CN114321350A - Unmanned automatic gear shifting device and method for crawler traveling equipment - Google Patents
Unmanned automatic gear shifting device and method for crawler traveling equipment Download PDFInfo
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- CN114321350A CN114321350A CN202210007966.2A CN202210007966A CN114321350A CN 114321350 A CN114321350 A CN 114321350A CN 202210007966 A CN202210007966 A CN 202210007966A CN 114321350 A CN114321350 A CN 114321350A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention discloses an unmanned automatic gear shifting device and method for a crawler traveling device. The control module is respectively connected with each automatic gear shifting device, and each automatic gear shifting device is used for correspondingly controlling different gears of the crawler belt driving equipment except for the neutral gear. All automatic gear shifting devices are provided with neutral gears and are used for controlling the crawler belt driving equipment to be in a neutral gear state when all automatic gear shifting devices are in the neutral gears. When in use, a gear shifting command is received firstly; adjusting all automatic gear shifting devices to a neutral gear so that the crawler belt driving equipment is changed into the neutral gear; and finally, adjusting the gear of the corresponding automatic gear shifting device according to the gear shifting instruction to finish gear shifting. The automatic gear shifting devices are respectively responsible for controlling different gears, and the gears are shifted after neutral gear shifting is carried out at each gear shifting, so that manual operation is not needed, and the efficiency and the accuracy of the gear shifting operation of the crawler belt driving equipment are effectively improved.
Description
Technical Field
The invention relates to the technical field of unmanned driving, in particular to an unmanned automatic gear shifting device and method for crawler driving equipment.
Background
The existing crawler belt driving equipment is a 5-gear shifting mechanism, adopts the same gear structure as a conventional vehicle, and is characterized in that the gear engaging sequence is linear combination, and the corresponding shifting mechanism is the combination of a gear selecting mechanism and a gear engaging mechanism to complete 6-gear shifting (R gear, 1, 2, 3, 4, 5 gears and neutral gear). However, the shifting mechanism of the crawler belt driving equipment has the problems of large movement torque, large shifting stroke gap and non-compact clutch structure, so that the shifting operation of the crawler belt driving equipment is long in time consumption, high in difficulty and easy to make mistakes.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the unmanned automatic gear shifting device and method for the crawler traveling equipment are provided, and the efficiency and accuracy of gear shifting operation of the crawler traveling equipment are improved.
In order to solve the problems, the invention adopts the following scheme:
a self-driving automatic gear shifting device of a crawler belt driving device comprises a control module and at least two automatic gear shifting devices;
the control module is respectively connected with each automatic gear shifting device, and each automatic gear shifting device is used for correspondingly controlling different gears of the crawler belt driving equipment except for the neutral gear;
all automatic gear shifting devices are provided with neutral gears and are used for controlling the crawler belt driving equipment to be in a neutral gear state when all the automatic gear shifting devices are in the neutral gears.
In order to solve the above problems, the present invention adopts another scheme as follows:
a method for unmanned automatic gear shifting of crawler traveling equipment is applied to the unmanned automatic gear shifting device of the crawler traveling equipment and comprises the following steps:
s1, receiving a gear shifting command;
s2, adjusting all automatic gear shifting devices to a neutral gear so that the crawler belt driving equipment becomes the neutral gear;
and S3, adjusting the corresponding gear of the automatic gear shifting device according to the gear shifting command to finish gear shifting.
In conclusion, the beneficial effects of the invention are as follows: the crawler driving equipment is designed to be controlled by a plurality of automatic gear shifting devices, the shifting motion torque is reduced, each automatic gear shifting device is respectively responsible for controlling different gears, the crawler driving equipment is set to be in a neutral gear when each automatic gear shifting device is in the neutral gear, the gears are shifted after being shifted in the neutral gear at each time, the phenomenon that a plurality of gears are simultaneously shifted is prevented, automatic gear shifting and independent control are matched, manual operation is not needed, and the efficiency and the accuracy of gear shifting operation executed by the crawler driving equipment are effectively improved.
