CN109104915B - Plug-in electric rotary cultivator - Google Patents
Plug-in electric rotary cultivator Download PDFInfo
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- CN109104915B CN109104915B CN201811144469.7A CN201811144469A CN109104915B CN 109104915 B CN109104915 B CN 109104915B CN 201811144469 A CN201811144469 A CN 201811144469A CN 109104915 B CN109104915 B CN 109104915B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B33/00—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs
- A01B33/02—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs with tools on horizontal shaft transverse to direction of travel
- A01B33/021—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs with tools on horizontal shaft transverse to direction of travel with rigid tools
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B33/00—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs
- A01B33/08—Tools; Details, e.g. adaptations of transmissions or gearings
- A01B33/082—Transmissions; Gearings; Power distribution
Abstract
The invention relates to a plug-in electric rotary cultivator, which comprises a rotary cultivator body, a rotary cultivator roller cutter, a roller cutter shaft assembly, a suspension rod piece, a speed reducer assembly, an electric control box body and a rotary cultivator circuit assembly, wherein the roller cutter shaft assembly is arranged on the rotary cultivator body; the rotary cultivator circuit assembly comprises an electrical interface part, an implement operation management part and an implement driving part. The electric interface part connects the rotary cultivator and the electric tractor by a power transmission cable quickly and reliably in a multi-contact electric connector plugging mode, so that the circuit assembly of the rotary cultivator is connected into the whole power grid of the electric tractor, and the transmission of electric energy and data between the tractor and the rotary cultivator is realized; the machine tool operation management part is used for carrying out coordination management on the processes of power-on starting, machine tool driving, power-off stopping, high-voltage power utilization safety management, machine tool running state monitoring, electrical interface connection and the like of the rotary cultivator; the machine tool driving part receives the instruction of the management control unit of the rotary cultivator, controls the driving motor to output corresponding electromagnetic torque and drives the rotary cultivator to operate.
Description
Technical Field
The invention relates to the field of farming machinery, in particular to a plug-in electric rotary cultivator.
Background
The rotary cultivator is a cultivator which is matched with a tractor to complete the operations of ploughing and harrowing. The rotary tillage machinery used in traditional agricultural production is driven by a diesel engine through a series of transmission devices and a standard mechanical PTO interface, and the driving mode makes the rotating speed of the rotary tillage machine difficult to get rid of the influence of the rotating speed of an engine, so that the working rotating speed of the rotary tillage machine is limited near a plurality of isolated rotating speed points, and the stepless speed regulation is difficult to realize; under the traditional mechanical power transmission mode, in order to realize soft combination of the blades of the rotary cultivator when the blades enter the soil so as to reduce the impact on the blades and an engine, the soft combination is generally realized by controlling a clutch to carry out sliding grinding, which not only wastes resources, but also has poor operation continuity and low operation efficiency; the power output interface of the traditional rotary cultivator is in spline connection, and the operation process is relatively complex when the rotary cultivator is hung.
The plug-in electric rotary cultivator is a farm tool matched with an electric tractor, which obtains driving energy from an electric power output interface (such as an electric socket) of the electric tractor through an electric connector (such as an electric plug) and a matched cable, and carries a motor driving device without being provided with a power battery.
Compared with the traditional rotary cultivator, the plug-in electric rotary cultivator has the advantages of being high in energy utilization rate, simple in machine hooking operation, good in work continuity, high in rotating speed and torque control freedom degree, easy to achieve stepless speed regulation and soft start control, and high in starting torque.
Compared with the self-propelled electric rotary cultivator with a power storage battery and a power chassis which is provided in China in recent years, the plug-in electric rotary cultivator has the advantages that:
(1) the electric rotary cultivator is additionally provided with a motor driving device and a cable connecting device only on the basis of the traditional rotary cultivator, and according to the current development situation of domestic motors, taking a permanent magnet synchronous motor as an example, the continuous power density of the motor exceeds 0.75kW/kg, the peak power density exceeds 1.5kW/kg, meanwhile, the motor driving control technology is gradually improved, and the cost of a motor driving system is continuously reduced, so that the electric rotary cultivator is high in technical feasibility, less in cost increase and small in control difficulty, has good connectivity with the technical scheme of the traditional rotary cultivator, and is easier to industrialize.
(2) The plug-in electric rotary cultivator does not need to be provided with a power battery and is used as a matching machine tool of a tractor, the operation power and the cruising ability of the plug-in electric rotary cultivator are determined by the power output ability of the whole tractor, compared with the self-propelled electric rotary cultivator with a battery pack, the plug-in electric rotary cultivator takes electricity from the whole tractor through an electric interface, and has wider power matching range and better working condition adaptability because the plug-in electric rotary cultivator is not limited by the weight, the volume and the cost of the battery, and the self-propelled electric rotary cultivator is limited by the battery technology, has limited power grade and cruising ability and can only be used in a specific small range such as a greenhouse generally.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a plug-in electric rotary cultivator.
