CN115056679A

CN115056679A - Electric tractor with replaceable battery

Info

Publication number: CN115056679A
Application number: CN202210796735.4A
Authority: CN
Inventors: 汪文广; 车德梦; 李俊; 朱浩; 丁捷; 费铮豪
Original assignee: Henan Yuanfa Special Vehicle Group Co ltd; Shenzhen Qianmuzhi Micro Technology Co ltd
Current assignee: Qingdao Wotu Intelligent Technology Co ltd
Priority date: 2022-07-06
Filing date: 2022-07-06
Publication date: 2022-09-16

Abstract

The invention discloses an electric tractor with replaceable batteries, which comprises an electric chassis frame, a battery cover, a battery module, a hood, a motor assembly, a driving transfer case, a hydraulic oil tank, a reduction gearbox, a radiator, a cab and a main control circuit, wherein the battery cover and the battery module are arranged on the electric chassis frame, the battery cover is rotatably connected onto the electric chassis frame, the battery module is accommodated in an accommodating space formed by connecting the battery cover and the electric chassis frame, and the battery module and the electric chassis frame are detachably mounted.

Description

Electric tractor with replaceable battery

Technical Field

The invention relates to the technical field of agricultural instruments, in particular to an electric tractor with a replaceable battery.

Background

Tractors are the core of agricultural operations and have many power take off interfaces and linkages such as PTO power take off shafts, hydraulic output joints, risers and three point hitch linkages. The traditional tractor matches a gearbox system assembly for a diesel engine to realize the distribution of the power output interface. The gearbox system assembly is quite complex, not only needs different gears to be switched to meet the power and speed requirements of different operation scenes of the tractor, but also needs various transfer cases and clutches to meet the power output and disconnection of devices such as hydraulic output and PTO power output. Since all power is derived from the engine, the transmission assembly only functions as a transfer and speed change, which results in coupling during tractor running and operation, for example, for a PTO power output of 540rpm, the engine needs to rotate at about 2000rpm, and the running speed of the tractor is necessarily faster. In order to solve the problem of coupling of the running speed and the operation speed, a high-end tractor is designed with a plurality of gears for matching different operation conditions. Therefore, the tractor is electrically driven, intelligentized and unmanned, which is an inevitable trend of future development. However, how to realize electromotion, intellectualization and unmanned realization is the key of the development of the tractor at present. The core of the traditional tractor is a diesel engine and a gearbox assembly, and in order to realize intellectualization and unmanned operation, the automatic gear shifting gearbox which is more complex and higher in cost is far inferior to the solution of combining a motor and a reduction gearbox in automatic speed regulation, torque control and various information feedback. The pure electric tractor has the advantages that a plurality of problems are encountered in the process of designing the pure electric tractor, the pure electric tractor depends on electric power resources, the tractor needs to consume more electric quantity in outdoor operation for a long time, and the problem that how to solve the electric power endurance of the electric tractor is difficult to achieve at present. In addition, in the daily use of the electric tractor, the traditional electric tractor depends on manual driving, and has large dependence on manpower, thus causing high labor cost.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention aims to provide an electric tractor with replaceable batteries, which can replace a battery module at any time and solve the problem of endurance.

The purpose of the invention is realized by adopting the following technical scheme:

the invention provides an electric tractor with replaceable batteries, which comprises an electric chassis frame, a battery cover, a battery module, a hood, a motor assembly, a driving transfer case, a hydraulic oil tank, a reduction gearbox, a radiator, a cab, a double-control steering device and a main control circuit, wherein the battery module, the driving transfer case, the radiator, the cab, the motor assembly, the reduction gearbox, the hydraulic oil tank and the main control circuit are all arranged on the electric chassis frame, the battery cover and the hood are connected with the electric chassis frame, the battery cover corresponds to the battery module in position, the hood corresponds to the motor assembly, the hydraulic oil tank, the reduction gearbox and the radiator in position, the battery module is detachably arranged on the electric chassis frame, the battery module supplies power to the motor assembly, the reduction gearbox, the driving transfer case and the radiator, and the driving transfer case, the double-control steering device and the main control circuit, The hydraulic oil tank and the reduction gearbox are connected with the motor assembly, the battery module and the radiator are connected with the main control circuit, the battery cover can be opened or closed relative to the electric chassis frame, so that when the battery cover is opened, the battery module can be detached from the electric chassis frame, the electric chassis frame is further connected with the three-point suspension device, the intelligent driving unit is arranged at the top of the driving cabin, and the intelligent driving unit and the double-control steering device are connected with the main control circuit.

In the present invention, as an optional embodiment, the radiator includes a first radiator fan, a second radiator fan, and a hydraulic radiator fan.

In the invention, as an optional embodiment, the motor assembly comprises a first motor, a second motor and a third motor, the first motor is connected with the driving transfer case, the second motor is connected with the reduction gearbox, the third motor is connected with the hydraulic oil tank, the first cooling fan is used for cooling the first motor, the second cooling fan is used for cooling the second motor and the third motor, and the hydraulic cooling fan is used for cooling the hydraulic oil tank.

