JP7421704B2 - Passenger agricultural vehicle - Google Patents

Description

TECHNICAL FIELD The present invention relates to a brake for a riding agricultural vehicle such as a tractor that is used for agricultural work in a field.

When driving in the field, the left and right brake pedals are operated independently to enable sharp turns, and when the brake pedal on either side is depressed, the brakes are applied to the running wheels on that side. This allows the driver to turn sharply around the field while doing agricultural work.However, when driving on the road, the left and right brake pedals are connected, so that no matter which brake pedal is depressed, the brake pedal will not brake normally. I am trying to stop running as it is.

In the agricultural vehicle described in Patent Document 1, if the left and right brake pedals are not connected while the vehicle is in a high-speed driving state, an alarm is issued to call attention to the problem. In this state, the warning is not issued even when driving at high speeds, so that the left and right brake pedals are not connected and one brake is applied while driving at high speeds, thereby preventing the vehicle from falling due to sharp turns.

Patent No. 3592401

However, when a passenger agricultural vehicle is traveling on the road, even if the vehicle is traveling at low speed, if the road surface is narrow or the vehicle body is tilted forward or backward or left or right, the wheels may deviate from the road surface if one brake is applied while driving. This may cause the vehicle to tilt too much, creating a risk of tipping over. In other words, it is dangerous to perform control based on speed.

An object of the present invention is to prevent a riding type agricultural vehicle equipped with left and right brake pedals from causing one-sided braking even when one side of the left and right brake pedals is depressed while driving on the road.

The above problems of the present invention are solved by the following technical means.

The present invention provides a riding agricultural vehicle equipped with a pedal connecting portion (25) that integrally connects left and right brake pedals (12L), (12R) and both left and right brake pedals (12L), (12R). ) has the field map data (47), and if the machine position recognized by the vehicle body position recognition device (48) is outside the field, the pedal connection part (25) is automatically connected and the left and right brake pedals (12L), ( 12R) so that the left and right wheels (4) and (5) are simultaneously braked.
A seatbelt (17) that detects whether the seatbelt sensor (17S) is wearing the seatbelt (17) is installed in the cockpit seat (7) to prompt the operator to fasten the seatbelt (17) when seated. The riding-type agricultural vehicle is characterized in that the pedal connection portion (25) is prevented from being disconnected when the pedal connection portion (25) is detected.
A first invention related to the present invention is a riding agricultural vehicle provided with left and right brake pedals 12L, 12R and a pedal connection part 25 that integrally connects both brake pedals 12L, 12R, in which the control part 42 controls the field map data 47 , and if the body position recognized by the body position recognition device 48 is outside the field, the pedal coupling part 25 is automatically connected, and the left and right wheels 4 and 5 are simultaneously braked no matter which of the left and right brake pedals 12L and 12R is depressed. The present invention provides a riding-type agricultural vehicle which is characterized by being controlled as follows.

A second invention related to the present invention is provided with a pedal connection detection sensor 37 that detects connection of the pedal connection portion 25, and when the pedal connection detection sensor 37 does not detect connection, the vehicle speed sensor 44 detects a vehicle speed exceeding a predetermined speed. The riding agricultural vehicle is characterized in that it issues a one-sided brake warning when the vehicle speed is detected or when a vehicle body inclination sensor 46 detects a warning inclination angle exceeding a predetermined value.

A third invention related to the present invention is the riding-type agricultural vehicle according to the second invention related to the present invention, characterized in that the warning inclination angle of the vehicle body inclination sensor 46 can be changed.

A fourth invention related to the present invention is to provide a seat belt 17 in the pilot's seat 7, which detects the wearing of the seat belt with a seat belt sensor 17S, to prompt the operator to fasten the seat belt 17 when seated, and to detect whether the seat belt sensor 17S has not yet been fastened. The riding-type agricultural vehicle according to any one of the first to third inventions related to the present invention is characterized in that the pedal connecting portion 25 is prevented from being disconnected when attachment is detected.

