WO2024058403A1 - Véhicule de travail agricole et procédé de commande associé - Google Patents

Véhicule de travail agricole et procédé de commande associé Download PDF

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Publication number
WO2024058403A1
WO2024058403A1 PCT/KR2023/010662 KR2023010662W WO2024058403A1 WO 2024058403 A1 WO2024058403 A1 WO 2024058403A1 KR 2023010662 W KR2023010662 W KR 2023010662W WO 2024058403 A1 WO2024058403 A1 WO 2024058403A1
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WO
WIPO (PCT)
Prior art keywords
brake pedal
operated
driver
clutch
interlocking mode
Prior art date
Application number
PCT/KR2023/010662
Other languages
English (en)
Korean (ko)
Inventor
안순기
김은홍
김대경
박상훈
Original Assignee
엘에스엠트론 주식회사
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
Priority claimed from KR1020230092337A external-priority patent/KR20240038578A/ko
Application filed by 엘에스엠트론 주식회사 filed Critical 엘에스엠트론 주식회사
Publication of WO2024058403A1 publication Critical patent/WO2024058403A1/fr

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Classifications

    • 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
    • A01B76/00—Parts, details or accessories of agricultural machines or implements, not provided for in groups A01B51/00 - A01B75/00
    • 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
    • B60K23/00—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for
    • B60K23/02—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for main transmission clutches
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/02—Brake-action initiating means for personal initiation
    • B60T7/04—Brake-action initiating means for personal initiation foot actuated
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G1/00—Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
    • G05G1/30—Controlling members actuated by foot

