WO2010046905A1 - Dispositif de traction - Google Patents

Dispositif de traction Download PDF

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Publication number
WO2010046905A1
WO2010046905A1 PCT/IN2009/000495 IN2009000495W WO2010046905A1 WO 2010046905 A1 WO2010046905 A1 WO 2010046905A1 IN 2009000495 W IN2009000495 W IN 2009000495W WO 2010046905 A1 WO2010046905 A1 WO 2010046905A1
Authority
WO
WIPO (PCT)
Prior art keywords
traction device
steering
wheel
traction
chassis
Prior art date
Application number
PCT/IN2009/000495
Other languages
English (en)
Inventor
Prashant V. Rao
Alok Kumar Tiwari
Pandharinath Namdeo Khatmode
Saurabh Gupta
Visha Pandey
Original Assignee
Deere & Company
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Deere & Company filed Critical Deere & Company
Publication of WO2010046905A1 publication Critical patent/WO2010046905A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18027—Drive off, accelerating from standstill
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
    • B60K6/46—Series type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/50—Architecture of the driveline characterised by arrangement or kind of transmission units
    • B60K6/52—Driving a plurality of drive axles, e.g. four-wheel drive
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
    • B60K17/043—Transmission unit disposed in on near the vehicle wheel, or between the differential gear unit and the wheel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K2007/0046—Disposition of motor in, or adjacent to, traction wheel the motor moving together with the vehicle body, i.e. moving independently from the wheel axle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K2007/0069—Disposition of motor in, or adjacent to, traction wheel the motor axle being perpendicular to the wheel axle
    • B60K2007/0084—Disposition of motor in, or adjacent to, traction wheel the motor axle being perpendicular to the wheel axle the motor axle being vertical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/40—Electrical machine applications
    • B60L2220/46—Wheel motors, i.e. motor connected to only one wheel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/12—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to parameters of the vehicle itself, e.g. tyre models
    • B60W40/13—Load or weight
    • B60W2040/1307—Load distribution on each wheel suspension
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/26—Wheel slip
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/28—Wheel speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/28—Wheel speed
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/62—Hybrid vehicles

