阅读说明：本技术 一种电动拖拉机自动换挡装置及控制方法 (Automatic gear shifting device of electric tractor and control method ) 是由 蔡玉丹 张丹枫 黄小明 王鹏 王云飞 黄胜操 于 2019-11-20 设计创作，主要内容包括：本发明公开了一种电动拖拉机自动换挡装置及控制方法,包括遥控器屏幕、遥控器主芯片、发射单元、接收机、控制单元VCU、H桥、执行机构电推杆、压力传感器和档杆,执行机构电推杆与档杆相连且两者之间设有压力传感器,所述遥控器屏幕的输出端与遥控器主芯片的输入端电连接,遥控器主芯片的输出端与发射单元的输入端电连接,发射单元的输出端与接收机的输入端电连接,接收机的输出端与控制单元VCU的输入端双向连接,控制单元VCU的输出端与H桥的输入端电连接,本电动拖拉机自动换挡装置及控制方法可以实现精确换挡,执行效率高,错误率低,可以有效减少执行错误导致的故障,顺利完成换挡作业。(The invention discloses an automatic gear shifting device and a control method of an electric tractor, which comprises a remote controller screen, a remote controller main chip, a transmitting unit, a receiver, a control unit VCU, an H bridge, an actuating mechanism electric push rod, a pressure sensor and a stop rod, wherein the actuating mechanism electric push rod is connected with the stop rod, the pressure sensor is arranged between the actuating mechanism electric push rod and the stop rod, the output end of the remote controller screen is electrically connected with the input end of the remote controller main chip, the output end of the remote controller main chip is electrically connected with the input end of the transmitting unit, the output end of the transmitting unit is electrically connected with the input end of the receiver, the output end of the receiver is bidirectionally connected with the input end of the control unit VCU, and the output end of the control unit VCU is electrically connected with the input end of the H bridge, and the gear shifting operation is smoothly completed.)

1. The utility model provides an electric tractor automatic gear shifting device which characterized in that: comprises a remote controller screen, a remote controller main chip, a transmitting unit, a receiver, a control unit VCU, an H bridge, an actuating mechanism electric push rod (4) and a baffle rod (3), wherein the actuating mechanism electric push rod (4) is connected with the baffle rod (3) and a pressure sensor (1) is arranged between the two, the output end of the remote controller screen is electrically connected with the input end of a remote controller main chip, the output end of the remote controller main chip is electrically connected with the input end of a transmitting unit, the output end of the transmitting unit is electrically connected with the input end of a receiver, the output end of the receiver is bidirectionally connected with the input end of a control unit VCU, the output end of the control unit VCU is electrically connected with the input end of an H bridge, the output end of the H bridge is electrically connected with the input end of an actuating mechanism electric push rod (4), the output end of the actuating mechanism electric push rod (4) is electrically connected with the input end of a stop lever (3), and a pressure sensor (1) is bidirectionally connected.

2. The electric tractor automatic shifting apparatus of claim 1, wherein: the remote controller screen sends a gear instruction, the remote controller main chip sends gear information according to a specified communication protocol format through the remote controller sending unit, the receiver is responsible for ensuring normal communication between the remote controller and the control unit VCU, after the control unit VCU receives the gear information, a gear shifting program IN the VCU controller controls contraction and extension of the electric push rod (4) of the executing mechanism through output ends IN1 and IN2 of an H bridge, when the output IN1 of the H bridge is equal to 1, when IN2 is equal to 0, the electric push rod (4) of the executing mechanism is extended, when the output IN1 of the H bridge is equal to 0, and when IN2 is equal to 0, the electric push rod (4) of the executing mechanism stops acting, when the output IN1 of the H bridge is equal to 0, and when IN2 is equal to 1, the electric push rod (4) of the executing mechanism contracts.

3. The electric tractor automatic shifting apparatus of claim 1, wherein: the output signal of the pressure sensor (1) is a voltage signal.

4. The electric tractor automatic shifting apparatus according to claim 1 or 2, characterized in that: and a fixed steel sheet (2) consistent with the movement direction of the actuating mechanism electric push rod (4) is arranged on the outer side surface of the actuating mechanism electric push rod.