In the invention, as an optional embodiment, the electric chassis frame further comprises front wheels and rear wheels, a first steering drive axle and a second steering drive axle are further arranged on the electric chassis frame, the first steering drive axle and the second steering drive axle are both connected with the driving transfer case, the first steering drive axle is connected with the front wheels in a steering manner, and the second steering drive axle is connected with the rear wheels in a steering manner.

In the invention, as an optional embodiment, the motor assembly includes a first motor, a second motor, a third motor and a fourth motor, the driving transfer case includes a first gearbox and a second gearbox, the first motor is connected to the first gearbox, the second motor is connected to the second gearbox, the third motor is connected to the gearbox, the fourth motor is connected to the hydraulic oil tank, the first cooling fan is used for cooling the first motor and the second motor, the second cooling fan is used for cooling the third motor and the fourth motor, and the hydraulic cooling fan is used for cooling the hydraulic oil tank.

In the invention, as an optional embodiment, the cockpit comprises a cabin body, a seat, a steering gear, a handrail box, a touch display screen, a brake pedal, an accelerator pedal, an emergency stop button and an automatic driving button are arranged in the cabin body, and the touch display screen, the emergency stop button and the automatic driving button are all connected with the main control circuit.

In the invention, as an optional embodiment, the intelligent driving unit comprises an image acquisition module, a laser detection module, a lighting module, a positioning module, a signal lamp and a processor, wherein the image acquisition module, the laser detection module, the lighting module, the positioning module and the signal lamp are all connected with the processor, and the processor is connected with the main control circuit.

In the invention, as an optional embodiment, the image acquisition module comprises a front-mounted binocular camera, a rear-mounted binocular camera, a front-mounted monocular camera, a rear-mounted monocular camera, a left-side monocular camera and a right-side monocular camera, and the front-mounted binocular camera, the rear-mounted binocular camera, the front-mounted monocular camera, the rear-mounted monocular camera, the left-side monocular camera and the right-side monocular camera are all connected with the processor; laser detection module includes leading lidar, right side lidar and left side lidar, leading lidar, right side lidar and left side lidar all with the treater is connected.

In the present invention, as an optional embodiment, the double-control steering device includes a double gear pump, a steering priority control valve, a steering proportional control valve, a bidirectional balance valve, a steering cylinder, a load sensing steering gear, a shuttle valve, a charging valve, a braking proportional control valve, and a brake valve; the double gear pump is connected with a hydraulic oil tank, the double gear pump is connected with a steering oil cylinder sequentially through a steering priority control valve, a steering proportion control valve and a load sensing steering gear, the load sensing steering gear is connected with the steering priority control valve through a shuttle valve, the double gear pump is connected with a braking cavity of the electric tractor through a liquid filling valve and a braking valve, the double gear pump is further connected with the steering oil cylinder through the steering priority control valve, the steering proportion control valve and a bidirectional balance valve, the steering proportion control valve is used for driving the steering oil cylinder to work according to an input electric control steering signal, the steering proportion control valve is further connected with the steering priority control valve through the shuttle valve, and the double gear pump is further connected with the braking cavity through the liquid filling valve, the braking proportion control valve and the braking valve.

In the invention, as an optional embodiment, the three-point suspension device comprises a lifting assembly, an upper pull assembly and a lower pull assembly, the lifting assembly is respectively connected with the upper pull assembly and the lower pull assembly, the frame is connected with the lower pull assembly, the lower pull assembly comprises a lower pull rod assembly and a lower pull rod adjusting piece, one end of the lower pull rod assembly is connected with the lifting assembly, the other end of the lower pull rod assembly is connected with the lower pull rod adjusting piece, the lower pull rod assembly is detachably connected with the lower pull rod adjusting piece, the relative position between the lower pull rod assembly and the lower pull rod assembly can be changed, and the lower pull rod adjusting piece is used for being connected with the farm implement.

Compared with the prior art, the invention has the beneficial effects that:

the battery cover and the battery module are arranged on the electric chassis frame, the battery cover is rotatably connected to the electric chassis frame, the battery module is accommodated in an accommodating space formed by connecting the battery cover and the electric chassis frame, the battery module and the electric chassis frame are detachably mounted, when the battery cover is opened, the battery module can be taken out, and other battery modules with enough electric quantity are replaced to continue the journey of the electric tractor, so that the requirement of the electric tractor for long-time outdoor work is met, in addition, the battery-replaceable electric tractor is further provided with an intelligent driving unit, and unmanned automatic driving can be realized.

Drawings

Fig. 1 is a schematic view of the overall structure of a battery-replaceable electric tractor according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of an electric chassis frame according to an embodiment of the present invention;

FIG. 3 is another schematic structural diagram of the electric chassis frame according to the embodiment of the invention;

FIG. 4 is another schematic structural diagram of the electric chassis frame according to the embodiment of the invention;

FIG. 5 is a schematic view of the structure of a cockpit according to an embodiment of the present invention;

fig. 6 is a block diagram of an electric tractor with a replaceable battery according to an embodiment of the present invention;

FIG. 7 is a block diagram of an intelligent drive unit in accordance with an embodiment of the present invention;

FIG. 8 is a block diagram of a three point hitch of an embodiment of the present invention;

fig. 9 is a block diagram of the double-steering apparatus according to the embodiment of the present invention.

