CN103322181A - Electromechanical combination gear-shifting operation system and engineering machinery - Google Patents
Electromechanical combination gear-shifting operation system and engineering machinery Download PDFInfo
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- CN103322181A CN103322181A CN2013102891720A CN201310289172A CN103322181A CN 103322181 A CN103322181 A CN 103322181A CN 2013102891720 A CN2013102891720 A CN 2013102891720A CN 201310289172 A CN201310289172 A CN 201310289172A CN 103322181 A CN103322181 A CN 103322181A
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Abstract
The invention discloses an electromechanical combination gear-shifting operation system which comprises an electric control gear-shifting operation device, an executing device and a controller, wherein the electric control gear-shifting operation device is used for generating work state signals according to travelling state information and/or gear information input by a user. The executing device comprises a stepping motor, wherein the output end of the stepping motor is connected with a travelling reversing rocker arm and/or a gear selecting rocker arm of a gearbox. The controller is used for controlling the stepping motor to work according to the work state signals to complete corresponding forward and backward switching and/or gear-shifting switching. The electromechanical combination gear-shifting operation system reasonably overcomes the defects that a mechanical operation mechanism is complex in structure, space distribution is difficult, operation wastes labor, the technical content is low, reliability of hydraulic power gear shifting is poor, and maintaining costs are high. The electromechanical combination gear-shifting operation system can greatly improve controllability and comfort of equipment, lowers mechanical abrasion, caused by manual gear shifting, of the equipment, and improves work efficiency of the equipment. The invention further discloses engineering machinery comprising the electromechanical combination gear-shifting operation system.
Description
Technical field
The present invention relates to the control system technical field, more particularly, relate to a kind of dynamo-electric combination shift control system and engineering machinery.
Background technique
At present, work machine operation personnel have proposed higher usage requirement to engineering machinery driving comfortability, reliability, simplicity, particularly the bulldozer of operation under rugged environment and under the operating mode.
Traditional bulldozer is on shift control, a mechanical operating stem is adopted in moving forward and backward of vehicle, left steering and right steering adopt independent operating stem respectively, the gear of forward-reverse also is to adopt an independent mechanical operation bar, makes that mechanical operating stem is many, and the position distribution more complicated, so in operation process, operant level to driver has proposed very high requirement, and each operating stem needs coordinated manipulation, and process just can fulfil assignment.Operator need each operating stem of operation back and forth, for the short distance transported material or when moving soil, actuating linkege back and forth, it is big to handle resistance, control run is long, gearshift is frequent in addition, and operation comfort and gearshift feel are poor, and the position is inaccurate, need often to regulate, also often occur clamping stagnation and dumb phenomenon in the use, when serious even occur hanging not Shang and keep off or the off-gear situation, cause danger.And the shift control mechanism of this flexible axle control, various connecting rods are spatial mechanisms, propose high requirement for design, layout and the installation adjustment of complete machine, both increased labor intensity of operating personnel, increased the power consumpiton of motor and the mechanical wear of equipment again.
Except the mechanical type shift control system, also there is a kind of electrichydraulic control shift control system at present, the electrichydraulic control shift control system is expensive because of it, turbidity test to hydraulic oil liquid are had relatively high expectations, fluid easily causes the solenoid valve oil circuit to stop up, and shortcomings such as the maintaining cost is too high, system's instability have also limited the generality of its application.
Therefore, how to solve mechanical changeover operation effort, complex structure, that the space is arranged is difficult, handle effort and electrichydraulic control gearshift maintaining cost height, expensive, to oil cleanliness requirement height, the easy blockage problem of hydraulic buttery valve, become the technical problem that those skilled in the art need to be resolved hurrily.
Summary of the invention
In view of this, the object of the present invention is to provide a kind of dynamo-electric combination shift control system, with solve mechanical changeover operation effort, complex structure, that the space is arranged is difficult, handle effort and electrichydraulic control gearshift maintaining cost height, expensive, oil cleanliness is required high, the easy blockage problem of hydraulic buttery valve;
A core more of the present invention is to provide a kind of engineering machinery with above-mentioned dynamo-electric combination shift control system.