In order to achieve the above purposes, the technical scheme adopted by the invention is as follows:
a plug-in electric rotary cultivator comprises a rotary cultivator body 8, a rotary cultivator roller cutter 6, a roller cutter shaft assembly 7, a suspension rod piece 3, a speed reducer assembly 4, an electric control box body 5 and a rotary cultivator circuit assembly; the rotary cultivator circuit assembly comprises an electrical interface part, a machine tool operation management part and a machine tool driving part.
The electrical interface portion comprises a multi-contact electrical connector 1 and a power transmission cable 2;
the main function of the electric interface part is to connect the rotary cultivator and the electric tractor by a power transmission cable 2 quickly and reliably in a plugging mode of the multi-contact electric connector 1, so that a circuit assembly of the rotary cultivator is connected into a whole machine power grid of the electric tractor, and the transmission of electric energy and data between the tractor and the rotary cultivator is realized;
the machine tool operation management part comprises a rotary cultivator management control unit, a high-voltage relay, a high-voltage contactor, a power resistor and a current sensor; the high-voltage relay, the high-voltage contactor and the current sensor are all controlled by a rotary cultivator management control unit;
the management control unit of the rotary cultivator is respectively connected with the high-voltage relay, the high-voltage contactor and the current sensor, the power resistor is connected with the main loop of the high-voltage relay in series and then connected with the main loop of the high-voltage contactor in parallel, and a pre-charging loop of the machine tool driving part is formed together and used for avoiding large-current impact on circuit devices of the machine tool driving part when high voltage is connected; the current sensor is responsible for collecting the current value of the direct current supply loop of the driving part of the machine tool.
The main functions of the machine tool operation management part are to carry out coordination management on the processes of power-on starting, machine tool driving, power-off stopping, high-voltage electricity utilization safety management, machine tool running state monitoring, electrical interface connection and the like of the rotary cultivator, and the machine tool operation management part is the core of an electric rotary cultivator circuit assembly.
The machine tool driving part comprises a motor driving device 9, a three-phase cable, a motor encoder and a temperature sensor, the motor driving device 9 comprises a driving motor and a motor controller, the motor encoder and the temperature sensor are installed inside a rear end cover of the driving motor and are respectively connected with the motor controller through a motor encoder wire harness and a temperature sensor wire harness, and the motor controller is connected with the driving motor through the three-phase cable; the motor controller is fixed inside the electric control box body 5 through bolts; the electric control box body 5 is fixed in the middle of the top end of the rotary cultivator body 8 through bolts; the output end of the driving motor and the input end of the reducer assembly 4 transmit power in a spline connection mode, and a flange on the end face of the driving motor is fixedly connected with the reducer assembly 4; the reducer assembly 4 is fixed on the rotary cultivator body 8 through bolts;
the main function of the machine tool driving part is to receive the instruction of the management control unit of the rotary cultivator, control the driving motor to output corresponding electromagnetic torque and drive the rotary cultivator to work.
The multi-contact electric connector 1 is connected to one end of a power transmission cable 2, the other end of the power transmission cable 2 is connected to an electric control box body 5, a suspension rod piece 3 is installed at the top of a speed reducer assembly 4, a roller shaft assembly 7 is installed at the bottom of a rotary cultivator body 8, and a rotary cultivator roller cutter 6 is installed on the roller shaft assembly 7.
On the basis of the scheme, the multi-contact electrical connector 1 comprises a communication CANH contact 1-1, a connector connection confirmation contact 1-2, a communication CANL contact 1-3, a power supply negative electrode contact 1-4, a low-voltage auxiliary power supply negative electrode contact 1-5, a high-voltage distribution permission contact 1-6, a low-voltage auxiliary power supply positive electrode contact 1-7 and a power supply positive electrode contact 1-8;
the power supply positive/negative contact is used for supplying power electricity to the machine tool driving part of the rotary cultivator;
the communication CANH/CANL contact is used for realizing the communication connection between the electric tractor and the electric rotary cultivator and finishing the interaction and transmission of various signals between the tractor and the rotary cultivator;
the connector connection confirmation contact 1-2 is used for confirming whether all contacts of the multi-contact electric connector 1 are completely connected with corresponding plug-in units fixed on a tractor or not, and preventing accidents such as on-load breaking of the connector and the like;
the low-voltage auxiliary power supply positive/negative contact is used for providing power supply for a rotary cultivator circuit assembly of the electric rotary cultivator;
the high-voltage power distribution allowing contacts 1-6 are used for transmitting a trigger signal from a tractor cab, and the rotary cultivator is allowed to be connected with a high-voltage power supply only when the signal is in a low level state, so that the one-key shutdown function of the rotary cultivator under emergency can be realized;
the individual contacts of the multi-contact electrical connector 1 are integrated in one and the same connector or are arranged in one or more connectors, depending on the voltage class and the type of function.