In the figure: 1. an electric chassis frame; 2. a battery cover; 3. a battery module; 4. a hood; 5. a hydraulic oil tank; 6. a heat sink; 7. a cockpit; 71. a seat; 72. a steering gear; 73. a handrail box; 74. a touch display screen; 75. a brake pedal; 76. an accelerator pedal; 77. an emergency stop button; 78. an automatic driving button; 8. an intelligent driving unit; 81. an image acquisition module; 82. a laser detection module; 83. a lighting module; 84. a positioning module; 85. a signal lamp; 86. a processor; 9. a three-point suspension device; 91. a lifting assembly; 92. a pull-up assembly; 93. a pull-down component; 931. a lower pull rod assembly; 932. a lower link adjuster; 10. a motor assembly; 101. a first motor; 102. a second motor; 103. a third motor; 104. a fourth motor; 11. a master control circuit; 12. a hydraulic oil tank; 13. a heat sink; 131. a first heat dissipation fan; 132. a second heat dissipation fan; 133. a hydraulic heat radiation fan; 14. an agricultural implement; 15. a double control steering device; 151. a double gear pump; 152. a steering priority control valve; 153. a bi-directional balancing valve; 154. a steering cylinder; 155. a load sensing diverter; 156. a shuttle valve; 157; a liquid charging valve; 158. a brake proportional control valve; 159. a brake valve; 1510. a steering proportional control valve; 16. a front wheel; 17. a rear wheel; 18. a first steer drive axle; 19. a second steering drive axle; 20. a travel transfer case; 21. a reduction gearbox.

Detailed Description

The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that any combination of the embodiments or technical features described below can be used to form a new embodiment without conflict. Except as specifically noted, the materials and equipment used in this example are commercially available. Examples of embodiments are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application.

In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "back", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present application. In the description of the present application, "a plurality" means two or more unless specifically stated otherwise.

In the description of the present application, it should be noted that unless otherwise specifically stated or limited, the terms "connected," "communicating," and "connecting" are to be construed broadly, e.g., as meaning fixedly connected, connected through an intervening medium, connected internally between two elements, or in an interactive relationship between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

The terms "first," "second," and the like in the description and claims of this application and in the foregoing drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

The embodiment of the application provides a removable electric tractor of battery is provided with battery cover and battery module on electric chassis frame, battery cover rotatable coupling is on electric chassis frame, battery module is held in the accommodation space that battery cover and electric chassis frame connect formed, and battery module and electric chassis frame are the detachable mounting means, when opening the battery cover, can take out battery module, other battery modules that have sufficient electric quantity of replacement continue to be electric tractor continuation of the journey, satisfy the demand that electric tractor worked for a long time in the open air.

Referring to fig. 1 to 9, the battery-replaceable electric tractor according to the present embodiment includes an electric chassis frame 1, a battery cover 2, a battery module 3, a hood 4, a motor assembly 10, a driving transfer case, a hydraulic oil tank 12, a reduction gearbox, a radiator 13, a cab 8, and a main control circuit 11. In the embodiment, in order to solve the problem of endurance of the electric tractor, a battery module 3 and a battery cover 2 are arranged.

Specifically, a battery module 3, a driving transfer case 20, a radiator 13, a cab 8, a motor assembly 10, a reduction box 21, a hydraulic oil tank 12 and a main control circuit 11 are all installed on an electric chassis frame 1, a battery cover 2 and a hood 4 are all connected with the electric chassis frame 1, the battery cover 2 corresponds to the battery module 3 in position, the hood 4 corresponds to the motor assembly 10, the hydraulic oil tank 12, the reduction box and the radiator 14 in position, the battery module 3 is detachably installed on the electric chassis frame 1, the battery module 3 supplies power to the motor assembly 10, the hydraulic oil tank 12, the reduction box, the driving transfer case and the radiator 13, the driving transfer case 20, the hydraulic oil tank 12 and the reduction box 21 are all connected with the motor assembly 10, the battery module 3 and the radiator 13 are all connected with the main control circuit 11, the battery cover 2 is openable or closable with respect to the electric chassis frame 1 such that the battery module 3 is removable from the electric chassis frame 1 when the battery cover 2 is opened.

The battery cover 2 plays a role in protecting the battery module 3, so that the battery module 3 can be prevented from being exposed to the sun and rain, and the service life of the battery module 3 is prolonged. The material of the battery cover 2 may be the same as or different from that of the cover 4, and generally, a metal material such as an aluminum alloy may be selected, and the hardness is sufficient and the rigidity is sufficient to protect the battery module 3. And also has good heat dissipation performance. Wherein one end and the electric chassis frame 1 rotatable coupling of battery cover 2, the other end of battery cover 2 can be dismantled with electric chassis frame 1 and be connected, for example be buckle connection etc. to make things convenient for battery cover 2 to open, form an accommodation space between battery cover 2 and the electric chassis frame 1, in order to hold battery module 3. Correspondingly, the hood 4 plays a role in protecting the motor assembly 10, the hydraulic oil tank 12, the reduction gearbox 21 and the radiator 13, and the connection between the hood 4 and the electric chassis frame 1 also forms an accommodating space for accommodating the motor assembly 10, the hydraulic oil tank 12, the reduction gearbox 21 and the radiator 13. In an embodiment, the heat sink 13 may dissipate heat of the motor assembly 10, and different heat dissipation fans configured for different motors respectively dissipate heat, so that when different motors or devices do not work, only the heat dissipation fan which does not work needs to be turned off, and the heat dissipation fans corresponding to other motors or devices which continue to work may continue to work to help dissipate heat. The radiator 13 includes a first radiator fan 131, a second radiator fan 132, and a hydraulic radiator fan 133.