For achieving the above object, the invention provides following technological scheme:
A kind of dynamo-electric combination shift control system comprises:
Automatically controlled shifting operating device is used for generating working state signal according to walking states information and/or the gear information of user's input;
Actuating device, described actuating device comprise the stepper motor that output terminal is connected with walking commutation rocking arm and/or the gear selection rocking arm of gearbox respectively;
Controller is used for according to described working state signal, controls described stepper motor work, finishes corresponding forward-reverse switching and/or gearshift and switches.
Preferably, in above-mentioned dynamo-electric combination shift control system, described controller comprises:
Receiving module is for the working state signal that receives described automatically controlled shifting operating device;
Puocessing module is used for described working state signal is converted to the step motor control signal;
Transmitting module is used for described step motor control signal is sent to described Stepping Motor Control module, controls the rotation that described stepper motor is done respective direction and the number of turns.
Preferably, in above-mentioned dynamo-electric combination shift control system, automatically controlled shifting operating device comprises walking switching selection switch and gear selector switch;
Described walking switching selection switch is used for generate the walking switching signal, and the switching signal of should walking transferring to described controller according to the advancing of user's input, idle stroke and backward information;
Described gear selector switch is used for the gear information according to user's input, generates gear shifting signal, and this walk signal is transferred to described controller.
Preferably, in above-mentioned dynamo-electric combination shift control system, described actuating device comprises two stepper motors, and one of them stepper motor links to each other with the walking commutation rocking arm of described gearbox, and another stepper motor selects rocking arm to be connected with the gear of described gearbox.
Preferably, in above-mentioned dynamo-electric combination shift control system, described actuating device also comprises and two described stepper motors output transmission one to one;
The input end of described output transmission links to each other with the output terminal of corresponding described stepper motor, the output terminal of one of them described output transmission links to each other with the walking of described gearbox commutation rocking arm, and the output terminal of another described output transmission selects rocking arm to be connected with the gear of described gearbox.
Preferably, in above-mentioned dynamo-electric combination shift control system, described output transmission is worm-and-wheel gear, the worm screw of described worm-and-wheel gear links to each other with the output terminal of corresponding stepper motor, the worm gear of one of them described worm-and-wheel gear links to each other with the walking of described gearbox commutation rocking arm, and the worm gear of another described worm-and-wheel gear selects rocking arm to be connected with the gear of described gearbox.
Preferably, in above-mentioned dynamo-electric combination shift control system, described output transmission is screw mechanism, the screw mandrel of described screw mechanism is hinged with the output terminal of corresponding stepper motor, the screw of one of them described screw mechanism and the walking of described gearbox commutation rocking arm are hinged, and the screw of another described screw mechanism and the gear of described gearbox select rocking arm to be hinged.
Preferably, in above-mentioned dynamo-electric combination shift control system, described screw mechanism is ball screw framework.
Preferably, in above-mentioned dynamo-electric combination shift control system, also comprise the actuator's position feedback detection device for detection of described walking commutation rocking arm and gear selection rocking arm position, and the position signal that generates is sent to controller;
Described controller calculates the required angle of swing of current stepper motor, and controls described stepper motor rotation respective angles.
From above-mentioned technological scheme as can be seen, dynamo-electric combination shift control system provided by the invention, receive the working state signal that automatically controlled shifting operating device generates by control, the control actuating device drives walking commutation rocking arm and/or the gear of gearbox and selects rocking arm to rotate corresponding angle, with the switching of finishing direction of travel and the switching of walking gear.