On the basis of the scheme, the length of each contact of the multi-contact electric connector 1 is not consistent.
On the basis of the scheme, the power transmission cable 2 is a multi-core cable, and the effective core number (the effective core number does not represent the total core number, and the total core number is not less than the effective core number) and the electric core function of the power transmission cable 2 correspond to the contact number and the contact function of the multi-contact electrical connector 1.
On the basis of the scheme, the management control unit of the rotary cultivator comprises a power supply port, a dry contact output port, a communication port, a switching value and current input port, a high-voltage signal acquisition port, a USB program downloading port, a GPRS antenna port and an SIM card port;
the Power + pin of the Power port is connected with the low-voltage auxiliary Power supply positive electrode cell of the Power transmission cable 2, the Power-pin is connected with the low-voltage auxiliary Power supply negative electrode cell of the Power transmission cable 2, and the PG pin is connected with the rotary cultivator body 8;
the K1COM pin, the K2COM pin, the K3COM pin, the K4COM pin and the K5COM pin of the dry contact output port are all connected with a low-voltage auxiliary power supply negative electrode cell of the power transmission cable 2, the K2NO pin is connected with the negative electrode of a high-voltage relay control coil, the positive electrode of the high-voltage relay control coil is connected with the low-voltage auxiliary power supply positive electrode cell of the power transmission cable 2, the K3NO pin is connected with the negative electrode of the high-voltage contactor control coil, the output end of a main loop of the high-voltage contactor is connected with a PRE + pin of a high-voltage signal acquisition port, the output end of a main loop of the pressure contact is connected with a direct current input positive electrode (B +) of a motor controller, and the direct current input negative electrode (;
a CAN2L pin of the communication port is connected with a CAN2L pin of the motor controller, a CAN2H pin is connected with a CAN2H pin of the motor controller, a CAN2LR pin is connected with a CAN2L pin, a CAN2G pin is connected with the rotary cultivator body 8, a CAN3L pin is connected with a communication CANL electric core of the power transmission cable 2, a CAN3H pin is connected with a communication CANH electric core of the power transmission cable 2, a CAN3LR pin is connected with a CAN3L pin, and a CAN3G pin is connected with the rotary cultivator body 8;
a DI2 pin of the switching value and current input port is connected with a connector of the power transmission cable 2 to confirm that the battery cell is connected, a DI3 pin is connected with a high-voltage distribution allowable battery cell of the power transmission cable 2, a DICOM + pin is connected with a low-voltage auxiliary power supply positive battery cell of the power transmission cable 2, a +12V pin is connected with a current sensor power supply positive electrode, a-12V pin is connected with a current sensor power supply negative electrode, an IBAT pin is connected with a current sensor signal output end, and a GND pin is connected with a current sensor reference ground;
the BAT-pin of the high-voltage signal acquisition port is connected with a power supply negative electrode cell of the power transmission cable 2, the BAT + pin is connected with a power supply positive electrode cell of the power transmission cable 2, the power supply positive electrode cell of the power transmission cable 2 is respectively connected with the input end of a main loop of the high-voltage contactor and the power resistor, the PRE + pin is connected with a direct current input positive electrode of the motor controller, and the PE pin is reliably connected to the rotary cultivator body 8.
On the basis of the scheme, the type of the driving motor can be a permanent magnet synchronous motor or an alternating current asynchronous motor, and can also be a switched reluctance motor.
On the basis of the scheme, when the type of the driving motor is a permanent magnet synchronous motor or an alternating current asynchronous motor, the motor controller adopts a vector control algorithm, and when the type of the driving motor is a switched reluctance motor, the motor controller adopts a direct torque control algorithm.
On the basis of the scheme, the motor encoder is a rotary transformer type encoder; the temperature sensor is a thermistor type sensor.
The electric rotary cultivator has the advantages that:
(1) the electric rotary cultivator is additionally provided with a motor driving device and a cable connecting device only on the basis of the traditional rotary cultivator, and according to the current development situation of domestic motors, taking a permanent magnet synchronous motor as an example, the continuous power density of the motor exceeds 0.75kW/kg, the peak power density exceeds 1.5kW/kg, meanwhile, the motor driving control technology is gradually improved, and the cost of a motor driving system is continuously reduced, so that the electric rotary cultivator is high in technical feasibility, less in cost increase and small in control difficulty, has good connectivity with the technical scheme of the traditional rotary cultivator, and is easier to industrialize.
