WO2020134216A1 - 在刹车时自动变速器回中立的智能高速插秧机及其应用 - Google Patents

在刹车时自动变速器回中立的智能高速插秧机及其应用 Download PDF

Info

Publication number
WO2020134216A1
WO2020134216A1 PCT/CN2019/106715 CN2019106715W WO2020134216A1 WO 2020134216 A1 WO2020134216 A1 WO 2020134216A1 CN 2019106715 W CN2019106715 W CN 2019106715W WO 2020134216 A1 WO2020134216 A1 WO 2020134216A1
Authority
WO
WIPO (PCT)
Prior art keywords
rice transplanter
automatic transmission
speed
linkage
neutral
Prior art date
Application number
PCT/CN2019/106715
Other languages
English (en)
French (fr)
Inventor
张剑
徐友伟
王寅
Original Assignee
丰疆智能科技股份有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority claimed from CN201822198873.4U external-priority patent/CN209983076U/zh
Priority claimed from CN201811598456.7A external-priority patent/CN109819739B/zh
Application filed by 丰疆智能科技股份有限公司 filed Critical 丰疆智能科技股份有限公司
Priority to JP2021538496A priority Critical patent/JP2022516546A/ja
Publication of WO2020134216A1 publication Critical patent/WO2020134216A1/zh

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C11/00—Transplanting machines
    • A01C11/02—Transplanting machines for seedlings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
    • B60K17/06—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of change-speed gearing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle

