Agricultural work vehicles

Abstract

The present invention relates to an agricultural work vehicle including: a vehicle body supporting an engine; a transmission that changes gears in response to power generated by the engine; a braking unit embodied by a hydraulic brake or a mechanical brake for slowing down the traveling speed of the vehicle body and controlling the deceleration of each of the left and right wheels; an operation unit provided in the vehicle body; and a control unit that controls the transmission and the braking unit using an operation signal provided from the operation unit, wherein the control unit includes an interlocking module that, when switched to an interlocking mode, controls the braking unit and the forward / reverse clutch so as to together adjust a braking rate at which the braking unit slows down the traveling speed of the vehicle body and a power transmission rate at which the forward / reverse clutch of the transmission transmits power, in response to an operation on a brake pedal unit of the operation unit.

Description

[Technical field]

[0001] The present invention relates to an agricultural work vehicle used to use the soil to cultivate crops necessary for human life. [Background technology]

[0002] Agricultural work vehicles are used to use the land to cultivate crops necessary for human life. For example, combine harvesters and tractors are examples of agricultural work vehicles. Combine harvesters harvest and thresh crops such as rice, wheat, and beans. Tractors use traction to perform tasks necessary for cultivating crops. Such agricultural work vehicles include transmissions to adjust torque, speed, etc. as needed during the work process.

[0003] Due to the nature of the work, such agricultural work vehicles frequently change between forward and reverse, and in order to change forward and reverse, the brake pedal must be operated to apply the brakes. In addition, braking by braking must be preceded by disengaging the forward and reverse clutch by operating the shuttle lever. If the forward and reverse clutch has not been disengaged by operating the shuttle lever, the agricultural work vehicle cannot be effectively braked due to the weight of the agricultural work vehicle itself and the output of the engine, even if the brake pedal is operated to apply the brakes.

[0004] In this way, in the past, the forward / reverse clutch was engaged and released by operating the shuttle lever. For the first time, I was able to operate the brake pedal and apply the brakes, so I was able to The operation during the process increases the fatigue of the operator driving the agricultural work vehicle, There was a problem that the driving difficulty of agricultural work vehicles was increased. [Patent Document 1] JP 2015-105701 A Summary of the Invention [Problem to be solved by the invention]

[0005] The present invention has been devised to solve the problems described above, and aims to provide an agricultural work vehicle that can reduce the fatigue felt by the worker due to operations during the work process and can lower the difficulty of driving. [Means for solving the problem]

[0006] In order to solve the above problems, the present invention may include the following configurations.

[0007] The agricultural work vehicle according to the present invention may include a vehicle body supporting an engine, a transmission that performs gear shifting according to power generated by the engine, a braking unit embodied by a hydraulic brake or a mechanical brake for reducing the traveling speed of the vehicle body and controlling the deceleration of each of the left and right wheels, an operation unit provided in the vehicle body, and a control unit that controls the transmission and the braking unit using an operation signal provided from the operation unit. The transmission may include a forward / reverse clutch that selectively transmits the power generated by the engine using friction between a plurality of friction members. The operation unit may include a plurality of pedals that control the deceleration of each of the left and right wheels, and may include a brake pedal unit that generates a brake signal for the brake unit, and a shuttle lever that generates a forward / reverse signal for the forward / reverse clutch. The control unit may include an interlocking module that controls the brake unit and the forward / reverse clutch so that, when switched to an interlocking mode, a braking rate at which the brake unit reduces the traveling speed of the vehicle body and a power transmission rate at which the forward / reverse clutch transmits power are both adjusted according to an operation on the brake pedal unit. Effect of the Invention

[0008] According to the present invention, the following effects can be achieved.

[0009] The present invention is embodied so that both the brake unit and the forward / reverse clutch can be controlled only by operating the brake pedal unit without a separate operation of the shuttle lever. As a result, the present invention can adjust the braking rate and power transmission rate to adjust the running speed of the vehicle body only by operating the brake pedal unit without a separate operation of the shuttle lever. Therefore, the present invention can reduce the fatigue caused to the operator by the operation during the work process, even if the forward / reverse gear shift is frequently performed to change between forward and reverse due to the nature of the work, and can reduce the difficulty of driving.

[0010] The present invention is embodied so that even if the brake unit is embodied as a hydraulic brake or a mechanical brake rather than an electronic brake unit, both the brake unit and the forward / reverse clutch can be controlled by only operating the brake pedal unit without a separate operation of the shuttle lever. Therefore, the present invention can significantly reduce manufacturing costs compared to those embodied by an electronic brake unit, while improving convenience and ease of operation for the operator. [Brief description of the drawings]

[0011] [Figure 1] 1 is a schematic side view showing an example of an agricultural work vehicle. [Diagram 2] 1 is a schematic block diagram of an agricultural work vehicle according to the present invention. [Diagram 3] 4 is a graph that illustrates a schematic braking profile for an agricultural work vehicle according to the present invention. [Figure 4] 4 is a graph that illustrates a schematic release profile for an agricultural work vehicle according to the present invention. [Diagram 5] 1 is a schematic block diagram of an embodiment of an agricultural work vehicle according to the present invention; [Figure 6] 1 is a schematic block diagram of an embodiment of an agricultural work vehicle according to the present invention; [Figure 7] 6 is a graph that shows a schematic braking profile before and after a correction value is applied in an agricultural work vehicle according to the present invention; [Figure 8] 11 is a graph that shows a schematic diagram of a release profile before and after a correction value is reflected in an agricultural work vehicle according to the present invention; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of an agricultural work vehicle according to the present invention will now be described in detail with reference to the accompanying drawings.

[0013] 1 and 2, an agricultural work vehicle 1 according to the present invention is used to cultivate crops necessary for human life using the soil. For example, the agricultural work vehicle 100 may be a tractor, a combine harvester, etc. The agricultural work vehicle 1 according to the present invention may include a vehicle body 2, a transmission 3, a braking unit 4, an operating unit 5, and a control unit 6.

[0014] 1 and 2, the vehicle body 2 supports an engine 21. The vehicle body 2 can form the overall appearance of the agricultural work vehicle 1 according to the present invention. The engine 21 can be coupled to the vehicle body 2. The vehicle body 2 can be provided with a driver's seat 22. The agricultural work vehicle 1 according to the present invention can perform a predetermined task by a user getting on the driver's seat 22 and operating the operation unit 5. The agricultural work vehicle 1 according to the present invention can also perform a predetermined task in an autonomous driving manner. The vehicle body 2 can be coupled with left and right wheels 23, the transmission 3, the brake unit 4, the operation unit 5, the control unit 6, and the like. The left and right wheels 23 include a wheel disposed on the left side of the vehicle body 2 and a wheel disposed on the right side of the vehicle body 2. In this case, the brake unit 4 can control the deceleration of the left and right wheels 23, respectively. When the power generated by the engine 21 is transmitted to the left and right wheels 23 via the transmission 3, the vehicle body 2 can travel forward or backward as the left and right wheels 23 rotate.