(2) The plug-in electric rotary cultivator does not need to be provided with a power battery and is used as a matching machine tool of a tractor, the operation power and the cruising ability of the plug-in electric rotary cultivator are determined by the power output ability of the whole tractor, compared with the self-propelled electric rotary cultivator with a battery pack, the plug-in electric rotary cultivator takes electricity from the whole tractor through an electric interface, and has wider power matching range and better working condition adaptability because the plug-in electric rotary cultivator is not limited by the weight, the volume and the cost of the battery, and the self-propelled electric rotary cultivator is limited by the battery technology, has limited power grade and cruising ability and can only be used in a specific small range such as a greenhouse generally.
Drawings
The invention has the following drawings:
fig. 1 is a general structure diagram of a plug-in electric rotary cultivator.
Fig. 2 is a schematic diagram of a circuit assembly of the plug-in electric rotary cultivator.
FIG. 3 is a schematic view of the electrical connector contact of the plug-in electric rotary cultivator.
Wherein, 1 the multi-contact electrical connector 2 power transmission cable 3 hangs the member 4 reduction gear assembly 5 electric control box 6 rotary cultivator roller sword 7 roller sword axle assembly 8 rotary cultivator organism 9 motor drive 1-1 communication CANH contact 1-2 connector connection confirmation contact 1-3 communication CANL contact 1-4 power supply negative pole contact 1-5 low voltage auxiliary power supply negative pole contact 1-6 high voltage distribution allows contact 1-7 low voltage auxiliary power supply positive pole contact 1-8 power supply positive pole contact.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
Based on the analysis, the invention discloses a plug-in electric rotary cultivator, which is combined with a figure 1, and the overall structure of the plug-in electric rotary cultivator comprises a multi-contact electric connector 1, a power transmission cable 2, a suspension rod 3, a speed reducer assembly 4, an electric control box body 5, a rotary cultivator roller cutter 6, a roller cutter shaft assembly 7, a rotary cultivator body 8 and a motor driving device 9, wherein one or more multi-contact electric connectors 1 can be respectively arranged according to different voltage grades and functional attributes; the multi-contact electric connector 1 is connected to one end of a power transmission cable 2; the power transmission cable 2 is a multi-core cable, and the effective core number of the power transmission cable 2 corresponds to the contact number of the multi-contact electric connector 1; the other end of the power transmission cable 2 is connected to the electric control box body 5; the electric control box body 5 is fixed on the rotary cultivator body 8; the rotary cultivator body 8 is also fixedly provided with a suspension rod piece 3, a speed reducer assembly 4, a motor driving device 9 and a roller cutter shaft assembly 7, wherein the motor driving device 9 consists of a driving motor and a motor controller, and the output end of the driving motor is connected to the input end of the speed reducer assembly 4; the roller cutter shaft assembly 7 is provided with a rotary cultivator roller cutter 6.
Composition and working principle of circuit assembly of plug-in electric rotary cultivator
Referring to fig. 2, the circuit assembly may be divided into three parts, an electrical interface part, a tool operation management part, and a tool driving part.
The main function of the electric interface part is to connect the rotary cultivator and the electric tractor by the power transmission cable 2 quickly and reliably in a plugging mode of the multi-contact electric connector 1, so that the circuit assembly of the rotary cultivator is connected into the whole power grid of the electric tractor, and the transmission of electric energy and data between the tractor and the rotary cultivator is realized.
The electric interface part comprises a multi-contact electric connector 1 and a power transmission cable 2, and with reference to fig. 3, the multi-contact electric connector 1 at least comprises a communication CANH contact 1-1, a connector connection confirmation contact 1-2, a communication CANL contact 1-3, a power supply negative contact 1-4, a low-voltage auxiliary power supply negative contact 1-5, a high-voltage distribution permission contact 1-6, a low-voltage auxiliary power supply positive contact 1-7 and a power supply positive contact 1-8. The individual contacts of the multi-contact electrical connector 1 are integrated in one and the same connector or are arranged in two connectors, respectively, according to the voltage class and the type of function.
The multi-contact electric connector 1 is connected to one end of a power transmission cable 2; the power transmission cable 2 is a multi-core cable, and the effective core number and the electric core function of the power transmission cable correspond to the contact number and the contact function of the multi-contact electric connector 1. The corresponding functions of each contact (or cell) are explained in detail as follows:
power supply positive/negative contacts (or cells): providing power electricity for a machine tool driving part of the rotary cultivator;
communication CANH/CANL contact (or cell): the communication connection between the electric tractor and the electric rotary cultivator is realized, and the interaction and the transmission of various signals between the tractor and the rotary cultivator are completed;
connector connection confirmation contact (or cell): the connector is used for confirming whether all the contacts of the multi-contact electric connector 1 are completely connected with corresponding plug-in units fixed on a tractor or not, and preventing accidents such as breaking of the connector with load and the like;
low voltage auxiliary power supply positive/negative electrode contact (or cell): providing power supply for a rotary cultivator circuit assembly of the electric rotary cultivator;
high voltage distribution allows contacts (or cells): the rotary cultivator transmits a trigger signal from a tractor cab, and the rotary cultivator is allowed to be connected with a high-voltage power supply only when the signal is in a low level state, so that the one-key shutdown function of the rotary cultivator in an emergency can be realized.