Definitions

  • the present invention relates to agricultural work vehicles, and particularly to stopping operations of the vehicle during driving.
  • Agricultural work vehicles include rice transplanters, combines, and agricultural tractors.
  • agricultural tractors are drivable agricultural vehicles that can be selectively equipped with various types of implements to perform agricultural work.
  • the driver may be implemented to operate a separate power cutoff button while pressing the brake pedal.
  • Patent Document 1 Republic of Korea Patent Publication No. 10-2010-0083462
  • the present invention was created from concerns about making it easier to operate a driving operation to stop (including deceleration) an agricultural work vehicle.
  • An agricultural work vehicle includes a brake device part for stopping the vehicle; a brake pedal portion operated by the driver to operate the brake device portion; A clutch valve that can block power output from the engine to the rear end; a clutch pedal provided separately from the brake pedal portion and operated by the driver to operate the clutch valve; and a controller that controls the brake device portion and the clutch valve; It includes, and the controller can control the clutch valve in a brake-clutch interlocking mode (hereinafter referred to as 'interlocking mode') that interlocks and operates the clutch valve to block power when the brake device part is operated. there is.
  • 'interlocking mode' brake-clutch interlocking mode
  • the brake device portion includes a right brake device for stopping the right wheel of the vehicle; and a left brake device for stopping the left wheel of the vehicle; It includes a right brake pedal, wherein the brake pedal portion is operated by the driver to operate the right brake device; and a left brake pedal operated by the driver to operate the left brake device. It includes, and the controller controls the interlocking mode when the right brake device and the left brake device are operated together by operating the right brake pedal and the left brake pedal together.
  • a single brake sensor for detecting whether only one of the right brake pedal and the left brake pedal is operated in a first operating state, or whether the right brake pedal and the left brake pedal are operated together in a second operating state; It further includes, and the controller controls in the interlocking mode when in the second operating state.
  • a brake sensor for detecting a stopped operation state of at least one of the right brake pedal and the left brake pedal; It further includes, wherein the controller controls the clutch valve in the interlocking mode when it is in the stop operation state and the second operation state based on information received from the brake sensor and the single brake sensor.
  • a setting switch 160 capable of setting the interlocking mode; It further includes, and the controller can control the clutch valve 131 in the interlocking mode when the interlocking mode is set by the setting switch 160.
  • Forward and reverse transmission for shifting the vehicle forward and backward; a forward and backward shift lever that can be operated by the driver to operate the forward and backward transmission; and a power cutoff switch installed on the forward and backward shift lever to be operated by the driver and for blocking power by operating the clutch valve.
  • the controller may be implemented to control the clutch valve so that power is cut off when the interlocking mode is set by the setting switch, when the brake pedal portion is operated, or when the power cutoff switch is operated. there is.
  • a peripheral gear for accelerating and decelerating the speed of the vehicle in multiple stages a main gear lever that can be operated by a driver to operate the peripheral gear; and a power cutoff switch that is installed on the main speed lever and can be operated by the driver and operates the clutch valve to cut off power. It further includes, and when the interlocking mode is set by the setting switch, the controller controls the clutch valve so that power is cut off when the vehicle is stopped while the brake pedal portion is operated or when the power cutoff switch is operated. It can be implemented to do so.
  • the operation of the brake device part (PP) is performed by manipulating the brake pedal part (PP).
  • the control method of an agricultural work vehicle includes a setting confirmation step of checking whether the driver has set the brake-clutch interlocking mode (hereinafter referred to as 'interlocking mode') by operating the setting switch; An operation confirmation step of checking whether an operation to stop the vehicle is performed by the driver after the interlocking mode is confirmed in the setting confirmation step; and a power blocking step of operating a clutch valve to block power output from the engine to the rear end if it is confirmed that the operation is to stop the vehicle in the operation confirmation step.
  • a binding confirmation step of checking whether the right brake pedal and the left brake pedal are connected may further include, in the operation confirmation step, it is confirmed whether at least one of the right brake pedal and the left brake pedal is operated, and in the operation confirmation step, the power blocking step is performed by checking whether the right brake pedal and the left brake pedal are operated. It can be performed when it is confirmed that at least one of them is being operated, and when the engagement of the right brake pedal and the left brake pedal is confirmed in the engagement confirmation step.
  • driving operation for stopping becomes intuitive and simple. Therefore, the driver can more easily perform the driving operations necessary to stop the agricultural work vehicle.
  • FIG. 1 is a configuration diagram of an agricultural tractor according to an embodiment of the present invention.
  • FIG. 2 is an exemplary diagram illustrating connection and disconnection of power output from the engine in the agricultural tractor of FIG. 1.
  • FIG. 3 is a flowchart for explaining the control method of the agricultural tractor of FIG. 1.
  • Figure 1 is a conceptual configuration diagram of an agricultural tractor 100 according to an embodiment of the present invention.
  • the agricultural tractor 100 includes a brake device part (BP), a brake pedal part (PP), a brake sensor 113, a binding pin (FP), a detection sensor 114, a clutch valve 131, and a clutch.
  • the brake device portion (BP) operates to stop the vehicle (in this embodiment, it is used as another name for the agricultural tractor; the same applies hereinafter).
  • 'stop' includes the meaning of 'deceleration' due to the operation of the brake device part (BP), and the same applies hereinafter.
  • the brake device portion BP has a right brake device 111 and a left brake device 121.
  • the right brake device 111 is provided to stop the right wheel of the vehicle.
  • the right brake device 111 may be operated by hydraulic pressure to apply braking force to the right wheel.
  • the left brake device 121 is provided to stop the left wheel of the vehicle.
  • the left brake device 121 may be operated by hydraulic pressure to apply braking force to the left wheel.
  • the brake pedal portion (PP) can be operated by the driver to control the operation of the brake device portion (BP).
  • the brake pedal portion PP has a left brake pedal 122 and a right brake pedal 112.