[0015] 1 to 5, the transmission 3 changes the speed of the power generated by the engine 21. The transmission 3 may be coupled to the vehicle body 2. The transmission 3 may be controlled by the control unit 6. The transmission 3 may include a forward / reverse transmission unit 31 (shown in FIG. 5) and a traveling transmission unit 32 (shown in FIG. 5).

[0016] The forward / reverse transmission unit 31 performs forward / reverse gear shifting on the power generated by the engine 21. The forward / reverse transmission unit 31 may include a forward / reverse clutch 311. The forward / reverse transmission unit 31 may transmit the power shifted by the forward / reverse transmission to the traveling transmission unit 32. When the forward / reverse clutch 311 is engaged, the power generated by the engine 21 may be transmitted to the traveling transmission unit 32 after the forward / reverse transmission is shifted. When the forward / reverse clutch 311 is disengaged, the power generated by the engine 21 is not transmitted to the traveling transmission unit 32.

[0017] The forward / reverse clutch 311 can selectively transmit power generated by the engine 21 using friction between a plurality of friction members (not shown). When the friction members contact each other, the forward / reverse clutch 311 is engaged and is in a state in which power can be transmitted. When the friction members are separated from each other, the forward / reverse clutch 311 is disengaged and is in a state in which power cannot be transmitted. The power transmission rate at which the forward / reverse clutch 311 transmits power can be adjusted according to the degree to which the friction members contact each other. In this case, the power transmission rate can be increased as the contact force between the friction members increases. The increase in the power transmission rate means that the ratio of the power transmitted from the engine 21 that is transmitted to the traveling speed change unit 32 increases. The power transmission rate can be decreased as the contact force between the friction members decreases. The decrease in the power transmission rate means that the ratio of the power transmitted from the engine 21 that is transmitted to the traveling speed change unit 32 decreases. When the power transmission rate is decreased, braking by the brake unit 4 can be performed more smoothly. The forward / reverse clutch 311 may be implemented as a multi-disk clutch that selectively transmits power using friction. Meanwhile, the forward / reverse transmission unit 31 may include at least one gear and at least one sleeve for forward / reverse transmission.

[0018] The traveling transmission unit 32 performs traveling shifting on the power transmitted from the engine 21. The traveling transmission unit 32 may include a traveling clutch. The traveling transmission unit 32 may perform traveling shifting on the power transmitted from the forward / reverse transmission unit 31. When the traveling clutch is engaged, the power transmitted from the forward / reverse transmission unit 31 may be transmitted to the axle after the traveling shifting is changed. When the traveling clutch is disengaged, the power transmitted from the forward / reverse transmission unit 31 is not transmitted to the axle. The traveling clutch may be realized by a multi-plate clutch that selectively transmits power using friction. In this case, the traveling clutch may be engaged to transmit power by contacting a plurality of friction members with each other. The traveling clutch may be disengaged to not transmit power by separating a plurality of friction members from each other. The traveling transmission unit 32 may include a plurality of traveling clutches. Meanwhile, the traveling transmission unit 32 may include at least one gear and at least one sleeve for traveling shifting.

[0019] Although not shown, the traveling transmission unit 32 may include a main transmission unit and an auxiliary transmission unit. The main transmission unit and the auxiliary transmission unit each perform a speed change with respect to the power. The main transmission unit and the auxiliary transmission unit can individually perform a speed change corresponding to the number of gears. When the main transmission unit is disposed prior to the auxiliary transmission unit based on the power transmission direction, the power may be changed in speed by the main transmission unit, then transmitted to the auxiliary transmission unit, and then transmitted to the axle. When the auxiliary transmission unit is disposed prior to the main transmission unit based on the power transmission direction, the power may be changed in speed by the auxiliary transmission unit, then transmitted to the main transmission unit, and then transmitted to the axle.

[0020] 1 to 4, the braking unit 4 is for reducing the traveling speed of the vehicle body 2. The braking unit 4 may be coupled to the vehicle body 2. The braking unit 4 may be embodied by a hydraulic brake or a mechanical brake. The braking unit 4 may reduce the traveling speed of the vehicle body 2 by using friction. In this case, the braking unit 4 may include a disk (not shown) that realizes friction. Since the braking unit 4 is embodied by a hydraulic brake or a mechanical brake, the agricultural work vehicle 1 according to the present invention can significantly reduce manufacturing costs compared to one realized by an electronic braking unit. The braking unit 4 may control the deceleration of the left and right wheels 23, respectively. In this case, the braking unit 4 may control the deceleration of each of the wheels disposed on the left side of the vehicle body 2 and the wheels disposed on the right side of the vehicle body 2 by using friction.

[0021] 1 to 4, the operation unit 5 is provided in the vehicle body 2. The operation unit 5 is disposed in the driver's seat 22 and can be operated by an operator. When the operation unit 5 is operated, the operation unit 5 generates an operation signal and can provide the operation signal to the control unit 6. The control unit 6 can control the transmission 3 and the braking unit 4 using the operation signal. The operation unit 5 can provide the operation signal to the control unit 6 via wired communication, wireless communication, etc.

[0022] The operating unit 5 can include a shuttle lever 51 and a brake pedal unit 52 .

[0023] The shuttle lever 51 is for controlling forward and reverse shifting. The shuttle lever 51 can generate a forward / reverse signal for the forward / reverse clutch 311. The shuttle lever 51 can provide the forward / reverse signal to the control unit 6. The control unit 6 can control the forward / reverse clutch 311 using the forward / reverse signal. The shuttle lever 51 can be in a forward / reverse operation state for moving the vehicle body 2 forward or backward. In this case, the shuttle lever 51 can generate the forward / reverse signal and provide it to the control unit 6. The shuttle lever 51 can be in a neutral operation state for not moving the vehicle body 2 forward or backward. In this case, the shuttle lever 51 can generate a neutral signal and provide it to the control unit 6. The control unit 6 can control the forward / reverse clutch 311 using the neutral signal. The shuttle lever 51 can be in the forward / reverse operation state or the neutral operation state depending on an operation by an operator.

[0024] The brake pedal unit 52 is for controlling deceleration. The brake pedal unit 52 can generate a braking signal for the brake unit 4. The brake pedal unit 52 can provide the braking signal to the control unit 6. The control unit 6 can control the brake unit 4 using the braking signal. The brake pedal unit 52 can be in a braking state in which the traveling speed of the vehicle body 2 is decelerated. In this case, the brake pedal unit 52 can generate the braking signal and provide it to the control unit 6. The brake pedal unit 52 can be in an unbraked state in which the traveling speed of the vehicle body 2 is not decelerated. In this case, the brake pedal unit 52 can generate an unbraked signal and provide it to the control unit 6. The control unit 6 can control the brake unit 4 using the unbraked signal. The brake pedal unit 52 can be in the braking state or the unbraked state by an operation of an operator. The brake pedal unit 52 can be operated by an operator's foot.