The present invention is on the basis that does not change original dynamic power shift gear box, collection mechanical handling mechanism stability, reliability height, and the electrichydraulic control shift control system is simple to operate, light, the high advantage of easily arranging between the two of control accuracy, rationally effectively avoided mechanical handling mechanism structure complexity, the space is arranged difficult, handles effort, and is with low content of technology, and hydraulic control power gear shifting poor reliability, expensive, shortcomings such as maintaining expense height combine together both advantages.The invention process is convenient, and structure strategy is simple, can improve the handling and travelling comfort of equipment greatly, has reduced equipment because of the mechanical wear that artificial gearshift causes, has improved working efficiency, the reliability and stability of equipment, effectively raises operation comfort.
The present invention also provides a kind of engineering machinery, comprises shift control system, and described shift control system is as above each described dynamo-electric combination shift control system.Because above-mentioned dynamo-electric combination shift control system has above-mentioned technique effect, therefore comprises the engineering machinery of this electromechanics combination shift control system, has above-mentioned technique effect equally, this paper does not repeat them here.
Description of drawings
In order to be illustrated more clearly in the embodiment of the invention or technological scheme of the prior art, to do to introduce simply to the accompanying drawing of required use in embodiment or the description of the Prior Art below, apparently, accompanying drawing in describing below only is some embodiments of the present invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.
The electromechanics that Fig. 1 provides for the embodiment of the invention makes up the structural representation of shift control system.
Wherein, 1 is automatically controlled shifting operating device, and 2 is controller, and 3 is actuating device, and 301 is stepper motor, and 302 is output transmission, and 4 is actuator's position feedback detection device.
Embodiment
Core of the present invention is to provide a kind of dynamo-electric combination shift control system, with under the prerequisite that does not consume higher-wattage, improves the radiating effect of system, thereby reduces the energy consumption of motor, makes most of power can be applied in the groundwork of engineering machinery;
Another core of the present invention is to provide a kind of engineering machinery with above-mentioned dynamo-electric combination shift control system.
Below in conjunction with the accompanying drawing in the embodiment of the invention, the technological scheme in the embodiment of the invention is clearly and completely described, obviously, described embodiment only is the present invention's part embodiment, rather than whole embodiments.Based on the embodiment among the present invention, those of ordinary skills belong to the scope of protection of the invention not making all other embodiments that obtain under the creative work prerequisite.
See also Fig. 1, the electromechanics that Fig. 1 provides for the embodiment of the invention makes up the structural representation of shift control system.
The electromechanics combination shift control system that the embodiment of the invention provides comprises automatically controlled shifting operating device 1, actuating device 3 and controller 2.
Wherein, automatically controlled shifting operating device 1 is used for generating working state signal according to walking states information and/or the gear information of user's input.Automatically controlled shifting operating device 1 can only can be accepted the walking states information (advance, idle stroke and backward information) of user input, also can only can accept the gear information (neutral, one grade, second gear, third gear) of user input, the same walking states information that can also can either accept user's input can be accepted the gear information that the user imports again.Automatically controlled shifting operating device 1 can generate working state signal according to the information of user's input, and this working state signal is sent to controller 2.Working state signal can be electrical signal, also can be other signal.
Actuating device 3 comprises stepper motor 301, and the output terminal of stepper motor 301 selects rocking arm to be connected with the walking of gearbox commutation rocking arm and/or gear.When automatically controlled shifting operating device 1 only had the function of the walking states information of accepting user's input, stepper motor 301 only was one, and the output terminal of this stepper motor 301 is connected with walking commutation rocking arm; When automatically controlled shifting operating device 1 only had the gear information of accepting user's input, stepper motor 301 only was one, and the output terminal of this stepper motor 301 selects rocking arm to be connected with gear; Can either accept the walking states information of user's input at automatically controlled shifting operating device 1, in the time of accepting the gear information of user's input again, stepper motor 301 is two, and the output terminal of two stepper motors 301 selects rocking arm to be connected with the walking commutation rocking arm of gearbox with gear respectively.