  • the right brake pedal 112 can be operated by the driver to operate the right brake device 111. Specifically, the driver can operate the right brake device 111 by pressing the right brake pedal 112 with his right foot.
  • the right brake device 111 may be electronically controlled by the controller 170.
  • the controller 170 controls the right brake device 111 in response to the stepping amount of the right brake pedal 112.
  • the left brake pedal 122 is operated by the driver to operate the left brake device 121. It can be manipulated. Specifically, the driver can operate the left brake device 121 by pressing the left brake pedal 122 with his right foot.
  • the left brake device 121 may be electronically controlled by the controller 170.
  • the controller 170 controls the left brake device 121 in response to the stepping amount of the left brake pedal 122.
  • the right brake pedal 112 and the left brake pedal 122 may be placed adjacent to each other near the driver's right foot.
  • the brake sensor 113 detects whether at least one of the right brake pedal 112 or the left brake pedal 122 is operated by the driver.
  • the brake sensor 113 may be provided to detect whether the right brake pedal 112 is operated.
  • the brake sensor 113 may be provided to detect whether the left brake pedal 122 is operated.
  • the brake sensor 113 may be provided in pairs to detect whether both the right brake pedal 112 and the left brake pedal 122 are operated.
  • the binding pin (FP) is provided to connect the right brake pedal 112 and the left brake pedal 122 to each other.
  • the agricultural tractor 100 performs work within a limited work section. Therefore, the agricultural tractor 100 makes frequent round trips and thus requires frequent sharp turns. And when making a sharp turn, it is necessary to have a minimum turning radius for the appropriateness of the work. For this purpose, the agricultural tractor 100 applies a single brake system to individually brake the left and right wheels.
  • the right brake pedal 112 and the left brake pedal 122 can be coupled.
  • a binding pin (FP) is provided for this binding.
  • the driver may connect the right brake pedal 112 and the left brake pedal 122 using a binding pin (FP), but may not connect them.
  • FP binding pin
  • the driver can generate braking force by simultaneously pressing both brake pedals 112 and 122 even when the right brake pedal 112 is not connected to the left brake pedal 122 using the binding pin (FP). In other words, it is the driver's choice to connect or not connect the right brake pedal 112 and the left brake pedal 122 with the binding pin (FP).
  • the detection sensor 114 detects whether the coupling pin (FP) is coupling the right brake pedal 112 and the left brake pedal 122.
  • the detection sensor 114 may be provided as a position sensor.
  • the position sensor detects whether the binding pin (FP) is in a position to bind the right brake pedal 112 and the left brake pedal 122.
  • the detection sensor 114 is used to detect whether only either the right brake pedal 112 or the left brake pedal 122 is operated in the first operation state (single brake state). In other words, the detection sensor 114 is used to detect whether the right brake pedal 112 and the left brake pedal 122 are operated together in a second operating state (braking state). That is, the detection sensor 114 is in the first operation state in which only either the right brake pedal 112 or the left brake pedal 122 is operated, or the first operation state in which the right brake pedal 112 and the left brake pedal 122 are operated together. 2Used as a side brake sensor to detect whether it is in an operating state.
  • the clutch valve 131 blocks or connects power output from the engine (E) to the rear end.
  • the clutch pedal 132 can be operated by the driver to operate the clutch valve 131. Specifically, the driver can operate the clutch valve 131 to cut off power by pressing the clutch pedal 132 with his left foot.
  • the clutch pedal 132 needs to be operated together with the brake pedal portion BP. Therefore, the clutch pedal 132 is provided separately from the brake pedal portion BP and can be placed near the driver's left foot.
  • the clutch valve 131 can couple or disengage the drive shaft (DS) on the engine (E) side and the output shaft (OS) on the wheel (W) side by manipulating the clutch (C). Of course, the clutch valve 131 operates when the driver operates the clutch pedal 132.
  • the clutch valve 131 operates to disengage the drive shaft (DS) and the output shaft (OS). Then, the power generated from the engine (E) is not transmitted from the drive shaft (DS) to the rear output shaft (OS) and is cut off.
  • the clutch valve 131 operates to couple the drive shaft (DS) and the output shaft (OS). Therefore, the power output from the engine (E) is transmitted from the drive shaft (DS) to the rear output shaft (OS).
  • the shape of the clutch C (gear structure, multi-plate structure, etc.) and the shape of the clutch valve 131 (operation structure corresponding to the shape of the clutch) may vary.
  • the forward and backward transmission 141 is provided to shift the vehicle forward and backward.
  • the forward and backward shift lever 142 can be operated by the driver to operate the forward and reverse shifter 141.
  • the driver can operate the forward and backward shift lever 142 to shift from a forward state to a reverse state, or from a reverse state to a forward state.
  • the first power cutoff switch 143 is installed on the forward and backward shift lever 142 and can be moved together with the forward and backward shift lever 142.
  • the first power cutoff switch 143 is provided to operate the clutch valve 131 to block power output from the engine E to the rear end.
  • the first power cutoff switch 143 can be operated by the driver. Therefore, the driver can operate the clutch valve 131 to cut off the power by manipulating the first power cutoff switch 143.
  • the first power cutoff switch 143 may be provided as a button type. Therefore, when the button of the first power cutoff switch 143 is pressed, the clutch valve 131 operates to cut off the power. On the other hand, when the button of the first power cutoff switch 143 is released, the clutch valve 131 operates to connect power.
  • forward and reverse shifting may be necessary.
  • the driver first presses the button on the first power cutoff switch 143 to cut off the power.
  • the driver operates the forward and backward shift lever 142 to shift forward and backward.
  • the driver releases the button on the first power cutoff switch 143. Then, the forward and backward traveling directions of the agricultural tractor 100 are switched.
  • the peripheral accelerator 151 is provided to accelerate and decelerate the speed of the vehicle in multiple stages.
  • the main gear lever 152 can be operated by the driver to operate the main gear 151.
  • the driver can operate the peripheral speed lever 152 to shift gears to accelerate and decelerate the vehicle's speed in multiple stages.
  • the second power cutoff switch 153 is installed on the main gear lever 152 and can be moved together with the main gear lever 152.
  • the second power cutoff switch 153 is provided to operate the clutch valve 131 to block power output from the engine E to the rear end.