Further, specifically referring to fig. 3, the motor assembly 10 includes a first motor 101, a second motor 102, and a third motor 103, the first motor 102 is connected to the driving transfer case 20, the second motor 102 is connected to the reduction gearbox 21, the third motor 103 is connected to the hydraulic oil tank 12, the first heat dissipation fan 131 is configured to dissipate heat of the first motor 101, the second heat dissipation fan 132 is configured to dissipate heat of the second motor 102 and the third motor 103, and the hydraulic heat dissipation fan 133 is configured to dissipate heat of the hydraulic oil tank 12.

In this example, the electric tractor employs a three motor solution, with the three motors controlling different mechanisms, respectively. In fact, the electric chassis frame 1 is also connected with front wheels and rear wheels, and a first steering drive axle 18 and a second steering drive axle 19 are also provided, the first steering drive axle 18 corresponding to a front steering drive axle, i.e. for driving the front wheels 16, and the second steering drive axle 19 corresponding to a rear steering drive axle, i.e. for driving the rear wheels 17. For the case of three motors, the embodiment further includes front wheels 16 and rear wheels 17, the electric chassis frame 1 is further provided with a first steering drive axle 18 and a second steering drive axle 19, both the first steering drive axle 18 and the second steering drive axle 19 are connected with a driving transfer case 20, the first steering drive axle 18 is connected with the front wheels 16 in a steering manner, and the second steering drive axle 19 is connected with the rear wheels 17 in a steering manner. In the embodiment, the first motor 101 is connected to the first steering drive axle 18 and the second steering drive axle 19 through the driving transfer case 20, and the first motor 101 simultaneously controls the driving of the first steering drive axle 18 and the second steering drive axle 19, so as to synchronously control the front wheels 16 and the rear wheels 17. In the embodiment, the front wheels and the rear wheels are not driven by independent motors separately, so the condition of front wheel drive and rear wheel drive cannot be realized in the embodiment, the embodiment is four-wheel drive, the running transfer case is constant-speed dual-output, and full-time four-wheel drive is adopted during running. The travel transfer case 20 may correspond to two gears, high and low, for example, for controlling the electric chassis frame for both on-road highway and off-road work travel. The first motor 101 is a power output motor, and the power output system adopts an independent pto motor, so that the speed regulation and the power control of the power output can be independently carried out, and different from the traditional tractor, the independence of pto operation and running functions is realized. In another example, the motor assembly 10 includes a first motor 101, a second motor 102, a third motor 103 and a fourth motor 104, the position distribution of the motor assembly 10 can refer to fig. 4, the driving transfer case 20 includes a first gearbox and a second gearbox, the first motor 101 is connected to the first gearbox, the second motor 102 is connected to the second gearbox, the third motor 103 is connected to the gearbox, the fourth motor 104 is connected to the hydraulic oil tank, the first cooling fan 131 is used for cooling the first motor 101 and the second motor 102, the second cooling fan 132 is used for cooling the third motor 103 and the fourth motor 104, and the hydraulic cooling fan 133 is used for cooling the hydraulic oil tank.

In this example, a four-motor scheme is employed, with the four motors controlling different mechanisms, respectively. Similarly, the electric chassis frame 1 is further connected with front wheels 16 and rear wheels 17, and a first steering drive axle 18 and a second steering drive axle 19 are respectively provided, the first steering drive axle 18 corresponds to a front steering drive axle, i.e. for driving the front wheels 16, and the second steering drive axle 19 corresponds to a rear steering drive axle, i.e. for driving the rear wheels 17. The first motor 101 is connected with the first steering drive axle through the first gearbox, the second motor 102 is connected with the second steering drive axle through the second gearbox, the third motor 103 is connected with the reduction gearbox, and the fourth motor 104 is connected with the hydraulic oil tank. The first motor 101 is also a front axle motor, the second motor 102 is also a rear axle motor, the rotation speed of the front axle and the rotation speed of the rear axle are independently controllable, the torque is also independently controllable through the first motor 101 and the second motor 102, and the switching of front wheel drive, rear wheel drive or four wheel drive can be realized according to different requirements. In addition, the chassis frame of the embodiment can also realize crab-type steering. When the automatic chassis frame turns, the first motor 101 and the second motor 102 can output different rotating speeds, so that the efficiency is optimized, the energy is saved, and when the front wheel 16 or the rear wheel 17 slips, the first steering drive axle 18 and the second steering drive axle 19 can independently rotate, so that the purpose of getting rid of the trouble is achieved. Wherein, first steer driving axle 18 and second steer driving axle 19 all have both sides, and one side corresponds to a half-bridge, and it is just that first steer driving axle 18 corresponds two preceding half-bridges, and second steer driving axle 19 corresponds two back half-bridges, and the quantity of preceding wheel 16 is two, and the quantity of back wheel 17 is two, and one of them preceding wheel 16 connects a preceding half-bridge, and another preceding wheel 16 connects another preceding half-bridge, and one of them back wheel 15 connects a back half-bridge, and another back wheel 15 connects another back half-bridge. In the same example, the hydraulic oil tank comprises a hydraulic pump, a front axle steering oil cylinder, a rear axle steering oil cylinder, a hydraulic lifter and a hydraulic output multi-way valve, the hydraulic pump is connected with the fourth motor, and the front axle steering oil cylinder, the rear axle steering oil cylinder, the hydraulic lifter and the hydraulic output multi-way valve are all connected with the hydraulic pump.

