A small electric intelligent driving tractor

Abstract

The present invention discloses a small electric intelligent driving tractor, comprising a simple chassis system, a body and electrical equipment, a control system, and auxiliary equipment, wherein the simple chassis system is mainly composed of an electric steering system, an electric drive system, an electric braking system, a simple driving system, and an electric towing and lifting system; the body and electrical equipment are mainly composed of a body, a lighting and signal device, a windshield cleaning device, and an alarm device; the control system is mainly composed of a simple power supply system, a controller group, a voice control module, a button control module, and a full-automatic driving module; the small electric intelligent driving tractor can adapt to the field of full-automatic driving and semi-automatic driving, further ensure the operation safety after a full-automatic driving failure, meet the operation needs of different groups of people, and can perform farming tasks such as ploughing, sowing, harvesting, and picking in various terrains such as plains, hills, and mountains.

Description

Technical Field

[0001] The present invention relates to a small electric intelligent driving tractor, which is particularly suitable for operation in various terrains such as plains, hills, and mountains, and can be used in conjunction with corresponding agricultural equipment to implement operations such as ploughing, sowing, fertilizing, spraying, and picking. Background Art

[0002] In order to improve production efficiency, reduce health impacts and enhance environmental protection, tractors are developing towards intelligence.

[0003] The inventors found in the process of implementing the present invention that:

[0004] In order to achieve the above goals, patent application number CN110531764A records an unmanned tractor control system and control method, including a satellite positioning module, an environmental perception module, a remote control intervention module, a cloud platform module, a path planning module, a decision control module and a safety module. On the basis of fully automatic driving, retaining a semi-automatic driving module operated by personnel can further improve safety. However, the corresponding solution is engine-driven, which is highly polluting, noisy, and difficult to control, and has not yet gotten rid of the limitations of traditional technology. In addition, the cost of using laser radar, camera, millimeter-wave radar, and corresponding environmental perception and positioning solutions based on differential global positioning systems is relatively high.

[0005] For example, patent application number CN201910360923.0 discloses an intelligent tractor field obstacle avoidance control system and method, including a central processing module, an image acquisition component, a throttle control valve shutdown control component and an electric brake control component. The solution combining real-time camera equipment with a simple depth ranging algorithm can reduce costs, but the solution can only achieve assisted driving and requires manual operation.

[0006] In order to reduce environmental pollution, vibration and noise, patent CN207443376U records a small electric tractor, including a frame, an electric drive transmission system, a sowing device and a soil turning device. This structure can realize automatic operations of loosening, sowing and covering the soil, and can overcome the problems of diesel engine vibration, noise and pollution, but it still needs manual operation.

[0007] According to the solution disclosed in the above patent, traditional power tractors can already achieve fully automatic driving and remote control, and electric-driven tractors can reduce noise and pollution, but there is no perfect technical solution that takes into account the five aspects of efficiency, safety, convenience, cost, and environmental protection. Therefore, the present invention provides a small electric intelligent driving tractor that preferentially achieves fully automatic driving, integrates voice control and button control semi-automatic functions, meets the operating needs of various personnel, and fully guarantees the operating safety after a fully automatic driving failure. Summary of the invention

[0008] The present invention provides a small electric intelligent driving tractor related structure, which can realize electric drive, electric steering, electric braking, electric power output clutch, electric auxiliary equipment lifting functions, and integrates full automatic driving and semi-automatic driving modules. The full automatic driving module can automatically complete field operation tasks, and the voice control and button control semi-automatic functions can ensure the operation safety after the full automatic driving module fails, and can adapt to the operation needs of different groups of people. Further matching the electric clutch and electric towing and lifting system with the corresponding operation equipment, the small electric intelligent driving tractor can perform farming tasks such as ploughing, sowing, harvesting, picking, etc. in various terrains such as plains, hills, and mountains.