Drawings
FIG. 1 is a block diagram of a system for providing unmanned automatic shifting of a track drive assembly according to an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating the swing effect of a shift arm of a track traveling apparatus equipped with a unmanned automatic shifting device according to an embodiment of the present invention;
fig. 3 is a schematic step diagram of a method for unmanned automatic gear shifting of a crawler traveling device according to an embodiment of the present invention.
Description of reference numerals:
1. a control module; 2. an automatic gear shifting device; 3. an automatic clutch actuator; 4. an angle sensor; 5. a gear shifting swing arm; 6. a shift motor; 7. a clutch motor.
Detailed Description
In order to explain technical contents, achieved objects, and effects of the present invention in detail, the following description is made with reference to the accompanying drawings in combination with the embodiments.
Referring to fig. 1 to 2, a crawler traveling apparatus unmanned automatic gear shifting device 2 includes a control module 1 and at least two automatic gear shifting devices 2;
the control module 1 is respectively connected with each automatic gear shifting device 2, and each automatic gear shifting device 2 is used for correspondingly controlling different gears of the crawler belt driving equipment except for a neutral gear;
all automatic gear shifting devices 2 are provided with neutral gears and are used for controlling the crawler belt driving equipment to be in a neutral gear state when all automatic gear shifting devices 2 are in the neutral gears.
From the above description, the beneficial effects of the present invention are: the utility model provides a track is gone and is equipped unmanned automatic gear shifting device 2, it is controlled by a plurality of automatic gear shifting device 2 to go to equip the design with track, reduce the motion moment of shifting, make every automatic gear shifting device 2 be responsible for respectively controlling different fender position, and set up track when every automatic gear shifting device 2 is neutral gear and go to equip and just be neutral gear, it does not interfere between the fender gear still to have guaranteed, make the time of shifting compacter, the efficiency and the rate of accuracy that the track is gone to equip and carry out the operation of shifting have been improved.
Further, the automatic clutch executing device 3 is also included;
the control module 1 is connected with the automatic clutch executing device 3, and the automatic clutch executing device 3 is used for controlling the clutch position of the crawler belt driving equipment.
From the above description, the clutch control of the crawler traveling equipment also adopts an automatic device, so that the gear shifting time of the vehicle is shortened, and the gear shifting operation is more convenient. Further, the automatic gear shifting device comprises angle sensors 4, wherein each automatic gear shifting device 2 comprises a gear shifting motor 6 and a gear shifting swing arm 5;
control module 1 respectively with shift motor 6 with angle sensor 4 links to each other, shift motor 6's expansion end with shift swing arm 5 links to each other and is used for driving shift swing arm 5 shifts, angle sensor 4 is used for measuring shift motor 6's turned angle.
From the above description, utilize angle sensor 4 to shift gear motor 6 and need pivoted angle to take notes when shifting gears to in accurate carry out reasonable control to the operation stroke of motor, thereby realize automatic fender position switching, high-efficient accuracy need not manual operation.
Further, the automatic clutch executing device 3 is a clutch motor 7;
the control module 1 is connected with the clutch motor 7, and the clutch motor 7 is provided with the angle sensor 4 for measuring the rotation angle of the clutch motor 7.
From the above description, the angle sensor 4 is used to record the rotation angle of the clutch motor 7 when the clutch motor 7 is released or stepped on to be disengaged, and the rotation angle can be used as reference data for the subsequent clutch motor 7 to release or combine the clutch, so that clutch control in automation is more accurate and efficient.
Further, each automatic gear shifting device 2 is used for correspondingly controlling two gears of the crawler belt driving equipment except for the neutral gear, and each automatic gear shifting device 2 corresponds to one of the gears when the corresponding gear shifting swing arm 5 swings to two ends of the swing stroke and is the neutral gear when the middle point of the swing stroke.
As is apparent from the above description, the neutral position of each automatic shifting device 2 is set at the intermediate position of the swing stroke of the shift swing arm 5, so that the shift swing arm 5 can be quickly switched from other shift positions to neutral every time a shift is made. Thereby make automatic shift operation more convenient.