[0025] The brake pedal unit 52 may be rotatably coupled to the vehicle body 2. The brake pedal unit 52 may rotate between a minimum rotation angle and a maximum rotation angle. When the brake pedal unit 52 is disposed at a position corresponding to the minimum rotation angle, the brake pedal unit 52 may be in the unbraked state. When the brake pedal unit 52 is disposed at a position corresponding to the maximum rotation angle, the brake pedal unit 52 may be in the braked state. Depending on the rotation angle of the brake pedal unit 52, the braking rate at which the brake unit 4 decelerates the traveling speed of the vehicle body 2 may be adjusted. In this case, the braking rate may be adjusted by adjusting the frictional force by the brake unit 4 depending on the rotation angle of the brake pedal unit 52. The rotation angle of the brake pedal unit 52 is based on the minimum rotation angle. As the rotation angle of the brake pedal unit 52 increases, the braking rate may increase. In this case, the braking rate may increase as the frictional force by the brake unit 4 increases. As the rotation angle of the brake pedal unit 52 decreases, the braking rate by the brake unit 4 decreases. In this case, the braking rate decreases as the frictional force by the brake unit 4 decreases. The brake pedal unit 52 can be rotated by the pedal force applied by the operator.

[0026] The brake pedal unit 52 may include a plurality of pedals 521. The pedals 521 may control the deceleration of the left and right wheels 30, respectively. For example, the wheel disposed on the left side of the vehicle body 2 may be decelerated by a left pedal, and the wheel disposed on the right side of the vehicle body 2 may be decelerated by a right pedal. When the pedals 521 are not fastened to each other, the pedals 521 may rotate individually between the minimum rotation angle and the maximum rotation angle. When the pedals 521 are fastened to each other, the pedals 521 may rotate together between the minimum rotation angle and the maximum rotation angle. When the pedals 521 are fastened to each other, the brake pedal unit 52 may generate a fastening signal and provide the generated fastening signal to the control unit 6. When the pedals 521 are fastened to each other, the pedals 521 may rotate to the same rotation angle. The pedals 521 may be implemented to be fastened to each other or released from each other using a magnetic force, a link, or the like.

[0027] 1 to 4, the control unit 6 controls the transmission 3 and the braking unit 4. The control unit 6 can control the transmission 3 and the braking unit 4 using an operation signal provided from the operation unit 5. The control unit 6 can be coupled to the vehicle body 2. The control unit 6 can control the transmission 3 and the braking unit 4 by providing control signals to the transmission 3 and the braking unit 4 via wired communication, wireless communication, etc.

[0028] The control unit 6 may include an interlocking module 61 .

[0029] When switched to the interlocking mode, the interlocking module 61 controls both the brake unit 4 and the forward / reverse clutch 311 in interlocking with the operation of the brake pedal unit 52. In the interlocking mode, the interlocking module 61 can control the brake unit 4 and the forward / reverse clutch 311 to adjust together the braking rate at which the brake unit 4 reduces the traveling speed of the vehicle body 2 and the power transmission rate at which the forward / reverse clutch 311 transmits power in response to the operation of the brake pedal unit 52. As a result, the agricultural work vehicle 1 according to the present invention can achieve the following effects.

[0030] First, the agricultural work vehicle 1 according to the present invention is embodied to control both the brake unit 4 and the forward / reverse clutch 311 only by operating the brake pedal unit 52 using the interlocking module 61, without a separate operation of the shuttle lever 51. As a result, the agricultural work vehicle 1 according to the present invention can adjust the traveling speed of the vehicle body 2 by adjusting the braking rate and the power transmission rate only by operating the brake pedal unit 52, without a separate operation of the shuttle lever 51. Therefore, the agricultural work vehicle 1 according to the present invention can reduce the fatigue caused to the worker due to the operation during the work process, and can reduce the difficulty of driving, even if forward and reverse gear changes are frequently performed during the work due to the nature of the work.

[0031] Second, even if the braking unit 4 of the agricultural work vehicle 1 according to the present invention is embodied as a hydraulic brake or a mechanical brake rather than an electronic braking unit, the interlocking module 61 is used to control both the braking unit 4 and the forward / reverse clutch 311 only by operating the brake pedal unit 52 without a separate operation of the shuttle lever 51. Therefore, the agricultural work vehicle 1 according to the present invention can significantly reduce manufacturing costs and improve convenience and ease of operation for the worker, compared to one embodied by an electronic braking unit.

[0032] In the interlocking mode, the interlocking module 61 controls both the brake unit driving mechanism for controlling the operation of the brake unit 4 by operation on the brake pedal unit 52 and the forward / reverse drive mechanism for controlling the operation of the forward / reverse clutch 311, thereby adjusting the braking ratio and the power transmission ratio together. The brake unit driving mechanism may be operated by hydraulic pressure or electricity using a working fluid to control the operation of the brake unit 4. The forward / reverse drive mechanism may be operated by hydraulic pressure or electricity using a working fluid to control the operation of the forward / reverse clutch 311. Meanwhile, in the interlocking mode, the pedals 521 of the brake pedal unit 52 may be in a state of being fastened to each other. Thus, the pedals 521 may rotate at the same rotation angle. Hereinafter, the rotation angle of the brake pedal unit 52 in the interlocking mode may refer to the rotation angle when the pedals 521 are fastened to each other.

[0033] Meanwhile, when the interlocking mode is switched to a release mode for releasing the interlocking mode, the control unit 6 controls the forward / reverse clutch 311 when the shuttle lever 51 is operated, and controls the brake unit 4 when the brake pedal unit 52 is operated. That is, in the release mode, the forward / reverse clutch 311 is not interlocked and controlled by the operation of the brake pedal unit 52. In this case, the control unit 6 may include a control module 60. The control module 60 controls the forward / reverse clutch 311 and the brake unit 4 individually. Regardless of the operation of the brake pedal unit 52, the control module 60 may control the forward / reverse clutch 311 depending on whether a forward / reverse signal or a neutral signal is provided from the shuttle lever 51. In this case, the control module 60 may control the forward / reverse clutch 311 by controlling the forward / reverse drive mechanism. Regardless of whether the shuttle lever 51 is operated or not, the control module 60 can control the brake unit 4 depending on whether a brake signal or a non-braking signal is provided from the brake pedal unit 52. In this case, the control module 60 can control the brake unit 4 by controlling the brake unit driving mechanism.

[0034] The interlocking module 61 may control the brake unit 4 and the forward / reverse clutch 311 in the interlocking mode such that the braking ratio increases and the power transmission ratio decreases as the rotation angle of the brake pedal unit 52 increases. Thus, the agricultural work vehicle 1 according to the present invention may be decelerated by increasing the braking ratio and decreasing the power transmission ratio only by an operation of an operator increasing the depression force of the brake pedal unit 52 without operating the shuttle lever 51. In this case, the interlocking module 61 may increase the braking ratio by controlling the brake unit 4 such that the frictional force acting between the discs of the brake unit 4 increases, and may decrease the power transmission ratio by controlling the forward / reverse clutch 311 such that the frictional force acting between the friction members of the forward / reverse clutch 311 decreases. Meanwhile, in the interlocking mode, an increase in the braking ratio may mean an increase in the braking ratio for each of the left and right wheels 23.