  • the second power cutoff switch 153 can be operated by the driver. Therefore, the driver can operate the clutch valve 131 to cut off the power by manipulating the second power cutoff switch 153.
  • the second power cutoff switch 153 may be provided as a button type. Therefore, when the button of the second power cutoff switch 153 is pressed, the clutch valve 131 operates to cut off the power. On the other hand, when the button of the second power cutoff switch 131 is released, the clutch valve 131 operates to connect power.
  • acceleration/deceleration of the vehicle's speed may be necessary.
  • the driver first presses the button on the second power cutoff switch 153 to cut off the power. In that state, the driver operates the peripheral shift lever 152 to shift gears. After this, the driver releases the button on the second power cutoff switch 153. Then, the gear shift of the agricultural tractor 100 is switched and the speed is increased or decreased.
  • the setting switch 160 is provided to set a brake-clutch interlocking mode (hereinafter referred to as 'interlocking mode') that blocks power by interlocking and operating the clutch valve 131 when the vehicle is stopped.
  • 'interlocking mode' a brake-clutch interlocking mode
  • the setting switch 160 can be selectively operated by the driver as needed.
  • the setting switch 160 is preferably placed within reach of the driver in the driver's seat.
  • the driver can set the interlocking mode by manipulating the setting switch 160.
  • the controller 170 when the interlocking mode is set, operates the right brake pedal 112 and the left brake pedal 122 together according to the interlocking mode, thereby controlling the right brake device 111 and the left brake device. (121) operates together to control the clutch valve 131 so that power is cut off when the vehicle is stopped.
  • the controller 170 controls the brake device portion (BP) having the right brake device 111 and the left brake device 121 and the clutch valve 131.
  • the controller 170 operates the clutch valve 131 so that the power is cut off when the vehicle is stopped while the right brake pedal 112 and the left brake pedal 122 are operated together in the interlocking mode. Control. In this example, controller 170 does not cut off power in a partial braking situation.
  • the controller 170 is set to the interlocking mode by the setting switch 160, and the information detected by the detection sensor 114 is transmitted to the right brake pedal 112 and the left brake pedal 122. ) is controlled in linked mode only when it has a value in a mutually bound state. In other words, the controller 170 does not control in the interlocking mode in the first operating state, but controls in the interlocking mode only in the second operating state. For this purpose, the controller 170 checks the information received from the brake sensor 113 and the single brake sensor 114, and when it is confirmed that it is a stop operation state for stopping the vehicle and a second operation state, it operates the clutch valve 131 in interlocking mode. ) is controlled.
  • the driver can use various operation methods to block the power output from the engine E and going to the rear end.
  • the driver can cut off the power by manipulating the clutch pedal 132.
  • the driver can set the interlocking mode using the setting switch 160 and then cut off the power by operating the right brake pedal 112 or the left brake pedal 122.
  • a prerequisite is that the right brake pedal 112 and the left brake pedal 122 are connected by a binding pin (FP).
  • FP binding pin
  • the driver can cut off the power by operating the first power cutoff switch 143 or the second power cutoff switch 153.
  • the driver can use any one of the above operation methods to control the clutch valve 131 to block power in a stopped situation.
  • the controller 170 controls the clutch valve 131 to cut off the power.
  • the controller 170 checks whether the driver has set the interlocking mode by manipulating the setting switch 160.
  • step S21 the controller 170 checks whether an operation to stop the vehicle is performed by the driver.
  • the controller 170 checks whether the information received from the brake sensor 113 is in an operating state for stopping the rotation of the right wheel.
  • step S22 If it is confirmed in step S22 that the operation is to stop the vehicle, the controller 170 checks whether the right brake pedal 112 and the left brake pedal 122 are engaged based on information received from the detection sensor 114.
  • the controller 170 operates the clutch valve 131 when it is confirmed that the right brake pedal 112 is operated in step S22 and the engagement of the right brake pedal 112 and the left brake pedal 122 is confirmed in step S23. Blocks the power output from the engine (E) to the rear end.
  • the controller 170 operates the clutch valve 131 to output power from the engine E to the rear end. Connect.
  • the above embodiment was described as controlling in interlocking mode only when the right brake pedal 112 and the left brake pedal 122 are connected by the binding pin (FP).
  • the controller 170 does not necessarily need to receive information from the detection sensor 114. There is no need to get
  • the controller 170 can confirm whether the situation is a partial braking situation or a situation for stopping the vehicle, rather than a partial braking situation, using only the information received from the pair of brake sensors 113.
  • the detection sensor 114 and the necessary procedures are not required.
  • the controller 170 knows the information that the right brake device 111 and the left brake device 121 operate together to stop the vehicle, the preferred embodiment of the present invention described above can be appropriately applied. In other words, it may be sufficient if the right brake device 111 and the left brake device 121 are operated together and the power is cut off when the vehicle is stopped.
  • the controller 114 can determine the single braking situation through information received from both brake sensors 113, so both brake sensors 113 also function as single brake sensors.
  • the brake sensor 113 detects the operation of the right brake pedal 112. However, depending on implementation, the brake sensor 113 may be replaced by one that detects the operation of the left brake pedal 122.
  • FIGS. 1 to 3 refer only to the operation of the right brake pedal 112 or the left brake pedal 122.
  • control in an interlocking mode only when the brake pedals 112 and 122 are depressed by a certain stepping amount or more.
  • the controller 170 needs to be implemented to compare the detection value for the stepping amount with the setting value for executing the interlocking mode. If implemented in this way, the controller 170 is controlled in the interlocking mode only when the detection value is greater than or equal to the set value. Applying this application example has the advantage of minimizing frequent use of the clutch valve 131.
  • the present invention is intended to block the power output from the engine (E) and going to the rear end in a situation where the vehicle must be stopped. Therefore, there may be various examples in addition to the concrete examples above.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Transportation (AREA)
  • Soil Sciences (AREA)
  • Environmental Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Braking Elements And Transmission Devices (AREA)

