阅读说明：本技术 一种果园多功能动力底盘电控变速系统 (Orchard multifunctional power chassis electric control speed change system ) 是由 杨福增 张国强 刘志杰 张亚洲 孙景彬 许博 于 2019-12-15 设计创作，主要内容包括：本发明公开了一种果园多功能动力底盘电控变速系统,属于果园植保机械领域。包括换档执行机构,离合器执行机构和控制系统。本发明提出的果园多功能动力底盘电控变速系统仅需对小型拖拉机原有手动变速箱操纵机构做简单的改造即可安装,具有成本低、可靠性高等特点,可将果园多功能动力底盘换档和换向的手动操纵变为电控操纵,实现作业人员远程遥控操纵换档和换向,从而实现机组在果园作业过程中人机完全分离,最大限度提高操纵便捷性,保证作业人员安全。(The invention discloses an orchard multifunctional power chassis electric control speed change system, and belongs to the field of orchard plant protection machinery. The gear shifting control system comprises a gear shifting actuating mechanism, a clutch actuating mechanism and a control system. The orchard multifunctional power chassis electric control speed change system provided by the invention can be installed by simply transforming the original manual transmission control mechanism of a small tractor, has the characteristics of low cost, high reliability and the like, can change manual operation of gear shifting and reversing of the orchard multifunctional power chassis into electric control operation, and realizes remote control gear shifting and reversing of operators, so that complete man-machine separation of a unit in the orchard operation process is realized, the operation convenience is improved to the maximum extent, and the safety of the operators is ensured.)

1. The utility model provides an automatically controlled speed change system of multi-functional power chassis which characterized in that: the gear shifting device comprises a gear shifting actuating mechanism, a clutch actuating mechanism and a control system; the gear shifting executing mechanism mainly comprises a main gear shifting control shaft (1), an auxiliary gear shifting control shaft (2), a first synchronous belt (3), a first large belt wheel (4), a second synchronous belt (5), a second large belt wheel (6), a first small belt wheel (7), a first brushless direct current speed reducing motor (8), a second brushless direct current speed reducing motor (9), a motor support (10), a second small belt wheel (11), a box body (12) and a box body end cover (13); the box body (12) is fixed on the car body (14), the motor support (10) is fixed on the box body (12), the first brushless direct-current speed reducing motor (8) and the second brushless direct-current speed reducing motor (9) are fixed on the motor support (10), the first small belt wheel (7) and the second small belt wheel (11) are respectively connected with transmission shafts of the first brushless direct-current speed reducing motor (8) and the second brushless direct-current speed reducing motor (9), the first large belt wheel (4) and the second large belt wheel (6) are connected with the second small belt wheel (11) and the first small belt wheel (7) through the first synchronous belt (3) and the second synchronous belt (5), the first large belt wheel (4) is connected with the main gear control shaft (1), and the second large belt wheel (6) is connected with the auxiliary gear control shaft (2);

the clutch actuating mechanism mainly comprises a frame (17), a first base (18), a clutch shifting fork ejector rod (19), a clutch operating handle (20) and an electric push rod (21); the second base (22), the second base (22) is fixed on the frame (17), the electric push rod (21) is connected with the second base (22), the clutch control handle (20) is connected with the electric push rod (21), the first base (18) is fixed on the frame (17), the clutch control handle (20) is connected with the first base (18), and the clutch shifting fork ejector rod (19) is connected with the clutch control handle (20);

the control system mainly comprises a CAN bus (23), a TCU controller (24), a direct current motor drive board (25), a first brushless direct current motor drive board (26), a second brushless direct current motor drive board (27), a first throttle opening sensor (15), a second throttle opening sensor (16) and an electric push rod encoder (28); the CAN bus (23) is connected with the TCU controller (24), the TCU controller (24) is connected with the direct current motor drive board (25), the first brushless direct current motor drive board (26), the second brushless direct current motor drive board (27), the first throttle opening sensor (15), the second throttle opening sensor (16) and the electric push rod encoder (28).