In the present invention, if the vehicle body position recognized by the vehicle body position recognition device 48 is outside the field according to the field map data 47, the control unit 42 automatically connects the pedal connecting portions 25 of the left and right brake pedals 12L, 12R. Regardless of which of the left and right brake pedals 12L and 12R is depressed, the left and right wheels 4 and 5 are decelerated and stopped, and it is safe because one-sided braking does not cause the vehicle to leave the running road surface or tilt and fall. Furthermore, if the operator operating the aircraft wears the seat belt 17 and removes the seat belt 17, sharp turns made by depressing one side of the left and right brake pedals 12L, 12R will not occur, so the operator can swing from above the aircraft. There is no risk of it being dropped.
In the first invention related to the present invention , if the vehicle body position recognized by the vehicle body position recognition device 48 is outside the field of the field map data 47, the control unit 42 automatically controls the pedal connecting portions 25 of the left and right brake pedals 12L, 12R. Since the vehicle is connected to the road surface, the left and right wheels 4 and 5 will be decelerated and stopped regardless of whether the left or right brake pedals 12L or 12R are depressed outside the field, and one-sided braking will prevent the vehicle from going off the road surface or tilting the vehicle and causing it to fall. It is safe.

In a second invention related to the present invention , when the pedal connection detection sensor 37 detects that the pedal connection portions 25 of the left and right brake pedals 12L, 12R are not connected even when working in a field or driving on the road, If the traveling speed exceeds a predetermined speed or the inclination of the vehicle body exceeds the warning inclination angle, a one-sided braking warning will be issued to alert the operator of the aircraft, so depress one side of the left and right brake pedals 12L and 12R to cause one-sided braking. prevent it from happening.

A third invention related to the present invention, in addition to the effects of the second invention related to the present invention , allows the operator of the aircraft to determine a safe vehicle body inclination angle in advance depending on the hardness and softness of the field, the wetness of the traveling road surface, etc. Can be adjusted.

A fourth invention related to the present invention, in addition to the effects of any one of the first to third inventions related to the present invention , allows the operator operating the aircraft to wear the seat belt 17 and remove the seat belt 17. In this state, a sudden turn made by depressing one side of the left and right brake pedals 12L, 12R does not occur, so there is no danger of the operator being thrown off from the top of the machine.

1 is a schematic right side view of a tractor according to an embodiment of the present invention. FIG. 3 is a front view of the same tractor as seen from the cockpit. It is a schematic perspective view of the left and right brake pedals seen from the driver's seat of the same tractor. It is a side view of the brake connection release pedal of the same tractor. (A) A side view of the operation restriction section of the same tractor, and (B) a partial front view of the operation restriction section of the same tractor. It is a control block diagram of the same tractor. (A) A side view of a brake connection release pedal of the operation restriction section of the same tractor, and (B) a side view of the brake connection release pedal of the same tractor being depressed. FIG. 2 is a perspective view of the area around the cockpit of the same tractor.

Embodiments of the present invention will be described based on the drawings.

A tractor 1 serving as a riding agricultural vehicle is an agricultural tractor that performs agricultural work such as plowing in a field while self-propelled.

As shown in FIG. 1, an engine E is mounted inside the bonnet 2 at the front of the aircraft. The rotational power from the engine E is transmitted to a traveling transmission device in a transmission case 3, decelerated by the traveling transmission device, and then transmitted to wheels, that is, front wheels 4 and rear wheels 5 of the tractor 1.

A vehicle body position recognition device 48 is attached to the roof of the cabin 6 at the rear of the aircraft body to recognize the aircraft position by receiving radio waves from a positioning satellite, and a cockpit 7 is provided inside the cabin 6. A steering handle 8 for steering the front wheels 4 is provided in front of the driver's seat 7. A meter panel 9 is provided in front of the steering handle 8. A rotary work machine or the like is connected to a hitch 51 at the rear of the machine body. This rotary work machine is driven by a PTO shaft 13 that projects rearward from the mission case 3.

Inside the mission case 3, there are transmission mechanisms for the rear wheels 5 and front wheels 4, left and right, such as a forward/reverse switching mechanism (not shown), a main transmission mechanism (not shown), and an auxiliary transmission mechanism (not shown). Internally installed are left and right brake mechanisms (not shown) for braking the left and right axles of the rear wheels 5, 5, respectively.

In addition, in the cabin 6, in addition to a steering wheel 8 and a meter panel 9, various operation pedals such as an accelerator pedal 10, a clutch pedal 11, a brake pedal 12, a brake release pedal 30, and a forward/reverse lever are located around the cockpit 7. 14, a main shift lever 15, an auxiliary shift lever 16, and other various operating levers are provided.

Furthermore, as shown in FIG. 8, a seat belt 17 is provided in the pilot's seat 7, and when the seat belt 17 is detected by a seat belt sensor 17S (see FIG. 6), if the seat belt 17 is not fastened, the pedal connecting portion 25 Prevents uncoupling. A backrest angle adjustment lever 7A, a seat height adjustment lever 7B, and a seat longitudinal adjustment lever 7C are provided around the cockpit 7, a main transmission lever 15 and a control lever 18 are provided on the right side, and an auxiliary transmission lever 16 is provided on the left side. It is set up.

