to steerin shaft (2) via coupler inside upper bracket to rotate and creates twist in the torsion bar (13d) (i.e., it experiences torsion) which further, causes rotation of the output shaft (13f). The input shaft (13a) and output shaft (13f) are connected by way of a torsion bar (13d) such that one end of a torsion bar (13d) rotates with the input shaft (13a) and the other end rotates with the output shaft (13f)-
It is also an em%odiment¾jf the present invention to
bar (13d) within elastic limits by way of any mechanical means so as to prevent hysteresis in the torsion bar (13d) and protect it from gettin damaged. To control excessive twisting of the torsion bar (13d), an EPS module ( 3) in the present
invention incorporates an input gear female stopper (13bl) and output gear male stopper (13c 1).
The rotation or rotational Motion of the input shaft (13a) and output shaft (I3f) is transmitted to input sensor pinion (13n) and output sensor cum intermediate pinion (131) through input gear (i b and output; gear (13c) respectively. The rotat »ø¾ oftrte injpt sensor pinion (13n) and output sensor cum intermediate pinion (131) further causes rotation of the magnets (13jl 8c 13j2) mounted on input sensor pinion (1 n) a output sensor cum intemediate pim 7. The magnets (13j I & |3j¾ are sappojfed by magnel holders (13k I & 13k2) r^^etfvel . The rotation angle of magnets (13jl & 13j2) are sensed by sensor chips (1311 & 13i2) placid on an integrated electronic control unit assenibl (13s) as shown in Fig. 7.·
The rotation angle inibnttauore sens^ 1312) is converted into torque f r atign that detects the torque or force applied at the input shaft connected to steering wheel (1) (show in Fig. 4) and this torque information ½ sent to the microprocessor of an integrated electronic control unit assembly (13s) which further supplies electrical current to the motor (13r) based on the signals or torque iirtfbTfmation received from the torque sensor in-built in an electronic control unit through supply connector (13t).
After receiving inrorm ori in the form of electrical current, the motor applies assisting torque to the output shaft (13f) that helps rotate the output shaft (131) through motor pinion (13o), inteonediate gear (13m), i-uerme iate pinion (131) and output gear (13c).
Inferring Fig. 4, the output s aft; (131) of EPS module (13) is connected to steering gear box (4A) via coupler inside lower bracket (14) having a sector shaft (5) and drop arm (6). The drop arm (6) is connected to tie rod 7) and tie rod (7) is connected to steering knuckle arm (8) which is further connected by drag link (9). The torque at
the: output shaft (sum of torque applied at the steering wheel (1) and the assist torque provided by motor (13r)) helps turn the tires 11 ®un (10).
According to an aspect of the present invention, an EPS module (13) has an integr^tfed housing (13g), an upper cover (13p) and a lower cover ¾ , The upper cover fl3p) and the lower cover 13h) are fastened ith tte integrated housing (13g) by means of fasteners (13q) such as boltey nuts, rivets etc.
While the preferred! embodiment of the invgatisin hp¾ iEd cribed above, it will be ¾¾cOgh|zed and understood that various modifications may be made therein arid the appended claims are intended, to cover all such modifications that may fall within the spirit and scope of the invention.
Claims
We claim: . An electric power steering system for farm and utility tractors comprising an electric power steering module placed between ;¾ s¾enng^ a steering shaft, the electric power steering module comprising
m ihput shaft;
a torsion bar connecting the input shaft and the output shaft such that one end of the torsion bar rotates with the input shaft and thet<¾ther end rotates with the utpufcsha¾
an integrated torque sensor arid steering electronic control unit assembly on a
^rMed eircuifcboar¾ ^
eoritr^ unit;
¾.^¾¾i ismis i ¾. fbr «¾nsfemng motion f¼>m |he driving means to the out ^shaft.