The main functions of the machine tool operation management part are to carry out coordination management on the processes of power-on starting, machine tool driving, power-off stopping, high-voltage electricity utilization safety management, machine tool running state monitoring, electrical interface connection and the like of the rotary cultivator, and the machine tool operation management part is the core of the circuit assembly of the electric rotary cultivator.
With reference to fig. 2, the implement operation management part comprises a rotary cultivator management control unit, a high-voltage relay, a high-voltage contactor and a power resistor, wherein the high-voltage relay and the power resistor are connected in series and then connected in parallel with the high-voltage contactor to jointly form a pre-charging loop of the electric rotary cultivator implement driving part, the pre-charging loop is used for avoiding large-current impact on circuit devices of the implement driving part when the high voltage is connected, and the high-voltage relay and the high-voltage contactor are controlled by the rotary cultivator management control unit; the machine tool operation management part also comprises a current sensor, and the current sensor is connected with the rotary cultivator management control unit and is responsible for collecting the current value of a direct current power supply loop of the rotary cultivator machine tool driving part.
The port configuration of the management control unit of the rotary cultivator is further described with reference to fig. 2. The rotary cultivator management control unit at least comprises a power port, a dry contact output port, a communication port, a switching value and current input port, a high-voltage signal acquisition port, a USB program downloading port, a GPRS antenna port and an SIM card port, wherein the pin definition of each port and the functions in the rotary cultivator management control unit are as follows:
TABLE 1 port function definition and connection description of management control unit of rotary cultivator
The main function of the machine tool driving part is to receive the instruction of the management control unit of the rotary cultivator, control the driving motor to output corresponding electromagnetic torque and drive the rotary cultivator to work.
Referring to fig. 2, the machine tool driving part is composed of a motor controller, a driving motor, a motor phase line, a motor encoder and a temperature sensor. The driving motor can be a permanent magnet synchronous motor or an alternating current asynchronous motor, and can also be a switched reluctance motor; when the type of the driving motor is a permanent magnet synchronous motor or an alternating current asynchronous motor, the motor controller adopts a vector control algorithm, and when the type of the driving motor is a switched reluctance motor, the motor controller adopts a direct torque control algorithm. The motor encoder type is a rotary transformer type encoder. The temperature sensor type is a thermistor type sensor.
Working principle and function explanation of electric rotary cultivator
Further, the working principle and the functions of the electric rotary cultivator will be explained.
The working principle is as follows:
referring to fig. 2, on the premise that the management control unit of the rotary cultivator detects that the DI2 pin (connector contact complete connection signal) and the DI3 pin (high voltage distribution permission signal) of the switching value and current input port are valid, when the CAN3H pin and the CAN3L pin of the communication port receive the "rotary cultivator starting" message from the tractor whole machine, the 2 nd dry contact K2NO pin of the dry contact output port is closed first, since all the common ends of the dry contact output port are grounded, the K2NO pin is at a low level, then the high voltage relay in the pre-charging loop is switched on and limited by the series power resistor, the direct current voltage at the two ends of the motor controller rises gradually, the management control unit of the rotary cultivator collects the load voltage and the total power supply voltage at the two ends of the motor controller through the high voltage signal collecting port respectively, and when the load voltage reaches 95% of the total voltage, and (3) closing a pin K3NO of a main contact point of the 3 rd path of the output port of the main contact point, pulling down the level of the pin K3NO, electrifying a control coil of a high-voltage contactor of a pre-charging loop, switching on a main loop of the high-voltage contactor, namely switching on the high-voltage loop of a driving part of the rotary cultivator tool, subsequently switching off the main contact point K2NO of the main contact point of the output port of the main contact point by the rotary cultivator management control unit, switching off a high-voltage relay of the pre-charging loop, and enabling driving current to enter a motor controller. The internal algorithm of the management control unit of the rotary cultivator is provided with a closed-loop control program aiming at the rotating speed of a rotary cultivator roller cutter shaft assembly 7, a PI control model is adopted to give a target torque of a driving motor in real time according to deviation of an actual rotating speed signal and a target rotating speed signal, a target torque command is sent to a motor controller through pins CAN3H and CAN3L of a communication port, the motor controller converts the target torque command into a target current, and the output torque of the driving motor is adjusted through a built-in current loop, so that the actual rotating speed of the rotary cultivator roller cutter 6 CAN track the target rotating speed well. The operation rotating speed of the electric rotary cultivator is independent of the advancing speed of the tractor running system, so that stepless speed regulation can be realized in a certain range.