As shown in FIG. 2, a steering handle 8 is provided in front of the cockpit 7. Further, a clutch pedal 11 and a brake release pedal 30 are provided on the lower left side of the handle post 20 to which the steering handle 8 is attached, and an accelerator pedal 10 and a brake pedal 12 are provided on the lower right side of the handle post 20. There is. Note that the brake pedal 12 includes left and right brake pedals 12L and 12R, respectively.

Here, the left and right brake pedals 12L, 12R and the locking mechanism 35 that locks the connection between the left and right brake pedals 12L, 12R will be described with reference to FIGS. 3, 4, and 5(A) and (B). As shown, the left and right brake pedals 12L, 12R are rotatably supported by a base shaft 22 extending in the left-right direction, and are provided at the tips of respective arms 23, 23 extending downward. Note that the arms 23, 23 are urged by urging members 24, 24, such as springs, respectively, with respect to the base shaft 22 in a direction opposite to the direction in which the operator steps in. Further, a pedal connecting portion 25 that connects the left and right brake pedals 12L, 12R is provided at an intermediate position of the arms 23, 23.

The pedal connecting portion 25 includes a connecting piece 26 and a receiving portion 27. The connecting piece 26 is rotatably attached to the arm 23 provided with one of the left and right brake pedals (for example, the left brake pedal 12L) in a direction substantially perpendicular to the direction in which the arm 23 extends. Further, the receiving portion 27 is provided on the arm 23 on which the other brake pedal (for example, the right brake pedal 12R) is provided.

The pedal connecting portion 25 connects the arms 23, 23 by the connecting piece 26 rotating around the rotation shaft 26a and the tip of the connecting piece 26 fitting into the hook-shaped receiving portion 27. In this way, by connecting the arms 23, 23 by the pedal connecting part 25, the left and right brake pedals 12L, 12R become substantially integrated, and when the operator depresses them, they operate together. Note that the operation of connecting the left and right brake pedals 12L and 12R and depressing both the left and right brake pedals at the same time is used when the aircraft is normally driven on the road. On the other hand, the operation of disengaging the left and right brake pedals 12L, 12R and depressing them individually is used when performing agricultural work by making a sudden turn of the aircraft in a field.

The connecting piece 26 of the pedal connecting part 25 is connected to a wire 28, and when the operator depresses the brake connection release pedal 30 (see FIG. 2), the connecting piece 26 of the pedal connecting part 25 is pulled up by the wire 28, and the left and right brake pedals 12L, Disconnect 12R. Note that when the operator releases his foot from the brake connection release pedal 30, the lifting of the connection piece 26 by the wire 28 is released, the connection piece 26 rotates and fits into the receiving part 27, and the left and right brake pedals 12L, 12R is connected.

The brake connection release pedal 30 described above is provided at the bottom of the handle post 20 (see FIG. 2) so as to protrude toward the driver's seat 7 side. As shown in FIG. 4, the brake connection release pedal 30 is provided with a pedal portion 30a at its tip. Further, the brake connection release pedal 30 has a base end portion 30b that is rotatable, and can be depressed by an operator. Furthermore, the base end 30b of the brake connection release pedal 30 has a first convex portion 31a that protrudes upward from the center of rotation, and a first convex portion 31a that protrudes upward from the center of rotation with a predetermined angle deviation from the first convex portion 31a. Two convex portions 31b are provided. When the brake connection release pedal 30 rotates, the first convex portion 31a and the second convex portion 31b rotate together in the rotation direction.

Further, a lock plate 32 is provided above the base end portion 30b of the brake connection release pedal 30. The lock plate 32 is rotatably provided around a rotation shaft 32b. Further, the lock plate 32 is connected to a lock lever 34 via a rod 33. Therefore, the lock plate 32 is rotated around the rotation shaft 32b by operating the lock lever 34 up and down. Such a lock plate 32, together with the first convex portion 31a of the brake connection release pedal 30, the rod 33, the lock lever 34, etc., is used to operate the brake connection release pedal 30 that releases the connection state between the left and right brake pedals 12L and 12R. It constitutes a locking mechanism 35 that locks in a disabled state.