Definitions

  • the invention relates to the field of high-speed rice transplanter, and further relates to an intelligent high-speed rice transplanter whose automatic transmission returns to neutral when braking and its application.
  • the high-speed rice transplanter can be divided into a traditional high-speed rice transplanter and an intelligent high-speed rice transplanter in an intelligent manner, wherein the traditional high-speed rice transplanter is generally a manual transmission, and the intelligent high-speed rice transplanter is generally an automatic transmission. With the development of the intelligent era, the intelligent high-speed rice transplanter is more and more popular.
  • the forward or backward execution of the traditional high-speed rice transplanter is realized by the driver operating a gear handle to control the rotation position of the valve arm of a manual transmission through the transmission action of a connecting rod and a swing arm mechanism .
  • the brake arm of the vehicle body reversely links with the link and the swing arm mechanism to drive the gear handle Return to the neutral position with the valve arm of the manual transmission.
  • the intelligent high-speed rice transplanter cancels the connecting rod and the swing arm mechanism
  • an angular displacement sensor detects the rotation angle of the gear handle, and based on the rotation angle, a gear motor drives the pull rod to The forward or backward movement drives the valve arm of an automatic transmission to swing, thereby controlling the forward or backward movement of the car body of the intelligent high-speed rice transplanter.
  • An object of the present invention is to provide an intelligent high-speed rice transplanter with an automatic transmission back to neutral when braking and its application.
  • the intelligent high-speed rice transplanter brakes during braking, the automatic transmission of the intelligent high-speed rice transplanter can return to neutral Position, thereby preventing damage to the automatic transmission.
  • Another object of the present invention is to provide an intelligent high-speed rice transplanter with an automatic transmission back to neutral when braking and its application.
  • the intelligent high-speed rice transplanter brakes during braking, the automatic transmission can return to a neutral position .
  • Another object of the present invention is to provide an intelligent high-speed rice transplanter with an automatic transmission back to neutral when braking and its application.
  • the intelligent high-speed rice transplanter brakes during braking, the automatic transmission can return to a neutral position .
  • Another object of the present invention is to provide an intelligent high-speed rice transplanter whose automatic transmission returns to neutral when braking and its application, which can be implemented as an unmanned intelligent high-speed rice transplanter.
  • Another object of the present invention is to provide an intelligent high-speed rice transplanter whose automatic transmission returns to neutral when braking and its application, which has a simple structure, high practicability, and low cost.
  • the present invention further provides an intelligent high-speed rice transplanter, including:
  • a rice transplanter car body wherein the rice transplanter car body has a brake arm
  • An automatic transmission wherein the automatic transmission has a valve arm
  • a neutral neutral linkage mechanism wherein the neutral neutral linkage mechanism is disposed between the brake arm and the valve arm of the automatic transmission.
  • the return-to-neutral linkage mechanism moves a corresponding distance, wherein the valve arm of the automatic transmission is pulled back to the neutral position.
  • the return-to-neutral linkage mechanism includes a first linkage member, wherein the automatic transmission has a safety clutch, wherein the first linkage member is interlockably disposed between the brake arm and the safety Between the clutches, the brake arm drives the first linkage member to move a corresponding distance when the vehicle body of the rice transplanter brakes during the forward process, wherein the first linkage member drives the safety clutch into a disengaged state to Pull the valve arm back to the neutral position,
  • the return-to-neutral linkage mechanism further includes a second linkage member, wherein the second linkage member is interlockably disposed between the brake arm and the valve arm, based on the rice transplanter When the vehicle body brakes during the backward movement, the brake arm drives the second linkage to move, and the valve arm is pulled back to the neutral position by the second linkage.
  • the first linkage member includes a first brake end, a first linkage body, and a first clutch end, wherein the first brake end and the first clutch end are They are respectively connected to the two ends of the first linkage body, wherein the first brake end is connected to the brake arm, and wherein the first clutch end is connected to a clutch plate of the safety clutch.
  • the first clutch end has a first movable hole, wherein the clutch plate of the safety clutch has a first protrusion, wherein the first protrusion is provided on the The first movable hole moves relatively, or the positions of the first movable hole and the first protrusion are interchanged.
  • the second linkage includes a second brake end, a second linkage body, and a second valve arm end, wherein the second brake end and the second valve arm end The parts are connected to both ends of the second linkage body, wherein the second brake end is connected to the brake arm, and the second valve arm end is connected to the valve arm.
  • the end of the second valve arm has a second movable hole, wherein the valve arm has a second protrusion, wherein the second protrusion is disposed on the second movable hole Relative movement inside, or the positions of the second movable hole and the second protrusion are interchanged.
  • the intelligent high-speed rice transplanter further includes a driving system, wherein the driving system is installed on the vehicle body of the rice transplanter, wherein the driving system detects and obtains information about a trip, based on the trip Relevant information, the driving system controls the brake arm of the rice transplanter body to brake and swing.
  • the intelligent high-speed rice transplanter further includes a variable speed control device, wherein the automatic transmission and the variable speed control device are respectively provided on the body of the rice transplanter, and the automatic transmission is controllable Is connected to the shift control device, wherein the shift control device controls the automatic transmission shift according to the current vehicle speed of the rice transplanter body and the upcoming future vehicle speed.
  • the present invention also includes a linkage method of an automatic transmission returning to neutral when an intelligent high-speed rice transplanter brakes during driving, which includes the following steps: Based on the swing of a brake arm of a rice transplanter body, the A valve arm of an automatic transmission is pulled back to the neutral position.
  • the linkage method further includes the steps of:
  • the linkage method includes the steps of:
  • valve arm of the automatic transmission is pulled back to the neutral position based on the swing of the brake arm of the vehicle body of the rice transplanter.
  • the linkage method further includes the steps of:
  • the brake arm is controlled to swing.
  • FIG. 1 is a perspective view of an intelligent high-speed rice transplanter whose automatic transmission returns to neutral when braking according to a preferred embodiment of the present invention.
  • FIG. 2 is a schematic block diagram of an intelligent high-speed rice transplanter whose automatic transmission returns to neutral when braking according to a preferred embodiment of the present invention.
  • 3A is a perspective view of a brake arm of an unmanned driver of an intelligent high-speed rice transplanter whose automatic transmission returns to neutral when braking according to a preferred embodiment of the present invention when it is not braking.
  • FIG. 3B is a perspective view of a brake arm of an unmanned driver of an intelligent high-speed rice transplanter whose automatic transmission returns to neutral when braking according to a preferred embodiment of the present invention.
  • FIG. 4A is a perspective view of a brake arm of a first modified embodiment of an intelligent high-speed rice transplanter in which an automatic transmission returns to neutral when braking according to a preferred embodiment of the present invention.
  • FIG. 4B is a perspective view of the brake arm during braking according to the first shifting embodiment of the intelligent high-speed rice transplanter of the automatic transmission returning to neutral when braking according to a preferred embodiment of the present invention.
  • FIG. 5A is a perspective view of the first linkage of the intelligent high-speed rice transplanter when the automatic transmission returns to neutral when braking according to a preferred embodiment of the present invention.
  • 5B is a perspective view of the first linkage of the intelligent high-speed rice transplanter when the automatic transmission returns to neutral when braking according to a preferred embodiment of the present invention.
  • FIG. 6A is a perspective view of the second linkage of the intelligent high-speed rice transplanter when the automatic transmission returns to neutral when braking according to a preferred embodiment of the present invention.
  • 6B is a perspective view of the second linkage of the intelligent high-speed rice transplanter when the automatic transmission returns to neutral when braking according to a preferred embodiment of the present invention.
  • FIG. 7A is a flowchart of a method of braking an intelligent high-speed rice transplanter whose automatic transmission returns to neutral during braking according to a preferred embodiment of the present invention.
  • FIG. 7B is a flowchart of a method of braking a smart high-speed rice transplanter whose automatic transmission returns to neutral when braking in the backward process according to a preferred embodiment of the present invention.
  • the term “a” should be understood as “at least one” or “one or more”, that is, in one embodiment, the number of an element can be one, and in other embodiments, the The number can be more than one, and the term “one” cannot be understood as a limitation on the number.
  • the invention provides an intelligent high-speed rice transplanter whose automatic transmission returns to neutral when braking.
  • the intelligent high-speed rice transplanter brakes during braking, the automatic transmission of the intelligent high-speed rice transplanter can return to a neutral position, thereby preventing damage The automatic transmission.
  • the intelligent high-speed rice transplanter needs to complete the advancement, acceleration, deceleration, and steering in the farmland according to the operating environment such as the geographical location and shape of the farmland, the position and shape of the obstacles, and the artificial arrangement of the operation process.
  • the intelligent high-speed rice transplanter can complete the automatic speed change of the vehicle speed in time to ensure the stability of the vehicle body travel and the reliability of the transplanting density, as well as extend The durability of the locomotive reduces the degree of wear.
  • the intelligent high-speed rice transplanter may be a fuel rice transplanter, an electric rice transplanter or a hybrid electric rice transplanter.
  • the intelligent high-speed rice transplanter can be a ride-on intelligent high-speed rice transplanter, such as the driver personally riding in the car to drive the intelligent high-speed rice transplanter to complete the transplanting operation, or the unmanned intelligent high-speed rice transplanter, such as The operator uses a remote controller to remotely control the driving of the unmanned intelligent high-speed rice transplanter to complete the transplanting operation, or the unmanned intelligent high-speed rice transplanter can complete the transplanting operation autonomously according to the preset driving program and a group of sensors , No restrictions here.
  • the intelligent high-speed rice transplanter includes a rice transplanter car body 10, an automatic transmission 20, a transmission control device 30 and a Back to neutral linkage mechanism 40, wherein the automatic transmission 20 is installed on the rice transplanter body 10, wherein the speed change control device 30 is arranged to control the automatic transmission 20 to realize automatic transmission, wherein the back to neutral linkage mechanism 40 is interlockably installed between the rice transplanter vehicle body 10 and the automatic transmission 20.
  • the linkage action of the return-to-neutral linkage mechanism 40 returns the automatic transmission 20 to a neutral state, thereby preventing damage to the automatic transmission 20.
  • the rice transplanter car body 10 of the intelligent high-speed rice transplanter may be implemented as an unmanned intelligent high-speed rice transplanter car body, or the rice transplanter car body 10 may be operated by a driver, For example, the driver only operates but is not limited to the steering or speed change of the intelligent high-speed rice transplanter. Or, in another example, the rice transplanter car body 10 of the intelligent high-speed rice transplanter may be implemented to be compatible with unmanned driving and manual driving, and is not limited herein.
  • the rice transplanter body 10 includes a frame 11, an engine 12 and a driving system 13, wherein the engine 12 and the driving system 13 are both installed on the frame 11.
  • the driving system 13 can control the rotation of the engine 12 and control the driving of the frame 11 such as steering or brake braking.