The function of the electric rotary cultivator is further explained with reference to fig. 2 and 3.
(1) Rotary cultivator work current detects the function: in the working process of the rotary cultivator, the rotary cultivator management control unit acquires the signal value of the Hall type current sensor through the switching value and the IBAT pin of the current input port, and monitors the working current of the rotary cultivator tool driving part.
(2) The rotary cultivator insulation state detects the function: the management control unit of the rotary cultivator detects the insulation state of the power supply loop in real time through the high-voltage signal acquisition port, can rapidly detect leakage faults such as power supply monopole grounding, bipolar grounding, intermediate grounding and the like on line, and effectively ensures the safety of a high-voltage power system of the electric rotary cultivator.
(3) The rotary cultivator has the information sharing function: the rotary cultivator management control unit can transmit the running state data of the rotary cultivator to the cloud end in real time by using the GPRS antenna port and the SIM card port, so that a user can check the running information of the rotary cultivator at any time and provide downloading of historical data, and active maintenance and management of machines and tools are realized; the running data of the rotary cultivator CAN be uploaded to the whole tractor through CAN3H and CAN3L of the communication port, so that a driver CAN know the running state of the machine at any time on a display screen of a cab; the data can be downloaded through a USB program download port and sent to a manufacturer in an off-line mode to serve as a basis for product upgrading.
(4) The DI3 pin of the switch quantity and current input port of the rotary cultivator management control unit is connected with the high-voltage distribution permission battery cell of the power transmission cable 2 in a hard wire mode, and when the electric rotary cultivator is correctly hooked with a tractor, the high-voltage distribution permission contacts 1-6 are simultaneously connected to an emergency stop switch arranged in a cab. When the emergency stop switch is pressed down in the operation process of the rotary cultivator, the DI3 pin of the switching value and the current input port of the rotary cultivator management control unit is set high, the high-voltage distribution permission signal fails, the rotary cultivator management control unit disconnects the 3 rd main contact K3NO of the control main contact output port, so that the high-voltage contactor is disconnected, the high-voltage power supply loop is cut off, and the rotary cultivator is stopped.
(5) The electric interface prevents that the area carries disconnected function: the length of each contact of the multi-contact electrical connector 1 of the electrical interface part is set to be inconsistent, in the inserting and combining process of the contact pin and the plug bush, the rotary cultivator management control unit can judge the connection state of the multi-contact electrical connector 1 by detecting the switching value of the rotary cultivator management control unit and the level state of a DI3 pin of a current input port, and when the multi-contact electrical connector 1 has a breaking trend, the rotary cultivator management control unit can timely inform a machine driving part to unload so as to prevent the multi-contact electrical connector 1 from breaking with load.
(6) The high-voltage loop of the rotary cultivator is connected with a pre-charging function: when a high-voltage main loop of a rotary cultivator circuit assembly is connected, a rotary cultivator management control unit firstly connects a high-voltage relay, a power resistor is connected in series with an anode loop, power supply voltage and load voltage at two ends of a motor controller are detected, and when the load voltage is close to the power supply voltage, a high-voltage contactor is closed to connect the high-voltage main loop, so that the phenomena of tripping or fuse burning and the like caused by overlarge impact current when the high-voltage main loop is directly connected can be avoided.
Those not described in detail in this specification are within the skill of the art.