[0009] To achieve the above objectives, the technical solution adopted by the present invention is:

[0010] A small electric intelligent driving tractor, including a chassis system, a body and electrical equipment, a control system, and auxiliary equipment, characterized in that:

[0011] The chassis system includes a simple driving system and integrates an electric steering system, an electric drive system, an electric brake system and an electric towing and lifting system, wherein the electric towing and lifting system is used to connect auxiliary equipment;

[0012] The control system includes a remote controller, a simple power supply system installed in the vehicle body and a controller group connected to the simple power supply system, a voice control module, a button control module and a fully automatic driving module. The voice control module, the button control module and the fully automatic driving module control the electric steering system, the electric drive system, the electric braking system, the simple driving system and the electric towing and lifting system through the controller group to realize the functions of starting, moving forward, moving backward, steering, braking, opening and closing the power output of the auxiliary equipment, lifting and lowering the auxiliary equipment of the intelligent driving tractor;

[0013] During normal use, among the three modes of voice control, button control and fully automatic driving, the fully automatic driving mode is given priority. When a fully automatic driving failure occurs, button remote control and voice control are used to intervene to ensure safety and meet different needs.

[0014] Preferably, the electric steering system is arranged in a left-right symmetrical manner, including a steering motor, a steering tie rod with a rack in the middle, a left steering trapezoidal arm, a right steering trapezoidal arm, a left steering knuckle, a right steering knuckle, a steering tie rod sleeve, a first locating bearing of the steering motor and a second locating bearing of the steering motor, wherein: the power output end of the steering motor is installed in the vertical direction of the steering tie rod through the first locating bearing of the steering motor and the second locating bearing of the steering motor, and is meshed with the rack of the steering tie rod through the steering motor output gear arranged on the power output end, the two ends of the steering tie rod are respectively connected to the left steering trapezoidal arm and the right steering trapezoidal arm, the left steering knuckle is connected to the left steering trapezoidal arm, the right steering knuckle is connected to the right steering trapezoidal arm, and the left steering knuckle and the right steering knuckle are connected through a steering bridge. Based on this arrangement, the steering tie rod can be controlled to move left and right by the output torque of the steering motor to realize electric steering. In addition, this arrangement is simple in structure and easy to implement, and the motor output torque can be increased by adding a deceleration and distance increasing device.

[0015] Preferably, the electric drive system is arranged at the middle and rear part of the frame, and includes a drive motor, a reducer, a differential, a left half shaft, a right half shaft, a power output clutch body and a power output clutch operating mechanism. The power output clutch body includes a clutch housing, a clutch active part, a clutch driven part, a clutch clamping mechanism and a clutch mounting frame. The power output clutch operating mechanism includes a clutch operating motor, a clutch operating motor output gear, a clutch operating motor transmission gear with an internal thread, a clutch electric control push rod with an external thread and a clutch operating mechanism housing. The power output clutch body can output power to auxiliary equipment, and the power output clutch operating mechanism can open and close the power output, wherein:

[0016] The drive motor is installed on the vehicle frame through the drive motor frame, the drive motor is connected to the reducer, the differential arranged in the reducer housing is connected to the reducer, and the left half shaft and the right half shaft are respectively connected to the differential;

[0017] The clutch housing is mounted on the rear end face of the clutch mounting frame located in the reducer housing, the clutch active part in the clutch housing is connected to the reducer, the clutch driven part is engaged with the clutch active part, and the clutch pressing mechanism is connected to the clutch driven part;

[0018] The clutch operating mechanism housing is installed on the top surface of the clutch mounting frame, the clutch operating motor is installed on the clutch operating mechanism housing, the clutch operating motor output gear installed on the clutch operating motor is located in the clutch operating mechanism housing and meshes with the clutch operating motor transmission gear, the inner end of the clutch electric control push rod is inserted into the clutch operating mechanism housing and is threadedly connected to the clutch operating motor transmission gear through its external thread, and the outer end of the clutch electric control push rod is connected to the clutch clamping mechanism. This arrangement makes the center of gravity of the vehicle body in the middle of the vehicle body, reducing the risk of the head rising when installing auxiliary equipment. Secondly, there are fewer parts and a compact structure, and it can prevent environmental factors such as mud and dust from affecting the differential, clutch, and clutch operating mechanism. In addition, the arrangement in which the clutch operating mechanism housing and the clutch housing are both installed on the clutch mounting frame reduces the interference and wear of the electric clutch system when the vehicle body vibrates.

