CN110792766A - Automatic gear shifting device of electric tractor and control method - Google Patents
Automatic gear shifting device of electric tractor and control method Download PDFInfo
- Publication number
- CN110792766A CN110792766A CN201911143045.3A CN201911143045A CN110792766A CN 110792766 A CN110792766 A CN 110792766A CN 201911143045 A CN201911143045 A CN 201911143045A CN 110792766 A CN110792766 A CN 110792766A
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- Prior art keywords
- push rod
- remote controller
- electric push
- gear
- bridge
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/02—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used
- F16H61/0202—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric
- F16H61/0204—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal
- F16H61/0213—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal characterised by the method for generating shift signals
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/12—Detecting malfunction or potential malfunction, e.g. fail safe; Circumventing or fixing failures
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/12—Detecting malfunction or potential malfunction, e.g. fail safe; Circumventing or fixing failures
- F16H2061/124—Limiting the input power, torque or speed
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/12—Detecting malfunction or potential malfunction, e.g. fail safe; Circumventing or fixing failures
- F16H2061/1256—Detecting malfunction or potential malfunction, e.g. fail safe; Circumventing or fixing failures characterised by the parts or units where malfunctioning was assumed or detected
- F16H2061/1272—Detecting malfunction or potential malfunction, e.g. fail safe; Circumventing or fixing failures characterised by the parts or units where malfunctioning was assumed or detected the failing part is a part of the final output mechanism, e.g. shift rods or forks
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Gear-Shifting Mechanisms (AREA)
Abstract
The invention discloses an automatic gear shifting device and a control method of an electric tractor, which comprises a remote controller screen, a remote controller main chip, a transmitting unit, a receiver, a control unit VCU, an H bridge, an actuating mechanism electric push rod, a pressure sensor and a stop rod, wherein the actuating mechanism electric push rod is connected with the stop rod, the pressure sensor is arranged between the actuating mechanism electric push rod and the stop rod, the output end of the remote controller screen is electrically connected with the input end of the remote controller main chip, the output end of the remote controller main chip is electrically connected with the input end of the transmitting unit, the output end of the transmitting unit is electrically connected with the input end of the receiver, the output end of the receiver is bidirectionally connected with the input end of the control unit VCU, and the output end of the control unit VCU is electrically connected with the input end of the H bridge, and the gear shifting operation is smoothly completed.
Description
Technical Field
The invention relates to the technical field of electric tractors, in particular to an automatic gear shifting device of an electric tractor and a control method.
Background
The gear shifting device of the existing tractor is usually characterized in that a transverse driving device is fixed on a mudguard of a cab, a guide rail is mounted on the surface of the tractor, one end of a longitudinal driving device is mounted in a sliding groove, and automatic gear shifting is realized through the matching of the longitudinal driving device and the transverse driving device.
Along with the national requirements and popularization of agricultural mechanization, the intelligent requirements of farmers on agricultural machinery are increased, the demand of the agricultural machinery is also increased, the national requirements are for the rapid development of agriculture, and the agricultural machinery equipment is promoted to move towards the direction of intellectualization, informatization and modernization. Most of domestic unmanned tractors still have a cab, and yet aiming at the unmanned electric tractors without the cab, on the premise of not changing the design of the original gear shifting mechanism, the rapidness and the accuracy of remote control gear shifting need to be ensured, and the probability of failure in the gear shifting process is reduced.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides an automatic gear shifting and gear shifting fault detection method for an electric tractor.
In order to achieve the purpose, the invention provides the following technical scheme: an automatic gear shifting device of an electric tractor comprises a remote controller screen, a remote controller main chip, a transmitting unit, a receiver, a control unit VCU, an H bridge, an actuating mechanism electric push rod, a pressure sensor and a stop lever, wherein the actuating mechanism electric push rod is connected with the stop lever, the pressure sensor is arranged between the actuating mechanism electric push rod and the stop lever, the output end of the remote controller screen is electrically connected with the input end of the remote controller main chip, the output end of the remote controller main chip is electrically connected with the input end of the transmitting unit, the output end of the transmitting unit is electrically connected with the input end of the receiver, the output end of the receiver is bidirectionally connected with the input end of the control unit VCU, the output end of the control unit VCU is electrically connected with the input end of the H bridge, the output end of the H bridge is electrically connected with the input end of the electric push rod of the actuating mechanism, the output end of the electric push rod of the actuating mechanism is electrically connected with the input end of the stop lever, and.