Because the structure of gearbox is constant, be still running shaft and drive the shift fork action, do not change the spinning movement of original gearshift, select for use stepper motor 301 to drive the rocking arm rotation, the driven rotary axle rotates then, thereby finishes gearshift work by shift fork.
Controller 2 is used for according to working state signal, and 301 work of control step motor are finished corresponding forward-reverse switching and/or gearshift and switched.
Controller 2 has corresponding input/output interface, input interface connects automatically controlled shifting operating device 1, reception is advanced, is retreated from automatically controlled shifting operating device 1, signal upgrades, lowers category, the output interface of controller 2 connects actuating device 3, and the action of actuating device 3 driven output, be connected to each other by wire harness between the system.
When driver is handled automatically controlled shifting operating device 1, be example to advance one grade, to walk switching selection switch as for progressive position, the gear selector switch is put as for a gear, corresponding controller 2 receives corresponding signal, signal transmission after will transforming is simultaneously exported in the control module of stepper motor 301, stepper motor 301 is rotated according to controller 2 output orders, driving corresponding walking commutation rocking arm and gear selects rocking arm to rotate, thereby realize that corresponding forward-reverse switches and gearshift is switched, realize the control of dynamo-electric combination shift control.
Dynamo-electric combination shift control system provided by the invention, receive the working state signal that automatically controlled shifting operating device 1 generates by control, control actuating device 3 drives walking commutation rocking arm and/or the gear of gearbox and selects rocking arm to rotate corresponding angle, with the switching of finishing direction of travel and the switching of walking gear.
The present invention is on the basis that does not change original dynamic power shift gear box, collection mechanical handling mechanism stability, reliability height, and the electrichydraulic control shift control system is simple to operate, light, the high advantage of easily arranging between the two of control accuracy, rationally effectively avoided mechanical handling mechanism structure complexity, the space is arranged difficult, handles effort, and is with low content of technology, and hydraulic control power gear shifting poor reliability, expensive, shortcomings such as maintaining expense height combine together both advantages.The invention process is convenient, and structure strategy is simple, can improve the handling and travelling comfort of equipment greatly, has reduced equipment because of the mechanical wear that artificial gearshift causes, has improved working efficiency, the reliability and stability of equipment, effectively raises operation comfort.
In the present invention's one specific embodiment, controller 2 comprises receiving module, puocessing module and transmitting module.
Wherein, receiving module is used for receiving the working state signal of automatically controlled shifting operating device 1, puocessing module is used for working state signal is converted to the step motor control signal, transmitting module is used for the step motor control signal is sent to the control module of stepper motor 301, and control step motor 301 is done the rotation of respective direction and the number of turns.
In the present invention's one specific embodiment, automatically controlled shifting operating device 1 comprises walking switching selection switch and gear selector switch.The walking switching selection switch is used for generate the walking switching signal, and the switching signal of should walking transferring to controller 2 according to the advancing of user's input, idle stroke and backward information.The gear selector switch is used for the gear information according to user's input, generates gear shifting signal, and this walk signal is transferred to controller 2.
In the present invention's one specific embodiment, actuating device comprises two stepper motors, and one of them stepper motor links to each other with the walking commutation rocking arm of gearbox, and another stepper motor selects rocking arm to be connected with the gear of gearbox.
It will be appreciated by persons skilled in the art that also just to be connected with walking commutation rocking arm with a plurality of stepper motors, as long as guarantee that the output speed of each stepper motor is identical.Correspondingly, also can adopt a plurality of stepper motors and gear to select rocking arm to be connected, as long as guarantee that the output speed of each stepper motor is identical.
In the present invention's one specific embodiment, actuating device also can comprise and two stepper motors output transmission 302 one to one.Output transmission 302 can multiple structural type, for example can be worm-and-wheel gear, also can be screw mechanism, as long as possess deceleration, the effect that improves moment of torsion gets final product.