[0019] Preferably, the electric brake system is installed in the middle of the frame, including a brake operating mechanism, a left front brake, a left rear brake, a right front brake, a right rear brake and a brake cable, and the brake operating mechanism includes a brake operating motor, a brake motor output gear, a brake motor transmission gear with an internal thread, a brake electric control push rod with an external thread and a brake operating mechanism housing, wherein:

[0020] The brake operating mechanism housing is installed on the brake operating mechanism mounting frame, the brake operating motor is installed on the brake operating mechanism housing, the brake motor output gear installed on the brake operating motor is located in the brake operating mechanism housing and meshes with the brake motor transmission gear, the inner end of the brake electric control push rod is inserted into the brake operating mechanism housing and is threadedly connected with the brake motor transmission gear through its external thread, the outer end of the brake electric control push rod is connected to the brake cable, the brake cable is respectively connected to the left front brake, the left rear brake, the right front brake, and the right rear brake, the left front brake and the left rear brake are respectively installed on the left steering knuckle and the left steering knuckle, and the left rear brake and the right rear brake are respectively installed on both sides of the drive axle housing. The left front brake, the left rear brake, the right front brake, and the right rear brake can be preferably but not limited to hydraulic brakes. The transmission method through the brake cable is easy to arrange and has a simple structure.

[0021] Preferably, the simple travel system comprises a frame, guide wheels, drive wheels, front suspension, rear suspension, steering axle and drive axle, the frame comprises a front crossbeam, a front suspension mounting frame, a steering motor fixing frame, a brake operating mechanism mounting frame, a drive motor frame, a rear suspension mounting frame and a three-point suspension mounting frame, wherein:

[0022] The front suspension mounting frame is arranged in pairs at the front of the frame and has a certain guiding function. The upper and lower ends of the front suspension are respectively connected to the front suspension mounting frame and the steering axle. The left and right steering knuckles are connected on both sides of the steering axle. The guide wheels are installed in pairs on the left and right steering knuckles. The upper and lower ends of the rear suspension are respectively connected to the rear suspension mounting frame and the drive axle housing. The drive wheels are installed in pairs on the left and right half shafts passing through the drive axle housing. The front suspension and rear suspension can reduce the vibration of the vehicle body to a certain extent, and provide a more stable working environment for the camera and the pitch and roll sensors. The frame includes a front crossbeam, a front suspension mounting frame, a steering motor fixing frame, a brake operating mechanism mounting frame, a drive motor frame, a rear suspension mounting frame and a three-point suspension mounting frame to facilitate the installation of various subsystems of the vehicle body.

[0023] Preferably, the electric towing lifting system comprises a three-point suspension control mechanism, a three-point suspension driven rod, a three-point suspension lifting arm, a three-point suspension lower rod, a three-point suspension upper rod and a three-point suspension frame, wherein the three-point suspension control mechanism comprises a three-point suspension control motor, a three-point suspension motor output gear, a three-point suspension motor transmission gear with an internal thread, a three-point suspension electric control push rod with an external thread and a three-point suspension control mechanism housing, wherein:

[0024] The three-point suspension frame is installed on the three-point suspension mounting frame. The three-point suspension upper rod is hinged in the middle of the upper end surface of the three-point suspension frame and plays a certain positioning role. The three-point suspension driven rods are hinged in pairs on both sides of the upper part of the three-point suspension frame. The three-point suspension lower rods are hinged in pairs on both sides of the lower part of the three-point suspension frame. The upper and lower ends of the three-point suspension lifting arm are respectively hinged to the end of the three-point suspension driven rod and the middle of the three-point suspension lower rod. The auxiliary equipment is respectively connected to the three-point suspension lower rod and the three-point suspension upper rod. The three-point suspension control mechanism is installed in pairs on both sides of the middle of the three-point suspension frame.