As a preferred embodiment of the present invention, the remote controller screen sends a shift command, the remote controller main chip sends shift information according to a predetermined communication protocol format through the remote controller sending unit, the receiver is responsible for ensuring normal communication between the remote controller and the control unit VCU, after the control unit VCU receives the shift information, the shift program IN the VCU controller controls contraction and extension of the actuator electric push rod through the output terminals IN1 and IN2 of the H bridge, when the H bridge output IN1 is equal to 1 and IN2 is equal to 0, the actuator electric push rod extends, the H bridge output IN1 is equal to 0 and IN2 is equal to 0, the actuator electric push rod stops operating, when the H bridge output IN1 is equal to 0 and IN2 is equal to 1, the actuator electric push rod contracts.
As a preferable technical solution of the present invention, the output signal of the pressure sensor is a voltage signal.
As a preferable technical scheme of the invention, the outer side surface of the electric push rod of the actuating mechanism is provided with a fixed steel sheet consistent with the movement direction of the electric push rod.
A control method of an automatic gear shifting device of an electric tractor comprises the following steps:
s1): receiving a remote controller control instruction, and entering step S2;
s2): if the remote controller control command is high gear, the step S3 is carried out, if the remote controller control command is low gear, the step S4 is carried out, and if the remote controller control command is stop, the step S5 is carried out;
s3): confirming whether the gear shifting is needed, if yes, entering the step S6, and if not, returning to the step S5;
s4): confirming whether the gear is to be shifted down, if yes, entering step S7, and if no, returning to step S5;
s5): confirming whether the gear shifting is to be stopped, if so, entering step S8, and if not, entering S3 or S4;
s6): judging whether the pressure value given by the current pressure sensor is smaller than the maximum set pressure value, if so, entering step S9, and if not, entering step S8;
s7): judging whether the pressure value given by the current pressure sensor is larger than the minimum set pressure value, if so, entering step S10, and if not, entering step S8;
s8): the H-bridge outputs a command IN1 being 0 and IN2 being 0, the actuator electric push rod is not actuated, and the process proceeds to step S11;
s9): the H bridge outputs an instruction that IN1 is 1 and IN2 is 0, and the electric push rod of the actuating mechanism extends to push the gear to the high gear;
s10): the H bridge outputs an instruction that IN1 is equal to 0, IN2 is equal to 1, the electric push rod of the actuating mechanism contracts, and the gear is pulled to be low;
s11): and ending the control gear shifting command.
Compared with the prior art, the invention has the beneficial effects that: according to the automatic gear shifting method of the electric tractor, the high gear and the low gear are controlled by the electric push rod of the control execution mechanism, automatic gear shifting can be completed only by stretching the electric push rod back and forth, the failure rate in the gear shifting process is reduced, meanwhile, the gear shifting time is reduced by electric control gear shifting, the remote control of the vehicle gears of the electric tractor is facilitated, the gear shifting logic is completely realized by the control logic in the VCU controller, the execution efficiency is high, the error rate is low, and the faults caused by execution errors can be effectively reduced.
Drawings
FIG. 1 is a schematic view of an automatic shifting configuration of the present invention;
FIG. 2 is a flow chart of an automatic shift control method of the present invention;
FIG. 3 is a schematic flow chart of the automatic shift strategy of the present invention.
In the figure: 1 pressure sensor, 2 fixed steel sheet, 3 shelves pole, 4 actuating mechanism electric push rods.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-3, example 1:
the electric tractor is characterized IN that an electric push rod 4 of an initial actuating mechanism of the electric tractor is IN a contracted state, namely, a gear is IN a low gear, a high-gear shifting instruction is sent through a remote controller, at the moment, a main chip of the remote controller sends high-gear information through a sending unit of the remote controller according to a specified communication protocol format, a receiver is IN charge of ensuring normal communication between the remote controller and a control unit VCU, after the control unit VCU receives the shifting information, a shifting program IN the VCU controller controls the electric push rod 4 of the actuating mechanism to extend through output ends IN1 and IN2 of an H bridge, IN1 is equal to 1, IN2 is equal to 0, the electric push rod 4 of the actuating mechanism extends until the electric push rod 4 of the actuating mechanism extends to the maximum length and just reaches the high gear, and if a gear lever; if the gear lever 3 is blocked or the electric push rod is locked, the value of a pressure sensor 1 at the top end of an electric push rod 4 of the executing mechanism is increased all the time at the moment, if the pressure value exceeds the MAX value, the gear shifting fault is caused, the electric push rod stops moving, at the moment, a low gear is selected on a screen of a remote controller, the electric push rod 4 of the executing mechanism receives a command of contraction, the electric push rod contracts backwards, a high gear is selected again, the electric push rod 4 of the executing mechanism continues to extend, if the gear shifting is locked, the actions are repeated for a plurality of times, the electric push rod works normally, and the gear shifting is completed, wherein a fixed steel sheet 2 consistent with the moving direction of the outer side face of the electric push rod 4 of the executing mechanism is arranged on the outer side face.