Referring to fig. 5, the cockpit 7 includes a cabin body, a seat 71, a steering gear 72, a console box 73, a touch display screen 74, a brake pedal 75, an accelerator pedal 76, an emergency stop button 77, and an automatic driving button 78 are disposed in the cabin body, and the touch display screen 74, the emergency stop button 77, and the automatic driving button 78 are all connected to the main control circuit 11. The cabin 7 is used to provide an operating room for a person when driving. The emergency stop buttons 77 are provided on both the left and right outer sides of the cab 7, and the vehicle is automatically stopped when the emergency stop button 87 is pressed in case of an emergency. When the autopilot button 78 is actuated, the vehicle will begin autopilot after the driver is alight.

In addition, the top of cockpit 7 is equipped with intelligent drive unit 8, intelligent drive unit 8 connects master control circuit 11. With reference to fig. 5, the intelligent driving unit 8 includes an image collecting module 81, a laser detecting module 82, a lighting module 83, a positioning module 84, a signal lamp 85, and a processor 86, the image collecting module 81, the laser detecting module 82, the lighting module 83, the positioning module 84, and the signal lamp 85 are all connected to the processor 86, and the processor 86 is connected to the main control circuit 11.

Specifically, the image acquisition module 81 includes a front binocular camera, a rear binocular camera, a front monocular camera, a rear monocular camera, a left monocular camera and a right monocular camera, which are all connected with the processor. The front-mounted binocular camera and the front-mounted monocular camera are mounted at the front end of the vehicle, the rear-mounted binocular camera and the rear-mounted monocular camera are mounted at the rear end of the vehicle, the left-side monocular camera is mounted at the left end, and the right-side monocular camera is mounted at the right end. Whole intelligent driving system can install in the cockpit position, and then front binocular camera and front monocular camera are installed at the front end of cockpit, and the rear end at the cockpit is installed to rear binocular camera and rear monocular camera, and left side monocular camera is installed at the cockpit left end, and right side monocular camera is installed at the cockpit right-hand member.

Laser detection module 82 includes leading lidar, right side lidar and left side lidar, leading lidar, right side lidar and left side lidar all with the processor is connected. Leading lidar installs at the vehicle front end, and right side lidar installs at the right-hand member, and left side radar installs at the left end, carries out laser rangefinder to the equidirectional not respectively, installs when the cockpit when intelligent driving unit, and leading lidar installs at the front end of cockpit, and right side lidar installs at the right-hand member of cockpit, and left side radar installs the left end at the cockpit. Similarly, the lighting module 83 includes a front working light, a rear working light, a left working light, and a right working light, which are all connected to the processor. The lighting module provides lighting conditions for night driving or driving under poor light. In addition, there may be a plurality of signal lights 85, and a plurality of signal lights are combined to indicate different states of the smart driving unit.

In connection with fig. 8, the three-point suspension device 9 of the embodiment includes a lifting assembly 91, a pull-up assembly 92 and a pull-down assembly 93, wherein the lifting assembly 91 is connected to the pull-up assembly 92 and the pull-down assembly 93 respectively, the electric chassis frame 1 is connected to the pull-down assembly 93, the pull-down assembly 93 includes a pull-down rod assembly 931 and a pull-down rod adjustment element 932, one end of the pull-down rod assembly 931 is connected to the lifting assembly 91, the other end of the pull-down rod assembly is connected to the pull-down rod adjustment element 932, the pull-down rod assembly 931 is detachably connected to the pull-down rod adjustment element 932, the relative position between the pull-down adjustment element 932 and the pull-down rod assembly 931 can be changed, and the pull-down rod adjustment element 932 is used for being connected to the farm implement 14. In the examples, the types of agricultural implements 14 are 5 types, as described in the background, 0, 1, 2, 3, and 4, respectively. An implement 14 corresponding to type 0 requires a drop link span of 500mm and an implement of type 1 requires a drop link span of 718. The farm implement of type 2 requires a drop link span of 870 mm. In the embodiment, the span formed between the lower link assemblies 931 is 609mm, and the distance between the extreme positions of both ends of the lower link assemblies 931 provided for the lower link adjustment members to be mounted is 76mm, so by adjusting the mounting positions between the lower link adjustment members 932 and the lower link assemblies 931, it is possible to achieve mounting of the agricultural implement 14 adapted to the

types

0, 1 and 2.