  • the automatic transmission 20 is installed between the engine 12 and the wheels of the frame 11 to change the transmission ratio or gear between the engine 12 and the wheels, wherein the automatic transmission 20 and the The speed change control devices 30 are respectively provided to the rice transplanter body 10, and the automatic transmission 20 is controllably connected to the speed change control device 30, wherein the speed change control device 30 is based on the rice transplanter body 10
  • the current vehicle speed and the upcoming future vehicle speed control the automatic transmission 20 to shift gears.
  • the driving system 13 is implemented as an unmanned driving system, wherein the driving system 13 further includes at least a driving sensor 131 and a driving processor 132, wherein the driving sensor 131 includes an engine state detection Sensors, sensors for detecting human remote control signal information, at least one pair of sensors for detecting the surrounding environment of the vehicle, and detectors for detecting the driving path, etc., respectively corresponding to the detection of driving related information, or the driving intention of the operator, and the detection result Feedback to the driving processor 132, wherein the driving processor 132 controls to change the driving state of the rice transplanter car body 10 such as changing direction, accelerating, decelerating, braking, or completing a designated rice transplanting operation based on these driving related information To complete intelligent driving.
  • the driving sensor 131 includes an engine state detection Sensors, sensors for detecting human remote control signal information, at least one pair of sensors for detecting the surrounding environment of the vehicle, and detectors for detecting the driving path, etc., respectively corresponding to the detection of driving related information, or the driving intention of the operator,
  • the sensor for detecting the surrounding environment of the driving can be implemented as at least one camera module, wherein each camera module is installed on the front side, the left side, and the The right side or the rear side, etc., wherein the camera module obtains the driving-related information by photographing the surrounding environment of the rice transplanter body 10 in real time.
  • the sensor for detecting the surrounding environment of the driving vehicle may also be implemented as a radar device, which is installed on the body 10 of the rice transplanter vehicle body, and obtains the surrounding environment state of the body 10 of the rice transplanter machine by radar detection, etc. , No restrictions here.
  • the rice transplanter vehicle body 10 further includes a braking system 14, wherein the brake system 14 is installed on the frame 11, and when the rice transplanter vehicle body 10 is driving, when the driving sensor 131 detects brake-related information that requires parking, such as when encountering an obstacle, the driving processor 132 generates a braking command and feeds it back to the braking system 14, wherein the braking system 14 completes the braking operation, so that the The rice transplanter body 10 is in a braking state.
  • the brake system 14 includes a driver 141, a brake arm 142, and a brake device 143, wherein the driving processor 132 is electrically connected to the driver 141, wherein the driver 141 It is mechanically connected to the brake arm 142, wherein the brake arm 142 is connected to the brake device 143, wherein the brake device 143 is installed on the frame 11 to complete the braking operation.
  • the driving processor 132 of the driving system 13 When the rice transplanter body 10 brakes during driving, the driving processor 132 of the driving system 13 generates the brake command feedback to the driver 141, wherein the driver 141 drives the brake arm 142 to swing , Wherein the brake arm 142 drives the brake device 143 to perform a braking action, so that the rice transplanter body 10 brakes.
  • the drive 141 may be implemented as a motor, wherein the brake device 143 may be implemented as a hydraulic brake device, wherein the brake device 143 may be implemented as a drum brake or a disc brake, which is not Restricted.
  • the driver 141 drives the brake arm 142 to swing a certain distance from an initial position to a braking position, so that the brake arm 142 is swinging
  • the braking device 143 can be triggered to perform a braking action to complete the braking.
  • the brake arm 142 returns to the initial position again, so as to trigger the next braking action.
  • the brake arm 142 swings back and forth between the initial position and the brake position.
  • the frame 11 of the rice transplanter body 10 has a brake pedal 111, wherein the brake pedal 111 is connected to the The brake arm 142 is normally in a natural state, and the brake arm 142 is in the initial position.
  • the brake pedal 111 is moved downward by a force such as a driver stepping on it, due to the mechanical connection, the brake arm 142 swings from the initial position to the braking position, thereby causing the braking device 143 to perform a braking action .
  • the brake pedal 111 returns to its natural state such as the pedaling force disappears, the brake arm 142 also returns to the initial position.
  • the intelligent high-speed rice transplanter can allow the driver to artificially depress the brake pedal 111 to make the rice transplanter body 10 brake.
  • the brake pedal 111 and the driver 141 can independently control the brake arm 142 to swing back and forth between the initial position and the brake position without interfering with each other.
  • the intelligent high-speed rice transplanter can not only realize intelligent braking for unmanned driving, but also allow the driver to manually step on the brake, and the two are compatible and coexist.
  • the automatic transmission 20 includes a transmission device 21, a valve arm 22, and a safety clutch 23, wherein the transmission device 21 is disposed on the engine 12 and the frame of the rice transplanter body 10 There is a certain transmission ratio between the wheels of 11 to control the rotation speed of the wheels of the frame 11.
  • the transmission control device 30 is connected to the transmission device 21, wherein the transmission control device 30 changes the transmission ratio of the transmission device 21 according to the current vehicle speed of the rice transplanter body 10 and the upcoming future vehicle speed control, Then complete automatic transmission.
  • the valve arm 22 is connected to the transmission device 21 and changes the gear position of the transmission device 21, wherein the valve arm 22 rotates back and forth between a forward position, a neutral position and a reverse position.
  • the valve arm 22 controls the transmission device 21 to be in the forward gear state, at which time the rice transplanter vehicle body 10 can move forward.
  • the valve arm 22 controls the transmission device 21 to be in a zero gear state or a neutral state. At this time, the transmission device 21 stops transmitting power, so that the rice transplanter locomotive Body 10 cannot continue driving.
  • valve arm 22 When the valve arm 22 is in the reverse gear position, the valve arm 22 controls the transmission device 21 to be in the reverse gear state, and then the rice transplanter vehicle body 10 can drive in reverse.
  • the safety clutch 23 is provided between the engine 12 and the transmission device 21 to interrupt the power transmission between the engine 12 and the transmission device 21, so that the transmission device 21 can safely change the transmission ratio.
  • the intelligent high-speed rice transplanter has a linkage method in which the automatic transmission returns to neutral when braking during driving, which includes the steps of: based on the swinging of the brake arm 142 of the rice transplanter body 10, the automatic transmission 20 The valve arm 22 is pulled back to the neutral position.
  • valve arm of the automatic transmission 20 is pulled back to neutral based on the swing of the brake arm of the rice transplanter vehicle body position.
  • the linkage method further includes detecting and obtaining the driving-related information; and based on the driving-related information, controlling the brake arm 142 to brake and swing.
  • the safety clutch 23 when the safety clutch 23 is in a closed state, the output shaft of the engine 12 and the input shaft of the automatic transmission 20 are normally coupled, wherein the automatic transmission 20 is normally driven, and the body of the rice transplanter 10 can drive normally.
  • the safety clutch 23 is in a disengaged state, wherein the output shaft of the engine 12 is separated from the input shaft of the automatic transmission 20, and the engine 10 is in an idle state, so that the transmission device 21 can safely switch the transmission ratio.
  • valve arm 22 when the vehicle of the rice transplanter vehicle body 10 is in front of the vehicle, the valve arm 22 is in the front gear position, and the transmission device 21 is in the forward gear state.
  • the valve arm 22 When the rice transplanter vehicle body 10 runs in reverse, the valve arm 22 is located in the reverse gear position, and the transmission device 21 is in the reverse gear state.
  • the valve arm 22 When the valve arm 22 is in the neutral position, the transmission device 21 is in a neutral state, and the rice transplanter vehicle body 10 cannot obtain power to continue driving.
  • the automatic transmission 20 generally has a forward gear set, a reverse gear set, an input shaft and an output shaft, wherein the input shaft of the automatic transmission 20 and the input of the generator 12 Shaft coupling, wherein the output shaft of the automatic transmission 20 is coupled with the wheels of the rice transplanter body 10, and the steering of the input shaft of the generator 12 is unchanged.
  • the angle of rotation of the valve arm 22 is a positive value, that is, it is located at the front stop position, wherein the forward gear set is coupled with the output shaft so that the wheels are Forward drive rotation.
  • the valve arm 22 When the rice transplanter body 10 needs to be parked or coasted in neutral, the valve arm 22 has a rotation angle of 0, that is, in the neutral position, wherein the output shaft of the automatic transmission 20 is not coupled with the forward gear set, Nor is it coupled with the reverse gear set so that the wheels cannot be driven to rotate.
  • the angle of rotation of the valve arm 22 is a negative value, that is, located in the reverse gear position, wherein the output shaft of the automatic transmission 20 is coupled to the reverse gear set to The vehicle is driven in reverse to rotate.
  • the safety clutch 23 has a clutch plate 231, wherein the engine 12 has a cam 121, wherein the clutch plate 231 is coupled with the cam 121, wherein the clutch plate 231 generates torque when it is stressed When it is greater than a preset safety value, it rotates by a certain angle, so that the clutch piece 231 is separated from the cam 121, so that the output shaft of the generator 12 is separated from the input shaft of the automatic transmission 20, so as to enter the State the separation state.
  • the clutch piece 231 is forced to rotate At a certain angle, the clutch piece 231 is separated from the cam 121 of the engine 12, wherein the intelligent rice transplanter uses its own inertia to continue high-speed driving, and when the vehicle speed of the rice transplanter body drops to When the rotation speed of the engine 12 is matched, the clutch piece 231 and the cam 121 of the engine 12 are automatically combined, so that the rice transplanter body 10 continues to enter the driving state, etc. Restricted.
  • the automatic transmission 20 is implemented as a continuously variable transmission or a box, which means that the transmission ratio of the transmission device 21 of the automatic transmission 20 can be continuously changed within a certain range. Hydraulic, mechanical and electric transmissions.
  • the automatic transmission 20 can be divided into a variable slope type continuously variable transmission and a CVT continuously variable transmission.
  • the advantage of using a stepless gearbox is that it eliminates the complicated and bulky gear combination variable speed transmission, and only uses two sets of pulleys for variable speed transmission.
  • the automatic transmission 20 performs stepless speed change by changing the contact radius of the drive wheel and driven wheel drive belts.
  • the stepless speed changer can continuously change the transmission ratio, the best matching between the drive train and the engine operating conditions is obtained, and the vehicle's Fuel economy and power, improve the driving situation of the car body, more smooth and stable.
  • the stepless speed change of the automatic transmission 20 can prevent the vehicle body from shaking during the speed change, making the rice transplanting process more stable and uniform, which is not limited here.
  • the return-to-neutral linkage mechanism 40 includes a first linkage member 41 and a second linkage member 42, wherein the first linkage member 41 is interlockably disposed on the brake arm 142 and the safety clutch 23
  • the brake arm 142 drives the first linkage 41 to move, and the first linkage 41 drives the safety clutch 23 into a disengaged state to
  • the valve arm 22 is returned to the neutral position, wherein the second linkage 42 is movably disposed between the brake arm 142 and the valve arm 22, and is moved backward based on the rice transplanter body 10
  • the brake arm 142 drives the second linkage 42 to move, and the valve arm 22 is pulled back to the neutral position by the second linkage 42.
  • the brake arm 142 swings from the initial position to the The braking position, wherein the braking device 143 performs a braking action to brake the rice transplanter body 10, wherein the first linkage 41 moves a corresponding distance with the brake arm 142 and acts on the safety clutch 23 , So that the safety clutch 23 enters the disengaged state, so that the safety clutch 23 forcibly pulls the valve arm 22 back from the front stop position to the neutral position. Then, after the braking of the rice transplanter body 10 is completed, the brake arm 142 returns to the initial position, wherein the automatic transmission 20 is in a zero gear state or a neutral state, and the safety clutch 23 returns to the Closed state.