Example 2:
if the gear is IN a high gear, the gear is changed into a low gear through a remote controller, the remote controller sends a low gear instruction, after the VCU controller receives the instruction, a contraction action instruction is sent to an H bridge through a strategy IN a program, IN1 is 0, IN2 is 1, the electric push rod 4 of the actuating mechanism is driven to contract until the electric push rod 4 of the actuating mechanism contracts to the shortest length, the gear is just IN place, and if the gear rod 3 is not clamped or the push rod motor is locked during the gear shifting process, the gear shifting is successful; if the gear lever 3 is blocked or the electric push rod is locked, the value of a pressure sensor at the top end of the electric push rod 4 of the executing mechanism is increased all the time at the moment, if the pressure value is smaller than the MIN value, the gear shifting fault is caused, the electric push rod 4 of the executing mechanism stops moving, at the moment, a high gear is selected on a screen of a remote controller, the electric push rod is enabled to receive an extended instruction, the electric push rod extends forwards, a low gear is reselected again, the electric push rod 4 of the executing mechanism continues to contract, if the gear lever is locked, the actions are repeated for a plurality of times, the electric push rod 4 of the executing mechanism.
The remote controller sends a stop command, and after the VCU controller receives the command, the VCU controller sends an action command of stopping to the H bridge through a strategy IN a program, wherein IN1 is 0, IN2 is 0, and the electric push rod is driven to stop acting.
According to the invention, the high and low gears are controlled by controlling the electric push rod of the actuating mechanism, automatic gear shifting can be completed only by stretching back and forth, the failure rate in the gear shifting process is reduced, meanwhile, the gear shifting time is reduced by electric control gear shifting, the electric tractor can conveniently and remotely control the gears of the vehicle, the gear shifting logic is completely realized by the control logic in the VCU controller, the actuating efficiency is high, the error rate is low, and the failure caused by actuating errors can be effectively reduced.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. The utility model provides an electric tractor automatic gear shifting device which characterized in that: comprises a remote controller screen, a remote controller main chip, a transmitting unit, a receiver, a control unit VCU, an H bridge, an actuating mechanism electric push rod (4) and a baffle rod (3), wherein the actuating mechanism electric push rod (4) is connected with the baffle rod (3) and a pressure sensor (1) is arranged between the two, the output end of the remote controller screen is electrically connected with the input end of a remote controller main chip, the output end of the remote controller main chip is electrically connected with the input end of a transmitting unit, the output end of the transmitting unit is electrically connected with the input end of a receiver, the output end of the receiver is bidirectionally connected with the input end of a control unit VCU, the output end of the control unit VCU is electrically connected with the input end of an H bridge, the output end of the H bridge is electrically connected with the input end of an actuating mechanism electric push rod (4), the output end of the actuating mechanism electric push rod (4) is electrically connected with the input end of a stop lever (3), and a pressure sensor (1) is bidirectionally connected.
2. The electric tractor automatic shifting apparatus of claim 1, wherein: the remote controller screen sends a gear instruction, the remote controller main chip sends gear information according to a specified communication protocol format through the remote controller sending unit, the receiver is responsible for ensuring normal communication between the remote controller and the control unit VCU, after the control unit VCU receives the gear information, a gear shifting program IN the VCU controller controls contraction and extension of the electric push rod (4) of the executing mechanism through output ends IN1 and IN2 of an H bridge, when the output IN1 of the H bridge is equal to 1, when IN2 is equal to 0, the electric push rod (4) of the executing mechanism is extended, when the output IN1 of the H bridge is equal to 0, and when IN2 is equal to 0, the electric push rod (4) of the executing mechanism stops acting, when the output IN1 of the H bridge is equal to 0, and when IN2 is equal to 1, the electric push rod (4) of the executing mechanism contracts.