2. The orchard multifunctional power chassis electronic control speed change system according to claim 1, characterized in that: the direct current motor drive plate (25) is connected with an electric push rod (21), the first brushless direct current motor drive plate (26) and the second brushless direct current motor drive plate (27) are respectively connected with the first brushless direct current speed reducing motor (8) and the second brushless direct current speed reducing motor (9), the first throttle opening sensor (15) is fixed on the box body end cover (13) and connected with the main gear shift control shaft (1), and the second throttle opening sensor (16) is fixed on the box body end cover (13) and connected with the auxiliary gear shift control shaft (2).

Technical Field

The invention belongs to the technical field of orchard plant protection machinery, and particularly relates to an orchard multifunctional power chassis electric control speed change system.

Background

China is a world with great fruit production and consumption, and fruits play an important role in the lives of residents. Since 2000 years, the planting area of fruit trees and the fruit yield in China are increased year by year, and the fruit market is developed vigorously. By 2016 years, the planting area of fruit trees in China is 1.298 hundred million hm²The fruit yield reaches 2.75 hundred million t, which accounts for 5.7 percent of the total agricultural value and 11.3 percent of the total planting value. The fruit industry has become an important pillar for rural economic development in China and a main source of income of farmers, and occupies an important position in the domestic economic market.

The major problems facing the fruit industry at the present stage are that, with the rapid expansion of planting areas and the great reduction of population of rural practitioners, labor is changed from seasonal shortage to persistent shortage, labor cost is greatly increased, and manpower expenditure exceeds 50% of total production cost. The key problem for solving the problem of restricting the development of the fruit industry is the mechanization of orchard production. Under the background, China has a strong demand for automatic orchard machinery. But the domestic orchard machinery is insufficient in supply, and the main manifestations are as follows: the variety is few, the technology is backward, the safety is poor and the labor intensity of operators is large, and the existing orchard machine is difficult to meet the actual production requirements.

A25-horsepower tractor is usually adopted as the orchard power chassis, and can be used as a power machine for operations such as pesticide application, fertilizer application, transportation and the like in an orchard.

At present, a power gear shifting gearbox is mostly used for large and medium tractors with power of more than 60 horsepower, factors such as cost are considered, and small tractors with power of less than 60 horsepower still adopt manual gearboxes, so that the machine set needs to be manually operated to realize actions such as gear shifting, reversing and the like in the orchard operation process, man-machine separation cannot be thoroughly realized, and the safety of operators is difficult to guarantee. Therefore, an electric control speed change system of a small tractor for the multifunctional power chassis of the orchard is urgently needed, manual operation of gear shifting and reversing is changed into electric control operation, remote control operation of gear shifting and reversing of operating personnel is achieved, complete man-machine separation in the operation process of an orchard unit is achieved, and safety of the operating personnel is guaranteed.

Disclosure of Invention

The invention aims to provide an orchard multifunctional power chassis electric control speed change system which can be installed by simply transforming a small tractor, has the characteristics of low cost, high reliability and the like, can change manual operation of gear shifting and reversing of an orchard multifunctional power chassis into electric control operation, and realizes remote control operation of gear shifting and reversing by operators, thereby realizing complete separation of man-machine in the operation process of an orchard unit, furthest improving the operation convenience and ensuring the safety of the operators.

In order to achieve the purpose, the technical scheme of the invention is as follows: a multifunctional power chassis electric control speed change system comprises a gear shift execution mechanism, a clutch execution mechanism and a control system, wherein the gear shift execution mechanism mainly comprises a main gear shift control shaft (1), an auxiliary gear shift control shaft (2), a first synchronous belt (3), a first large belt wheel (4), a second synchronous belt (5), a second large belt wheel (6), a first small belt wheel (7), a first brushless direct current speed reduction motor (8), a second brushless direct current speed reduction motor (9), a motor support (10), a second small belt wheel (11), a box body (12) and a box body end cover (13); the method is characterized in that: the box (12) is fixed on the vehicle body (14) through threaded connection, the motor support (10) is fixed on the box (12) through threaded connection, a brushless direct current speed reducing motor (8) and a brushless direct current speed reducing motor (9) are fixed on the motor support (10) through threaded connection, a small belt wheel (7) and a small belt wheel (11) are respectively connected with transmission shafts of the brushless direct current speed reducing motor (8) and the brushless direct current speed reducing motor (9) through jackscrews, a large belt wheel (4) and a large belt wheel (6) are connected with the small belt wheel (11) and the small belt wheel (7) through a synchronous belt (3) and a synchronous belt (5), the large belt wheel (4) is connected with the main speed change gear control shaft (1) through jackscrews, and the large belt wheel (6) is connected with the auxiliary speed change gear control shaft (2) through jackscrews.