  • the brake arm 142 swings from the initial position to the braking position, wherein The braking device 143 performs a braking action to brake the rice transplanter vehicle body 10, wherein the second linkage member 42 moves a corresponding distance with the braking arm 142 and directly moves the valve arm 22 from the reverse gear Pull the position back to the neutral position. Then, after the braking of the rice transplanter body 10 is completed, the brake arm 142 returns to the initial position, wherein the automatic transmission 20 is in a zero gear state or a neutral state.
  • the second linkage 42 when the body 10 of the rice transplanter brakes during the forward movement, although the second linkage 42 also moves a corresponding distance, it does not act on the valve arm 22, and at the same time, The second linkage 42 provides an escape space to prevent the valve arm 22 from moving from the front stop position to the neutral position.
  • the first linkage 41 includes a first brake end 411, a first linkage body 412, and a first clutch end 413, wherein the first brake end 411 and the first clutch end
  • the parts 413 are integrally formed on both ends of the first linkage body 412, wherein the first brake end 411 is connected to the brake arm 142, and the first clutch end 413 is connected to the The lower end 2311 of the clutch plate 231 of the safety clutch 23.
  • the first linkage body 412 When the in-vehicle brake is braked in front of the rice transplanter vehicle body 10, as the brake arm 142 swings from the initial position to the brake position, the first linkage body 412 also moves a certain distance accordingly , Wherein the first clutch end 413 pulls the bottom end 2311 of the clutch plate 231 of the safety clutch 23, so that the clutch plate 231 of the safety clutch 23 is forced to rotate when the torque is greater than At the preset safety value, the high end portion 2312 of the clutch plate 231 is disengaged from the cam 121 of the engine 12, so that the safety clutch 23 enters a disengaged state.
  • a transmission member is further provided between the high-end portion 2312 of the clutch piece 231 and the valve arm 22 of the automatic transmission 20, in other words, the transmission member is drivably connected to the Between the high-end portion 2312 of the clutch plate 231 of the safety clutch 23 and the valve arm 22.
  • the clutch piece 231 drives the transmission member to move a certain distance, wherein the transmission member moves the The valve arm 22 is pulled back from the front stop position to the neutral position.
  • the transmission member is preferably implemented as a metal rod, which is not limited herein.
  • the first brake end 411 is preferably connected to the brake arm 142 by using a screw combination.
  • the first linkage body 412 can Synchronously move the corresponding distance travel, so that the first valve arm end 413 also moves the corresponding distance and puts the safety clutch 23 into the disengaged state, so that the valve arm 22 is pulled back to the Neutral position.
  • the first clutch end 413 has a first movable hole 4131, wherein the clutch piece 231 has a first protrusion 2313, wherein the first protrusion 2313 is disposed at the first movable The hole 4131 moves relatively.
  • the brake arm 142 is in the initial position, that is, the rice transplanter body 10 is not braked, the first protrusion 2313 is close to one side of the first movable hole.
  • the brake arm 142 moves from the initial position to the brake position, wherein the first clutch end of the first linkage 41 413 Pull the first protrusion 2313 of the bottom end portion 2311 of the clutch piece 231 to move a corresponding distance, so that the torque received by the clutch piece 231 is greater than the preset safety value, thereby entering the separation status.
  • the first movable hole 4131 provides an escape space during normal operation of the clutch piece 231 of the safety clutch 23.
  • the first movable hole of the first clutch end 413 is switched between the engaged state and the disengaged state of the safety clutch 23 4131 remains stationary, wherein the first protrusion 2313 of the clutch piece 231 moves within the first movable hole 4131 without being hindered by the first linkage 41.
  • the second linkage 42 includes a second brake end 421, a second linkage body 422, and a second valve arm end 423, wherein the second brake end 421 and the second valve Arm ends 423 are integrally formed at both ends of the second linkage body 422, wherein the second brake end 421 is connected to the brake arm 142, and the second valve arm end 423 is connected ⁇ 22 ⁇ The valve arm 22.
  • the second linkage body 422 When the rice transplanter vehicle body 10 brakes during the backward driving, as the brake arm 142 swings from the initial position to the braking position, the second linkage body 422 also moves a certain distance accordingly, In turn, the second valve arm end 423 pulls the valve arm 22 back from the reverse position to the neutral position.
  • the second brake end 421 is preferably connected to the brake arm 142 with a screw.
  • the second linkage body is used by the connection of the screw 422 can move the corresponding distance stroke synchronously, so that the second valve arm end 423 also moves the corresponding distance, thereby pulling the valve arm 22 back from the front stop position to the neutral state.
  • the second valve arm end 423 forms a second movable hole 4231, wherein the valve arm 22 has a second protrusion 221, wherein the second protrusion 221 is disposed in the The second movable hole 4231 moves relatively.
  • the brake arm 142 When the brake arm 142 is in the initial state, the valve arm 22 is in the reverse gear position and the valve arm 22 is close to the second movable hole 4231 during the reverse operation of the rice transplanter body 10 Side, when the rice transplanter body 10 brakes during reversing, the brake arm 142 drives the second linkage 42 to move a corresponding distance, wherein the second valve of the second linkage 42 The arm end 423 pulls the valve arm 22 back from the reverse position to the neutral position.
  • the second protrusion 221 when the brake arm 142 is in the initial state, when the valve arm 22 is in the neutral position, the second protrusion 221 is located in the middle of the second movable hole 4231.
  • the second protrusion 221 When the valve arm 22 moves from the neutral position to the reverse gear position, the second protrusion 221 relatively moves to a side position of the second movable hole 4231.
  • the second protrusion 221 When the valve arm 22 moves from the neutral position to the front end position, the second protrusion 221 relatively moves to the other side of the second movable hole 4231. Therefore, the second movable hole 4231 of the second linkage 42 provides for preventing the valve arm 22 from freely moving between the front position, the neutral position, and the reverse position when not braking To avoid space.
  • first clutch end 413 has the first protrusion 2313
  • clutch piece 231 has the first movable hole 4131, which can also accomplish the above purpose, which will not be repeated here.
  • positions of the second movable hole 4231 and the second protrusion of the second valve arm end 423 can also be interchanged, which will not be repeated here.
  • first linkage 41 and the second linkage 42 do not interfere with each other, or the movable space of the first linkage 41 and the movable space of the second linkage 42 Independent.
  • the shift control device 30 includes at least one future vehicle speed sensor 31, at least one vehicle speed sensor 32, a controller 33, and a motor 34, wherein the future vehicle speed sensor 31 is provided to detect the engine 12
  • the output power of the vehicle wherein the vehicle speed sensor 32 is used to detect the current actual vehicle speed of the intelligent high-speed rice transplanter, based on the output power of the engine 12 and the feedback information of the current actual vehicle speed of the intelligent high-speed rice transplanter, the control The device 33 calculates and judges the future vehicle speed of the running state of the rice transplanter car body 10, and generates a speed signal according to the future speed to transmit to the motor 34, and then the motor 34 controls the corresponding
  • the automatic transmission 20 changes the transmission ratio so that the transmission ratio can be adapted to the future speed, so that the rice transplanter completes the automatic transmission, and ensures that the rice transplanter car body 10 can adapt to the upcoming driving state.
  • the electric motor 34 is similar to the structural principle of the electric motor 34 in this preferred embodiment or the first modified embodiment, so as to be a
  • the future vehicle speed sensor 31 is implemented as a power sensor, which is installed in the axle housing of the automatic transmission 20 to detect the rotation speed of the input shaft of the automatic transmission 20 to obtain the output power of the engine Related information and feedback to the controller 33.
  • the controller 33 analyzes the future vehicle speed of the intelligent high-speed rice transplanter in the upcoming exercise state.
  • the future vehicle speed sensor 31 is implemented to acquire power information related to the driving system 13B controlling to change the output power of the engine 12, or in other words, the future vehicle speed sensor 31 is electrically connected to The driving system 13, wherein the driving system 13 controls to change the output power of the engine 12, wherein the driving system 13 sends the control information for controlling the engine 12 this time to the future vehicle speed sensor 31, and then by The controller 33 calculates the future vehicle speed of the intelligent high-speed rice transplanter in the upcoming exercise state based on the output power information of the engine 12.
  • the future vehicle speed sensor 31 can also be implemented as the driving sensor of the driving system 13, such as at least one camera device or a radar device, and the future vehicle speed sensor 31 detects and acquires the rice transplanter
  • the driving-related information of the vehicle body 10 is fed back to the controller 33, and the controller 33 analyzes and obtains the future vehicle speed of the rice transplanter vehicle body 10 based on the driving-related information.
  • the driving processing module 132 is connected to the controller 33, wherein the driving processing module 132 sends the driving related information to the controller 33, and the controller 33 is based on the driving related
  • the information obtains the future vehicle speed of the rice transplanter car body 10 to be carried out.
  • the controller 33 calculates the future vehicle speed and the current actual vehicle speed of the intelligent high-speed rice transplanter, and then controls the motor 34 to control the
  • the automatic transmission 20 changes the transmission ratio, thereby automatically changing the speed of the intelligent high-speed rice transplanter to enter the upcoming driving state and adapt to the driving environment.
  • the vehicle speed sensor 32 is implemented to obtain the intelligent high-speed rice transplanter by detecting the rotation speed of the output shaft of the automatic transmission 20 Actual speed.
  • the vehicle speed sensor 32 when the output shaft of the automatic transmission 20 rotates abnormally, such as idling, it may affect the detection of the actual speed of the intelligent high-speed rice transplanter by the vehicle speed sensor 32, such as the output of the automatic transmission 20
  • the detection value of the current vehicle speed detected by the vehicle speed sensor 32 is generally greater than the actual value of the actual vehicle speed of the intelligent high-speed rice transplanter, and further for the intelligent high-speed of the preferred embodiment or the first modified embodiment
  • the transmission control device 30 of the rice transplanter may cause the transmission ratio of the automatic transmission 20 changed by the transmission control device 30 to be unable to adapt to the intelligent high-speed rice transplanter The imminent driving status will cause a serious driving accident.
  • the vehicle speed sensor 32 detects the true value of the current actual vehicle speed of the intelligent high-speed rice transplanter, it is ensured that the transmission ratio changed by the transmission control device 30 controlling the automatic transmission 20 must be suitable for the intelligent high-speed rice transplanter The driving status of the aircraft.
  • the vehicle speed sensor 32 is installed on any of the wheels of the rice transplanter vehicle body 10 to obtain the actual value of the current actual vehicle speed of the intelligent high-speed rice transplanter by detecting the current rotation speed of the wheel to prevent accidents The accident happened.
  • the vehicle speed sensor 32 can be implemented in multiples, which are installed on each of the wheels 14 to determine the actual current vehicle speed of the intelligent high-speed rice transplanter through the detection of multiple sets of data Value, improve the accuracy of the detection data, etc., without limitation here.
  • the rice transplanter body 10 may further include a shift shaft, and the driving processor 132 of the driving system 13 controls The shift shaft rotates by a certain angle.
  • the future vehicle speed sensor 31 is implemented as an angle sensor, wherein the future vehicle speed sensor 31 obtains the future vehicle speed of the rice transplanter body 10 by detecting the rotation angle of the shift shaft.
  • the driver can also manually operate the shift shaft to achieve the shift speed, which will not be repeated here.