2. The electric power steering system as claimed in claim 1, wherein the input
6. The electric power steering syste as claimed! i claim 4 or 5, wherein rotational motion of the input sensor pinion and output sensor cum intermediate pinion is transferred to magnets mounted on the input sensor pinion and the output sensor cum intermediate pinion.
7. The electric power steering system as claimed in claim 6, wherein rotation angle of said magnets is sensed by sensor chips placed on said integrated eleietiEoniic control unit assembly.
8. The electric power steering system as claimed in claim 7, wherein rotation angle
sensed by said sensor chips is converted into torque information and sent to said steering electronic control unit;
9. The elictrife power steerang sys|em as claimed in My of Hie e^edin claims, wtereili said steeririg electronic control unit sends electrical current propOJrtiOifial to the torque at the Input shaft to the driving means jand driving means is a motor.
10. The eiecftric power steering system as claimed in claim 1, wherein the gear transmission is in the f m
11. An electric power steering system, substantially as herein described with reference to, and as illustratecl in, the ac mpanying drawings.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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IN1328DE2013 | 2013-05-03 | ||
IN1328/DEL/2013 | 2013-05-03 |
Publications (3)
Publication Number | Publication Date |
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WO2014178084A2 true WO2014178084A2 (en) | 2014-11-06 |
WO2014178084A3 WO2014178084A3 (en) | 2014-12-24 |
WO2014178084A4 WO2014178084A4 (en) | 2015-02-19 |
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/IN2014/000295 WO2014178084A2 (en) | 2013-05-03 | 2014-05-02 | Electric power steering system for farm and utility tractors |
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Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107416017A (en) * | 2017-08-08 | 2017-12-01 | 豫北转向系统股份有限公司 | A kind of light truck Electronic Control hydraulic steering system |
CN110667699A (en) * | 2019-09-04 | 2020-01-10 | 东风商用车有限公司 | Arrangement system of steering engine |
JP2020182401A (en) * | 2019-05-07 | 2020-11-12 | 株式会社クボタ | Work vehicle |
US11548547B2 (en) * | 2019-05-16 | 2023-01-10 | Steering Solutions Ip Holding Corporation | Highly integrated EPS system |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4657103A (en) * | 1985-05-27 | 1987-04-14 | Honda Giken Kogyo Kabushiki Kaisha | Electric power steering system for vehicles |
US7992672B2 (en) * | 2006-12-01 | 2011-08-09 | Honda Motor Co., Ltd. | Electric power steering system |
-
2014
- 2014-05-02 WO PCT/IN2014/000295 patent/WO2014178084A2/en active Application Filing
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4657103A (en) * | 1985-05-27 | 1987-04-14 | Honda Giken Kogyo Kabushiki Kaisha | Electric power steering system for vehicles |
US7992672B2 (en) * | 2006-12-01 | 2011-08-09 | Honda Motor Co., Ltd. | Electric power steering system |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107416017A (en) * | 2017-08-08 | 2017-12-01 | 豫北转向系统股份有限公司 | A kind of light truck Electronic Control hydraulic steering system |
JP2020182401A (en) * | 2019-05-07 | 2020-11-12 | 株式会社クボタ | Work vehicle |
WO2020225955A1 (en) * | 2019-05-07 | 2020-11-12 | 株式会社クボタ | Work vehicle |
CN113710083A (en) * | 2019-05-07 | 2021-11-26 | 株式会社久保田 | Working vehicle |
US11548547B2 (en) * | 2019-05-16 | 2023-01-10 | Steering Solutions Ip Holding Corporation | Highly integrated EPS system |
CN110667699A (en) * | 2019-09-04 | 2020-01-10 | 东风商用车有限公司 | Arrangement system of steering engine |
CN110667699B (en) * | 2019-09-04 | 2022-06-10 | 东风商用车有限公司 | Steering engine arrangement system |
Also Published As
Publication number | Publication date |
---|---|
WO2014178084A3 (en) | 2014-12-24 |
WO2014178084A4 (en) | 2015-02-19 |
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