Definitions

  • This invention relates to a traction devices such as those used in agricultural services, rural transportation and on-road vehicles and more particularly this relates to a multi utility traction device with or without hybrid configuration.
  • Traction devices are commonly used for agricultural and off-road applications.
  • Conventional traction device consist of horizontal front and rear axles, steering unit, prime mover, drive train, differential case with fixed final drive and three point linkages.
  • prime mover is connected to drive train housing and said drive train housing is connected to differential case with fixed final drive, on which traction wheels are mounted.
  • traction devices may not be used for all multiutility applications of different agricultural operations because of limitation for variable ground clearance, track width and conventional three point hitch system. Also these devices are not provided with separate suspension systems for supporting driver's work station and merely depend on tire inflation to obtain ground feed back. However, suspensions are provided separately for cabs and driver seat for ride comfort.
  • Hitches used in the conventional devices attach the trailers to rear of the rear axle center. This location causes weight transfer from the front axle and instability of the device.
  • Hybrid power train for farm tractors, wherein the elements defining at least one of the electric machines are housed in structural casing formed in one piece. Multiple structural casings form an integral part of the supporting structure of the tractor.
  • Hybrid power train comprises a first electrical machine disposed within the first structural casing, an epicyclic gear train disposed within the first cavity of the second structural casing, and a second electrical machine disposed within the second cavity of the second structural casing.
  • the diesel engine of the agricultural tractor is mechanically connected to the Power Take-Off (PTO) mechanism by routing the PTO shaft through a number of hollow shafts for transmitting power from the diesel engine to and from the two electric machines by means of a conventional epicyclic gear train.
  • PTO Power Take-Off
  • US 6,502,654 teaches a utility transport tractor having a cargo box above the rear axle with the operator's platform forward of the rear axle enabling additional seats to be included.
  • the cargo box tail gate and a portion of the cargo box floor can be raised to positions in which they both extend upwardly and forwardly toward the operator. In these positions, the three point hitch at the rear of the tractor is visible to the operator as is typically the case conventional agricultural tractors.
  • US 5,743,347 teaches a lawn end garden tractor having independent electric motors for both driven wheels. The motors are combined with reduction gearboxes, and the wheel is mounted on the output shaft of the gearbox. There is no mechanical axle connection.
  • the power to the motors is controlled by an automatic controller as to wheel speed, power being increased/ decreased in accordance with whether the wheels are under- running or overrunning relative to manually-controlled speed setting.
  • Steering is controlled by potentiometer on a mechanical steering wheel or by joystick control.
  • US 5,597,172 teaches an agricultural suspension system including four generally identical independent strut suspension assemblies each having a pneumatic spring supported above a strut shaft which is received within a strut journal connected to an adjustable axle.
  • US 7,219,779 teaches a hydro-pneumatic suspension system for cabs along with suspended seats.
  • the system influences the dependency of the suspension stiffness on the axle load and can be used to adjust the stiffness to ballast conditions and operating or driving states.
  • Conventional traction devices use horizontal front and rear axles thereby limitation for variable ground clearance and track width.
  • the devices are not provided with separate suspension systems for supporting driver's work station and merely depend on tire inflation to obtain ground feed back.
  • the devices use conventional depth and draft control system to monitor and control the tire slip.
  • Steering system used on conventional devices incorporate mechanical or hydraulic systems which require more response time and have power losses.
  • Hitches used in the conventional devices attach the trailers to rear of the rear axle center causing weight transfer from the front axle and hence instability of the device.
  • Main object of this invention is to provide a Traction Device which can generate tractive effort with minimum carried weight.
  • Yet another object of this invention is to provide a Traction Device with a provision for variable ground clearance and track width.
  • Yet another object of this invention is to provide a Traction Device with better maneuverability with four wheel drive and four wheel steering with slip control.
  • Yet another object of this invention is to provide a Traction Device with hitch system to have better stability on slopes/ undulated terrain and improved traction.
  • Yet another object of this invention is to provide a Traction Device with intelligent operator platform suspension system.
  • Yet another object of this invention is to provide a Traction Device which is simple in construction, easy to manufacture and cost effective.
  • Traction Device with or without hybrid configuration, with plurality of electric motors and plurality of articulated final drive system wherein individual traction wheel of said device is provided with said electric motor on respective vertical axle to provide continuously variable forward speed and/ or reverse speed, said device is provided with articulated final drive system in between the vertical axle and the traction wheels.
  • Traction Device in accordance with this invention basically comprises of scalable and flexible chassis, operator platform suspension system, electrical steering system, hybrid configuration incorporating engine, generator and controllers, individual wheel electric motors mounted on the vertical axles, self-aligning articulated final drive system, hitch system and Global Positioning System (GPS system).
  • said scalable and flexible chassis is provided with intelligent operator platform suspension system to provide greater safety and increased operator comfort with better control at relatively higher speeds.
  • Said chassis is provided with electrical steering system to steer the device in a desired manner.