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Soil Sciences (AREA)
  • Environmental Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transplanting Machines (AREA)
  • Regulating Braking Force (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

一种在刹车时自动变速器回中立的智能高速插秧机及其应用，其中所述智能高速插秧机包括：一插秧机车体（10），其中所述插秧机车体（10）具有一刹车臂（142）；一自动变速器（20），其中所述自动变速器（20）具有一阀臂（22）；以及一回中立联动机构（40），其中所述回中立联动机构（40）被设置于所述刹车臂（142）与所述自动变速器（20）的所述阀臂（22）之间，当所述插秧机车体（10）在行车过程中刹车时，随着所述刹车臂（142）的摆动，所述回中立联动机构（40）移动相应的距离，其中所述自动变速器（20）的所述阀臂（22）被拉回至中立位置。

Description

在刹车时自动变速器回中立的智能高速插秧机及其应用 技术领域
本发明涉及高速插秧机领域，进一步涉及一在刹车时自动变速器回中立的智能高速插秧机及其应用。
背景技术
高速插秧机按智能方式可以分为，传统高速插秧机和智能高速插秧机，其中所述传统高速插秧机一般为手动变速，其中所述智能高速插秧机一般为自动变速。随着智能化时代的发展，所述智能高速插秧机越来越受到人们的欢迎。
在传统情况下，所述传统高速插秧机的前进或者后退的执行，由驾驶员操作一档位手柄通过一连杆与一摆臂机构的传动作用控制一手动变速器的阀臂的转动位置来实现。在所述传统高速插秧机行进中，当驾驶员踩下车体的刹车踏板时，所述车体的刹车臂与所述连杆和所述摆臂机构反向联动，驱使所述档位手柄与所述手动变速器的所述阀臂回中立位置。
目前，所述智能高速插秧机取消了所述连杆和所述摆臂机构，由一角位移传感器检测所述档位手柄的转动角度，基于所述转动角度，一齿轮电机通过驱动所述拉杆向前或者向后运动，带动一自动变速器的阀臂的摆动，进而控制所述智能高速插秧机的车体的前进或者后退。然而，在所述智能高速插秧机在行驶过程中刹车制动时，所述刹车臂与所述档位手柄之间联动，使得所述档位手柄回归中立位置，但是所述自动变速器的阀臂与所述刹车臂之间缺少联动，使得所述自动变速器的阀臂无法回归至中立位置，即档位没有归零，进而损害所述自动变速器，降低变速效率，降低所述自动变速器的使用寿命。
或者，对于无人驾驶的智能高速插秧机，由于并不需要人为驾驶，进而就无需设置上述的档位手柄，也就取消了档位手柄与自动变速器之间的机械传动。但是，在行车过程中刹车时，如何能够使所述自动变速器的阀臂回归中立位置，是目前需要解决的问题。
发明内容
本发明的一个目的在于提供一在刹车时自动变速器回中立的智能高速插秧机及其应用，在智能高速插秧机行车过程中刹车制动时，其中所述智能高速插秧机的自动变速器能够回归中立位置，进而防止损害所述自动变速器。
本发明的另一个目的在于提供一在刹车时自动变速器回中立的智能高速插秧机及其应用，当所述智能高速插秧机在前进过程中刹车制动时，其中所述自动变速器能够回归中立位置。
本发明的另一个目的在于提供一在刹车时自动变速器回中立的智能高速插秧机及其应用，当所述智能高速插秧机在后退过程中刹车制动时，其中所述自动变速器能够回归中立位置。
本发明的另一个目的在于提供一在刹车时自动变速器回中立的智能高速插秧机及其应用，其能够被实施为无人驾驶的智能高速插秧机。
本发明的另一个目的在于提供一在刹车时自动变速器回中立的智能高速插秧机及其应用，其结构简单，实用性高，成本低。
依本发明的一个方面，本发明进一步提供一智能高速插秧机，包括：
一插秧机车体，其中所述插秧机车体具有一刹车臂；
一自动变速器，其中所述自动变速器具有一阀臂；以及
一回中立联动机构，其中所述回中立联动机构被设置于所述刹车臂与所述自动变速器的所述阀臂之间，当所述插秧机车体在行车过程中刹车时，随着所述刹车臂的摆动，所述回中立联动机构移动相应的距离，其中所述自动变速器的所述阀臂被拉回至中立位置。
在一些实施例中，所述回中立联动机构包括一第一联动件，其中所述自动变速器具有一安全离合器，其中所述第一联动件被可联动地设置于所述刹车臂和所述安全离合器之间，基于所述插秧机车体在前进过程中刹车时，所述刹车臂带动所述第一联动件移动相应的距离，其中所述第一联动件传动所述安全离合器进入分离状态以将所述阀臂拉回中立位置，
在一些实施例中，所述回中立联动机构还包括一第二联动件，其中所述第二联动件被可联动地设置于所述刹车臂与所述阀臂之间，基于所述插秧机车体在后退过程中刹车时，所述刹车臂带动所述第二联动件移动，所述阀臂被所述第二联动件拉回中立位置。
在一些实施例中，所述第一联动件包括一第一刹车端部、一第一联动主体和一第一离合端部，其中所述第一刹车端部和所述第一离合端部被分别连接于所述第一联动主体的两端，其中所述第一刹车端部被连接于所述刹车臂，其中所述第一离合端部被连接于所述安全离合器的一离合片。
在一些实施例中，所述第一离合端部具有一第一活动孔，其中所述安全离合器的所述离合片具有一第一凸起，其中所述第一凸起被设置于在所述第一活动孔内相对移动，或者所述第一活动孔与所述第一凸起的位置互换。
在一些实施例中，所述第二联动件包括一第二刹车端部、一第二联动主体和一第二阀臂端部，其中所述第二刹车端部和所述第二阀臂端部被分别连接于所述第二联动主体的两端，其中所述第二刹车端部被连接于所述刹车臂，其中所述第二阀臂端部被连接于所述阀臂。
在一些实施例中，所述第二阀臂端部具有一第二活动孔，其中所述阀臂具有一第二凸起，其中所述第二凸起被设置于在所述第二活动孔内相对移动，或者所述第二活动孔与所述第二凸起的位置互换。
在一些实施例中，其中所述智能高速插秧机还包括一驾驶系统，其中所述驾驶系统被安装于所述插秧机车体，其中所述驾驶系统检测获得一行车相关信息，基于所述行车相关信息，所述驾驶系统控制所述插秧机车体的所述刹车臂刹车摆动。
在一些实施例中，其中所述智能高速插秧机还包括一变速控制装置，其中所述自动变速器和所述变速控制装置分别被设置于所述插秧机车体，并且所述自动变速器被可控制地连接于所述变速控制装置，其中所述变速控制装置根据所述插秧机车体的当前车速和即将进行的未来车速控制所述自动变速器变速。
依本发明的另一方面，本发明还包括一智能高速插秧机在行车过程中刹车时自动变速器回中立的联动方法，其包括如下步骤：基于一插秧机车体的一刹车臂的摆动，将一自动变速器的一阀臂拉回中立位置。
在一些实施例中，所述联动方法进一步包括步骤：
当所述插秧机车体在前行过程中刹车时，基于所述插秧机车体的所述刹车臂的摆动，传动所述自动变速器的一安全离合器进入分离状态；和
将所述自动变速器的所述阀臂拉回中立位置。
在一些实施例中，所述联动方法包括步骤：
当所述插秧机车体在后退过程中刹车时，基于所述插秧机车体的所述刹车臂的摆动，将所述自动变速器的所述阀臂拉回中立位置。
在一些实施例中，所述联动方法还包括步骤：
检测获得一行车相关信息；和
基于所述行车相关信息，控制所述刹车臂刹车摆动。
附图说明
图1是根据本发明的一个优选实施例在刹车时自动变速器回中立的智能高速插秧机的立体图。
图2是根据本发明的一个优选实施例在刹车时自动变速器回中立的智能高速插秧机的模块示意图。
图3A是根据本发明的一个优选实施例在刹车时自动变速器回中立的智能高速插秧机的无人驾驶在未刹车时刹车臂的立体图。
图3B是根据本发明的一个优选实施例在刹车时自动变速器回中立的智能高速插秧机的无人驾驶在刹车时刹车臂的立体图。
图4A是根据本发明的一个优选实施例在刹车时自动变速器回中立的智能高速插秧机的第一种变形实施方式的在未刹车时刹车臂的立体图。
图4B是根据本发明的一个优选实施例在刹车时自动变速器回中立的智能高速插秧机的第一种变速实施方式的在刹车时刹车臂的立体图。
图5A是根据本发明的一个优选实施例在刹车时自动变速器回中立的智能高速插秧机的第一联动件的在未刹车时的立体图。
图5B是根据本发明的一个优选实施例在刹车时自动变速器回中立的智能高速插秧机的第一联动件的在刹车时的立体图。
图6A是根据本发明的一个优选实施例在刹车时自动变速器回中立的智能高速插秧机的第二联动件的在未刹车时的立体图。
图6B是根据本发明的一个优选实施例在刹车时自动变速器回中立的智能高速插秧机的第二联动件的在刹车时的立体图。
图7A是根据本发明的一个优选实施例在刹车时自动变速器回中立的智能高速插秧机的在前进过程中刹车时的方法流程图。
图7B是根据本发明的一个优选实施例在刹车时自动变速器回中立的智能高 速插秧机的在后退过程中刹车时的方法流程图。
具体实施方式
以下描述用于揭露本发明以使本领域技术人员能够实现本发明。以下描述中的优选实施例只作为举例，本领域技术人员可以想到其他显而易见的变型。在以下描述中界定的本发明的基本原理可以应用于其他实施方案、变形方案、改进方案、等同方案以及没有背离本发明的精神和范围的其他技术方案。
本领域技术人员应理解的是，在本发明的揭露中，术语“纵向”、“横向”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置关系是基于附图所示的方位或位置关系，其仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此上述术语不能理解为对本发明的限制。
可以理解的是，术语“一”应理解为“至少一”或“一个或多个”，即在一个实施例中，一个元件的数量可以为一个，而在另外的实施例中，该元件的数量可以为多个，术语“一”不能理解为对数量的限制。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。
本发明提供了在刹车时自动变速器回中立的智能高速插秧机，在所述智能高速插秧机行车过程中刹车制动时，其中所述智能高速插秧机的自动变速器能够回归中立位置，进而防止损害所述自动变速器。
在插秧作业中，根据作业环境如农田的地理位置和形状大小、障碍物的位置和形状大小以及作业进程的人为安排等，所述智能高速插秧机需在农田中完成前进、加速、减速、转向、后退或者停止等行驶作业，而在不同的行驶作业的切换过程中，所述智能高速插秧机能够及时地完成车速的自动变速，以确保车体行驶的平稳性和插秧密度可靠性，以及延长机车的耐用性，降低磨损度。
根据动力分类，所述智能高速插秧机可以是燃油插秧机、电动插秧机或者油电混动插秧机。根据操控类型分类，所述智能高速插秧机可以是乘坐式智能高速插秧机，如由驾驶员亲自乘坐在车中驾驶所述智能高速插秧机完成插秧作业，或者无人驾驶智能高速插秧机，如由操控者采用远程控制器遥控所述无人驾驶智能高速插秧机的行驶完成插秧作业，或者由所述无人驾驶智能高速插秧机按照被预设的行驶程序和一组传感器自主地完成插秧作业，在此不做限制。
如图1至图7所示为本发明的一个优选实施例的一智能高速插秧机，其中所述智能高速插秧机包括一插秧机车体10、一自动变速器20、一变速控制装置30和一回中立联动机构40，其中所述自动变速器20被安装于所述插秧机车体10，其中所述变速控制装置30被设置于控制所述自动变速器20实现自动变速，其中所述回中立联动机构40被可联动地安装于所述插秧机车体10与所述自动变速器20之间。当所述插秧机车体10在行车过程中刹车制动时，所述回中立联动机构40的联动作用使所述自动变速器20回归中立状态，进而防止损害所述自动变速器20。