Clutch actuating mechanism mainly includes frame (17), a base (18), clutch shift fork ejector pin (19), clutch operating handle (20), electric putter (21), No. two bases (22), its characterized in that: no. two bases (22) are fixed on a frame (17) through bolts, an electric push rod (21) is connected with the No. two bases (22) through a pin shaft, a clutch control handle (20) is connected with the electric push rod (21) through a pin shaft, a first base (18) is fixed on the frame (17) through bolts, the clutch control handle (20) is connected with a first base (18) through a pin shaft, and a clutch shifting fork ejector rod (19) is connected with the clutch control handle (20) through a pin shaft.

The control system mainly comprises a CAN bus (23), a TCU controller (24), a direct current motor drive board (25), a first brushless direct current motor drive board (26), a second brushless direct current motor drive board (27), a first throttle opening sensor (15), a second throttle opening sensor (16) and an electric push rod encoder (28); the method is characterized in that: the CAN bus (23) is connected with the TCU controller (24), the TCU controller (24) is connected with the direct current motor drive board (25), the first brushless direct current motor drive board (26), the second brushless direct current motor drive board (27), the first throttle opening sensor (15), the second throttle opening sensor (16) and the electric push rod encoder (28).

Automatically controlled speed change system of multi-functional power chassis in orchard mainly includes gear shift actuating mechanism and control system, its characterized in that: the direct current motor drive plate (25) is connected with an electric push rod (21), the first brushless direct current motor drive plate (26), the second brushless direct current motor drive plate (27) is respectively connected with the first brushless direct current speed reducing motor (8) and the second brushless direct current speed reducing motor (9), the first throttle opening sensor (15) is fixed on the box body end cover (13) through screws and is connected with the main gear control shaft (1), and the second throttle opening sensor (16) is fixed on the box body end cover (13) through screws and is connected with the auxiliary gear control shaft (2).

Based on the design, the working principle of the invention is as follows:

the TCU controller (24) receives an instruction from the CAN bus (23), when the TCU controller (24) receives a reversing instruction, the TCU controller (24) judges the current main gear according to an angular displacement signal of the first throttle opening sensor (15), and if the current main gear is not in the target gear, the TCU controller (24) executes the reversing instruction; if the current main gear is in the target gear, the TCU controller (24) does not execute a reversing instruction; when executing a reversing instruction, a TCU controller (24) firstly sends a motor steering control instruction and a rotating speed control instruction to a direct current motor drive plate (25) to control an electric push rod (21) to extend out, an electric push rod encoder (28) detects the extending displacement of the electric push rod (21) in real time during the period, when the electric push rod (21) extends out to a certain displacement to completely separate a clutch, the TCU controller (24) sends a stop instruction to the direct current motor drive plate (25) to stop the electric push rod (21), then the TCU controller (24) sends a motor steering and rotating speed control instruction to a second brushless direct current motor drive plate (27) to control a second direct current speed reducing motor (9) to rotate at a certain speed, a first throttle opening sensor (15) detects the rotating angle of a main speed change gear control shaft (1) in real time during the period, and when the main speed change gear control shaft (1) rotates to the angle corresponding to a target gear, the TCU controller (24) sends a stop instruction to the second brushless direct current motor driving plate (27), the second brushless direct current speed reduction motor (9) stops rotating, then the TCU controller (24) sends a steering and rotating speed control instruction to the direct current motor driving plate (25), the electric push rod (21) is controlled to retract at a certain speed, the electric push rod encoder (28) detects the displacement of the electric push rod (21) in real time during the period, and after the electric push rod (21) retracts completely, the clutch is engaged to complete reversing.