As shown in FIG. 5(A), the locking mechanism 35 is activated when the brake connection release pedal 30 is not depressed by the operator, that is, when the brake connection release pedal 30 is in the standard attitude (approximately horizontal attitude). , the first convex portion 31a is inclined at a predetermined angle about the base end portion 30b. In this state, the wire 28 is not pulled and the connecting piece 26 of the pedal connecting part 25 is fitted into the receiving part 27, so the left and right brake pedals 12L, 12R are connected. At this time, if the lock lever 34 is fixed in the lowered position, even if the operator attempts to depress the brake connection release pedal 30, the first protrusion 31a will come into contact with one end 32a of the lock plate 32. , the left and right brake pedals 12L, 12R are never disconnected from each other.

As shown in FIG. 5(B), when the lock lever 34 is raised, the lock plate 32 rotates and the brake connection release pedal 30 can be depressed. When the operator depresses the brake connection release pedal 30, the wire 28 is pulled and the connection piece 26 of the pedal connection portion 25 is pulled up. As a result, the left and right brake pedals 12L, 12R are disconnected from each other.

Further, as shown in FIG. 4, a detection unit (pedal connection operation detection switch) 37 that detects a connection operation by the brake connection release pedal 30 is provided near the brake connection release pedal 30. Specifically, the pedal connection operation detection switch 37 is provided above the base end 30b of the brake connection release pedal 30, and when the brake connection release pedal 30 rotates, the second convex portion 31b is activated. As the actuator 37a rotates, the second convex portion 31b presses the actuator 37a, and the sensing portion 37b is pressed via the actuator 37a. Thereby, by operating the brake connection release pedal 30, connection/disconnection of the left and right brake pedals 12L, 12R described above can be detected. In the example of FIG. 4, when the brake connection release pedal 30 is in the basic position (approximately horizontal position), the pedal connection operation detection switch 37 is pressed, and the pedal connection part 25 connects the left and right brake pedals 12L, 12R. To detect. Moreover, when the brake connection release pedal 30 is in the tilted position, the connection release of the left and right brake pedals 12L, 12R by the pedal connection part 25 is detected.

Further, as shown in FIG. 4, a lock operation detection section (lock operation detection switch) 38 is provided near the lock plate 32 to detect the rotational movement of the lock plate 32. Specifically, the lock operation detection switch 38 is provided above the lock plate 32, and when the lock plate 32 rotates, the convex portion 39 provided at the top of the lock plate 32 rotates at a predetermined angle. As it rotates, the actuator 38a is pressed against the convex portion 32a, and the sensing portion 38b is pressed via the actuator 38a. Thereby, the locking/unlocking described above can be detected by the locking mechanism 35. In the example of FIG. 4, locking of the pedal connecting portion 25 is detected when the lock lever 34 is lowered. Further, when the lock lever 34 is raised, the lock operation detection switch 38 is pressed and the unlocking of the pedal connecting portion 25 is detected.

Next, the operation regulating section 40 that regulates or releases the regulation on the operation of the brake connection release pedal 30 will be explained. In FIGS. 5A and 5B, a pedal operation regulating actuator 40a and a solenoid portion 40b that actuates the actuator 40a when energized are provided near the base end 30b of the brake connection release pedal 30. The pedal operation regulating actuator 40a is constantly biased to advance below the arm 30c of the pedal portion 30a constituting the brake connection release pedal 30, so that the brake connection release pedal 30 shown in FIG. 5(A) is in the reference position ( Stepping from the substantially horizontal position) to the position shown in FIG. 5(B) is restricted. When the solenoid section 40b is energized, the pedal operation regulating actuator 40a moves in a retracting manner against the bias, allowing the brake connection release pedal 30 to rotate around the base end 30b.

The tractor 1 has a control section 42 shown in FIG. 6, and inputs information on the pedal connection operation detection switch 37 and lock operation detection switch 38 as well as mode selection switch 43 information as input information. On the other hand, the output information includes an excitation signal to the solenoid section 40b. By the way, the mode selection switch 43 is a switch for switching between a work mode and a non-work mode, and is placed, for example, on the side of the driver's seat 7, so that the operator can select the work mode or the non-work mode according to the running state of the tractor 1. It is configured so that it can be switched to non-work mode. When the work mode setting information is input from the mode selection switch 43, the control section 42 outputs an excitation signal to the solenoid section 40b, which causes the pedal operation regulation actuator 40a to retreat, and the pedal section of the brake connection release pedal 30 to move. 30a becomes possible. Note that in the case of the information indicating the non-work mode setting, the solenoid section 40b is de-energized and the pedal operation regulating actuator 40a is energized to advance, thereby regulating the depression of the pedal section 30a of the brake disconnection pedal 30.