可以理解的是，所述智能高速插秧机的所述插秧机车体10可以被实施为无人驾驶的智能高速插秧机的车体，或者，所述插秧机车体10可以由驾驶员操作，例如驾驶员仅操作但不限于所述智能高速插秧机的转向或者变速等。或者，在另外的示例中，所述智能高速插秧机的所述插秧机车体10可以被实施为无人驾驶与人工驾驶兼容并存，在此不受限制。
如图2所示，进一步地，所述插秧机车体10包括一车架11、一发动机12和一驾驶系统13，其中所述发动机12和所述驾驶系统13均被安装于所述车架11，其中所述驾驶系统13能够控制所述发动机12的转动和控制所述车架11的行驶如转向或者刹车制动等。所述自动变速器20被安装于所述发动机12与所述车架11的车轮之间以改变所述发动机12与所述车轮之间的传动比或者档位，其中所述自动变速器20和所述变速控制装置30分别被设置于所述插秧机车体10，并且所述自动变速器20被可控制地连接于所述变速控制装置30，其中所述变速控制装置30根据所述插秧机车体10的当前车速和即将进行的未来车速控制所述自动变速器20变速。
优选地，所述驾驶系统13被实施为无人驾驶系统，其中所述驾驶系统13进一步包括至少一行车传感器131和一行车处理器132，其中所述行车传感器131 包括有对发动机运转状态检测的传感器、对人为远程控制信号信息检测的传感器、至少一对行车周围环境检测的传感器以及对行车路径检测的探测器等以分别对应检测行车相关信息，或者检测操作人员的驾驶意图，并将检测结果反馈至所述行车处理器132，其中所述行车处理器132基于这些行车相关信息，控制改变所述插秧机车体10的行车状态如变向、加速、减速、刹车或者完成指定插秧作业等等，从而完成智能驾驶。
值得一提的是，所述对行车周围环境检测的传感器可以被实施为至少一摄像模组，其中各所述摄像模组被分别安装于所述插秧机车体10的前侧、左侧、右侧或者后侧等，其中所述摄像模组通过实时拍摄所述插秧机车体10的四周周围环境状态获取所述行车相关信息。或者所述对行车周围环境检测的传感器也可以被实施为一雷达装置，其被安装于所述插秧机车体10，并通过雷达检测获取所述插秧机车体10的周围环境状态，等等，在此不做限制。
进一步地，所述插秧机车体10还包括一刹车系统14，其中所述刹车系统14被安装于所述车架11，在所述插秧机车体10的行车过程中，当所述行车传感器131检测到需要停车的刹车相关信息，比如遇到障碍物时，所述行车处理器132生成一刹车指令并反馈至所述刹车系统14，其中所述刹车系统14完成刹车作业，从而使所述插秧机车体10处于制动状态。
如图3A所示，具体地，所述刹车系统14包括一驱动器141、一刹车臂142和一刹车装置143，其中所述行车处理器132被电连接于所述驱动器141，其中所述驱动器141被机械连接于所述刹车臂142，其中所述刹车臂142被连接于所述刹车装置143，其中所述刹车装置143被安装于所述车架11以完成刹车作业。
在所述插秧机车体10行车过程中刹车时，所述驾驶系统13的所述行车处理器132生成所述刹车指令反馈至所述驱动器141，其中所述驱动器141驱动所述刹车臂142摆动，其中所述刹车臂142带动所述刹车装置143执行刹车动作，从而使所述插秧机车体10刹车制动。
可以理解的是，所述驱动器141可以被实施为电机，其中所述刹车装置143可以被实施为液压刹车装置，其中所述刹车装置143可以被实施为鼓式刹车或者盘式刹车，在此不受限制。
值得一提的是，在所述插秧机车体10刹车制动时，所述驱动器141驱动所述刹车臂142从一初始位置摆动一定的行程至一刹车位置，使得所述刹车臂142 在摆动至所述刹车位置的过程中能够触发所述刹车装置143执行刹车动作以完成刹车制动。在所述插秧机车体10刹车完毕后，所述刹车臂142再次回复至所述初始位置，以便于触发下一次刹车动作。换句话说，所述刹车臂142在所述初始位置与所述刹车位置之间来回摆动，当所述插秧机车体10刹车制动时，所述刹车臂142从所述初始位置摆动至所述刹车位置，当所述插秧机车体10刹车完毕后，所述刹车臂142从所述刹车位置摆动至所述初始位置。
如图3B所示，在本优选实施例的第一种变形实施方式中，所述插秧机车体10的所述车架11具有一刹车踏板111，其中所述刹车踏板111被连接于所述刹车臂142，正常情况下，所述刹车踏板111处于自然状态，所述刹车臂142处于所述初始位置。当所述刹车踏板111受到作用力向下移动如驾驶员踩踏时，由于机械连接作用，所述刹车臂142从所述初始位置摆动至所述刹车位置，进而使所述刹车装置143执行刹车动作。当所述刹车踏板111回复至自然状态如踩踏作用力消失时，所述刹车臂142也回复至所述初始位置。也就是说，所述智能高速插秧机可以允许驾驶员人为地通过踩踏所述刹车踏板111，使得所述插秧机车体10刹车。
可以理解的是，所述刹车踏板111与所述驱动器141可以分别独立地控制所述刹车臂142在所述初始位置与所述刹车位置之间来回摆动，互不干扰。或者说，所述智能高速插秧机即可以实现无人驾驶的智能刹车，也可以允许驾驶员人工踩踏刹车，二者兼容并存。
进一步地，所述自动变速器20包括一传动装置21、一阀臂22和一安全离合器23，其中所述传动装置21被设置于所述发动机12与所述插秧机车体10的所述车架11的车轮之间并具有一定传动比，以控制所述车架11的车轮的转速。当所述传动装置21的传动比被改变时，所述发动机12的输出轴与所述车轮之间的传动速率也被相应地改变。所述变速控制装置30被连接于所述传动装置21，其中所述变速控制装置30根据所述插秧机车体10的当前车速和即将进行的未来车速控制改变所述传动装置21的传动比，进而完成自动变速。所述阀臂22被连接于所述传动装置21并改变所述传动装置21的挡位，其中所述阀臂22在一前挡位置、一中立位置和一倒挡位置之间来回转动。当所述阀臂22位于所述前挡位置时，所述阀臂22控制所述传动装置21处于前进挡状态，此时所述插秧机车体10才能够前进行车。当所述阀臂22位于所述中立位置时，所述阀臂22控制所 述传动装置21处于零挡状态或空档状态，此时所述传动装置21停止传输动力，使得所述插秧机车体10无法继续驱动行车。当所述阀臂22位于所述倒挡位置时，所述阀臂22控制所述传动装置21处于倒挡状态，此时所述插秧机车体10才能够倒车行驶。所述安全离合器23被设置于所述发动机12与所述传动装置21之间以使所述发动机12与所述传动装置21中断动力传输，从而使所述传动装置21能够安全地改变传动比。
进一步地，所述智能高速插秧机在行车过程中刹车时自动变速器回中立的联动方法，其包括步骤：基于所述插秧机车体10的所述刹车臂142的摆动，将所述自动变速器20的所述阀臂22拉回中立位置。
如图7A所示，当所述插秧机车体10在前行过程中刹车时，基于所述插秧机车体10的所述刹车臂142的摆动，传动所述自动变速器20的所述安全离合器23进入分离状态；和将所述自动变速器20的所述阀臂22拉回中立位置。
如图7B所示，当所述插秧机车体10在后退过程中刹车时，基于所述插秧机车体的所述刹车臂的摆动，将所述自动变速器20的所述阀臂拉回中立位置。
所述联动方法还包括检测获得所述行车相关信息；和基于所述行车相关信息，控制所述刹车臂142刹车摆动。
可以理解的是，所述安全离合器23处于合状态时，所述发动机12的输出轴与所述自动变速器20的输入轴正常耦合，其中所述自动变速器20正常传动，其中所述插秧机车体10能够正常行车。当所述安全离合器23处于分离状态时，其中所述发动机12的输出轴与所述自动变速器20的输入轴分离，其中所述发动机10处于空转状态，使得所述传动装置21能够安全地切换传动比。
换句话说，在所述插秧机车体10前进行车时，所述阀臂22位于所述前档位置，其中所述传动装置21处于前进挡状态。当所述插秧机车体10倒车行驶时，所述阀臂22位于所述倒挡位置，其中所述传动装置21处于后退挡状态。当所述阀臂22位于所述中立位置时，所述传动装置21处于空挡状态，所述插秧机车体10无法获得动力继续行车。
熟知本领域的人员应当理解，所述自动变速器20一般具有一前进齿轮组、一后退齿轮组、一输入轴和一输出轴，其中所述自动变速器20的输入轴与所述发电机12的输入轴耦合，其中所述自动变速器20的所述输出轴与所述插秧机车体10的车轮耦合，所述发电机12的输入轴的转向不变。当所述插秧机车体10 需要前进行使时，所述阀臂22转角为正值，即位于所述前挡位置，其中所述前进齿轮组与所述输出轴耦合，以使所述车轮被正向驱动转动。当插秧机车体10需要空挡停车或者滑行时，所述阀臂22转角为0，即位于所述中立位置，其中所述自动变速器20的所述输出轴即不与所述前进齿轮组耦合，也不与所述后退齿轮组耦合，以使所述车轮无法被驱动转动。当所述插秧机车体10需要倒车时，所述阀臂22转角为负值，即位于所述倒挡位置，其中所述自动变速器20的所述输出轴与所述后退齿轮组耦合，以使所述车辆被反向驱动转动。
具体地，所述安全离合器23具有一离合片231，其中所述发动机12具有一凸轮121，其中所述离合片231与所述凸轮121耦合，其中所述离合片231在受力时产生的扭矩大于一预设安全值时旋转一定的角度，从而使所述离合片231与所述凸轮121分离，以使所述发电机12的输出轴与所述自动变速器20的输入轴分离，从而进入所述分离状态。
举例地，当所述智能插秧机在高速行驶中所述发动机12的转速降低，即所述插秧机车体10的行驶速度若大于所述发动机12的转速时，所述离合片231受力旋转一定的角度，使得所述离合片231与所述发动机12的所述凸轮121分离，其中所述智能插秧机利用自身的惯性继续高速行驶，而当所述插秧机车体的行驶速度降到与所述发动机12的转速相匹配时，所述离合片231与所述发动机12的所述凸轮121便会自动结合，使得所述插秧机车体10继续进入驱动行驶状态，等等，在此不受限制。
在本实施例中，所述自动变速器20被实施为无级式变速器或箱，即指所述自动变速器20的所述传动装置21的所述传动比可在一定范围内连续变化，常见的有液力式，机械式和电力式等变速器。目前所述自动变速器20可分为可变斜面式无级变速器和CVT无级变速器。采用无级变速箱省的优势在于省去了复杂而又笨重的齿轮组合变速传动，只用了两组带轮进行变速传动。所述自动变速器20通过改变驱动轮与从动轮传动带的接触半径进行无级变速，由于无级变速器可以实现传动比的连续改变，从而得到传动系与发动机工况的最佳匹配，提高整车的燃油经济性和动力性，改善车体的行驶状况，更加平顺，稳健。特别在所述插秧机的插秧过程中，通过所述自动变速器20的无级变速能够防止车体在变速时产生的抖动，使得插秧过程更平稳，均匀，在此不受限制。
进一步地，所述回中立联动机构40包括一第一联动件41和一第二联动件42， 其中所述第一联动件41被可联动地设置于所述刹车臂142和所述安全离合器23之间，基于所述插秧机车体10在前进过程中刹车时，所述刹车臂142带动所述第一联动件41移动，所述第一联动件41传动所述安全离合器23进入分离状态以使所述阀臂22回归所述中立位置，其中所述第二联动件42被可联动地设置于所述刹车臂142与所述阀臂22之间，基于所述插秧机车体10在后退过程中刹车时，所述刹车臂142带动所述第二联动件42移动，所述阀臂22被所述第二联动件42拉回所述中立位置。