The input end of output transmission 302 links to each other with the output terminal of corresponding stepper motor, the output terminal of one of them output transmission 302 links to each other with the walking of gearbox commutation rocking arm, and the output terminal of another output transmission 302 selects rocking arm to be connected with the gear of gearbox.
When output transmission 302 is worm-and-wheel gear, the worm screw of worm-and-wheel gear links to each other with the output terminal of corresponding stepper motor, the worm gear of one of them worm-and-wheel gear links to each other with the walking of gearbox commutation rocking arm, and the worm gear of another worm-and-wheel gear selects rocking arm to be connected with the gear of gearbox.Because the input output of worm-and-wheel gear are rotation, therefore as long as worm gear selects rocking arm to link to each other with corresponding walking commutation rocking arm with gear, get final product with driven rotary.
When output transmission 302 is screw mechanism, the screw mandrel of screw mechanism is hinged with the output terminal of corresponding stepper motor, the screw of one of them screw mechanism and the walking of gearbox commutation rocking arm are hinged, and the screw of another screw mechanism and the gear of gearbox select rocking arm to be hinged.Screw mechanism can be converted to straight line with rotatablely moving of stepper motor output and move, and can drive corresponding walking commutation rocking arm and the swing of gear selection rocking arm thereby promote screw.In order to guarantee to promote to be unlikely to stuck when corresponding walking commutation rocking arm and gear are selected the rocking arm swing, need the screw mandrel of screw mechanism is hinged with the output terminal of corresponding stepper motor, commutate rocking arm and gear selection rocking arm of screw and corresponding walking is hinged.
Further, screw mechanism is preferably ball screw framework, and the characteristics of ball screw pair are conversion efficiency height, control accuracy height, long service life.
In the present invention's one specific embodiment, whether correctly carry out in order accurately to know the working state signal that corresponding automatically controlled shifting operating device 1 triggers, the present invention also can comprise and is arranged at actuating device 3 places, select actuator's position feedback detection device 4 of rocking arm position for detection of walking commutation rocking arm and gear, and the position signal that generates is sent to controller 2.Should be noted that actuator's position feedback detection device 4 is two, detect the position that walking commutation rocking arm and gear are selected rocking arm respectively.
Controller 2 is according to the position signal that actuator's position feedback detection device 4 sends, and calculates the required angle of swing of current stepper motor 301, and control step motor 301 rotation respective angles.
The engineering machinery that the embodiment of the invention provides comprises shift control system, and wherein, shift control system is the disclosed dynamo-electric combination shift control system of as above embodiment.Because the present invention adopts above-mentioned dynamo-electric combination shift control system, therefore have all technique effects of above-mentioned dynamo-electric combination shift control system concurrently, this paper does not repeat them here.
Each embodiment adopts the mode of going forward one by one to describe in this specification, and each embodiment stresses is and its embodiment's difference, and identical similar part is mutually referring to getting final product between each embodiment.
To the above-mentioned explanation of the disclosed embodiments, make related domain professional and technical personnel can realize or use the present invention.Multiple modification to these embodiments will be apparent concerning those skilled in the art, and defined General Principle can realize under the situation that does not break away from the spirit or scope of the present invention in other embodiments herein.Therefore, the present invention will can not be restricted to these embodiments shown in this article, but will meet the wideest scope consistent with principle disclosed herein and features of novelty.
Claims (10)
1. a dynamo-electric combination shift control system is characterized in that, comprising:
Automatically controlled shifting operating device (1) is used for generating working state signal according to walking states information and/or the gear information of user's input;
Actuating device (3), described actuating device comprise the stepper motor (301) that output terminal is connected with walking commutation rocking arm and/or the gear selection rocking arm of gearbox respectively;
Controller (2) is used for according to described working state signal, controls described stepper motor (301) work, finishes corresponding forward-reverse switching and/or gearshift and switches.