Similarly, when the TCU controller (24) receives a speed change command, the TCU controller (24) judges the current auxiliary speed change gear according to an angular displacement signal of the second throttle opening sensor (16), and if the current auxiliary speed change gear is not in the target gear, the TCU controller (24) executes the speed change command; if the current main gear is in the target gear, the TCU controller (24) does not execute the shift command. When executing a gear shifting command, a TCU controller (24) firstly sends a motor steering control command and a rotating speed control command to a direct current motor drive plate (25) to control an electric push rod (21) to extend out, an electric push rod encoder (28) detects the extending displacement of the electric push rod (21) in real time during the period, when the electric push rod (21) extends out to a certain displacement to completely separate a clutch, the TCU controller (24) sends a stop command to the direct current motor drive plate (25) to stop the electric push rod (21), then the TCU controller (24) sends the motor steering and rotating speed control commands to a first brushless direct current motor drive plate (26) to control a first brushless direct current speed reducing motor (8) to rotate at a certain speed, a second throttle opening sensor (16) detects the rotating angle of an auxiliary gear control shaft (2) in real time during the period, and when the auxiliary gear control shaft (2) rotates to the angle corresponding to a target gear, the TCU controller (24) sends a stop command to the first brushless direct current motor driving plate (26), the first brushless direct current speed reducing motor (8) stops rotating, then the TCU controller (24) sends a steering and rotating speed control command to the direct current motor driving plate (25), the electric push rod (21) is controlled to retract at a certain speed, the electric push rod encoder (28) detects the displacement of the electric push rod (21) in real time during the period, and after the electric push rod (21) retracts completely, the clutch is engaged to complete gear shifting.

When the clutch is separated, the electric push rod (21) extends out, the clutch control handle (20) is pushed to move, the acting force of the electric push rod (21) is transmitted to the clutch shifting fork ejector rod (19) through the clutch control handle (20), the clutch separation shifting fork is pushed to move, after the electric push rod (21) extends out for a certain length, the clutch is completely separated, and the electric push rod (21) stops moving; when the clutch is engaged, the electric push rod (21) retracts at a certain speed, the clutch operating handle is pulled to move (21), the clutch operating handle (21) pulls the clutch shifting fork ejector rod (19) to move reversely, and the clutch is engaged stably at a certain speed.

During reversing, a second brushless direct current speed reducing motor (9) drives a main speed change gear control shaft to rotate through a second small belt wheel (11), a first synchronous belt (3) and a first large belt wheel (4), a swing lever on the main speed change gear control shaft (1) drives first-gear and R-gear shifting forks positioned in a gearbox, so that the first-gear and R-gear shifting fork shafts are driven to move back and forth to realize reversing operation, a second throttle opening sensor (16) is used for acquiring the rotation angle of the main speed change gear control shaft (1), when the main speed change gear control shaft (1) rotates to a certain angle, the first-gear and R-gear shifting forks move to corresponding gear positions, the second brushless direct current speed reducing motor (9) stops rotating, and reversing operation is completed; during gear shifting, a first brushless direct current speed reducing motor (8) drives an auxiliary speed change gear control shaft to rotate through a first small belt wheel (7), a second synchronous belt (5) and a second large belt wheel (6), a swing lever on the auxiliary speed change gear control shaft (2) drives a high-gear shifting fork and a low-gear shifting fork which are located inside a gearbox, so that the high-gear shifting fork and the low-gear shifting fork are driven to move back and forth to achieve reversing operation, a first throttle opening sensor (15) is used for acquiring the rotation angle of the auxiliary speed change gear control shaft (2), when the auxiliary speed change gear control shaft (2) rotates to a certain angle, the high-gear shifting fork and the low-gear shifting fork move to corresponding gear positions, and a second brushless direct current speed reducing motor (9) stops rotating to complete gear shifting operation.

Compared with the prior art, the invention has the following advantages:

the automatic degree of unit orchard operation is improved, after the system is adopted, an operator can use the remote control to control the unit to shift gears and change directions, complete separation of man and machine in the orchard unit operation process is realized, the safety of the operator is guaranteed, the operation convenience is improved, an autonomous navigation device is additionally arranged on a follow-up orchard multifunctional power chassis, and favorable conditions are provided for unmanned orchard operation.

The invention provides an electric control speed change system of an orchard multifunctional power chassis, which has the advantages of simple structure and low cost, can be installed by simply transforming the original manual transmission operating mechanism of a small tractor, and has certain popularization value.