In an embodiment, for better mounting the farm implement 14 and maintaining the balance of the farm implement 14, the lower pull rod assembly of the embodiment includes a left lower pull rod and a right lower pull rod, and the lower pull rod adjustment member also includes a first adjustment member and a second adjustment member correspondingly, the first adjustment member is correspondingly connected with the left lower pull rod, the second adjustment member is correspondingly connected with the right lower pull rod, and then the distance between the first adjustment member and the second adjustment member, that is, the distance is adapted to the span of the farm implement 5. For example, the span between the first adjusting member and the second adjusting member is 500mm, which is suitable for the farm tool of type 0, and the span is 718mm, which is suitable for the farm tool of type 1. The lower pull rod assembly can be provided with a plurality of pin holes, and the lower pull rod adjusting part 932 is connected with the lower pull rod assembly 931 by penetrating any one pin hole on the lower pull rod assembly 931 through a stud so as to adapt to different types of farm tools 14.

That is, the pin holes are respectively formed at different positions of the lower pulling rod assembly 931, so that when the lower pulling rod adjustment member 932 is installed corresponding to different pin holes, the span of the lower pulling rod adjustment member 932 is adapted to the agricultural implement 14 to be installed. The pin holes are also provided in two, and the embodiment designates the two pin holes as a first pin hole and a second pin hole, respectively. The first pin hole and the second pin hole are respectively formed in the left lower pull rod and the right lower pull rod, the first pin hole in the left lower pull rod and the first pin hole in the right lower pull rod are symmetrically arranged, the second pin hole in the left lower pull rod corresponds to the second pin hole in the right lower pull rod in position, the first adjusting piece is connected with the left lower pull rod through the first pin hole or the second pin hole in the left lower pull rod, and the second adjusting piece is connected with the right lower pull rod through the first pin hole or the second pin hole in the right lower pull rod. That is, when the first adjusting member is connected to the first pin hole of the lower link, and the second adjusting member is connected to the first pin hole of the right lower link, a span is formed, for example, the span formed between the lower link assemblies 931 is 609mm, that is, the distance between the left lower link and the right lower link is 609mm, and the distances between the two pin holes on the left lower link and the right lower link are both 76mm, when the agricultural implement suitable for the type 0 agricultural implement, that is, the distance between the first adjusting member and the second adjusting member is required to be 500mm, the first adjusting member is connected to the pin hole on the inner side of the left lower link, that is, the pin hole close to the right lower link, and the second adjusting member is connected to the pin hole on the inner side of the right lower link, that is, the pin hole close to the left lower link, at this time, because the adjusting member assembly 932 is provided with a certain distance between the mounting position for connecting the agricultural implement 14 and the pin hole for connecting the adjusting member assembly 932, the distance is 54.5mm, and the mounting position for mounting the farm tool 14 is located at the inner side, so that the sum of the distances between the first adjusting member and the second adjusting member and the pin hole 411 is 54.4 × 2 to 109, and finally the distance between the first adjusting member and the second adjusting member is 609-. For another example, when it is required to adapt to the agricultural implement of type 2, as shown in fig. 7, that is, when the distance between the first adjusting member and the second adjusting member is required to be 870mm, the first adjusting member is connected to the pin hole on the outer side of the left lower pull rod, that is, the pin hole far away from the right lower pull rod, and the second adjusting member is connected to the pin hole on the outer side of the right lower pull rod, that is, the pin hole far away from the left lower pull rod, at this time, a certain distance is provided between the mounting position for connecting the agricultural implement 14 and the pin hole for connecting the lower pull rod adjusting member 932 on the lower pull rod adjusting member 932, but the mounting position for connecting the agricultural implement 5 is provided on the outer side, the distance is 54.5mm, so that although the first adjusting member and the second adjusting member are respectively and additionally spaced from the pin hole by 54.4x2 to 109, however, since the mounting position is located on the outside, the distance between the first adjusting element and the second adjusting element is 609+109+152, which is 870 mm. For another example, when the agricultural implement is required to be adapted to the type 1 agricultural implement, that is, when the distance between the first adjusting member and the second adjusting member is required to be 718mm, the first adjusting member is connected to the pin hole at the inner side of the left lower pull rod, that is, the pin hole close to the right lower pull rod, the second adjusting member is connected to the pin hole at the inner side of the right lower pull rod, that is, the pin hole close to the left lower pull rod, and at this time, a certain distance is reserved between the mounting position for connecting the agricultural implement 14 and the pin hole for connecting the adjusting lower pull rod adjusting member on the same lower pull rod adjusting member 932, unlike the agricultural implement 14 of the installation type 0, the installation position of the lower link adjustment 932 for connecting the agricultural implement 14 is provided on the outer side, the distance is 54.5mm, so that although the sum of the distances between the first adjusting member and the pin hole and the distances between the second adjusting member and the pin hole are 54.4x2 to 109, however, since the installation position is located on the outside, the distance between the first adjusting element and the second adjusting element is 609+ 109-718 mm.