Claims (7)
1. The utility model provides an insert electronic rotary cultivator of electric formula which characterized in that: comprises a rotary cultivator body (8), a rotary cultivator roller cutter (6), a roller cutter shaft assembly (7), a suspension rod piece (3), a speed reducer assembly (4), an electric control box body (5) and a rotary cultivator circuit assembly; the rotary cultivator circuit assembly comprises an electrical interface part, a machine tool operation management part and a machine tool driving part;
the electrical interface portion comprises a multi-contact electrical connector (1) and a power transmission cable (2);
the electric interface part connects the rotary cultivator and the electric tractor by a power transmission cable (2) quickly and reliably in a plugging mode through the multi-contact electric connector (1), so that a circuit assembly of the rotary cultivator is connected into a whole machine power grid of the electric tractor, and electric energy and data transmission between the tractor and the rotary cultivator is realized;
the machine tool operation management part comprises a rotary cultivator management control unit, a high-voltage relay, a high-voltage contactor, a power resistor and a current sensor; the high-voltage relay, the high-voltage contactor and the current sensor are all controlled by a rotary cultivator management control unit;
the management control unit of the rotary cultivator is respectively connected with the high-voltage relay, the high-voltage contactor and the current sensor, the power resistor is connected with the main loop of the high-voltage relay in series and then connected with the main loop of the high-voltage contactor in parallel, and a pre-charging loop of the machine tool driving part is formed together and used for avoiding large-current impact on circuit devices of the machine tool driving part when high voltage is connected; the current sensor is responsible for collecting the current value of a direct current power supply loop of the driving part of the machine tool;
the machine tool operation management part is used for carrying out coordination management on the processes of power-on starting, machine tool driving, power-off stopping, high-voltage power utilization safety management, machine tool running state monitoring and electrical interface connection of the rotary cultivator;
the machine tool driving part comprises a motor driving device (9), a three-phase cable, a motor encoder and a temperature sensor, wherein the motor driving device (9) comprises a driving motor and a motor controller, the motor encoder and the temperature sensor are installed inside a rear end cover of the driving motor and are respectively connected with the motor controller through a motor encoder wire harness and a temperature sensor wire harness, and the motor controller is connected with the driving motor through the three-phase cable; the motor controller is fixed in the electric control box body (5) through bolts; the electric control box body (5) is fixed in the middle of the top end of the rotary cultivator body (8) through bolts; the output end of the driving motor and the input end of the reducer assembly (4) transmit power in a spline connection mode, and a flange on the end face of the driving motor is fixedly connected with the reducer assembly (4); the reducer assembly (4) is fixed on the rotary cultivator body (8) through bolts;
the machine tool driving part is used for receiving an instruction of the management control unit of the rotary cultivator, controlling the driving motor to output corresponding electromagnetic torque and driving the rotary cultivator to operate;
the multi-contact electric connector (1) is connected to one end of a power transmission cable (2), the other end of the power transmission cable (2) is connected to an electric control box body (5), a hanging rod piece (3) is installed at the top of a speed reducer assembly (4), a roller cutter shaft assembly (7) is installed at the bottom of a rotary cultivator body (8), and a rotary cultivator roller cutter (6) is installed on the roller cutter shaft assembly (7);
the multi-contact electrical connector (1) comprises a communication CANH contact (1-1), a connector connection confirmation contact (1-2), a communication CANL contact (1-3), a power supply negative contact (1-4), a low-voltage auxiliary power supply negative contact (1-5), a high-voltage distribution permission contact (1-6), a low-voltage auxiliary power supply positive contact (1-7) and a power supply positive contact (1-8);
the power supply positive/negative contact is used for supplying power electricity to the machine tool driving part of the rotary cultivator;
the communication CANH/CANL contact is used for realizing the communication connection between the electric tractor and the electric rotary cultivator and finishing the interaction and transmission of various signals between the tractor and the rotary cultivator;
the connector connection confirmation contacts (1-2) are used for confirming whether all the contacts of the multi-contact electric connector (1) are completely connected with corresponding plug-in units fixed on a tractor or not, and the accidental occurrence of loaded disjunction connectors is prevented;
the low-voltage auxiliary power supply positive/negative contact is used for providing power supply for a rotary cultivator circuit assembly of the electric rotary cultivator;
the high-voltage power distribution allowing contact (1-6) is used for transmitting a trigger signal from a tractor cab, and the rotary cultivator is allowed to be connected with a high-voltage power supply only when the signal is in a low level state, so that the one-key shutdown function of the rotary cultivator under emergency can be realized;
the contacts of the multi-contact electrical connector (1) are integrated in the same connector or are respectively arranged in one or more connectors according to different voltage grades and different functional types.
2. The plug-in electric rotary cultivator of claim 1, wherein: the length of each contact of the multi-contact electric connector (1) is inconsistent.
3. The plug-in electric rotary cultivator of claim 1, wherein: the power transmission cable (2) is a multi-core cable, and the effective core number and the electric core function of the power transmission cable (2) correspond to the contact number and the contact function of the multi-contact electric connector (1).