Description of the drawings:

FIG. 1 is a schematic diagram of the overall configuration of the shift actuator of the present invention;

FIG. 2 is a schematic view of the internal structure of the shift actuator of the present invention;

FIG. 3 is a schematic diagram of the core mechanism of the shift actuator of the present invention;

FIG. 4 is a schematic diagram of a clutch actuator of the present invention;

FIG. 5 is a circuit diagram of a control system of the present invention;

wherein: 1-main gear shift control shaft; 2-auxiliary gear shift control shaft; 3-a first synchronous belt; 4-a large belt wheel; 5-a second synchronous belt; 6-second large belt wheel; 7-a small belt pulley; 8-a brushless direct current speed reducing motor; 9-a brushless direct current speed reducing motor; 10-a motor support; 11-number two small belt wheel; 12-a box body; 13-box end cover; 14-a vehicle body; 15-a throttle opening sensor; 16-second throttle opening sensor; 17-a frame; 18-a first base; 19-clutch fork ejector rod; 20-clutch operating handle; 21-an electric push rod; 22-base number two; 23-CAN bus; 24-TCU controller; 25-a dc motor drive board; 26-a brushless dc motor drive board; 27-a second brushless DC motor drive board; 28-electric putter encoder.

The specific implementation mode is as follows:

the present invention will be further described with reference to the accompanying drawings.

As shown in fig. 1-5, an orchard multifunctional power chassis electric control speed change system mainly comprises a gear shift execution mechanism, a clutch execution mechanism and a control system, wherein the gear shift execution mechanism mainly comprises a main gear shift control shaft (1), an auxiliary gear shift control shaft (2), a first synchronous belt (3), a first large belt wheel (4), a second synchronous belt (5), a second large belt wheel (6), a first small belt wheel (7), a first brushless direct current speed reduction motor (8), a second brushless direct current speed reduction motor (9), a motor support (10), a second small belt wheel (11), a box body (12) and a box body end cover (13); the method is characterized in that: the box (12) is fixed on the vehicle body (14) through threaded connection, the motor support (10) is fixed on the box (12) through threaded connection, a brushless direct current speed reducing motor (8) and a brushless direct current speed reducing motor (9) are fixed on the motor support (10) through threaded connection, a small belt wheel (7) and a small belt wheel (11) are respectively connected with transmission shafts of the brushless direct current speed reducing motor (8) and the brushless direct current speed reducing motor (9) through jackscrews, a large belt wheel (4) and a large belt wheel (6) are connected with the small belt wheel (11) and the small belt wheel (7) through a synchronous belt (3) and a synchronous belt (5), the large belt wheel (4) is connected with the main speed change gear control shaft (1) through jackscrews, and the large belt wheel (6) is connected with the auxiliary speed change gear control shaft (2) through jackscrews.

Clutch actuating mechanism mainly includes frame (17), a base (18), clutch shift fork ejector pin (19), clutch operating handle (20), electric putter (21), its characterized in that: the novel bicycle is characterized by comprising a second base (22), the second base (22) is fixed on a bicycle frame (17) through bolts, an electric push rod (21) is connected with the second base (22) through a pin shaft, a clutch control handle (20) is connected with the electric push rod (21) through a pin shaft, a first base (18) is fixed on the bicycle frame (17) through bolts, the clutch control handle (20) is connected with the first base (18) through a pin shaft, and a clutch shifting fork ejector rod (19) is connected with the clutch control handle (20) through a pin shaft.

The control system mainly comprises a CAN bus (23), a TCU controller (24), a direct current motor drive board (25), a first brushless direct current motor drive board (26), a second brushless direct current motor drive board (27), a first throttle opening sensor (15), a second throttle opening sensor (16) and an electric push rod encoder (28); the method is characterized in that: the CAN bus (23) is connected with the TCU controller (24), the TCU controller (24) is connected with the direct current motor drive board (25), the first brushless direct current motor drive board (26), the second brushless direct current motor drive board (27), the first throttle opening sensor (15), the second throttle opening sensor (16) and the electric push rod encoder (28).