The embodiment also comprises an on-steer steering device 15, wherein the on-steer steering device 15 comprises a dual gear pump 151, a steering priority control valve 152, a steering proportional control valve 1510, a two-way balance valve 153, a steering oil cylinder 154, a load sensing steering gear 155, a shuttle valve 156, a charging valve 157, a brake proportional control valve 158 and a brake valve 159; the dual gear pump 151 is connected with the hydraulic oil tank 5, the dual gear pump 151 is connected with the steering oil cylinder 154 through a steering priority control valve 152, a steering proportion control valve 1510 and a load sensing diverter 155 in sequence, the load sensing diverter 155 is connected with the steering priority control valve 152 through a shuttle valve 156, the dual gear pump 151 is connected with a brake chamber of the electric tractor through a liquid filling valve 157 and a brake valve 159, the dual gear pump 151 is further connected with the steering oil cylinder 154 through the steering priority control valve 152, the steering proportion control valve 1510 and the bidirectional balance valve 153, the steering proportion control valve 1510 is used for driving the steering oil cylinder 154 to work according to an input electric control steering signal, the steering proportion control valve 1510 is further connected with the steering priority control valve 152 through the shuttle valve 156, and the dual gear pump 151 is further connected with the brake chamber through the liquid filling valve 157, the brake proportion control valve 158 and the brake valve 159. The double-control steering device of the embodiment realizes two control modes of manual control and automatic control on steering and braking of the electric tractor.

In the embodiment, when the steering wheel is turned when an operator performs steering after the vehicle is started, the dual gear pump 151 sucks oil from the hydraulic oil tank 5 of the vehicle, and then supplies oil to the load sensing steering unit 155 through the steering priority control valve 152 and the steering proportional control valve 1510, the load sensing steering unit 155 drives the steering oil cylinder 154 to operate according to the turning direction of the steering wheel, the load sensing steering unit 155 further transmits a steering pressure signal to the steering priority control valve 152 through the shuttle valve 156, so that the steering priority control valve 152 controls the flow rate of the hydraulic oil flowing through the steering priority control valve 152 according to the steering pressure signal, the flow rate of the hydraulic oil is not affected by the change of the steering load, and other redundant flows of the hydraulic oil can be returned to the hydraulic oil tank 5 through the oil return passages of other working devices (such as the boom device of the vehicle, etc.), thereby improving the energy saving effect.

When an operator performs a braking action, the double gear pump 151 sucks oil from the hydraulic oil tank 5, and acts on a brake chamber of the vehicle through the liquid charging valve 157 and the brake valve 159, so that the vehicle brake is realized.

When the vehicle is in an electric control steering mode, when the vehicle needs to steer, an electric control steering signal is sent to the steering proportional control valve 1510 so that the steering proportional control valve 1510 is in a steering state, at the moment, the double gear pump 151 sucks oil from the hydraulic oil tank 5 and outputs the oil to the steering proportional control valve 1510, and the steering proportional control valve 3 outputs hydraulic oil to the steering oil cylinder 154 through the bidirectional balance valve 153, so that the steering oil cylinder 154 is driven to act, and automatic steering is realized; meanwhile, the steering proportional control valve 1510 transmits a steering pressure signal to the steering priority control valve 152 via the shuttle valve 156, so that the steering priority control valve 152 controls the flow rate of the hydraulic oil flowing through the steering priority control valve 152 according to the steering pressure signal, the flow rate of the hydraulic oil is not affected by the change of the steering load, and other redundant flows of hydraulic oil can be returned to the hydraulic oil tank 5 via oil return channels of other working devices, thereby improving the energy-saving effect.

When the vehicle is in electric control braking, when the vehicle needs braking, an electric control braking signal is sent to the brake proportional control valve 158 so that the brake proportional control valve 158 is in a braking state, at the moment, the double gear pump 1 sucks oil from the hydraulic oil tank 5, and the oil is applied to the brake valve 159 after passing through the liquid filling valve 157 and the brake proportional control valve 158 in sequence, so that the brake valve 159 outputs braking force to a brake chamber of the vehicle according to the oil, and the automatic braking of the vehicle is realized.

While only certain features and embodiments of the present application have been illustrated and described, many modifications and changes may occur to those skilled in the art without departing substantially from the scope and spirit of the appended claims, for example: variations in the size, dimensions, structure, shape and proportions of the various elements, mounting arrangements, use of materials, colours, orientations and the like.

The above embodiments are only preferred embodiments of the present invention, and the scope of the embodiments of the present invention should not be limited thereby, and any insubstantial changes and substitutions made by those skilled in the art based on the embodiments of the present invention are within the scope of the claims of the embodiments of the present invention.