如图5A和5B所示，也就是说，在所述插秧机车体10前进行车中，当所述刹车系统14执行刹车作业时，所述刹车臂142从所述初始位置摆动至所述刹车位置，其中所述刹车装置143执行刹车动作使得所述插秧机车体10刹车制动，其中所述第一联动件41随所述刹车臂142移动相应的距离并作用于所述安全离合器23，使得所述安全离合器23进入所述分离状态，进而使所述安全离合器23强行地将所述阀臂22从所述前挡位置拉回至所述中立位置。然后，当所述插秧机车体10刹车完毕后，所述刹车臂142回复至所述初始位置，其中所述自动变速器20处于零挡状态或空档状态，其中所述安全离合器23回归所述合状态。
如图6A和6B所示，在所述插秧机车体10倒车行车中，当所述刹车系统14执行刹车作业时，所述刹车臂142从所述初始位置摆动至所述刹车位置，其中所述刹车装置143执行刹车动作使所述插秧机车体10刹车制动，其中所述第二联动件42随所述刹车臂142移动相应的距离并将所述阀臂22直接从所述倒挡位置拉回至所述中立位置。然后，当插秧机车体10刹车完毕后，所述刹车臂142回复至所述初始位置，其中所述自动变速器20处于零挡状态或者空档状态。
值得一提的是，当所述插秧机车体10在前进过程中刹车时，所述第二联动件42虽然也移动了相应的距离，但并未作用于所述阀臂22，同时，所述第二联动件42提供一避让空间以避让所述阀臂22从所述前挡位置移动至所述中立位置。
具体地，所述第一联动件41包括一第一刹车端部411、一第一联动主体412和一第一离合端部413，其中所述第一刹车端部411和所述第一离合端部413分别被一体成型于所述第一联动主体412的两端，其中所述第一刹车端部411被连接于所述刹车臂142，其中所述第一离合端部413被连接于所述安全离合器23的所述离合片231的低端部2311。在所述插秧机车体10前进行车中刹车制动时， 随着所述刹车臂142从所述初始位置摆动至所述刹车位置，所述第一联动主体412也相应地移动一定的距离，其中所述第一离合端部413拉动所述安全离合器23的所述离合片231的所述底端部2311，使得所述安全离合器23的所述离合片231受力旋转，当扭矩大于所述预设安全值时，所述离合片231的高端部2312与所述发动机12的所述凸轮121脱离，从而使所述安全离合器23进入分离状态。
进一步地，所述离合片231的所述高端部2312与所述自动变速器20的所述阀臂22之间还设置一传动件，换句话说，所述传动件被可传动地连接于所述安全离合器23的所述离合片231的所述高端部2312与所述阀臂22之间。当所述离合片231的高端部2312旋转一定的距离并与所述发动机12的所述凸轮121脱离时，所述离合片231带动所述传动件移动一定距离，其中所述传动件将所述阀臂22从所述前挡位置拉回所述中立位置。熟知本领域人员应当理解的是，所述传动件优选地被实施为一金属杆，在此不受限制。
所述第一刹车端部411优选地采用螺钉组合连接于所述刹车臂142，在所述刹车臂142摆动一定的距离时，借由所述螺钉的连接作用，所述第一联动主体412能够同步地移动相应的距离行程，从而使所述第一阀臂端部413也移动相应的距离并使所述安全离合器23进入所述分离状态，进而使所述阀臂22被拉回至所述中立位置。
优选地，所述第一离合端部413具有一第一活动孔4131，其中所述离合片231具有一第一凸起2313，其中所述第一凸起2313被设置于在所述第一活动孔4131内相对移动。当所述刹车臂142处于初始位置，即所述插秧机车体10未被刹车时，所述第一凸起2313靠近所述第一活动孔的一侧。当所述插秧机车体10在前进时刹车时，所述刹车臂142从所述初始位置移动至所述刹车位置的过程中，其中所述第一联动件41的所述第一离合端部413拉动所述离合片231的所述底端部2311的所述第一凸起2313移动相应的距离，进而使所述离合片231受到的扭矩大于所述预设安全值，从而进入所述分离状态。
可以看出的是，在所述插秧机车体10正常行车中，所述第一活动孔4131提供了避让所述安全离合器23的所述离合片231的正常作业时的避让空间。也就是说，当所述插秧机车体10未刹车时，在所述安全离合器23在合状态与分离状态之间切换的过程中，所述第一离合端部413的所述第一活动孔4131保持静止不动，其中所述离合片231的所述第一凸起2313在所述第一活动孔4131内移动， 而不会受到所述第一联动件41的阻碍。
具体地，所述第二联动件42包括一第二刹车端部421、一第二联动主体422和一第二阀臂端部423，其中所述第二刹车端部421和所述第二阀臂端部423分别被一体成型于所述第二联动主体422的两端，其中所述第二刹车端部421被连接于所述刹车臂142，其中所述第二阀臂端部423被连接于所述阀臂22。在所述插秧机车体10后退行车中刹车制动时，随着所述刹车臂142从所述初始位置摆动至所述刹车位置，所述第二联动主体422也相应地移动一定的距离，进而使所述第二阀臂端部423将所述阀臂22从所述倒挡位置拉回至所述中立位置。
进一步地，所述第二刹车端部421优选地采用螺钉连接于所述刹车臂142，在所述刹车臂142摆动一定的距离时，借由所述螺钉的连接作用，所述第二联动主体422能够同步地移动相应的距离行程，从而使所述第二阀臂端部423也移动相应的距离，进而将所述阀臂22从所述前挡位置拉回至所述中立状态。
在本实施例中，所述第二阀臂端部423形成一第二活动孔4231，其中所述阀臂22具有一第二凸起221，其中所述第二凸起221被设置于在所述第二活动孔4231内相对移动。当所述刹车臂142位于所述初始状态时，在所述插秧机车体10倒车过程中，所述阀臂22位于所述倒挡位置，所述阀臂22靠近所述第二活动孔4231的一侧，在所述插秧机车体10倒车过程中刹车时，所述刹车臂142带动所述第二联动件42移动相应的距离，其中所述第二联动件42的所述第二阀臂端部423将所述阀臂22从所述倒挡位置拉回至所述中立位置。
可以理解的是，当所述刹车臂142处于所述初始状态时，在所述阀臂22位于所述中立位置时，所述第二凸起221位于所述第二活动孔4231的中间位置。在所述阀臂22从所述中立位置移动至所述倒挡位置时，所述第二凸起221相对移动至所述第二活动孔4231的一侧位置。在所述阀臂22从所述中立位置移动至所述前端位置时，所述第二凸起221相对移动至所述第二活动孔4231的另一侧。因此，所述第二联动件42的所述第二活动孔4231提供了避让所述阀臂22在未刹车时在所述前挡位置、所述中立位置以及所述倒挡位置之间自由移动的避让空间。
熟知本领域的人员应当理解的是，所述第一离合端部413的所述第一活动孔4131与所述第一凸起2313的位置能够互换。也就是说，所述第一离合端部413具有所述第一凸起2313，所述离合片231具有所述第一活动孔4131，也可完成 上述目的，在此不做赘述。相应地，所述第二阀臂端部423的所述第二活动孔4231与所述第二凸起的位置也能够互换，在此不做赘述。
在实际工作中，所述第一联动件41与所述第二联动件42之间互不干扰，或者说，所述第一联动件41的活动空间与所述第二联动件42的活动空间相互独立。
在本实施例中，所述变速控制装置30包括至少一未来车速传感器31、至少一车速传感器32、一控制器33和一电机34，其中所述未来车速传感器31被设置于检测所述发动机12的输出动力，其中所述车速传感器32用于检测所述智能高速插秧机的当前实际车速，基于所述发动机12的输出动力和所述智能高速插秧机的当前实际车速的反馈信息，所述控制器33计算并判断出所述插秧机车体10即将进行的行驶状态的未来车速，并根据所述未来速度生成一速度信号传递至所述电机34，然后由所述电机34相应地控制所述自动变速器20改变传动比使所述传动比能够匹配适应于所述未来速度，进而使所述插秧机完成自动变速，并确保所述插秧机车体10能够适应即将进行的行驶状态。其中，所述电机34与本优选实施例或者本第一变形实施例的所述电机34结构原理类似一致，以能够控制改变所述AT或者CVT无级变速器的传动比，在此不做赘述。
换句话说，所述未来车速传感器31被实施为一动力传感器，其被安装于所述自动变速器20的驱动桥壳，以检测所述自动变速器20的输入轴的转速获取所述发动机的输出动力相关信息并反馈至所述控制器33。换句话说，所述控制器33基于所述自动变速器20的输入轴的转速，分析出所述智能高速插秧机的即将进行的行使状态的未来车速。
在另一种实施方式中，所述未来车速传感器31被实施为获取所述驾驶系统13B控制改变所述发动机12的输出动力的相关动力信息，或者说，所述未来车速传感器31被电连接于所述驾驶系统13，其中所述驾驶系统13控制改变所述发动机12的输出动力，其中所述驾驶系统13将本次控制所述发动机12的控制信息发送至所述未来车速传感器31，进而由所述控制器33基于所述发动机12的输出动力的信息，计算出所述智能高速插秧机的即将进行的行使状态的未来车速。
可以理解的是，所述未来车速传感器31还能够被实施为所述驾驶系统13的所述行车传感器，如至少一摄像装置或者雷达装置等，由所述未来车速传感器31检测获取所述插秧机车体10的所述行车相关信息并反馈至所述控制器33，由 所述控制器33基于所述行车相关信息分析得出所述插秧机车体10即将进行的所述未来车速。或者说，所述行车处理模块132被连接于所述控制器33，其中所述行车处理模块132将所述行车相关信息发送至所述控制器33，由所述控制器33基于所述行车相关信息获取所述插秧机车体10即将进行的所述未来车速。
进一步地，基于所述未来车速传感器31和所述车速传感器32的反馈信息，所述控制器33计算得到所述智能高速插秧机的未来车速和当前实际车速，进而控制所述电机34控制所述自动变速器20改变传动比，进而实现自动改变所述智能高速插秧机的车速，以进入即将进行的行车状态，适应行车环境。
值得一提的是，对于本优选实施例或所述第一变形实施例的所述车速传感器32均被实施为通过检测所述自动变速器20的输出轴的转速来获取所述智能高速插秧机的实际车速。然而，当所述自动变速器20的输出轴发生异常转动如空转时，可能会影响所述车速传感器32对所述智能高速插秧机的真实实际车速的检测，如所述自动变速器20的所述输出轴发生空转时，所述车速传感器32检测的当前车速的检测值一般大于所述智能高速插秧机的实际车速的真实值，进而对于本优选实施例或本第一变形实施例的所述智能高速插秧机的所述变速控制装置30在所述自动变速器20的输出轴发生异常转动时，可能会造成所述变速控制装置30改变的所述自动变速器20的传动比不能适应所述智能高速插秧机即将进行的行车状态，进而造成严重的行车事故。
因此，为保证所述车速传感器32检测出所述智能高速插秧机的当前实际车速的真实值，确保所述变速控制装置30控制所述自动变速器20改变的传动比一定适用于所述智能高速插秧机即将进行的行车状态。所述车速传感器32被安装于所述插秧机车体10的任一所述车轮，以通过检测所述车轮的当前转速来获取所述智能高速插秧机的当前实际车速的真实值，以防止意外事故发生。
值得一提的是，所述车速传感器32能够被实施为多个，其被分别安装于各所述车轮14，以通过多组数据的检测来判断所述智能高速插秧机的当前实际车速的真实值，提高检测数据的准确性，等等，在此不做限制。
当然，在本优选实施例的另一种实施方式中，所述插秧机车体10还可以包括一换挡轴，在行车变速时，其中所述驾驶系统13的所述行车处理器132控制所述换挡轴转动一定的角度。所述未来车速传感器31被实施为角度传感器，其中所述未来车速传感器31通过检测所述换挡轴的转动角度，获得所述插秧机车 体10的所述未来车速。
当然，驾驶员也可以手动地操作所述换挡轴，实现换挡转速，在此不做赘述。
本领域的技术人员应理解，上述描述及附图中所示的本发明的实施例只作为举例而并不限制本发明。本发明的目的已经完整并有效地实现。本发明的功能及结构原理已在实施例中展示和说明，在没有背离所述原理下，本发明的实施方式可以有任何变形或修改。