Referring to fig. 3, a method for unmanned automatic shifting of a crawler traveling apparatus, which is applied to the above unmanned automatic shifting device 2 of a crawler traveling apparatus, includes the following steps:
s1, receiving a gear shifting command;
s2, adjusting all automatic gear shifting devices 2 to neutral so that the track-running equipment becomes neutral;
and S3, adjusting the corresponding gear of the automatic gear shifting device 2 according to the gear shifting command to finish gear shifting.
From the above description, the beneficial effects of the present invention are: the unmanned automatic gear shifting method for the crawler traveling equipment is characterized in that the crawler traveling equipment is designed to be controlled by a plurality of automatic gear shifting devices 2, each automatic gear shifting device 2 is respectively responsible for controlling different gears, the crawler traveling equipment is set to be in a neutral gear when each automatic gear shifting device 2 is in the neutral gear, the gears are switched after the neutral gear is engaged when each gear shifting is carried out, the situation that a plurality of gears are simultaneously engaged is prevented, automatic gear shifting and independent control are matched, manual operation is not needed, and the efficiency and the accuracy of gear shifting operation of the crawler traveling equipment are effectively improved.
Further, after the step S1 and before the step S2, the method further includes:
adjusting the automatic clutch executing device 3 to a clutch separation position;
the step S3 is followed by:
and S4, adjusting the automatic clutch executing device 3 from a clutch separating position to a clutch combining position.
According to the description, when the gear is shifted, the clutch releasing operation before the gear shifting and the clutch stepping operation after the gear shifting are automatically executed by the machine, so that the operation flow of the gear shifting of the vehicle is simplified, and the gear shifting device is more intelligent and convenient to use.
Further, step S1 is preceded by:
s0, judging whether a self-learning instruction is received or not, if so, recording the measured values of the corresponding angle sensors 4 when the gear shifting swing arms 5 on each automatic gear shifting device 2 are in different gears, and taking the measured values as a preset gear shifting value group, otherwise, judging again;
the step S2 specifically includes:
driving a gear shifting motor 6 of each automatic gear shifting device 2 to swing the gear shifting swing arm 5 to a position corresponding to a neutral gear in the preset gear shifting value group;
the step S3 specifically includes:
the shift motor 6 that drives the automatic shift device 2 corresponding to the shift command;
and swinging the gear shifting swing arm 5 to a position corresponding to the gear shifting command in the preset gear shifting value group.
As is clear from the above description, the device is provided with a self-learning procedure before use, in which the measured values of the corresponding angle sensor 4, i.e. the angle of rotation of the gear change motor 6, are recorded for each automatic gear change device 2 in the different gear change positions. When shifting gears, the measured value is used as a reference standard, and the gear shifting motor 6 is controlled to rotate, so that the gear shifting speed is improved, and the operation can be accurately finished.
Further, the step S0, after the preset shift value group, further includes:
recording the measured values of the corresponding angle sensor 4 when the clutch motor 7 is at the clutch separation position, the clutch separation critical position and the clutch combination position respectively, and recording the measured values as a clutch separation value, a clutch separation critical value and a clutch combination value respectively;
the adjustment of the automatic clutch actuator 3 to the clutch release position is specifically:
controlling the clutch motor 7 to rotate to a position corresponding to the clutch separation value;
the step S4 specifically includes:
s41, waiting for a preset time and executing the step S42 after the preset time;
s42, controlling the clutch motor 7 to rotate to a position corresponding to the clutch separation critical value;
and S43, controlling the clutch motor 7 to rotate to a position corresponding to the clutch combination value.
As can be seen from the above description, the self-learning process further includes learning and recording the measured values of the corresponding angle sensor 4 when the clutch motor 7 is at the clutch release position, the clutch release critical position and the clutch engagement position, and using the values in the clutch operation control process to improve the clutch switching speed and accuracy.
Further, before executing the step S0, the method further includes:
and judging whether the angle sensor 4 works normally, if so, executing the step S0, and otherwise, giving an alarm.