3. The electric tractor automatic shifting apparatus of claim 1, wherein: the output signal of the pressure sensor (1) is a voltage signal.
4. The electric tractor automatic shifting apparatus according to claim 1 or 2, characterized in that: and a fixed steel sheet (2) consistent with the movement direction of the actuating mechanism electric push rod (4) is arranged on the outer side surface of the actuating mechanism electric push rod.
5. The control method of the electric tractor automatic shifting apparatus according to claim 1, characterized in that: the method comprises the following steps:
s1): receiving a remote controller control instruction, and entering step S2;
s2): if the remote controller control command is high gear, the step S3 is carried out, if the remote controller control command is low gear, the step S4 is carried out, and if the remote controller control command is stop, the step S5 is carried out;
s3): confirming whether the gear shifting is needed, if yes, entering the step S6, and if not, returning to the step S5;
s4): confirming whether the gear is to be shifted down, if yes, entering step S7, and if no, returning to step S5;
s5): confirming whether the gear shifting is to be stopped, if so, entering step S8, and if not, entering S3 or S4;
s6): judging whether the pressure value given by the current pressure sensor is smaller than the maximum set pressure value, if so, entering step S9, and if not, entering step S8;
s7): judging whether the pressure value given by the current pressure sensor is larger than the minimum set pressure value, if so, entering step S10, and if not, entering step S8;
s8): the H-bridge outputs a command IN1 being 0 and IN2 being 0, the actuator electric push rod is not actuated, and the process proceeds to step S11;
s9): the H bridge outputs an instruction that IN1 is 1 and IN2 is 0, and the electric push rod of the actuating mechanism extends to push the gear to the high gear;
s10): the H bridge outputs an instruction that IN1 is equal to 0, IN2 is equal to 1, the electric push rod of the actuating mechanism contracts, and the gear is pulled to be low;
s11): and ending the control gear shifting command.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911143045.3A CN110792766A (en) | 2019-11-20 | 2019-11-20 | Automatic gear shifting device of electric tractor and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911143045.3A CN110792766A (en) | 2019-11-20 | 2019-11-20 | Automatic gear shifting device of electric tractor and control method |
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| Publication Number | Publication Date |
|---|---|
| CN110792766A true CN110792766A (en) | 2020-02-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911143045.3A Pending CN110792766A (en) | 2019-11-20 | 2019-11-20 | Automatic gear shifting device of electric tractor and control method |
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Citations (5)
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| CN205118218U (en) * | 2015-10-15 | 2016-03-30 | 中联重机股份有限公司 | Harvest machinery's shifter and gear shift control system and have its harvest machinery thereof |
| JP2016222452A (en) * | 2015-06-03 | 2016-12-28 | 株式会社リコー | Printer |
| CN106678351A (en) * | 2017-02-23 | 2017-05-17 | 湖南农业大学 | Method and system of agricultural machinery automatic gear shifting |
| CN208123419U (en) * | 2018-01-29 | 2018-11-20 | 深圳市中科康安机器人研究院有限公司 | A kind of gearshift of the walking mechanism of unmanned mini-tiller |
| CN109578571A (en) * | 2018-11-20 | 2019-04-05 | 洛阳智能农业装备研究院有限公司 | A kind of dilatory Electrical Control gearshift and method based on the electric switch that diffuses |
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2019
- 2019-11-20 CN CN201911143045.3A patent/CN110792766A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2016222452A (en) * | 2015-06-03 | 2016-12-28 | 株式会社リコー | Printer |
| CN205118218U (en) * | 2015-10-15 | 2016-03-30 | 中联重机股份有限公司 | Harvest machinery's shifter and gear shift control system and have its harvest machinery thereof |
| CN106678351A (en) * | 2017-02-23 | 2017-05-17 | 湖南农业大学 | Method and system of agricultural machinery automatic gear shifting |
| CN208123419U (en) * | 2018-01-29 | 2018-11-20 | 深圳市中科康安机器人研究院有限公司 | A kind of gearshift of the walking mechanism of unmanned mini-tiller |
| CN109578571A (en) * | 2018-11-20 | 2019-04-05 | 洛阳智能农业装备研究院有限公司 | A kind of dilatory Electrical Control gearshift and method based on the electric switch that diffuses |
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| 周文娟: "遥控变速系统中电动推杆式换向与遥控装置的研究", 《信息科技辑》 * |
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Application publication date: 20200214 |