5. The control method of the electric tractor automatic shifting apparatus according to claim 1, characterized in that: the method comprises the following steps:

s1): receiving a remote controller control instruction, and entering step S2;

s2): if the remote controller control command is high gear, the step S3 is carried out, if the remote controller control command is low gear, the step S4 is carried out, and if the remote controller control command is stop, the step S5 is carried out;

s3): confirming whether the gear shifting is needed, if yes, entering the step S6, and if not, returning to the step S5;

s4): confirming whether the gear is to be shifted down, if yes, entering step S7, and if no, returning to step S5;

s5): confirming whether the gear shifting is to be stopped, if so, entering step S8, and if not, entering S3 or S4;

s6): judging whether the pressure value given by the current pressure sensor is smaller than the maximum set pressure value, if so, entering step S9, and if not, entering step S8;

s7): judging whether the pressure value given by the current pressure sensor is larger than the minimum set pressure value, if so, entering step S10, and if not, entering step S8;

s8): the H-bridge outputs a command IN1 being 0 and IN2 being 0, the actuator electric push rod is not actuated, and the process proceeds to step S11;

s9): the H bridge outputs an instruction that IN1 is 1 and IN2 is 0, and the electric push rod of the actuating mechanism extends to push the gear to the high gear;

s10): the H bridge outputs an instruction that IN1 is equal to 0, IN2 is equal to 1, the electric push rod of the actuating mechanism contracts, and the gear is pulled to be low;

s11): and ending the control gear shifting command.

Technical Field

The invention relates to the technical field of electric tractors, in particular to an automatic gear shifting device of an electric tractor and a control method.

Background

The gear shifting device of the existing tractor is usually characterized in that a transverse driving device is fixed on a mudguard of a cab, a guide rail is mounted on the surface of the tractor, one end of a longitudinal driving device is mounted in a sliding groove, and automatic gear shifting is realized through the matching of the longitudinal driving device and the transverse driving device.

Along with the national requirements and popularization of agricultural mechanization, the intelligent requirements of farmers on agricultural machinery are increased, the demand of the agricultural machinery is also increased, the national requirements are for the rapid development of agriculture, and the agricultural machinery equipment is promoted to move towards the direction of intellectualization, informatization and modernization. Most of domestic unmanned tractors still have a cab, and yet aiming at the unmanned electric tractors without the cab, on the premise of not changing the design of the original gear shifting mechanism, the rapidness and the accuracy of remote control gear shifting need to be ensured, and the probability of failure in the gear shifting process is reduced.

Disclosure of Invention

The invention aims to overcome the defects in the prior art and provides an automatic gear shifting and gear shifting fault detection method for an electric tractor.

In order to achieve the purpose, the invention provides the following technical scheme: an automatic gear shifting device of an electric tractor comprises a remote controller screen, a remote controller main chip, a transmitting unit, a receiver, a control unit VCU, an H bridge, an actuating mechanism electric push rod, a pressure sensor and a stop lever, wherein the actuating mechanism electric push rod is connected with the stop lever, the pressure sensor is arranged between the actuating mechanism electric push rod and the stop lever, the output end of the remote controller screen is electrically connected with the input end of the remote controller main chip, the output end of the remote controller main chip is electrically connected with the input end of the transmitting unit, the output end of the transmitting unit is electrically connected with the input end of the receiver, the output end of the receiver is bidirectionally connected with the input end of the control unit VCU, the output end of the control unit VCU is electrically connected with the input end of the H bridge, the output end of the H bridge is electrically connected with the input end of the electric push rod of the actuating mechanism, the output end of the electric push rod of the actuating mechanism is electrically connected with the input end of the stop lever, and.

As a preferred embodiment of the present invention, the remote controller screen sends a shift command, the remote controller main chip sends shift information according to a predetermined communication protocol format through the remote controller sending unit, the receiver is responsible for ensuring normal communication between the remote controller and the control unit VCU, after the control unit VCU receives the shift information, the shift program IN the VCU controller controls contraction and extension of the actuator electric push rod through the output terminals IN1 and IN2 of the H bridge, when the H bridge output IN1 is equal to 1 and IN2 is equal to 0, the actuator electric push rod extends, the H bridge output IN1 is equal to 0 and IN2 is equal to 0, the actuator electric push rod stops operating, when the H bridge output IN1 is equal to 0 and IN2 is equal to 1, the actuator electric push rod contracts.