As can be seen from the above description, before the self-learning, it is necessary to detect whether the angle sensor 4 is normal or not to ensure that the subsequently learned data is accurate data, so that the automatic gear shifting operation of the crawler traveling apparatus is more stable and reliable.
The unmanned automatic gear shifting device for the crawler traveling equipment is suitable for some unmanned application scenes of the crawler traveling equipment, and is specifically described with reference to specific embodiments as follows:
referring to fig. 1 and fig. 2, a first embodiment of the present invention is:
a crawler belt traveling equipment unmanned automatic gear shifting device is shown in figure 1 and comprises a control module 1, an angle sensor 4, an automatic clutch executing device 3 and at least two automatic gear shifting devices 2. Wherein each automatic gear shift device 2 is used for controlling a different gear of the track-running equipment than neutral. All automatic gear shifting devices 2 are provided with a neutral gear and are used for controlling the crawler belt traveling equipment to be in a neutral state when all automatic gear shifting devices 2 are in the neutral gear. Each automatic shifting device 2 includes a shift motor 6 and a shift swing arm 5. Control module 1 links to each other with shift motor 6 and angle sensor 4 respectively, and shift motor 6's expansion end links to each other with shift swing arm 5 and is used for driving shift swing arm 5 and shifts, and angle sensor 4 is used for measuring shift motor 6's turned angle. The automatic clutch executing device 3 is a clutch motor 7; the control module 1 is connected with a clutch motor 7, and an angle sensor 4 for measuring the rotation angle of the clutch motor 7 is arranged on the clutch motor 7.
In this embodiment, specifically, the control module 1 may adopt a freescale chip, adopt a CAN bus communication interface, and connect out 4 paths of AD sampling ports to respectively collect data of the three automatic gear shifting devices 2 and the angle sensors 4 on the automatic clutch executing device 3.
Also, in the present embodiment, as shown in fig. 1, of the three automatic shifting devices 2: one controls 1 st, N (neutral), and R gears of the crawler travel apparatus, the other controls 2 nd, N, and 3 th gears of the crawler travel apparatus, and the other controls 4 th, N, and 5 th gears of the crawler travel apparatus. As shown in fig. 2, each automatic shifting device 2 is used to control two gears of the track-running equipment except for the neutral gear, and each automatic shifting device 2 corresponds to one of the gears when the corresponding shift swing arm 5 swings to both ends of the swing stroke and is the neutral gear at the midpoint of the swing stroke. In other words, during the swing of the shift swing arm 5, the N-gear is at the center position of the swing. No matter which gear is currently located, the automatic gear shifting device 2 can be quickly switched back to the N gear, so that the gear shifting operation of the plurality of automatic gear shifting devices 2 is more convenient to cooperate.
Referring to fig. 3, the second embodiment of the present invention is:
on the basis of the first embodiment, as shown in fig. 3, a method for unmanned automatic gear shifting of crawler traveling equipment comprises the following steps:
s0, judging whether a self-learning instruction is received or not, if so, recording the measured values of the corresponding angle sensors 4 when the gear shifting swing arms 5 on each automatic gear shifting device 2 are in different gears, and taking the measured values as a preset gear shifting value group; recording the measured values of the corresponding angle sensor 4 when the clutch motor 7 is at the clutch separation position, the clutch separation critical position and the clutch combination position respectively, and recording the measured values as a clutch separation value, a clutch separation critical value and a clutch combination value respectively; otherwise, judging again. In this embodiment, when the device is started, a self-learning process is required, some gear shifting and clutch stepping operations are manually performed in advance, the measured value of the angle sensor 4 is recorded, whether the angle sensor 4 normally works or not is also required to be judged before learning, if yes, step S0 is executed, otherwise, an alarm is given out, so that the measured data of the angle sensor 4 are accurate, it is ensured that the crawler traveling device can accurately complete the gear shifting operation, and an operator is reminded in time after the angle sensor 4 fails.