  • Said chassis is also provided with hybrid configuration incorporating engine, generator and controllers. Individual traction wheel of said device is provided with electric motor on vertical axle to provide continuously variable speed and reverse speed with full torque with a provision for regenerative braking.
  • Said device is provided with self-aligning articulated final drive system in between the vertical axle and the traction wheel.
  • Said final drive system comprises of driving pinion and driven final drive gear provided inside the final drive case. Rotation of the driving pinion on said final drive gear provides a mechanical spring suspension.
  • the traction device is provided with unique hitch system with or without ballast weight/ s to provide improved stability on slopes enabling haulage of heavier loads.
  • Said hitch system is connected to the chassis in between the axles to have a hitch geometry which can distribute the weight transfer due to hitched equipments to all the supporting wheels.
  • Said device is also provided with GPS system to monitor the slip of all the traction wheels and correct it within the desired values and to provide improved maneuverability by four wheel electrical steering system with different modes to optimize tractive efficiency and field capacity in the field with a provision for regenerative braking.
  • said light weight traction device generates low soil compaction, have better fuel economy and variable ground clearance for movement over crops.
  • Generator coupled with engine in the traction device provides electric current to run the four pneumatic traction tires to generate traction.
  • sub-frame deflects with respect to the main chassis in a manner to reduce the severity of the deflection of the chassis and provides a more stable platform for the driver seat keeping all its driving wheels in contact with the ground.
  • articulating final drive pinion climbs up on the final driven gear on driving wheel meeting an obstruction, causing the traction device to assume a position with respect to the ground which helps to reduce the starting torque requirement
  • he horizontal component of the ground reaction helps to reduce the starting torque requirement.
  • Driver steering input is sensed by a controller which then rotates the wheel axle to achieve the desired steering mode.
  • An electronic controller senses the rpm of each individual wheel and compares it with the GPS speed input. The differential slip value thus obtained is given to the electrical hitch controller which adjusts the depth of the implement to bring the wheel slip within the desired limits.
  • Hitch linkage system below the main chassis enables the draft force to be transferred downwards on all supporting wheels and this helps the device to pull more than its weight with better stability on slopes.
  • Fig.l shows isometric view of multi utility hybrid traction device in accordance with this invention.
  • Fig.2 shows plan view of the multi utility hybrid traction device.
  • Fig.3 shows elevation of the multi utility hybrid traction device.
  • Fig.4 shows plan view of chassis of the multi utility hybrid traction device.
  • Fig.5 shows schematic sketch showing the principal of operation of the sub-frame and the chassis.
  • Fig.6 shows sectional view of the final drive assembly.
  • Fig.7 shows schematic view of the final drive assembly.
  • Fig.8 shows various steering modes.
  • Fig.9 shows schematic sketch showing the principal of traction of the wheel.
  • Fig.lO shows schematic sketch showing the hitching system.
  • Fig.ll shows schematic sketch showing principle of weight distribution to the four final drive assemblies
  • the Traction Device comprises of four pneumatic wheels (8) (Fig.l) with agricultural lugs mounted on vertical axles (16), connected to main chassis (9). Wherein the said main chassis is connected with sub-frame (12) which allows it to deflect with respect to the main chassis. This sub-frame is supported through hinges and pneumatic devices (23) (Fig.4) to the main chassis frame of the vehicle.
  • the Chassis (9) enables continuous contact of the driving wheels (8) (Fig.l) with undulating terrain and provides a stable platform for the driver seat (14).
  • the Chassis also incorporates adjustable means (10) to provide variable track width and adjustable ground clearance (11). Pneumatic devices are connected to air compressor (13) (Fig.4) which gets drive from the engine (1) (Fig.l).
  • Prime mover (engine) (1) along with its accessories, generator (2), power electronics unit (4) and operator seat (14) with different controllers (3) are mounted on sub-frame (12). Driver seat location is in close proximity to engine with suitable foot and hand control to operate brake and accelerator pedal.
  • Generator (2) coupled with the crankshaft of the engine (1) is controlled by power electronics unit (4), which incorporates power semiconductor devices, converters/ inverters, control unit, switching strategies and packaging of the individual units (not shown).
  • Three Vertical axles (16) (Fig.l) comprises of inner shaft (17) and housing (17A) .
  • the housings (17A) are connected to the main chassis supports (15) (Fig.2) and inner shafts (17) are connected to the steering arm linkages (19) (Fig.2).
  • the wheels (8) are turned by steering arm (19) welded to the inner shaft (17) within the housing (17A).
  • Individual electric motors (5) are mounted on the vertical axles and connected to the hub (6) provided on the bottom of the vertical axles (16) (Fig.l). These motors (5) give drive to wheels (8) through articulating final case (7) (Fig.l).
  • the articulating final cases (7) are made from cast iron and contain final driven gear and a pinion on motor output shafts.
  • the Vertical axles (16) and the articulating final cases (7) provide high ground clearance (11) (Fig.3).
  • the electronic high voltage distribution controller provides continuously variable speed at all the driven motors (5) with provision for regenerative braking.
  • Final drive cases (7) are mounted on Vertical Axles (16) (Fig.l). Self-aligning articulating final drive case (7) allows the angular orientation of the supported device to provide optimum utilization of tractive force for forward motion. These articulating final cases (7) can rotate in relation to the lower case (not shown), causing the motor driving pinion to move up on the periphery of the final driven gear (34). The articulating final cases (7) enable maximum axle torque for forward motion.