[0035] In the interlocking mode, the interlocking module 61 may control the brake unit 4 and the forward / reverse clutch 311 such that the braking ratio decreases and the power transmission ratio increases as the rotation angle of the brake pedal unit 52 decreases. Thus, the agricultural work vehicle 1 according to the present invention may maintain or accelerate the traveling speed by only reducing the pedaling force applied to the brake pedal unit 52 by an operator without operating the shuttle lever 51. In this case, the interlocking module 61 may decrease the braking ratio by controlling the brake unit 4 such that the frictional force acting between the discs of the brake unit 4 decreases, and may increase the power transmission ratio by controlling the forward / reverse clutch 311 such that the frictional force acting between the friction members of the forward / reverse clutch 311 increases. Meanwhile, in the interlocking mode, the decrease in the braking ratio may mean a decrease in the braking ratio for each of the left and right wheels 23.

[0036] When the rotation angle of the brake pedal unit 52 changes in an increasing direction in the interlocking mode, the interlocking module 61 may control the brake unit 4 and the forward / reverse clutch 311 to adjust the braking rate and the power transmission rate according to a braking profile BP (shown in FIG. 3) in which the power transmission rate decreases as the braking rate increases. That is, when the worker increases the force of stepping on the brake pedal unit 52 in the interlocking mode, the interlocking module 61 may adjust the braking rate and the power transmission rate according to the braking profile BP. In this case, the interlocking module 61 may control the forward / reverse clutch 311 to adjust the power transmission rate according to the braking profile BP in which the power transmission rate decreases as the rotation angle of the brake pedal unit 52 increases in the interlocking mode.

[0037] When the rotation angle of the brake pedal unit 52 is changed in a decreasing direction in the interlocking mode, the interlocking module 61 may control the brake unit 4 and the forward / reverse clutch 311 to adjust the braking rate and the power transmission rate according to a release profile RP (shown in FIG. 4) in which the power transmission rate increases as the braking rate decreases. That is, when the operator reduces the force of stepping on the brake pedal unit 52 in the interlocking mode, the interlocking module 61 may adjust the braking rate and the power transmission rate according to the release profile RP. In this case, the interlocking module 61 may control the forward / reverse clutch 311 to adjust the power transmission rate according to the release profile RP in which the power transmission rate increases as the rotation angle of the brake pedal unit 52 is changed in a decreasing direction in the interlocking mode.

[0038] As described above, the agricultural work vehicle 1 according to the present invention is embodied to adjust the braking rate and the power transmission rate in the interlocking mode by distinguishing between the braking profile BP and the release profile RP according to the rotation direction of the brake pedal unit 52. Therefore, the agricultural work vehicle 1 according to the present invention can adjust the braking rate and the power transmission rate in accordance with the driving state in the interlocking mode, thereby improving ease and convenience of driving.

[0039] The braking profile BP and the release profile RP may be embodied differently. For example, with reference to Fig. 3, the braking profile BP may be formed in a curved shape bulging inward from an origin. With reference to Fig. 4, the release profile RP may be formed in a curved shape bulging outward. Thus, in the agricultural work vehicle 1 according to the present invention, in the linked mode, the changes in the braking rate and the power transmission rate may differ depending on the driving state, thereby further improving ease and convenience of driving.

[0040] Here, when the rotation angle of the brake pedal unit 52 changes in a change section CS (shown in FIGS. 3 and 4) corresponding to between a predetermined first rotation angle and a second rotation angle larger than the first rotation angle, the brake profile BP may be embodied to have a power transmission rate smaller than that of the release profile RP. Also, when the rotation angle of the brake pedal unit 52 changes in the change section CS, the release profile RP may be embodied to have a power transmission rate larger than that of the brake profile BP. For example, when the brake pedal unit 52 is at a first rotation angle A1 (shown in FIGS. 3 and 4) in the change section CS, the first power transmission rate P1 (shown in FIGS. 3 and 4) of the brake profile BP may be smaller than the second power transmission rate P2 (shown in FIGS. 3 and 4) of the release profile RP.

[0041] Therefore, the agricultural work vehicle 1 according to the present invention may be embodied such that the braking profile BP has a smaller power transmission rate than the release profile RP in the change section CS, so that the traveling speed may be decelerated more when the operator increases the force applied to the brake pedal unit 52 than when the operator decreases the force applied to the brake pedal unit 52. Also, the agricultural work vehicle 1 according to the present invention may be embodied such that the braking profile BP has a larger power transmission rate than the braking profile BP in the change section CS, so that the traveling speed may be embodied such that the operator decreases the force applied to the brake pedal unit 52 than when the operator increases the force applied to the brake pedal unit 52. As a result, the agricultural work vehicle 1 according to the present invention is embodied to further improve ease and convenience in driving.

[0042] Meanwhile, when the rotation angle of the brake pedal unit 52 changes in the change section CS, the brake profile BP may be embodied to have a smaller power transmission rate than the release profile RP for each rotation angle of the brake pedal unit 52. Also, when the rotation angle of the brake pedal unit 52 changes in the change section CS, the release profile RP may be embodied to have a larger power transmission rate than the brake profile BP for each rotation angle of the brake pedal unit 52.

[0043] Meanwhile, the first rotation angle and the second rotation angle may be preset by an operator. The first rotation angle may be set to be greater than the minimum rotation angle of the brake pedal unit 52 but smaller than the second rotation angle. The second rotation angle may be set to be greater than the first rotation angle but smaller than the maximum rotation angle of the brake pedal unit 52. For example, when the minimum rotation angle of the brake pedal unit 52 is defined as 0% and the maximum rotation angle of the brake pedal unit 52 is defined as 100%, the first rotation angle may correspond to 5% of the maximum rotation angle, and the second rotation angle may correspond to 90% of the maximum rotation angle.

[0044] 2 and 3, when the rotation angle of the brake pedal unit 52 changes in a brake approach section BES (shown in FIG. 3) that is greater than the minimum rotation angle and smaller than the first rotation angle, the braking profile BP may be embodied such that the change in the power transmission rate with respect to the change in the braking rate is greater than when the rotation angle of the brake pedal unit 52 changes in the change section CS. That is, the braking profile BP is embodied such that the power transmission rate decreases more quickly in the brake approach section BES than in the change section CS. Thus, the agricultural work vehicle 1 according to the present invention is embodied such that the frictional force between the friction members of the forward / reverse clutch 311 decreases more quickly at the beginning when the operator starts to depress the brake pedal unit 52. Therefore, the agricultural work vehicle 1 according to the present invention may reduce the risk of the forward / reverse clutch 311 being damaged or broken due to braking using the brake unit 4. On the other hand, when the rotation angle of the brake pedal unit 52 changes in the brake approach section BES, the braking profile BP may be embodied with a larger change in the power transmission ratio with respect to the change in the rotation angle of the brake pedal unit 52 than when the braking profile BP changes in the change section CS.