[0025] The housing of the three-point suspension control mechanism is installed on the three-point suspension frame, the three-point suspension control motor is installed on the housing of the three-point suspension control mechanism, the three-point suspension motor output gear installed on the three-point suspension control motor is located in the housing of the three-point suspension control mechanism and meshes with the three-point suspension motor transmission gear, the inner end of the three-point suspension electric control push rod is inserted in the housing of the three-point suspension control mechanism and is threadedly connected to the three-point suspension motor transmission gear through its external thread, and the outer end of the three-point suspension electric control push rod is hinged with the three-point suspension driven rod. When the left and right heights of the auxiliary equipment are inconsistent, the height of the auxiliary equipment can be adjusted by outputting different signals to the two three-point suspension control mechanisms.

[0026] Preferably, the vehicle body and electrical equipment include a vehicle body, a lighting device and a signal device, a windshield cleaning device and an alarm device. The vehicle body includes a vehicle body shell, a front fender, a rear fender and a top cover. The lighting device, the signal device and the alarm device are installed at the front end of the vehicle body shell. The vehicle body shell is installed on the frame and connected to the front crossbeam. The front fenders are installed in pairs on both sides of the vehicle body shell. The rear fenders are installed in pairs on both sides of the rear end of the vehicle body shell and connected to the rear suspension mounting frame. The top cover is installed at the top of the middle part of the vehicle body shell. The windshield cleaning device is installed on the vehicle body shell located below the windshield. The vehicle body shell, the front fender, the rear fender, the top cover and the windshield cleaning device can effectively reduce the impact of environmental factors such as dirt, dust and rain on the control system. The lighting device and the signal device can provide signals to the surroundings when turning and provide the light required by the camera at night. The alarm device can issue reminders to the surroundings when the vehicle body collides, is stolen, etc.

[0027] Preferably, the simple power supply system includes a battery pack, a wiring harness and a distributor, the battery pack is connected to the distributor through the wiring harness, and the distributor is respectively connected to the controller group, the voice control module, the button control module, and the fully automatic driving module;

[0028] The controller group includes a steering motor controller, a drive motor controller, a clutch control motor controller, a brake control motor controller and a three-point suspension control motor controller, the steering motor controller is connected to the steering motor through a wiring harness, the drive motor controller is connected to the drive motor through a wiring harness, the clutch control motor controller is connected to the clutch control motor through a wiring harness, the brake control motor controller is connected to the brake control motor through a wiring harness, and the three-point suspension control motor controller is connected to the three-point suspension control motor through a wiring harness;

[0029] The voice control module includes a voice signal receiving module, a voice recognition module and a voice decision control module, the voice signal receiving module is connected to the voice recognition module through a wiring harness, the voice recognition module is connected to the voice decision control module through a wiring harness, and the voice decision control module is respectively connected to a steering motor controller, a drive motor controller, a clutch control motor controller, a brake control motor controller, a three-point suspension control motor controller, and a full automatic driving module through a wiring harness;

[0030] The key control module includes a key signal receiving module and a key decision control module, the key signal receiving module is connected to the key decision control module through a wiring harness, and the key decision control module is respectively connected to a steering motor controller, a drive motor controller, a clutch control motor controller, a brake control motor controller, a three-point suspension control motor controller, and a full automatic driving module through a wiring harness;

[0031] The fully automatic driving module includes a global positioning module, a camera, a pitch and roll detection sensor, a yaw angular velocity detection sensor, a path planning module and a fully automatic decision control module, wherein: the global positioning module, the pitch and roll detection sensor, and the yaw angular velocity detection sensor are connected to the fully automatic decision control module through a wiring harness, the camera arranged under the top cover is respectively connected to the path planning module and the fully automatic decision control module through a wiring harness, the path planning module and the fully automatic decision control module are connected to each other through a wiring harness, and the fully automatic driving module is respectively connected to the steering motor controller, the drive motor controller, the clutch control motor controller, the brake control motor controller, and the three-point suspension control motor controller through a wiring harness;