S1, receiving a gear shifting command;
in this embodiment, before the gear shifting is performed, the automatic clutch actuator 3 needs to be adjusted to the clutch release position, specifically, the clutch motor 7 is controlled to rotate to the position corresponding to the clutch release value. In the clutch and separation process, the speed of the clutch motor 7 is increased to realize quick separation and ensure that the crawler traveling equipment is not flamed out.
S2, adjusting all automatic gear shifting devices 2 to neutral so that the track-running equipment becomes neutral;
in the present embodiment, all automatic shifting devices 2 need to be adjusted to neutral before each gear shift to avoid the situation where two or three gears are engaged at the same time after the gear shift. Specifically, the shift motor 6 driving each automatic shift device 2 swings the shift swing arm 5 to a position corresponding to a neutral gear in a preset shift value group, and the measured value of the angle sensor 4 is used as standard data to realize quick and accurate shifting.
And S3, adjusting the corresponding gear of the automatic gear shifting device 2 according to the gear shifting command to complete gear shifting.
In this embodiment, the gear shifting is specifically completed by swinging the gear shifting swing arm 5 to a position corresponding to a gear shift command in the preset gear shift value group. For example, if the current shift command is to shift to 5, the automatic shifting device 2 responsible for controlling 5 shifts is found, and the shift motor 6 is driven to rotate to change to the angle required by 5 shifts, so that the shift swing arm 5 reaches the corresponding position, and the shift is completed. Furthermore, it is also possible to determine whether the current shift operation is in place by comparing the measured value of the current angle sensor 4 with a corresponding value in the preset shift value group.
And S4, adjusting the automatic clutch executing device 3 from the clutch separating position to the clutch combining position.
In this embodiment, after the gear shifting is completed, the specific process of simulating clutch pedaling is as follows:
s41, waiting for a preset time and executing the step S42 after the preset time;
s42, controlling the clutch motor 7 to rotate to a position corresponding to the clutch separation critical value;
and S43, controlling the clutch motor 7 to rotate to a position corresponding to the clutch combination value.
The preset time is an artificial set value so as to simulate the idle travel time caused by the beginning of the execution of the clutch. The rotation speed of the clutch motor 7 is controlled to be slowed down when step S42 is performed to prevent the track-laying apparatus from stalling during the subsequent clutch engagement.
In summary, the invention discloses an unmanned automatic gear shifting device and method for crawler traveling equipment, wherein the crawler traveling equipment is designed to be controlled by a plurality of automatic gear shifting devices, the shifting motion torque is reduced, each automatic gear shifting device is respectively responsible for controlling different gears, a neutral gear is arranged at the center swinging position of a gear shifting swinging arm, the crawler traveling equipment is set to be the neutral gear when each automatic gear shifting device is set to be the neutral gear, the gears are switched after the neutral gear is engaged in each gear shifting process, the multiple gears are prevented from being simultaneously engaged out, the automatic control by matching an angle sensor and a motor is adopted, the manual operation is not needed, and the efficiency and the accuracy of the crawler traveling equipment for executing the gear shifting operation are effectively improved.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent modifications made by the contents of the present specification and the drawings, or applied to the related technical fields directly or indirectly, are included in the scope of the present invention.
Claims (10)
1. An unmanned automatic gear shifting device of a crawler belt driving device is characterized by comprising a control module and at least two automatic gear shifting devices;
the control module is respectively connected with each automatic gear shifting device, and each automatic gear shifting device is used for correspondingly controlling different gears of the crawler belt driving equipment except for the neutral gear;
all automatic gear shifting devices are provided with neutral gears and are used for controlling the crawler belt driving equipment to be in a neutral gear state when all the automatic gear shifting devices are in the neutral gears.
2. The unmanned automatic shifting apparatus of a crawler belt traveling apparatus according to claim 1, further comprising an automatic clutch actuator;
the control module is connected with the automatic clutch executing device, and the automatic clutch executing device is used for controlling the clutch position of the crawler traveling equipment.