[0045] When the rotation angle of the brake pedal unit 52 changes in a braking end section BCS (shown in FIG. 3) that is greater than the second rotation angle and less than the maximum rotation angle, the braking profile BP may be embodied such that the change in the power transmission rate with respect to the change in the braking rate is smaller than when the rotation angle of the brake pedal unit 52 changes in the change section CS. That is, the braking profile BP is embodied such that the power transmission rate decreases more gradually in the braking end section BCS than in the change section CS. Thus, the agricultural work vehicle 1 according to the present invention is embodied such that the frictional force between the friction members of the forward / reverse clutch 311 decreases more gradually immediately before the operator fully depresses the brake pedal unit 52. Therefore, the agricultural work vehicle 1 according to the present invention can reduce shaking, vibration, etc., caused by braking using the brake unit 4. On the other hand, when the rotation angle of the brake pedal unit 52 changes in the braking end section BCS, the braking profile BP may be embodied such that the change in the power transmission rate with respect to the change in the rotation angle of the brake pedal unit 52 is smaller than when the braking profile BP changes in the change section CS.

[0046] The braking profile BP may be embodied such that, when the rotation angle of the brake pedal unit 52 changes in the braking end section BCS (shown in FIG. 3), the change in the power transmission rate with respect to the change in the braking rate is smaller than when the rotation angle of the brake pedal unit 52 changes in the braking entry section BES. That is, the braking profile BP is embodied such that the power transmission rate decreases more gradually in the braking end section BCS than in the braking entry section BES. Thus, the agricultural work vehicle 1 according to the present invention is embodied such that the frictional force between the friction members of the forward / reverse clutch 311 decreases more gradually immediately before the operator fully depresses the brake pedal unit 52. Therefore, the agricultural work vehicle 1 according to the present invention can reduce shaking and vibrations caused by braking using the brake unit 4. On the other hand, when the rotation angle of the brake pedal unit 52 changes in the braking end section BCS, the braking profile BP may be embodied such that the change in the power transmission rate with respect to the change in the rotation angle of the brake pedal unit 52 is smaller than when the rotation angle of the brake pedal unit 52 changes in the braking entry section BES.

[0047] 2 and 4, when the rotation angle of the brake pedal unit 52 changes in a release approach section RES (shown in FIG. 4) that is smaller than the maximum rotation angle and larger than the second rotation angle, the release profile RP may be embodied such that the change in the power transmission rate with respect to the change in the braking rate is greater than when the rotation angle of the brake pedal unit 52 changes in the change section CS. That is, the release profile RP is embodied such that the power transmission rate increases more quickly in the release approach section RES than in the change section CS. Thus, the agricultural work vehicle 1 according to the present invention is embodied such that the frictional force between the friction members of the forward / reverse clutch 311 increases more quickly at the beginning of the reduction of the force pressing the brake pedal unit 52 in a state where the operator fully presses the brake pedal unit 52. Therefore, the agricultural work vehicle 1 according to the present invention may improve responsiveness to an increase in the traveling speed when the braking using the brake unit 4 is released. In addition, the agricultural work vehicle 1 according to the present invention is embodied to prevent the friction members of the forward / reverse clutch 311 from being completely attached when the force applied to the brake pedal unit 52 is initially reduced while the operator fully depresses the brake pedal unit 52. Therefore, the agricultural work vehicle 1 according to the present invention can prevent the engine 21 from stopping by preventing the power generated by the engine 21 from being suddenly transmitted when the braking using the brake unit 4 is initially released, and can improve safety when traveling on a slope or the like. Meanwhile, when the rotation angle of the brake pedal unit 52 changes in the release approach section RES, the release profile RP may be embodied such that the change in the power transmission rate with respect to the change in the rotation angle of the brake pedal unit 52 is greater than when the rotation angle changes in the change section CS.

[0048] The release profile RP may be embodied such that, when the rotation angle of the brake pedal unit 52 changes in a release end section RCS (shown in FIG. 4) that is greater than the minimum rotation angle and less than the first rotation angle, the change in the power transmission rate with respect to the change in the braking rate is smaller than when the rotation angle of the brake pedal unit 52 changes in the change section CS. That is, the release profile RP is embodied such that the power transmission rate increases more gradually in the release end section RCS than in the change section CS. Thus, the agricultural work vehicle 1 according to the present invention is embodied such that the frictional force between the friction members of the forward / reverse clutch 311 increases more gradually just before the operator stops stepping on the brake pedal unit 52. Therefore, the agricultural work vehicle 1 according to the present invention can reduce shaking and vibrations that occur when braking using the brake unit 4 is completely released. On the other hand, when the rotation angle of the brake pedal unit 52 changes in the release end section RCS, the release profile RP may be embodied such that the change in the power transmission ratio with respect to the change in the rotation angle of the brake pedal unit 52 is smaller than when the release profile RP changes in the change section CS.

[0049] The release profile RP may be embodied such that, when the rotation angle of the brake pedal unit 52 changes in the release end section RCS (shown in FIG. 4), the change in the power transmission rate with respect to the change in the braking rate is smaller than when the rotation angle of the brake pedal unit 52 changes in the release approach section RES. That is, the release profile RP is embodied such that the power transmission rate increases more gradually in the release end section RCS than in the release approach section RES. Thus, the agricultural work vehicle 1 according to the present invention is embodied such that the frictional force between the friction members of the forward / reverse clutch 311 increases more gradually just before the operator stops stepping on the brake pedal unit 52. Therefore, the agricultural work vehicle 1 according to the present invention can reduce shaking and vibrations that occur when braking using the brake unit 4 is completely released. On the other hand, when the rotation angle of the brake pedal unit 52 changes in the release end section RCS, the release profile RP may be embodied such that the change in the power transmission ratio with respect to the change in the rotation angle of the brake pedal unit 52 is smaller than when the rotation angle of the brake pedal unit 52 changes in the release entry section RES.

[0050] Referring to FIGS. 2 to 5, the control unit 6 may include a conversion module 62.

[0051] The switching module 62 is for switching between the engagement mode and the release mode. When the switching module 62 switches to the engagement mode, the forward / reverse clutch 311 and the brake unit 4 can be controlled to be engaged by the operation of the brake pedal unit 52. In this case, the forward / reverse clutch 311 and the brake unit 4 can be controlled together by the link module 61. When the switching module 62 switches to the release mode, the forward / reverse clutch 311 can be controlled by the operation of the shuttle lever 51, and the brake unit 4 can be controlled by the operation of the brake pedal unit 52. In this case, the forward / reverse clutch 311 and the brake unit 4 can be controlled individually by the control module 60.

[0052] The diverting module 62 may be switched to the interlocking mode when it is confirmed that the shuttle lever 51 generates the forward / reverse signal, the brake pedal unit 52 generates the fastening signal by fastening the pedal 521 to each other, and the parking operation mechanism 53 of the operation unit 5 generates a parking release signal for releasing the parking brake for the vehicle body 2. Thus, when it is confirmed that the shuttle lever 51 generates the neutral signal, the diverting module 62 may not be switched to the interlocking mode. In this case, when in the release mode, the diverting module 62 may maintain the release mode. Also, when it is confirmed that the parking operation mechanism 53 generates a parking brake signal for parking braking the vehicle body 2, the diverting module 62 may not be switched to the interlocking mode. In this case, when in the release mode, the diverting module 62 may maintain the release mode. Also, when it is confirmed that the brake pedal unit 52 generates a fastening release signal by unfastening the pedal 521 to each other, the diverting module 62 may not be switched to the interlocking mode. In this case, if in the release mode, the switching module 62 can maintain the release mode. Therefore, since the agricultural work vehicle 1 according to the present invention is embodied to switch to the interlocking mode only when a predetermined condition is satisfied using the switching module 62, it is possible to prevent the operator from switching to the interlocking mode in an unintended situation and reduce the risk of a safety accident. The switching module 62 can receive an operation signal from the operating unit 5 via wired communication, wireless communication, etc. The switching module 62 can provide a control signal to each of the control module 60 and the interlocking module 61 via wired communication, wireless communication, etc.