As described above, by providing the mode selection switch 43 and switching to the non-work mode during non-work such as road driving, the operation regulating section 40 can regulate the operation of the brake disconnection pedal 30, and when driving on the road, the operation of the brake disconnection pedal 30 can be restricted. One-sided brake operation can be restricted to ensure safety.

In the above description, the mode is changed and the pedal operation regulating actuator 40a is moved in and out by the operating operator's switch operation, but it is even safer if this ingress and egress is performed automatically. For example, the control unit 42 includes a vehicle speed sensor 44 and a vehicle body inclination sensor 46 that detect the vehicle speed of the tractor 1, and the control unit 42 detects the vehicle speed when the vehicle speed of the tractor 1 is lower than a set warning vehicle speed based on the detected vehicle speed information, or when the vehicle body inclination sensor 46 detects the vehicle speed. When the longitudinal or lateral inclination angle of the vehicle body is smaller than the set warning inclination angle, the pedal operation regulation actuator 40a is retracted and the pedal portion 30a of the brake connection release pedal 30 is not depressed, similarly to the work mode selection. However, when the vehicle speed is higher than the warning vehicle speed or the tilt angle of the vehicle body is larger than the set warning tilt angle, the pedal operation restriction actuator 40a is urged to advance in the same manner as the non-work mode selection, This restricts depression of the pedal portion 30a of the brake disconnection pedal 30. Note that the warning vehicle speed and warning slope angle can be changed and set by the operator depending on field conditions and road surface conditions.

Further, in place of the vehicle speed sensor 44, a sub-shift lever position sensor 45 is provided to detect the position of the sub-shift lever 16, and the control unit 42 determines whether the sub-shift lever 16 is at a low speed (or medium speed) based on the input sub-shift position information. When it is in the high speed position, the pedal operation restriction actuator 40a is retracted to allow the pedal portion 30a of the brake connection release pedal 30 to be depressed, as in the work mode selection described above, but when the sub-shift lever 16 is in the high speed position Similarly to the non-work mode selection, the pedal operation restriction actuator 40a may be advanced by urging to restrict depression of the pedal portion 30a of the brake disconnection pedal 30.

In addition, in order to safely utilize the left and right brake pedals 12L and 12R, the control unit 42 is provided with field map data 47, and the machine position recognized by the vehicle body position recognition device 48 is determined to be outside the field based on the field map data 47. Then, it is preferable to operate the pedal connection solenoid 49 to connect the left and right brake pedals 12L and 12R so that they can brake as one.

Furthermore, when the auxiliary shift lever 16 is set to the on-road driving position or the one-touch tilling dial is set to the on-road driving position, when the on-road driving position is set, the pedal connection regulation solenoid 49 is activated, and the left and right brake pedals 12L, 12R are integrated. It would be better to make it work as a brake.

Furthermore, the tractor 1 may be provided with a front ground recognition camera, and when it recognizes that the ground is on the road, the pedal connection solenoid 49 is activated to connect the left and right brake pedals 12L and 12R so that they can brake as one. I can do it.

In this way, by having the control section 42 determine the working state and non-working state based on the vehicle speed information and the sub-shift position information, the operation regulating section 40 can regulate the operation of the brake connection release pedal 30, and when driving at high speed It also prevents one-sided braking from being applied when the aircraft is tilted, ensuring safety, and preventing one-sided braking when the aircraft is outside the field.

4 Front wheel 5 Rear wheel 7 Pilot seat 12L Left brake pedal 12R Right brake pedal 17 Seatbelt 17S Seatbelt sensor 25 Pedal connection section 40 Operation regulation section 42 Control section 43 Mode selection switch
44 Vehicle speed sensor 46 Vehicle tilt sensor 47 Field map data 48 Vehicle position recognition device

Claims (1)

In a riding agricultural vehicle equipped with a pedal connection part (25) that integrally connects the left and right brake pedals (12L), (12R), the control part (42) is configured to display a field map. data (47), and if the body position recognized by the body position recognition device (48) is outside the field, the pedal connection part (25) is automatically connected, and either the left or right brake pedal (12L) or (12R) is connected. Controls the left and right wheels (4) and (5) to be braked simultaneously even if you press the button .
A seatbelt (17) that detects whether the seatbelt sensor (17S) is wearing the seatbelt (17) is installed in the cockpit seat (7) to prompt the operator to fasten the seatbelt (17) when seated. A riding agricultural vehicle characterized in that, when detecting this, the pedal connecting portion (25) is prevented from being uncoupled .

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