Abstract

La présente invention concerne un véhicule de travail agricole. Selon la présente invention, en ajoutant un mode de verrouillage embrayage-frein, la puissance qui est générée à partir d'un moteur et délivrée à une extrémité arrière peut être bloquée simplement en actionnant un dispositif de frein. Par conséquent, la conduite du véhicule de travail agricole devient plus facile, et des accidents provoqués par une utilisation inexpérimenté peuvent être empêchés.
PCT/KR2023/010662 2022-09-16 2023-07-24 Véhicule de travail agricole et procédé de commande associé WO2024058403A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR20220117122 2022-09-16
KR10-2022-0117122 2022-09-16
KR10-2023-0092337 2023-07-17
KR1020230092337A KR20240038578A (ko) 2022-09-16 2023-07-17 농업용 작업차량 및 그 제어방법

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Publication Number Publication Date
WO2024058403A1 true WO2024058403A1 (fr) 2024-03-21

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0647083U (ja) * 1992-12-04 1994-06-28 三菱農機株式会社 乗用作業車の制動装置
JP2500471Y2 (ja) * 1990-10-29 1996-06-05 石川島芝浦機械株式会社 トラクタの動力遮断装置
US20100197453A1 (en) * 2009-02-03 2010-08-05 Kubota Corporation Travel Operation Structure for Work Vehicle
JP2016200203A (ja) * 2015-04-09 2016-12-01 井関農機株式会社 トラクタ
KR101959011B1 (ko) * 2015-04-13 2019-03-19 현대건설기계 주식회사 작업기계의 브레이크 시스템 및 제동 방법

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2500471Y2 (ja) * 1990-10-29 1996-06-05 石川島芝浦機械株式会社 トラクタの動力遮断装置
JPH0647083U (ja) * 1992-12-04 1994-06-28 三菱農機株式会社 乗用作業車の制動装置
US20100197453A1 (en) * 2009-02-03 2010-08-05 Kubota Corporation Travel Operation Structure for Work Vehicle
JP2016200203A (ja) * 2015-04-09 2016-12-01 井関農機株式会社 トラクタ
KR101959011B1 (ko) * 2015-04-13 2019-03-19 현대건설기계 주식회사 작업기계의 브레이크 시스템 및 제동 방법

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