[0053] Meanwhile, the parking operation mechanism 53 is for controlling parking braking. The parking operation mechanism 53 can generate a parking brake signal for a parking brake (not shown). The parking operation mechanism 53 can generate a parking release signal for the parking brake. The parking operation mechanism 53 can provide the parking brake signal and the parking release signal to the control unit 6. When the parking operation mechanism 53 is operated to a parking operation state and the parking brake signal is provided from the parking operation mechanism 53, the control unit 6 can control the parking brake so that the parking brake applies parking brake to the vehicle body 2. When the parking operation mechanism 53 is operated to a parking release state and the parking release signal is provided from the parking operation mechanism 53, the control unit 6 can control the parking brake so that the parking brake releases the parking brake on the vehicle body 2.

[0054] The switching module 62 may switch to the release mode when it is confirmed that the shuttle lever 51 generates the neutral signal in the interlocking mode. Thus, when it is confirmed that the shuttle lever 51 generates the forward / reverse signal in the interlocking mode, the switching module 62 may maintain the interlocking mode. Therefore, the agricultural work vehicle 1 according to the present invention is embodied to switch to the release mode only when a predetermined condition is satisfied using the switching module 62, so that it is possible to prevent the operator from switching to the release mode in an unintended situation and reduce the risk of a safety accident. Meanwhile, the switching module 62 may also switch to the release mode when it is confirmed that the shuttle lever 51 generates the neutral signal and the parking operation mechanism 53 generates the parking brake signal in the interlocking mode.

[0055] The conversion module 62 may be embodied to determine whether to switch between the interlocking mode and the release mode by operation of a switching operation mechanism 54 of the operation unit 5. The switching operation mechanism 54 is operated for switching between the interlocking mode and the release mode. The switching operation mechanism 54 is disposed in the driver's seat 22 and may be operated by an operator. The switching operation mechanism 54 may be embodied by an on / off switch, a lever, a pedal, etc. When the switching operation mechanism 54 is provided, the conversion module 62 may be switched between the interlocking mode and the release mode as follows.

[0056] First, when the switching operation mechanism 54 is operated to the interlocking mode, the switching module 62 can switch to the interlocking mode when it is confirmed that the shuttle lever 51 generates the forward / reverse signal, the brake pedal unit 52 generates the fastening signal, and the parking operation mechanism 53 generates the parking release signal. Thus, even if it is confirmed that the shuttle lever 51 generates the forward / reverse signal, the brake pedal unit 52 generates the fastening signal, and the parking operation mechanism 53 generates the parking release signal, the switching module 62 can maintain the release mode when the switching operation mechanism 54 is not operated to the interlocking mode.

[0057] Next, in the interlocking mode, when the switching operation mechanism 54 is operated to the release mode, the switching module 62 can switch to the release mode when it is confirmed that the shuttle lever 51 has generated the neutral signal. Thus, even if it is confirmed that the shuttle lever 51 has generated the neutral signal in the interlocking mode, the switching module 62 can maintain the interlocking mode if the switching operation mechanism 54 is not operated to the release mode. Meanwhile, in the interlocking mode, when the switching operation mechanism 54 is operated to the release mode, the switching module 62 can also switch to the release mode when it is confirmed that the shuttle lever 51 has generated the neutral signal and the parking operation mechanism 53 has generated the parking brake signal.

[0058] In this way, the agricultural work vehicle 1 according to the present invention may be embodied to switch between the conversion mode and the release mode only when it is confirmed by the conversion module 62 that a predetermined condition is satisfied in a state in which an operation is performed by the conversion operation mechanism 54. Therefore, the agricultural work vehicle 1 according to the present invention can prevent a contractor from switching between the conversion mode and the release mode in an unintended situation, thereby further reducing the risk of a safety accident occurring.

[0059] With reference to FIGS. 1 to 6, an agricultural work vehicle 1 according to the present invention can include a rotation angle obtaining sensor 7.

[0060] The rotation angle acquisition sensor 7 detects the brake pedal unit 52 and acquires a rotation angle of the brake pedal unit 52. The rotation angle acquisition sensor 7 may provide the acquired rotation angle of the brake pedal unit 52 to the control unit 6. In the interlocking mode, the interlocking module 61 may control the brake unit 4 and the forward / reverse clutch 311 using the rotation angle of the brake pedal unit 52 acquired by the rotation angle acquisition sensor 7. In the release mode, the control module 60 may control the brake unit 4 using the rotation angle of the brake pedal unit 52 acquired by the rotation angle acquisition sensor 7. The rotation angle acquisition sensor 7 may be embodied by a potentiometer or the like. The rotation angle acquisition sensor 7 may provide the rotation angle of the brake pedal unit 52 to the control unit 6 via wired communication, wireless communication, or the like. When the brake pedal unit 52 includes the pedal 521, the agricultural work vehicle 1 according to the present invention may include a plurality of the rotation angle acquisition sensors 7. The rotation angle acquisition sensor 7 can acquire the rotation angle of each of the pedals 521.

[0061] With reference to FIGS. 1 to 8, an agricultural work vehicle 1 according to the present invention can include a sensor unit 8.

[0062] The sensor unit 8 senses an operating environment for operating the forward / reverse clutch 311. The sensor unit 8 may sense an operating environment of the forward / reverse clutch 311 to generate sensing information, and then provide the generated sensing information to the control unit 6. The control unit 6 may correct each of the braking profile BP and the release profile RP using the sensing information.

[0063] In this case, the sensor unit 8 may include a hydraulic sensor 81 .

[0064] The hydraulic pressure sensor 81 measures the hydraulic pressure of the hydraulic fluid supplied to the forward / reverse clutch 311. The hydraulic pressure sensor 81 can provide the measured hydraulic pressure of the hydraulic fluid to the control unit 6 via wired communication, wireless communication, or the like.

[0065] When the hydraulic pressure sensor 81 is provided, the control unit 6 may include a correction module 63. The correction module 63 generates a correction value for correcting each of the brake profile BP and the release profile RP. When the hydraulic pressure of the hydraulic fluid measured by the hydraulic pressure sensor 81 deviates from a predetermined reference value in the interlock mode, the correction module 63 may generate a correction value for correcting each of the brake profile BP and the release profile RP. The reference value is a hydraulic pressure range of the hydraulic fluid that must be supplied to the forward / reverse clutch 311 for each rotation angle of the brake pedal unit 52, and may be preset by an operator. The correction value is a flow rate value of the hydraulic fluid for correcting a difference from the reference value for each rotation angle of the brake pedal unit 52, and may be preset by an operator.