  • the driving wheels (8) are assembled from steel rims and pneumatic tires which get drive from articulating final case (7).
  • GPS system (not shown) is used to obtain the forward speed (actual speed) of the traction device (Fig.l) with respect to ground reference.
  • An electronic controller (3) senses the rpm of each individual wheel (8) through the speed sensors (not shown) and thus calculates the theoretical speed of the wheels. Error signal (slip) is calculated from the calculated wheel speed and GFS measured speed. This error signal provides the vertical push requirement on the traction device by adjustment in the electro hydraulic hitch system (Fig.lO).
  • the traction device uses an electrical steering system (18), configured with four vertical axles (16) which can be rotated to achieve the desired steering mode viz. normal steering (Fig.8A), zero turning radius (Fig.8B), crab steering (Fig. 8C).
  • the invention uses a hitched linkage system (21) wherein the hitch point (22) is located below the chassis (9) and between the vertical axles (16).
  • the hitch system is raised or lowered by implement lift system (29) connected to hitch linkages with suitable connecting device (28) (Fig.lO) where positions at different angles are controlled.
  • Lift link (25) connects the lower link (24) to the lift arm (26) (Fig.lO).
  • Lift arm is pivoted on the main chassis (9). Normal weight on each wheel (8) thus gets increased and thereby increasing the tractive force of the traction device (Fig.ll).
  • Generator (2) coupled with engine (1) converts the mechanical energy in to electrical energy with the help of controller (3) and generator logic processor module which is used to drive electric motors(5) and also charging the battery pack(not shown) and running onboard electric loads, such as lights, electric Power Take Off (e-PTO) and other electrical accessories.
  • Power electronics controller (4) does the system integration to improve the range of the electric vehicle and fuel economy for efficient and high- performance of the traction device (Fig.l).
  • the motor controller (3) detects the faults such as over voltage, under voltage, over current, gate drive fault, motor (5) over temperature, inverter over temperature and the information is sent to the power electronics controller (4) and appropriate protective action is initiated.
  • Suitable electro-pneumatic suspension system integrates the hollow frame structured main chassis and sub-frame (12), supporting the operator station (Fig.4).
  • electro-pneumatic logic controls (30) monitors the angular variation signals (31) from the horizontal position and minimizes it and enables the traction device to keep all its driving wheels (8) in contact with the ground to generate traction force (T) (Fig.9).
  • the construction of the Sub-frame (12) and the Chassis (9) (Fig.4) allows relative deflection of the members.
  • the Sub-frame (12) (Fig.4) deflects with respect to the chassis in a manner to reduce the severity of the deflection of the chassis (9) providing a more stable platform for the driver seat (14) (Fig.4) on undulating terrain (32).
  • the tractive force (T) is a function of the normal weight (W), area of contact of the wheel (B x L ), horizontal component of ground reaction force (Fh) and the Vertical component of this force (Fv) (Fig.9).
  • the high torque available at the driving wheels is utilized more efficiently than any other conventional vehicles as the load is directed below the chassis (9) (Fig.lO) and converted by the hitch geometry (Fig. 11) to vertical mass on all the four vertical axles (16). This increases the normal weight (W) (Fig.9).
  • the area of contact (B x L) (Fig.9) is maximum and this generates maximum tractive effort. This tractive effort enables the device to pull more than its weight.
  • An electronic controller (3) senses the rpm of each individual wheel (9) (Fig.l) and compares it with the GPS speed input. The differential slip obtained by comparison of these inputs is referred against a set desired slip value. This input is given to the electrical hitch controller (3) which adjusts the depth of the implement to bring the wheel slip within the desired limits where slip data is managed by a microprocessor.
  • Wheels connected to the four vertical axles (16) are driven by electric motor (5) (Fig.l).
  • Driver steering (19) input is sensed by a controller which then rotates the steering motor axles to achieve the desired steering mode (Fig.8).
  • the steering controller communicates with drive controller to determine the differential speed of the wheels to achieve no slip turning of vehicle.
  • Wheel (8) speed (all four wheels) input, operator demand (Steering wheel (20)) angular position, torque and rotation direction) is shared from motor drive controller and steering controller. Based on 3D matrix, fed in to the controller, control of electrical steering motor is done.
  • the steering controller provides the angle and direction of rotation of the wheels about the vertical axles (16) of the traction device whereas drive controller controls the individual wheel speed based on the steering angle (e.g. slows the speed for inner wheels with respect to the outer wheels) to provide differential action.
  • Hitch linkage system (21) wherein the hitch point (22) is located below the chassis and near to the center of gravity enables the draft force to be transferred downwards on all supporting wheels to increase normal weight (W) thereby improving the tractive force (T).
  • W normal weight
  • T tractive force
  • Hitch height of hitch linkage system is set by a servo controlled electro hydraulic hitch linked to the slip micro controller (not shown).
  • Main advantage of the invention is the multiutility of the traction device having variable ground clearance and track width with intelligent operator platform suspension, unique hitch system with improved tractive effort and electric drive system helping in downsizing the engine and getting better fuel economy, better emission performance and also a mobile electric power source available to run AC appliances in remote areas and improved reliability of the system due to higher efficiency and lower parts as compared to conventional mechanical/ hydraulic drive reducing lot of material cost and manufacturing cost.
  • Other advantages are four wheel drive, four wheel steering with high maneuverability, flexible suspension, articulating final drive, slip control, low soil compaction and stability for uniform operation.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Arrangement And Driving Of Transmission Devices (AREA)