4. The plug-in electric rotary cultivator of claim 3, wherein: the management control unit of the rotary cultivator comprises a power port, a dry contact output port, a communication port, a switching value and current input port, a high-voltage signal acquisition port, a USB program downloading port, a GPRS antenna port and an SIM card port;
the Power + pin of the Power port is connected with a low-voltage auxiliary Power supply positive electrode cell of the Power transmission cable (2), the Power-pin is connected with a low-voltage auxiliary Power supply negative electrode cell of the Power transmission cable (2), and the PG pin is connected with a rotary cultivator body (8);
the K1COM pin, the K2COM pin, the K3COM pin, the K4COM pin and the K5COM pin of the dry contact output port are all connected with a low-voltage auxiliary power supply negative electrode cell of the power transmission cable (2), the K2NO pin is connected with the negative electrode of a high-voltage relay control coil, the positive electrode of the high-voltage relay control coil is connected with a low-voltage auxiliary power supply positive electrode cell of the power transmission cable (2), the K3NO pin is connected with the negative electrode of a high-voltage contactor control coil, the output end of a main circuit of the high-voltage contactor is connected with a PRE + pin of a high-voltage signal acquisition port, the output end of a main circuit of a pressure contact is connected with the direct current input positive electrode of a motor controller, and the direct current input negative electrode of the motor;
a CAN2L pin of the communication port is connected with a CAN2L pin of the motor controller, a CAN2H pin is connected with a CAN2H pin of the motor controller, a CAN2LR pin is connected with a CAN2L pin, a CAN2G pin is connected with the rotary cultivator body (8), a CAN3L pin is connected with a communication CANL electric core of the power transmission cable (2), a CAN3H pin is connected with a communication CANH electric core of the power transmission cable (2), a CAN3LR pin is connected with a CAN3L pin, and a CAN3G pin is connected with the rotary cultivator body (8);
a DI2 pin of the switching value and current input port is connected with a connector of the power transmission cable (2) to confirm that the battery core is connected, a DI3 pin is connected with a high-voltage distribution allowable battery core of the power transmission cable (2), a DICOM + pin is connected with a low-voltage auxiliary power supply positive battery core of the power transmission cable (2), a +12V pin is connected with a current sensor power supply positive electrode, a-12V pin is connected with a current sensor power supply negative electrode, an IBAT pin is connected with a current sensor signal output end, and a GND pin is connected with a current sensor reference ground;
the BAT-pin of the high-voltage signal acquisition port is connected with a power supply negative electrode cell of the power transmission cable (2), the BAT + pin is connected with a power supply positive electrode cell of the power transmission cable (2), the power supply positive electrode cell of the power transmission cable (2) is respectively connected with the input end of a main loop of the high-voltage contactor and the power resistor, the PRE + pin is connected with a direct current input positive electrode of the motor controller, and the PE pin is reliably connected to the rotary cultivator body (8).
5. The plug-in electric rotary cultivator of claim 1, wherein: the driving motor is a permanent magnet synchronous motor, an alternating current asynchronous motor or a switched reluctance motor.
6. The plug-in electric rotary cultivator of claim 5, wherein: when the type of the driving motor is a permanent magnet synchronous motor or an alternating current asynchronous motor, the motor controller adopts a vector control algorithm, and when the type of the driving motor is a switched reluctance motor, the motor controller adopts a direct torque control algorithm.
7. The plug-in electric rotary cultivator of claim 1, wherein: the motor encoder is a rotary transformer type encoder; the temperature sensor is a thermistor type sensor.
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| CN109774781B (en) * | 2019-01-14 | 2020-07-03 | 洛阳智能农业装备研究院有限公司 | Whole vehicle control system of unmanned electric tractor |
| CN113597829B (en) * | 2021-07-05 | 2022-09-16 | 江苏大学 | Cable connection type electric rotary cultivator capable of automatically avoiding obstacles and obstacle avoiding method thereof |
| CN114190118B (en) * | 2021-12-31 | 2023-02-28 | 四川中科谷丰农业机械有限公司 | Working method of electric control system of deep ploughing crushing scarifier |
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| KR101388751B1 (en) * | 2011-09-20 | 2014-04-25 | 가부시끼 가이샤 구보다 | Electric working machine |
| CN103587484B (en) * | 2013-11-29 | 2015-10-07 | 重庆长安汽车股份有限公司 | A kind of electrical vehicle charging connection device |
| CN105406791A (en) * | 2014-09-10 | 2016-03-16 | 周旺龙 | Electric vehicle motor controller and structure mode of controller assembly |
| CN205004944U (en) * | 2015-08-10 | 2016-01-27 | 浙江亚特电器有限公司 | Hybrid actuating system and rotary cultivator |
| CN107343397A (en) * | 2016-05-05 | 2017-11-14 | 东风农业装备（襄阳）有限公司 | Electric micro-cultivator and the methods of cultivation |
| CN106576446A (en) * | 2016-10-19 | 2017-04-26 | 浙江亚特电器有限公司 | Hybrid power rotary cultivator |
| CN107241051A (en) * | 2017-06-16 | 2017-10-10 | 浙江亚特电器有限公司 | A kind of adjustable electric rotary-tillage machine of rotary blade rotating speed |
| CN207201236U (en) * | 2017-09-18 | 2018-04-10 | 山东旭创机械制造有限公司 | A kind of pipe twin beams subsoiler |
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