[0066] In this way, the agricultural work vehicle 1 according to the present invention can be embodied to stably operate the interlocking mode using the correction value generated by the correction module 63 even if the flow rate of the working fluid supplied to the forward / reverse clutch 311 is changed due to leakage of the working fluid, deterioration of the hydraulic device for supplying the working fluid to the forward / reverse clutch 311, etc.

[0067] For example, when the hydraulic pressure of the working fluid supplied to the forward / reverse clutch 311 is smaller than the reference value depending on the rotation angle of the brake pedal unit 52, the correction module 63 may generate a correction value for moving each of the brake profile BP and the release profile RP in a first direction (direction of arrow D1). The first direction (direction of arrow D1) may be an upward direction for each of the brake profile BP and the release profile RP. Thus, the interlocking module 61 may control the flow rate of the working fluid supplied to the forward / reverse clutch 311 to be increased depending on the rotation angle of the brake pedal unit 52 in the interlocking mode compared to before the correction value is reflected. In this case, the interlocking module 61 may control the forward / reverse clutch 311 by reflecting the correction value.

[0068] For example, when the hydraulic pressure of the working fluid supplied to the forward / reverse clutch 311 is greater than the reference value depending on the rotation angle of the brake pedal unit 52, the correction module 63 may generate a correction value for moving each of the brake profile BP and the release profile RP in a second direction (direction of arrow D2). The second direction (direction of arrow D2) may be a downward direction for each of the brake profile BP and the release profile RP. Thus, the interlocking module 61 may control the flow rate of the working fluid supplied to the forward / reverse clutch 311 to be reduced depending on the rotation angle of the brake pedal unit 52 in the interlocking mode compared to before the correction value is reflected. In this case, the interlocking module 61 may control the forward / reverse clutch 311 by reflecting the correction value.

[0069] 7 and 8, the braking profile BP and the release profile RP shown by dotted lines indicate the state after the correction value is reflected, and the braking profile BP and the release profile RP shown by solid lines indicate the state before the correction value is reflected. In this case, since the braking profile BP and the release profile RP are corrected in the upward direction and the downward direction, only the change in the power transmission rate with respect to the change in the rotation angle of the brake pedal unit 52 changes, and the change in the braking rate with respect to the change in the rotation angle of the brake pedal unit 52 can be maintained unchanged.

[0070] The correction module 63 may provide the generated correction value to the interlocking module 61 via wired communication, wireless communication, etc. When the correction value is provided from the correction module 63, the interlocking module 61 may update the braking profile BP and the release profile RP according to the correction value. Thereafter, the interlocking module 61 may control the forward / reverse clutch 311 and the brake unit 4 according to the updated braking profile BP and release profile RP in the interlocking mode.

[0071] The sensor unit 8 may include an oil temperature sensor 82 .

[0072] The oil temperature sensor 82 measures the temperature of the working fluid supplied to the forward / reverse clutch 311. The oil temperature sensor 82 can provide the measured oil pressure of the working fluid to the control unit 6 via wired communication, wireless communication, or the like.

[0073] In the interlock mode, if the temperature of the working fluid measured by the oil temperature sensor 82 deviates from a predetermined reference temperature value, the correction module 63 can generate correction values ​​for correcting each of the braking profile BP and the release profile RP. The reference temperature value is a temperature range of the working fluid that must be supplied to the forward / reverse clutch 311, and can be set in advance by an operator. The correction value is a flow rate value of the working fluid for correcting the difference between the temperature of the working fluid measured by the oil temperature sensor 82 and the reference temperature value, and can be set in advance by an operator.

[0074] In this way, the agricultural work vehicle 1 according to the present invention can be embodied to stably operate the interlocking mode using the compensation value generated by the compensation module 63 even when the temperature of the working fluid supplied to the forward / reverse clutch 311 is changed.

[0075] For example, when the temperature of the working fluid measured by the oil temperature sensor 82 is lower than the reference temperature value, the correction module 63 can generate a correction value for moving each of the brake profile BP and the release profile RP in the first direction (the direction of the arrow D1). As a result, the interlocking module 61 can control, in the interlocking mode, to increase the flow rate of the working fluid supplied to the forward / reverse clutch 311 according to the rotation angle of the brake pedal unit 52 compared to before the correction value was reflected. In this case, the interlocking module 61 can control the forward / reverse clutch 311 by reflecting the correction value.

[0076] For example, when the temperature of the working fluid measured by the oil temperature sensor 82 is higher than the reference temperature value, the correction module 63 can generate a correction value that moves each of the brake profile BP and the release profile RP in the second direction (the direction of the arrow D2). As a result, the interlocking module 61 can control, in the interlocking mode, to reduce the flow rate of the working fluid supplied to the forward / reverse clutch 311 according to the rotation angle of the brake pedal unit 52 compared to before the correction value was reflected. In this case, the interlocking module 61 can control the forward / reverse clutch 311 by reflecting the correction value.

[0077] 1 to 8, the correction module 63 may correct each of the braking profile BP and the release profile RP such that the power transmission ratio increases or decreases depending on the number of gears of the transmission 3. As the number of gears is lower at the time of switching to the interlocking mode, the correction module 63 may move each of the braking profile BP and the release profile RP in the first direction (direction of arrow D1). As the number of gears is higher at the time of switching to the interlocking mode, the correction module 63 may move each of the braking profile BP and the release profile RP in the second direction (direction of arrow D2). In this way, the agricultural work vehicle 1 according to the present invention is embodied such that the power transmission ratio increases or decreases by correcting each of the braking profile BP and the release profile RP depending on the number of gears, thereby improving the stability of the operation of the interlocking mode.

[0078] Meanwhile, the correction module 63 may correct each of the braking profile BP and the release profile RP so that the power transmission ratio increases or decreases depending on the number of gear stages of the sub transmission unit of the transmission 3. In addition, when the number of gear stages is changed in the interlocking mode, the correction module 63 may correct each of the braking profile BP and the release profile RP depending on the changed number of gear stages. In this case, the interlocking module 61 may update the braking profile BP and the release profile RP according to the correction value provided from the correction module 63, and control the forward / reverse clutch 311 and the brake unit 4 according to the updated braking profile BP and release profile RP.

[0079] The present invention described above is not limited to the above-mentioned embodiments and accompanying drawings, and it will be apparent to those skilled in the art to which the present invention pertains that various substitutions, modifications and alterations are possible within the scope of the technical idea of ​​the present invention.