Automatically controlled speed change system of multi-functional power chassis in orchard mainly includes gear shift actuating mechanism and control system, its characterized in that: the direct current motor drive plate (25) is connected with an electric push rod (21), the first brushless direct current motor drive plate (26), the second brushless direct current motor drive plate (27) is respectively connected with the first brushless direct current speed reducing motor (8) and the second brushless direct current speed reducing motor (9), the first throttle opening sensor (15) is fixed on the box body end cover (13) through screws and is connected with the main gear control shaft (1), and the second throttle opening sensor (16) is fixed on the box body end cover (13) through screws and is connected with the auxiliary gear control shaft (2).

According to the multifunctional power chassis electric control speed change system for the orchard, the TCU controller (24) receives a command from the CAN bus (23), when the TCU controller (24) receives a reversing command, the TCU controller (24) judges a current main speed change gear according to an angular displacement signal of the first throttle opening sensor (15), and if the current main speed change gear is not at a target gear, the TCU controller (24) executes the reversing command; if the current main gear is in the target gear, the TCU controller (24) does not execute a reversing instruction; when executing a reversing instruction, a TCU controller (24) firstly sends a motor steering control instruction and a rotating speed control instruction to a direct current motor drive plate (25) to control an electric push rod (21) to extend out, an electric push rod encoder (28) detects the extending displacement of the electric push rod (21) in real time during the period, when the electric push rod (21) extends out to a certain displacement to completely separate a clutch, the TCU controller (24) sends a stop instruction to the direct current motor drive plate (25) to stop the electric push rod (21), then the TCU controller (24) sends a motor steering and rotating speed control instruction to a second brushless direct current motor drive plate (27) to control a second direct current speed reducing motor (9) to rotate at a certain speed, a first throttle opening sensor (15) detects the rotating angle of a main speed change gear control shaft (1) in real time during the period, and when the main speed change gear control shaft (1) rotates to the angle corresponding to a target gear, the TCU controller (24) sends a stop instruction to the second brushless direct current motor driving plate (27), the second brushless direct current speed reduction motor (9) stops rotating, then the TCU controller (24) sends a steering and rotating speed control instruction to the direct current motor driving plate (25), the electric push rod (21) is controlled to retract at a certain speed, the electric push rod encoder (28) detects the displacement of the electric push rod (21) in real time during the period, and after the electric push rod (21) retracts completely, the clutch is engaged to complete reversing.

Similarly, when the TCU controller (24) receives a speed change command, the TCU controller (24) judges the current auxiliary speed change gear according to an angular displacement signal of the second throttle opening sensor (16), and if the current auxiliary speed change gear is not in the target gear, the TCU controller (24) executes the speed change command; if the current main gear is in the target gear, the TCU controller (24) does not execute a gear shifting command; when executing a gear shifting command, a TCU controller (24) firstly sends a motor steering control command and a rotating speed control command to a direct current motor drive plate (25) to control an electric push rod (21) to extend out, an electric push rod encoder (28) detects the extending displacement of the electric push rod (21) in real time during the period, when the electric push rod (21) extends out to a certain displacement to completely separate a clutch, the TCU controller (24) sends a stop command to the direct current motor drive plate (25) to stop the electric push rod (21), then the TCU controller (24) sends the motor steering and rotating speed control commands to a first brushless direct current motor drive plate (26) to control a first brushless direct current speed reducing motor (8) to rotate at a certain speed, a second throttle opening sensor (16) detects the rotating angle of an auxiliary gear control shaft (2) in real time during the period, and when the auxiliary gear control shaft (2) rotates to the angle corresponding to a target gear, the TCU controller (24) sends a stop command to the first brushless direct current motor driving plate (26), the first brushless direct current speed reducing motor (8) stops rotating, then the TCU controller (24) sends a steering and rotating speed control command to the direct current motor driving plate (25), the electric push rod (21) is controlled to retract at a certain speed, the electric push rod encoder (28) detects the displacement of the electric push rod (21) in real time during the period, and after the electric push rod (21) retracts completely, the clutch is engaged to complete gear shifting.