As a preferable technical solution of the present invention, the output signal of the pressure sensor is a voltage signal.

As a preferable technical scheme of the invention, the outer side surface of the electric push rod of the actuating mechanism is provided with a fixed steel sheet consistent with the movement direction of the electric push rod.

A control method of an automatic gear shifting device of an electric tractor comprises the following steps:

s1): receiving a remote controller control instruction, and entering step S2;

s2): if the remote controller control command is high gear, the step S3 is carried out, if the remote controller control command is low gear, the step S4 is carried out, and if the remote controller control command is stop, the step S5 is carried out;

s3): confirming whether the gear shifting is needed, if yes, entering the step S6, and if not, returning to the step S5;

s4): confirming whether the gear is to be shifted down, if yes, entering step S7, and if no, returning to step S5;

s5): confirming whether the gear shifting is to be stopped, if so, entering step S8, and if not, entering S3 or S4;

s6): judging whether the pressure value given by the current pressure sensor is smaller than the maximum set pressure value, if so, entering step S9, and if not, entering step S8;

s7): judging whether the pressure value given by the current pressure sensor is larger than the minimum set pressure value, if so, entering step S10, and if not, entering step S8;

s8): the H-bridge outputs a command IN1 being 0 and IN2 being 0, the actuator electric push rod is not actuated, and the process proceeds to step S11;

s9): the H bridge outputs an instruction that IN1 is 1 and IN2 is 0, and the electric push rod of the actuating mechanism extends to push the gear to the high gear;

s10): the H bridge outputs an instruction that IN1 is equal to 0, IN2 is equal to 1, the electric push rod of the actuating mechanism contracts, and the gear is pulled to be low;

s11): and ending the control gear shifting command.

Compared with the prior art, the invention has the beneficial effects that: according to the automatic gear shifting method of the electric tractor, the high gear and the low gear are controlled by the electric push rod of the control execution mechanism, automatic gear shifting can be completed only by stretching the electric push rod back and forth, the failure rate in the gear shifting process is reduced, meanwhile, the gear shifting time is reduced by electric control gear shifting, the remote control of the vehicle gears of the electric tractor is facilitated, the gear shifting logic is completely realized by the control logic in the VCU controller, the execution efficiency is high, the error rate is low, and the faults caused by execution errors can be effectively reduced.

Drawings

FIG. 1 is a schematic view of an automatic shifting configuration of the present invention;

FIG. 2 is a flow chart of an automatic shift control method of the present invention;

FIG. 3 is a schematic flow chart of the automatic shift strategy of the present invention.

In the figure: 1 pressure sensor, 2 fixed steel sheet, 3 shelves pole, 4 actuating mechanism electric push rods.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-3, example 1:

the electric tractor is characterized IN that an electric push rod 4 of an initial actuating mechanism of the electric tractor is IN a contracted state, namely, a gear is IN a low gear, a high-gear shifting instruction is sent through a remote controller, at the moment, a main chip of the remote controller sends high-gear information through a sending unit of the remote controller according to a specified communication protocol format, a receiver is IN charge of ensuring normal communication between the remote controller and a control unit VCU, after the control unit VCU receives the shifting information, a shifting program IN the VCU controller controls the electric push rod 4 of the actuating mechanism to extend through output ends IN1 and IN2 of an H bridge, IN1 is equal to 1, IN2 is equal to 0, the electric push rod 4 of the actuating mechanism extends until the electric push rod 4 of the actuating mechanism extends to the maximum length and just reaches the high gear, and if a gear lever; if the gear lever 3 is blocked or the electric push rod is locked, the value of a pressure sensor 1 at the top end of an electric push rod 4 of the executing mechanism is increased all the time at the moment, if the pressure value exceeds the MAX value, the gear shifting fault is caused, the electric push rod stops moving, at the moment, a low gear is selected on a screen of a remote controller, the electric push rod 4 of the executing mechanism receives a command of contraction, the electric push rod contracts backwards, a high gear is selected again, the electric push rod 4 of the executing mechanism continues to extend, if the gear shifting is locked, the actions are repeated for a plurality of times, the electric push rod works normally, and the gear shifting is completed, wherein a fixed steel sheet 2 consistent with the moving direction of the outer side face of the electric push rod 4 of the executing mechanism is arranged on the outer side face.