3. The unmanned automatic shifting apparatus of crawler belt traveling equipment according to claim 2, further comprising angle sensors, each of the automatic shifting apparatuses comprising a shift motor and a shift swing arm;
the control module respectively with shift motor with angle sensor links to each other, shift motor's expansion end with the swing arm of shifting links to each other and is used for driving the swing arm of shifting shifts and shifts, angle sensor is used for measuring shift motor's turned angle.
4. The unmanned automatic shifting apparatus of crawler belt driving equipment according to claim 3, wherein the automatic clutch actuator is a clutch motor;
the control module is connected with the clutch motor, and the clutch motor is provided with an angle sensor for measuring the rotation angle of the clutch motor.
5. The unmanned automatic shifting device for the crawler belt driving equipment as claimed in claim 3, wherein each automatic shifting device is used for correspondingly controlling two gears of the crawler belt driving equipment except for the neutral gear, and each automatic shifting device corresponds to one gear when the corresponding shifting swing arm swings to two ends of a swing stroke and is the neutral gear when the corresponding shifting swing arm swings to the middle point of the swing stroke.
6. A crawler travel apparatus unmanned automatic gear shifting method applied to a crawler travel apparatus unmanned automatic gear shifting device according to any one of claims 1 to 4, comprising the steps of:
s1, receiving a gear shifting command;
s2, adjusting all automatic gear shifting devices to a neutral gear so that the crawler belt driving equipment becomes the neutral gear;
and S3, adjusting the corresponding gear of the automatic gear shifting device according to the gear shifting command to finish gear shifting.
7. The unmanned automatic shifting method for track traveling equipment of claim 6, further comprising after the step S1 and before the step S2:
adjusting the automatic clutch executing device to a clutch separation position;
the step S3 is followed by:
and S4, adjusting the automatic clutch executing device from a clutch separating position to a clutch combining position.
8. The unmanned automatic shifting method for track traveling equipment of claim 6, wherein the step S1 is preceded by the step of:
s0, judging whether a self-learning instruction is received or not, if so, recording the measured values of the corresponding angle sensors when the gear shifting swing arms on the automatic gear shifting devices are in different gears, and taking the measured values as a preset gear shifting value group, otherwise, judging again;
the step S2 specifically includes:
driving a gear shifting motor of each automatic gear shifting device to swing the gear shifting swing arm to a position corresponding to a neutral gear in the preset gear shifting value group;
the step S3 specifically includes:
driving the shift motor of the automatic shift device corresponding to the shift command;
and swinging the gear shifting swing arm to a position corresponding to the gear shifting command in the preset gear shifting value group.
9. The unmanned automatic shifting method for track-laying equipment of claim 7, wherein said step S0 further comprises, after said set of preset shift values:
recording the measured values of the corresponding angle sensors when the clutch motor is respectively at the clutch separation position, the clutch separation critical position and the clutch combination position, and respectively recording the measured values as a clutch separation value, a clutch separation critical value and a clutch combination value;
the method for adjusting the automatic clutch executing device to the clutch separating position specifically comprises the following steps:
controlling the clutch motor to rotate to a position corresponding to the clutch separation value;
the step S4 specifically includes:
s41, waiting for a preset time and executing the step S42 after the preset time;
s42, controlling the clutch motor to rotate to a position corresponding to the clutch separation critical value;
and S43, controlling the clutch motor to rotate to a position corresponding to the clutch combination value.
10. The unmanned automatic shifting method for track traveling equipment of claim 8, wherein the step S0 is executed before further comprising:
and judging whether the angle sensor works normally, if so, executing the step S0, and otherwise, giving an alarm.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210007966.2A CN114321350B (en) | 2022-01-06 | 2022-01-06 | Unmanned automatic gear shifting device and method for crawler traveling equipment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210007966.2A CN114321350B (en) | 2022-01-06 | 2022-01-06 | Unmanned automatic gear shifting device and method for crawler traveling equipment |
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| CN114321350A true CN114321350A (en) | 2022-04-12 |
| CN114321350B CN114321350B (en) | 2023-05-23 |
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| CN114321350B (en) | 2023-05-23 |
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