When the clutch is separated, the electric push rod (21) extends out, the clutch control handle (20) is pushed to move, the acting force of the electric push rod (21) is transmitted to the clutch shifting fork ejector rod (19) through the clutch control handle (20), the clutch separation shifting fork is pushed to move, after the electric push rod (21) extends out for a certain length, the clutch is completely separated, and the electric push rod (21) stops moving; when the clutch is engaged, the electric push rod (21) retracts at a certain speed, the clutch operating handle is pulled to move (21), the clutch operating handle (21) pulls the clutch shifting fork ejector rod (19) to move reversely, and the clutch is engaged stably at a certain speed.

During the switching-over, No. two brushless DC gear motor (9) are through No. two little band pulley (11), synchronous belt (3) and big band pulley (4) drive the rotation of main gear shift control shaft, swing lever on main gear shift control shaft (1) drives I shelves, the R shelves shift fork that is located the gearbox inside, thereby drive I shelves, R shelves shift fork axle back-and-forth movement, realize the switching-over manipulation, No. two throttle valve opening sensor (16) are used for acquireing main gear shift control shaft (1) rotation angle, when main gear shift control shaft (1) rotates to certain angle, I shelves, R shelves shift fork move to the gear position that corresponds, No. two brushless DC gear motor (9) stall, accomplish the switching-over manipulation. During gear shifting, a first brushless direct current speed reducing motor (8) drives an auxiliary speed change gear control shaft to rotate through a first small belt wheel (7), a second synchronous belt (5) and a second large belt wheel (6), a swing lever on the auxiliary speed change gear control shaft (2) drives a high-gear shifting fork and a low-gear shifting fork which are located inside a gearbox, so that the high-gear shifting fork and the low-gear shifting fork are driven to move back and forth to achieve reversing operation, a first throttle opening sensor (15) is used for acquiring the rotation angle of the auxiliary speed change gear control shaft (2), when the auxiliary speed change gear control shaft (2) rotates to a certain angle, the high-gear shifting fork and the low-gear shifting fork move to corresponding gear positions, and a second brushless direct current speed reducing motor (9) stops rotating to complete gear shifting operation.

The multifunctional power chassis selects a 1GZL-1200 type crawler tractor, a main gear of the tractor has four gears which are respectively a first gear, a second gear, a third gear, a R gear (reverse gear), an auxiliary gear has 2 gears which are respectively a H gear (high gear) and an L gear (low gear), main gear positions are distributed in an H shape, wherein the first gear and the R gear are on the same side, the auxiliary gear H and the L gear are distributed on a straight line, and the orchard operation has low requirement on the driving speed change range of the tractor The tractors with the same specification are basically consistent, so the orchard multifunctional power chassis electric control speed change system provided by the invention can be installed on other common small tractors with the same specification and horsepower as 1GZL-1200 on the market by slightly changing the sizes of the gear shift control mechanism and the clutch control mechanism.

The transmission of gear shifting and reversing instructions is realized through the CAN bus, so that wiring harnesses required by instruction transmission are effectively reduced, the reliability and flexibility of a system are improved, and the wiring cost is saved.

The HSC450 programmable controller is selected as the TCU controller, so that the stability and the reliability of the system are further improved.

The angular displacement of the main and auxiliary speed change control shafts is measured by a throttle opening sensor. Compared with a common angular displacement sensor for measurement, the throttle opening sensor has the advantages of good protective performance, low cost, higher measurement precision and higher applicability to orchard multifunctional power chassis with severe working environment.

An MK692 type direct current motor drive plate is selected, the electric push rod can be controlled to stretch and contract through high-ground level conversion of two I/O ports, and the speed of the electric push rod is adjusted through adjusting the PWM duty ratio.

An XD-WS37GB3650 direct current brushless motor driving board is selected, the direct current brushless motor positive and negative rotation control can be realized through high-ground level conversion of an I/O port, and the rotating speed of the motor is adjusted by adjusting the PWM duty ratio.

The YMD-608A electric push rod is used for controlling the clutch to be disengaged, and an electric push rod encoder is integrated in the YMD-608A electric push rod and used for measuring the displacement of the electric push rod.

The foregoing description of the invention is illustrative and not restrictive, and it will be understood by those skilled in the art that various changes, modifications and equivalents may be made therein without departing from the spirit and scope of the invention as defined in the appended claims.