Claims (20)

  1. 一智能高速插秧机，其特征在于，包括：
    一插秧机车体，其中所述插秧机车体具有一刹车臂；
    一自动变速器，其中所述自动变速器具有一阀臂；以及
    一回中立联动机构，其中所述回中立联动机构被设置于所述刹车臂与所述自动变速器的所述阀臂之间，当所述插秧机车体在行车过程中刹车时，随着所述刹车臂的摆动，所述回中立联动机构移动相应的距离，其中所述自动变速器的所述阀臂被拉回至中立位置。
  2. 根据权利要求1所述智能高速插秧机，其中所述回中立联动机构包括一第一联动件，其中所述自动变速器具有一安全离合器，其中所述第一联动件被可联动地设置于所述刹车臂和所述安全离合器之间，基于所述插秧机车体在前进过程中刹车时，所述刹车臂带动所述第一联动件移动相应的距离，其中所述第一联动件传动所述安全离合器进入分离状态以将所述阀臂拉回中立位置。
  3. 根据权利要求1所述智能高速插秧机，其中所述回中立联动机构包括一第二联动件，其中所述第二联动件被可联动地设置于所述刹车臂与所述阀臂之间，基于所述插秧机车体在后退过程中刹车时，所述刹车臂带动所述第二联动件移动，所述阀臂被所述第二联动件拉回中立位置。
  4. 根据权利要求2所述智能高速插秧机，其中所述回中立联动机构还包括一第二联动件，其中所述第二联动件被可联动地设置于所述刹车臂与所述阀臂之间，基于所述插秧机车体在后退过程中刹车时，所述刹车臂带动所述第二联动件移动，所述阀臂被所述第二联动件拉回中立位置。
  5. 根据权利要求2所述智能高速插秧机，其中所述第一联动件包括一第一刹车端部、一第一联动主体和一第一离合端部，其中所述第一刹车端部和所述第一离合端部被分别连接于所述第一联动主体的两端，其中所述第一刹车端部被连接于所述刹车臂，其中所述第一离合端部被连接于所述安全离合器的一离合片。
  6. 根据权利要求5所述智能高速插秧机，其中所述第一离合端部具有一第一活动孔，其中所述安全离合器的所述离合片具有一第一凸起，其中所述第一凸起被设置于在所述第一活动孔内相对移动，或者所述第一活动孔与所述第一凸起的位置互换。
  7. 根据权利要求3所述智能高速插秧机，其中所述第二联动件包括一第二刹车端部、一第二联动主体和一第二阀臂端部，其中所述第二刹车端部和所述第二阀臂端部被分别连接于所述第二联动主体的两端，其中所述第二刹车端部被连接于所述刹车臂，其中所述第二阀臂端部被连接于所述阀臂。
  8. 根据权利要求7所述智能高速插秧机，其中所述第二阀臂端部具有一第二活动孔，其中所述阀臂具有一第二凸起，其中所述第二凸起被设置于在所述第二活动孔内相对移动，或者所述第二活动孔与所述第二凸起的位置互换。
  9. 根据权利要求1所述智能高速插秧机，还包括一驾驶系统，其中所述驾驶系统被安装于所述插秧机车体，其中所述驾驶系统检测获得一行车相关信息，基于所述行车相关信息，所述驾驶系统控制所述插秧机车体的所述刹车臂刹车摆动。
  10. 根据权利要求8所述智能高速插秧机，还包括一驾驶系统，其中所述驾驶系统被安装于所述插秧机车体，其中所述驾驶系统检测获得一行车相关信息，基于所述行车相关信息，所述驾驶系统控制所述插秧机车体的所述刹车臂刹车摆动。
  11. 根据权利要求9所述智能高速插秧机，还包括一变速控制装置，其中所述自动变速器和所述变速控制装置分别被设置于所述插秧机车体，并且所述自动变速器被可控制地连接于所述变速控制装置，其中所述变速控制装置根据所述插秧机车体的当前车速和即将进行的未来车速控制所述自动变速器变速。
  12. 根据权利要求10所述智能高速插秧机，还包括一变速控制装置，其中所述自动变速器和所述变速控制装置分别被设置于所述插秧机车体，并且所述自动变速器被可控制地连接于所述变速控制装置，其中所述变速控制装置根据所述插秧机车体的当前车速和即将进行的未来车速控制所述自动变速器变速。
  13. 一智能高速插秧机在行车过程中刹车时自动变速器回中立的联动方法，其特征在于，包括步骤：基于一插秧机车体的一刹车臂的摆动，将一自动变速器的一阀臂拉回中立位置。
  14. 根据权利要求13所述智能高速插秧机在行车过程中刹车时自动变速器回中立的联动方法，其中所述联动方法包括步骤：
    当所述插秧机车体在前行过程中刹车时，基于所述插秧机车体的所述刹车臂的摆动，传动所述自动变速器的一安全离合器进入分离状态；和
    将所述自动变速器的所述阀臂拉回中立位置。
  15. 根据权利要求13所述智能高速插秧机在行车过程中刹车时自动变速器回中立的联动方法，其中所述联动方法包括步骤：当所述插秧机车体在后退过程中刹车时，基于所述插秧机车体的所述刹车臂的摆动，将所述自动变速器的所述阀臂拉回中立位置。
  16. 根据权利要求14所述智能高速插秧机在行车过程中刹车时自动变速器回中立的联动方法，其中所述联动方法包括步骤：当所述插秧机车体在后退过程中刹车时，基于所 述插秧机车体的所述刹车臂的摆动，将所述自动变速器的所述阀臂拉回中立位置。
  17. 根据权利要求11所述智能高速插秧机在行车过程中刹车时自动变速器回中立的联动方法，其中所述联动方法包括步骤：
    检测获得一行车相关信息；和
    基于所述行车相关信息，控制所述刹车臂刹车摆动。
  18. 根据权利要求14所述智能高速插秧机在行车过程中刹车时自动变速器回中立的联动方法，其中所述联动方法包括步骤：
    检测获得一行车相关信息；和
    基于所述行车相关信息，控制所述刹车臂刹车摆动。
  19. 根据权利要求17所述智能高速插秧机在行车过程中刹车时自动变速器回中立的联动方法，其还包括一变速控制装置，其中所述自动变速器和所述变速控制装置分别被设置于所述插秧机车体，并且所述自动变速器被可控制地连接于所述变速控制装置，其中所述变速控制装置根据所述插秧机车体的当前车速和即将进行的未来车速控制所述自动变速器变速。
  20. 根据权利要求18所述智能高速插秧机在行车过程中刹车时自动变速器回中立的联动方法，其还包括一变速控制装置，其中所述自动变速器和所述变速控制装置分别被设置于所述插秧机车体，并且所述自动变速器被可控制地连接于所述变速控制装置，其中所述变速控制装置根据所述插秧机车体的当前车速和即将进行的未来车速控制所述自动变速器变速。
PCT/CN2019/106715 2018-12-26 2019-09-19 在刹车时自动变速器回中立的智能高速插秧机及其应用 WO2020134216A1 (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2021538496A JP2022516546A (ja) 2018-12-26 2019-09-19 ブレーキング時に自動変速機が中立復帰するスマート高速田植機及びその応用

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN201811598456.7 2018-12-26
CN201822198873.4U CN209983076U (zh) 2018-12-26 2018-12-26 在刹车时自动变速器回中立的智能高速插秧机
CN201822198873.4 2018-12-26
CN201811598456.7A CN109819739B (zh) 2018-12-26 2018-12-26 在刹车时自动变速器回中立的智能高速插秧机及其应用

Publications (1)

Publication Number Publication Date
WO2020134216A1 true WO2020134216A1 (zh) 2020-07-02

Family

ID=71126136

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/106715 WO2020134216A1 (zh) 2018-12-26 2019-09-19 在刹车时自动变速器回中立的智能高速插秧机及其应用

Country Status (2)

Country Link
JP (1) JP2022516546A (zh)
WO (1) WO2020134216A1 (zh)

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000272373A (ja) * 1999-03-29 2000-10-03 Kubota Corp 水田作業車の走行変速構造
CN1507768A (zh) * 2002-12-16 2004-06-30 株式会社久保田 乘用型水田作业机
JP2006314293A (ja) * 2005-05-16 2006-11-24 Iseki & Co Ltd 複数条植えの苗移植機
CN102197731A (zh) * 2010-03-27 2011-09-28 井关农机株式会社 秧苗移植机
CN205311342U (zh) * 2015-12-31 2016-06-15 雷沃重工股份有限公司 制动踏板与变速手柄联动式玉米机操纵机构及玉米机
CN106184210A (zh) * 2014-08-19 2016-12-07 井关农机株式会社 作业车辆
CN206246663U (zh) * 2016-11-30 2017-06-13 江苏农华智慧农业科技股份有限公司 一种乘座式高速插秧机中立档自动回位装置
CN109819739A (zh) * 2018-12-26 2019-05-31 丰疆智慧农业股份有限公司 在刹车时自动变速器回中立的智能高速插秧机及其应用

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004148974A (ja) * 2002-10-30 2004-05-27 Iseki & Co Ltd 水田作業機における操向制御装置
JP2005176734A (ja) * 2003-12-19 2005-07-07 Yanmar Co Ltd コンバイン
JP4935191B2 (ja) * 2006-05-30 2012-05-23 井関農機株式会社 乗用型苗移植機
JP2011194948A (ja) * 2010-03-17 2011-10-06 Mitsubishi Agricultural Machinery Co Ltd 農用走行車輌
JP5507394B2 (ja) * 2010-09-13 2014-05-28 株式会社クボタ 水田作業機
JP6772563B2 (ja) * 2016-06-03 2020-10-21 井関農機株式会社 トラクタ
JP6669120B2 (ja) * 2017-03-31 2020-03-18 井関農機株式会社 作業車両

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000272373A (ja) * 1999-03-29 2000-10-03 Kubota Corp 水田作業車の走行変速構造
CN1507768A (zh) * 2002-12-16 2004-06-30 株式会社久保田 乘用型水田作业机
JP2006314293A (ja) * 2005-05-16 2006-11-24 Iseki & Co Ltd 複数条植えの苗移植機
CN102197731A (zh) * 2010-03-27 2011-09-28 井关农机株式会社 秧苗移植机
CN106184210A (zh) * 2014-08-19 2016-12-07 井关农机株式会社 作业车辆
CN205311342U (zh) * 2015-12-31 2016-06-15 雷沃重工股份有限公司 制动踏板与变速手柄联动式玉米机操纵机构及玉米机
CN206246663U (zh) * 2016-11-30 2017-06-13 江苏农华智慧农业科技股份有限公司 一种乘座式高速插秧机中立档自动回位装置
CN109819739A (zh) * 2018-12-26 2019-05-31 丰疆智慧农业股份有限公司 在刹车时自动变速器回中立的智能高速插秧机及其应用

Also Published As

Publication number Publication date
JP2022516546A (ja) 2022-02-28

Similar Documents

Publication Publication Date Title
CN102829175B (zh) 作业车的传动切换结构
CN103895511B (zh) 一种智能人机交互式汽车油门踏板装置
JP2007224943A (ja) 走行車両
JP4653725B2 (ja) 作業車
JPH0268232A (ja) 作業車の速度制御装置
CN209983076U (zh) 在刹车时自动变速器回中立的智能高速插秧机
WO2020134216A1 (zh) 在刹车时自动变速器回中立的智能高速插秧机及其应用
CN109819739B (zh) 在刹车时自动变速器回中立的智能高速插秧机及其应用
JP2017222205A (ja) 作業車
JP2007298050A (ja) 作業車両の変速制御装置
US20110264340A1 (en) Automatic transmission for vehicle
JP2005119466A (ja) 作業車両の走行変速装置
CN205618654U (zh) 一种非公路宽体自卸车电控自动变速器操纵执行机构
US4366889A (en) Automatically and manually operable gear shifter
JP4796432B2 (ja) 作業車両の走行停止制御装置
JP2021107689A (ja) 作業車両
JP2003146238A (ja) 乗用型作業機
CN210135230U (zh) 自动变速插秧机
JPH0656196B2 (ja) 車輛の駆動装置
JP2548445B2 (ja) 水田作業車
JPH0727764Y2 (ja) 電動自走台車における走行制御装置
JP6710960B2 (ja) 作業車両
JP4189144B2 (ja) トラクタのブレーキ装置
JP3590313B2 (ja) 農作業機の操向装置
JP2000018375A (ja) 作業車両の変速操作機構

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19901647

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2021538496

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19901647

Country of ref document: EP

Kind code of ref document: A1