Claims

1. A vehicle body supporting an engine; a transmission that changes gears according to the power generated by the engine; A braking unit implemented by a hydraulic brake or a mechanical brake for reducing the traveling speed of the vehicle body and controlling the deceleration of each of the left and right wheels; An operation unit provided on the vehicle body; a control unit that controls the transmission and the brake unit using an operation signal provided from the operation unit, the transmission includes a forward / reverse clutch that selectively transmits power generated by the engine using friction between a plurality of friction members; The operation unit includes: a brake pedal unit including a plurality of pedals for controlling deceleration of the left and right wheels, respectively, and for generating a brake signal for the brake unit; a shuttle lever for generating a forward / reverse signal for the forward / reverse clutch; The control unit includes an interlocking module that controls the brake unit and the forward / reverse clutch so that, when the interlocking mode is switched to, a braking rate at which the brake unit reduces the traveling speed of the vehicle body and a power transmission rate at which the forward / reverse clutch transmits power are adjusted together in response to an operation on the brake pedal unit, and The interlocking module includes: When the rotation angle of the brake pedal unit is changed in an increasing direction in the interlock mode, the brake unit and the forward / reverse clutch are controlled to adjust the braking ratio and the power transmission ratio according to a braking profile in which the power transmission ratio decreases as the braking ratio increases, and When the rotation angle of the brake pedal unit is changed in a decreasing direction in the interlock mode, the brake unit and the forward / reverse clutch are controlled to adjust the braking ratio and the power transmission ratio according to a release profile in which the power transmission ratio increases as the braking ratio decreases, The braking profile is embodied to have a power transmission rate smaller than that of the release profile when a rotation angle of the brake pedal unit changes in a change section corresponding to a first rotation angle and a second rotation angle larger than the first rotation angle, The braking profile comprises: When the rotation angle of the brake pedal unit changes in a brake approach section that is larger than a minimum rotation angle and smaller than the first rotation angle, a change in the power transmission rate with respect to a change in the braking rate is embodied to be larger than when the rotation angle of the brake pedal unit changes in the change section, 2. An agricultural work vehicle comprising: a brake pedal unit configured to rotate about a rotation angle of the brake pedal unit in a braking end section that is greater than the second rotation angle and less than a maximum rotation angle; a brake pedal unit configured to rotate about a rotation angle of the brake pedal unit in a braking end section that is greater than the second rotation angle and less than a maximum rotation angle;

2. A vehicle body supporting an engine; a transmission that changes gears according to the power generated by the engine; A braking unit implemented by a hydraulic brake or a mechanical brake for reducing the traveling speed of the vehicle body and controlling the deceleration of each of the left and right wheels; An operation unit provided on the vehicle body; a control unit that controls the transmission and the brake unit using an operation signal provided from the operation unit, the transmission includes a forward / reverse clutch that selectively transmits power generated by the engine using friction between a plurality of friction members; The operation unit includes: a brake pedal unit including a plurality of pedals for controlling deceleration of the left and right wheels, respectively, and for generating a brake signal for the brake unit; a shuttle lever for generating a forward / reverse signal for the forward / reverse clutch; The control unit includes an interlocking module that controls the brake unit and the forward / reverse clutch so that, when the interlocking mode is switched to, a braking rate at which the brake unit reduces the traveling speed of the vehicle body and a power transmission rate at which the forward / reverse clutch transmits power are adjusted together in response to an operation on the brake pedal unit, and The interlocking module includes: When the rotation angle of the brake pedal unit is changed in an increasing direction in the interlock mode, the brake unit and the forward / reverse clutch are controlled to adjust the braking ratio and the power transmission ratio according to a braking profile in which the power transmission ratio decreases as the braking ratio increases, and When the rotation angle of the brake pedal unit is changed in a decreasing direction in the interlock mode, the brake unit and the forward / reverse clutch are controlled to adjust the braking ratio and the power transmission ratio according to a release profile in which the power transmission ratio increases as the braking ratio decreases, The braking profile is embodied to have a power transmission rate smaller than that of the release profile when a rotation angle of the brake pedal unit changes in a change section corresponding to a first rotation angle and a second rotation angle larger than the first rotation angle, The release profile comprises: When the rotation angle of the brake pedal unit changes in a release approach section that is smaller than the maximum rotation angle and larger than the second rotation angle, a change in the power transmission rate with respect to a change in the braking rate is embodied to be larger than when the rotation angle of the brake pedal unit changes in the change section, 2. An agricultural work vehicle comprising: a brake pedal unit configured to rotate about a rotation angle of the brake pedal unit and a brake transmission ratio of the brake pedal unit;

3. The control unit includes a conversion module for converting between the interlocking mode and a release mode for canceling the interlocking mode, 3. The agricultural work vehicle according to claim 1, wherein the conversion module converts to the interlocking mode when it is confirmed that the shuttle lever generates a forward / reverse signal for moving the vehicle body forward or backward, the brake pedal unit generates a fastening signal by fastening the pedals together, and a parking operation mechanism of the operation unit generates a parking release signal for releasing a parking brake on the vehicle body.

4. The agricultural work vehicle according to claim 3 , wherein the shifting module shifts to the release mode when it is confirmed that the shuttle lever generates a neutral signal in the engagement mode.

5. 3. The agricultural work vehicle according to claim 1, wherein the interlocking module controls the brake unit and the forward / reverse clutch such that, in the interlocking mode, the braking ratio increases and the power transmission ratio decreases as the rotation angle of the brake pedal unit increases.

6. 2. The agricultural work vehicle according to claim 1, wherein the braking profile has a concave curve shape in the transition section.

7. 3. The agricultural work vehicle according to claim 1, further comprising a rotation angle acquisition sensor for detecting the brake pedal portion and acquiring a rotation angle of the brake pedal portion.

8. a hydraulic pressure sensor for measuring the hydraulic pressure of the hydraulic fluid supplied to the forward / reverse clutch; The control unit further includes a correction module that generates a correction value for correcting each of the braking profile and the release profile when the hydraulic pressure of the working fluid measured by the hydraulic pressure sensor deviates from a predetermined reference value in the interlocking mode, The reference value is a hydraulic pressure range of the hydraulic fluid that must be supplied to the forward / reverse clutch according to a rotation angle of the brake pedal unit, 3. The agricultural work vehicle according to claim 1, wherein the correction value is a flow rate value of a working fluid for correcting a difference from the reference value for each rotation angle of the brake pedal portion.

9. and an oil temperature sensor for measuring a temperature of the hydraulic fluid supplied to the forward / reverse clutch. the control unit further includes a correction module that generates correction values ​​for correcting the braking profile and the release profile when the temperature of the working fluid measured by the oil temperature sensor deviates from a predetermined reference temperature value in the interlocking mode, the reference temperature value is a temperature range of the hydraulic fluid that must be supplied to the forward / reverse clutch, The correction value is a flow rate value of the working fluid for correcting a difference between the temperature of the working fluid measured by the oil temperature sensor and the reference temperature value.

3. The agricultural work vehicle according to claim 1 or 2.

10. The control unit further includes a correction module that corrects each of the braking profile and the release profile so that the power transmission ratio increases or decreases depending on the number of gears of the transmission, The lower the gear stage is at the time of switching to the interlock mode, the lower the correction module moves each of the braking profile and the release profile in a first direction; Meanwhile, the higher the gear stage is at the time of switching to the interlock mode, the more the correction module moves each of the braking profile and the release profile in a second direction. the first direction is an upward direction relative to each of the braking profile and the release profile; The second direction is a downward direction relative to each of the braking profile and the release profile.

3. The agricultural work vehicle according to claim 1 or 2.

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