Claims

1. The battery-replaceable electric tractor is characterized by comprising an electric chassis frame, a battery cover, a battery module, a hood, a motor assembly, a driving transfer case, a hydraulic oil tank, a reduction gearbox, a radiator, a cab, a double-control steering device and a main control circuit, wherein the battery module, the driving transfer case, the radiator, the cab, the motor assembly, the reduction gearbox, the hydraulic oil tank and the main control circuit are all installed on the electric chassis frame, the battery cover and the hood are all connected with the electric chassis frame, the battery cover corresponds to the battery module in position, the hood corresponds to the motor assembly, the hydraulic oil tank, the reduction gearbox and the radiator in position, the battery module is detachably installed on the electric chassis frame, the battery module supplies power to the motor assembly, the reduction gearbox, the driving transfer case and the radiator, and the driving transfer case, the double-control steering device and the main control circuit, The hydraulic oil tank and the reduction gearbox are connected with the motor assembly, the battery module and the radiator are connected with the main control circuit, the battery cover can be opened or closed relative to the electric chassis frame, so that when the battery cover is opened, the battery module can be detached from the electric chassis frame, the electric chassis frame is further connected with the three-point suspension device, the top of the cockpit is provided with the intelligent driving unit, and the intelligent driving unit and the double-control steering device are connected with the main control circuit.

2. The electric tractor of claim 1, wherein the radiator comprises a first radiator fan, a second radiator fan, and a hydraulic radiator fan.

3. The electric tractor as claimed in claim 2, wherein the motor assembly comprises a first motor, a second motor and a third motor, the first motor is connected with the driving transfer case, the second motor is connected with the reduction gearbox, the third motor is connected with the hydraulic oil tank, the first heat dissipation fan is used for dissipating heat of the first motor, the second heat dissipation fan is used for dissipating heat of the second motor and the third motor, and the hydraulic heat dissipation fan is used for dissipating heat of the hydraulic oil tank.

4. The electric tractor according to claim 3, further comprising front wheels and rear wheels, wherein a first steering drive axle and a second steering drive axle are further arranged on the electric chassis frame, the first steering drive axle and the second steering drive axle are both connected with the driving transfer case, the first steering drive axle is connected with the front wheels in a steering mode, and the second steering drive axle is connected with the rear wheels in a steering mode.

5. The electric tractor as claimed in claim 2, wherein the motor assembly comprises a first motor, a second motor, a third motor and a fourth motor, the driving transfer case comprises a first gearbox and a second gearbox, the first motor is connected with the first gearbox, the second motor is connected with the second gearbox, the third motor is connected with the reduction gearbox, the fourth motor is connected with the hydraulic oil tank, the first cooling fan is used for cooling the first motor and the second motor, the second cooling fan is used for cooling the third motor and the fourth motor, and the hydraulic cooling fan is used for cooling the hydraulic oil tank.

6. The electric tractor as claimed in claim 1, wherein the cockpit comprises a cabin body, and a seat, a steering gear, a handrail box, a touch display screen, a brake pedal, an accelerator pedal, an emergency stop button and an automatic driving button are arranged in the cabin body, and the touch display screen, the emergency stop button and the automatic driving button are all connected with the main control circuit.

7. The electric tractor according to claim 1, wherein the intelligent driving unit comprises an image acquisition module, a laser detection module, a lighting module, a positioning module, a signal lamp and a processor, the image acquisition module, the laser detection module, the lighting module, the positioning module and the signal lamp are all connected with the processor, and the processor is connected with the main control circuit.

8. The electric tractor according to claim 7, wherein the image acquisition module comprises a front binocular camera, a rear binocular camera, a front monocular camera, a rear monocular camera, a left monocular camera and a right monocular camera, and the front binocular camera, the rear binocular camera, the front monocular camera, the rear monocular camera, the left monocular camera and the right monocular camera are all connected with the processor; laser detection module includes leading lidar, right side lidar and left side lidar, leading lidar, right side lidar and left side lidar all with the treater is connected.

9. The electric tractor according to claim 1, wherein the double-control steering device comprises a double gear pump, a steering priority control valve, a steering proportional control valve, a two-way balance valve, a steering cylinder, a load sensing steering gear, a shuttle valve, a charging valve, a brake proportional control valve, and a brake valve; the double gear pump is connected with a hydraulic oil tank, the double gear pump is connected with a steering oil cylinder sequentially through a steering priority control valve, a steering proportion control valve and a load sensing steering gear, the load sensing steering gear is connected with the steering priority control valve through a shuttle valve, the double gear pump is connected with a braking cavity of the electric tractor through a liquid filling valve and a braking valve, the double gear pump is further connected with the steering oil cylinder through the steering priority control valve, the steering proportion control valve and a bidirectional balance valve, the steering proportion control valve is used for driving the steering oil cylinder to work according to an input electric control steering signal, the steering proportion control valve is further connected with the steering priority control valve through the shuttle valve, and the double gear pump is further connected with the braking cavity through the liquid filling valve, the braking proportion control valve and the braking valve.

10. The electric tractor of claim 1, wherein the three-point hitch comprises a lift assembly, a pull-up assembly and a pull-down assembly, the lift assembly is connected with the pull-up assembly and the pull-down assembly respectively, the automotive chassis frame is connected with the pull-down assembly, the pull-down assembly comprises a pull-down rod assembly and a pull-down rod adjusting piece, one end of the pull-down rod assembly is connected with the lift assembly, the other end of the pull-down rod assembly is connected with the pull-down rod adjusting piece, the pull-down rod assembly is detachably connected with the pull-down rod adjusting piece, the relative position between the pull-down adjusting piece and the pull-down rod assembly can be changed, and the pull-down rod adjusting piece is used for being connected with farm implements.