Abstract

La présente invention concerne un dispositif de traction à essieux verticaux à quatre roues motrices et directrices avec vitesse variable en continu obtenue par un groupe motopropulseur hybride doté de modules de commande électroniques. La configuration cherche à fournir une direction optimisée par des systèmes électriques générant une commande différentielle des vitesses de roue. Ces dispositifs sont supportés sur un châssis creux échelonnable multicouche et flexible avec une suspension électropneumatique adaptée offrant des réponses variables. Le dispositif de traction utilise un positionnement entraîné par GPS pour obtenir une commande de glissement des roues et une commande électronique des forces de dégagement avec des éléments fixés, semi-fixés et remorqués pour permettre un fonctionnement à un effort de traction et à une puissance d’utilisation souhaités. Le système d’attelage cherche à fournir un point d’attelage virtuel en dessous et à l’intérieur de la configuration à quatre essieux verticaux pour répartir de façon efficace une charge sur les roues motrices sur tous types de terrain. La configuration ci-dessus permet au dispositif d’obtenir trois modes de direction : direction normale; rayon de rotation nul et direction en crabe.
PCT/IN2009/000495 2008-09-12 2009-09-10 Dispositif de traction WO2010046905A1 (fr)

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IN1932MU2008 2008-09-12
IN1932/MUM/2008 2008-09-12

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US8939250B2 (en) 2013-03-15 2015-01-27 Deere & Company Self-powered apparatus
WO2016196469A3 (fr) * 2015-05-29 2017-01-12 Mtd Products Inc Véhicule utilitaire
US9688324B2 (en) 2013-09-13 2017-06-27 Mtd Products Inc Drive sprocket for a tracked vehicle
US9709969B2 (en) 2013-03-15 2017-07-18 Deere & Company Methods and apparatus to control machine configurations
US9828047B2 (en) 2012-07-06 2017-11-28 Mtd Products Inc Suspension and lock-out systems for a tracked vehicle
US9872438B2 (en) 2013-03-15 2018-01-23 Mtd Products Inc Battery-electric and internal-combustion engine assist hybrid propulsion and implement drive work systems
US9902441B2 (en) 2014-08-21 2018-02-27 Mtd Products Inc Track drive
US10017010B2 (en) 2015-08-12 2018-07-10 Deere & Company Fluid reservoir within a tire
CN109878580A (zh) * 2019-03-04 2019-06-14 唐山百川智能机器股份有限公司 一种公铁两用的车辆牵引装置
US10773760B2 (en) 2013-09-13 2020-09-15 Mtd Products Inc Suspension and lock-out systems for a partially tracked vehicle
US10806076B2 (en) 2017-10-06 2020-10-20 Mtd Products Inc High-efficiency lawn maintenance tool and high-efficiency cutting blade
US10981570B2 (en) 2019-02-11 2021-04-20 Caterpillar Inc. Rimpull limit based on wheel slippage
WO2021168204A1 (fr) 2019-02-22 2021-08-26 Towles Lawson Jr Thomas Ensemble d'entraînement d'essieu de direction et procédé de commande dudit ensemble d'entraînement
US11279227B2 (en) 2019-10-03 2022-03-22 Toyota Motor Engineering & Manufacturing North America, Inc. Rotatable drive axle assembly for an electric vehicle
US11305640B2 (en) 2019-10-03 2022-04-19 Toyota Motor Engineering & Manufacturing North America, Inc. Vehicle caravan of electric vehicles configured for coordinated movement and airflow control and method of using
US11447006B2 (en) 2019-10-03 2022-09-20 Toyota Motor Engineering & Manufacturing North America, Inc. Electric or hybrid electric vehicle having adjustable vertical electric drive motor and method of making and using
US11560053B2 (en) 2019-10-03 2023-01-24 Toyota Motor Engineering & Manufacturing North America, Inc. Electric vehicle comprising a vertical electric propulsion motor and method of making and using the same