2. electromechanics as claimed in claim 1 makes up shift control system, it is characterized in that described controller (2) comprising:
Receiving module is for the working state signal that receives described automatically controlled shifting operating device (1);
Puocessing module is used for described working state signal is converted to the step motor control signal;
Transmitting module for the control module that described step motor control signal is sent to described stepper motor (301), is controlled the rotation that described stepper motor (301) is done respective direction and the number of turns.
3. dynamo-electric combination shift control system as claimed in claim 1 is characterized in that automatically controlled shifting operating device (1) comprises walking switching selection switch and gear selector switch;
Described walking switching selection switch is used for generate the walking switching signal, and the switching signal of should walking transferring to described controller (2) according to the advancing of user's input, idle stroke and backward information;
Described gear selector switch is used for the gear information according to user's input, generates gear shifting signal, and this walk signal is transferred to described controller (2).
4. electromechanics as claimed in claim 3 makes up shift control system, it is characterized in that, described actuating device comprises two stepper motors, and one of them stepper motor links to each other with the walking commutation rocking arm of described gearbox, and another stepper motor selects rocking arm to be connected with the gear of described gearbox.
5. dynamo-electric combination shift control system as claimed in claim 4 is characterized in that, described actuating device also comprises and two described stepper motors output transmission one to one;
The input end of described output transmission links to each other with the output terminal of corresponding described stepper motor, the output terminal of one of them described output transmission links to each other with the walking of described gearbox commutation rocking arm, and the output terminal of another described output transmission selects rocking arm to be connected with the gear of described gearbox.
6. electromechanics as claimed in claim 5 makes up shift control system, it is characterized in that, described output transmission is worm-and-wheel gear, the worm screw of described worm-and-wheel gear links to each other with the output terminal of corresponding stepper motor, the worm gear of one of them described worm-and-wheel gear links to each other with the walking of described gearbox commutation rocking arm, and the worm gear of another described worm-and-wheel gear selects rocking arm to be connected with the gear of described gearbox.
7. electromechanics as claimed in claim 5 makes up shift control system, it is characterized in that, described output transmission is screw mechanism, the screw mandrel of described screw mechanism is hinged with the output terminal of corresponding stepper motor, the screw of one of them described screw mechanism and the walking of described gearbox commutation rocking arm are hinged, and the screw of another described screw mechanism and the gear of described gearbox select rocking arm to be hinged.
8. dynamo-electric combination shift control system as claimed in claim 7 is characterized in that described screw mechanism is ball screw framework.
9. electromechanics as claimed in claim 4 makes up shift control system, it is characterized in that, also comprise the actuator's position feedback detection device (4) for detection of described walking commutation rocking arm and gear selection rocking arm position, and the position signal that generates is sent to controller (2);
Described controller (2) calculates the required angle of swing of current stepper motor (301), and controls described stepper motor (301) rotation respective angles.
10. an engineering machinery comprises shift control system, it is characterized in that, described shift control system is as each described dynamo-electric combination shift control system of claim 1-9.
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| CN2013102891720A CN103322181A (en) | 2013-07-09 | 2013-07-09 | Electromechanical combination gear-shifting operation system and engineering machinery |
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| CN2013102891720A CN103322181A (en) | 2013-07-09 | 2013-07-09 | Electromechanical combination gear-shifting operation system and engineering machinery |
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| CN104748979A (en) * | 2015-04-10 | 2015-07-01 | 句容五星机械制造有限公司 | Method for detecting after-gear-engagement traveling fault of bulldozer |
| CN104776215A (en) * | 2015-03-13 | 2015-07-15 | 句容五星机械制造有限公司 | Method for detecting walking incapability failure during small accelerator gear changing for bulldozer |
| WO2020140486A1 (en) * | 2019-01-04 | 2020-07-09 | 丰疆智能科技股份有限公司 | Rice transplanter, and automatic shifting device and control method therefor |
| CN112412639A (en) * | 2020-11-03 | 2021-02-26 | 潍柴动力股份有限公司 | Land leveler accelerator control method, land leveler accelerator control device and land leveler |
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Application publication date: 20130925 |