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JP2006103495A (ja) * 2004-10-05 2006-04-20 Sumitomo Rubber Ind Ltd アンチロックブレーキ制御装置
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GB2260108A (en) * 1991-10-03 1993-04-07 Vinten Group Plc Motor-driven steerable wheel units eg. for T.V. camera pedestals
WO1997009192A1 (fr) * 1995-09-05 1997-03-13 Elin Ebg Traction Gmbh Mecanisme d'entrainement pour une seule roue
JP2006103495A (ja) * 2004-10-05 2006-04-20 Sumitomo Rubber Ind Ltd アンチロックブレーキ制御装置
WO2007009623A1 (fr) * 2005-07-22 2007-01-25 Daimlerchrylser Ag Ensemble propulsion conçu pour un vehicule

Cited By (26)

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US10427735B2 (en) 2012-07-06 2019-10-01 Mtd Products Inc Drive sprocket for a tracked utility vehicle
US9828047B2 (en) 2012-07-06 2017-11-28 Mtd Products Inc Suspension and lock-out systems for a tracked vehicle
US11422519B2 (en) 2013-03-15 2022-08-23 Deere & Company Methods and apparatus to control machine configurations
US9709969B2 (en) 2013-03-15 2017-07-18 Deere & Company Methods and apparatus to control machine configurations
US9872438B2 (en) 2013-03-15 2018-01-23 Mtd Products Inc Battery-electric and internal-combustion engine assist hybrid propulsion and implement drive work systems
US8939250B2 (en) 2013-03-15 2015-01-27 Deere & Company Self-powered apparatus
US10539935B2 (en) 2013-03-15 2020-01-21 Deere & Company Methods and apparatus to control machine configurations
US9688324B2 (en) 2013-09-13 2017-06-27 Mtd Products Inc Drive sprocket for a tracked vehicle
US11034400B2 (en) 2013-09-13 2021-06-15 Mtd Products Inc Drive sprocket for a tracked vehicle
US10155554B2 (en) 2013-09-13 2018-12-18 Mtd Products Inc Drive sprocket for a tracked vehicle
US10773760B2 (en) 2013-09-13 2020-09-15 Mtd Products Inc Suspension and lock-out systems for a partially tracked vehicle
US9902441B2 (en) 2014-08-21 2018-02-27 Mtd Products Inc Track drive
US10730550B2 (en) 2015-05-29 2020-08-04 Mtd Products Inc Utility vehicle
US10155537B2 (en) 2015-05-29 2018-12-18 Mtd Products Inc Utility vehicle
EP4249349A3 (fr) * 2015-05-29 2023-11-15 MTD Products Inc Véhicule utilitaire
WO2016196469A3 (fr) * 2015-05-29 2017-01-12 Mtd Products Inc Véhicule utilitaire
US10017010B2 (en) 2015-08-12 2018-07-10 Deere & Company Fluid reservoir within a tire
US10806076B2 (en) 2017-10-06 2020-10-20 Mtd Products Inc High-efficiency lawn maintenance tool and high-efficiency cutting blade
US10981570B2 (en) 2019-02-11 2021-04-20 Caterpillar Inc. Rimpull limit based on wheel slippage
WO2021168204A1 (fr) 2019-02-22 2021-08-26 Towles Lawson Jr Thomas Ensemble d'entraînement d'essieu de direction et procédé de commande dudit ensemble d'entraînement
EP4107050A4 (fr) * 2019-02-22 2024-04-03 Towles Lawson, Jr., Thomas Ensemble d'entraînement d'essieu de direction et procédé de commande dudit ensemble d'entraînement
CN109878580A (zh) * 2019-03-04 2019-06-14 唐山百川智能机器股份有限公司 一种公铁两用的车辆牵引装置
US11279227B2 (en) 2019-10-03 2022-03-22 Toyota Motor Engineering & Manufacturing North America, Inc. Rotatable drive axle assembly for an electric vehicle
US11305640B2 (en) 2019-10-03 2022-04-19 Toyota Motor Engineering & Manufacturing North America, Inc. Vehicle caravan of electric vehicles configured for coordinated movement and airflow control and method of using
US11447006B2 (en) 2019-10-03 2022-09-20 Toyota Motor Engineering & Manufacturing North America, Inc. Electric or hybrid electric vehicle having adjustable vertical electric drive motor and method of making and using
US11560053B2 (en) 2019-10-03 2023-01-24 Toyota Motor Engineering & Manufacturing North America, Inc. Electric vehicle comprising a vertical electric propulsion motor and method of making and using the same

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