[0032] The remote controller includes a voice signal input module, a voice signal transmitting module, a key signal input module and a key signal transmitting module, wherein: the voice signal input module is connected to the voice signal transmitting module through a wiring harness, the voice signal transmitting module is wirelessly connected to the voice signal receiving module, the key signal input module is connected to the key signal transmitting module through a wiring harness, and the key signal transmitting module is wirelessly connected to the key signal receiving module. By connecting the key control module and the voice decision control module to the full automatic driving module respectively, the operator can turn off the full automatic driving mode by key and voice, so as to realize the safety emergency when the full automatic driving mode fails. Secondly, the two control modes of key and voice can further realize the emergency of failure when the other control mode fails. Thirdly, the voice signal transmitting module, the voice signal receiving module, the key signal transmitting module and the key signal receiving module can preferably realize wireless control by means of, but not limited to, infrared, Bluetooth, the Internet, etc., and realize local control in areas without network signals such as mountainous areas. In addition, the key decision control module, the voice decision control module and the full automatic driving module are easy to design and realize by controlling one motor by one controller. Finally, the remote control can be equipped with a display screen and hardware and software, and a communication chip can be installed on the fully automatic decision-making control module to realize functions such as remote monitoring of the vehicle body status and surrounding environment.

[0033] Preferably, the auxiliary equipment is a moldboard plow or a seeder or a harvester or a baler or a cultivator or a mower or a trailer, which can realize multiple functions.

[0034] Beneficial effects: Compared with the prior art, the present invention has the following effects:

[0035] 1. The small electric intelligent driving tractor proposed by the present invention has a simple structure and a small size, and can be widely used in mountainous areas, hills, plains and other areas;

[0036] 2. The present invention adopts motor drive, which can reduce environmental pollution, vibration and noise;

[0037] 3. The present invention can ensure the operation safety after the failure of the fully automatic driving module through voice control and button control, and can adapt to the operation needs of different groups of people;

[0038] 4. The present invention has a small number of sensors, low cost and good market prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0040] Figure 2 It is a structural schematic diagram of the simple chassis system of the present invention.

[0041] Figure 3 It is a schematic diagram of the vehicle body and electrical equipment structure of the present invention.

[0042] Figure 4 It is a partial half-section diagram of the control system of the present invention.

[0043] Figure 5 It is a schematic structural diagram of the electric power steering system of the present invention.

[0044] Figure 6 It is a schematic structural diagram of the electric power steering system of the present invention.

[0045] Figure 7 It is a schematic diagram of the structure of the electric drive system of the present invention.

[0046] Figure 8 It is a schematic diagram of the structure of the electric drive system of the present invention.

[0047] Fig. 9 It is a half-section schematic diagram of the electric drive system of the present invention.

[0048] Fig.10 It is a half-section schematic diagram of the electric drive system of the present invention.

[0049] Fig.11 It is a half-section schematic diagram of the electric drive system of the present invention.

[0050] Fig.12 It is a schematic diagram of the overall structure of the electric brake system of the present invention.

[0051] Fig.13 It is a half-section schematic diagram of the brake operating mechanism of the electric brake system of the present invention.

[0052] Fig.14 It is a schematic diagram of the overall structure of the simple driving system of the present invention.

[0053] Fig.15 It is a partial structural schematic diagram of the simple driving system of the present invention.

[0054] Fig.16 It is a schematic diagram of the frame structure of the simple travel system of the present invention.

[0055] Fig.17 It is a structural schematic diagram of the electric towing lifting system of the present invention.

[0056] Fig.18 It is a semi-sectional view of the three-point suspension control mechanism of the electric towing lifting system of the present invention.

[0057] Fig.19 It is a schematic diagram of the vehicle body shell structure of the present invention.

[0058] Fig. 20 It is a schematic diagram of the control system layout of the present invention.

[0059] Fig.21 It is a partial half-section diagram of the control system of the present invention.

[0060] Fig. 22 It is a partial half-section view of the control system remote controller of the present invention.

[0061] As shown in the figure: simple chassis system A, body and electrical equipment B, control system C, auxiliary equipment D, electric steering system 1, electric drive system 2, electric braking system 3, simple driving system 4, electric towing and lifting system 5, body 6, lighting device and signal device 7, windshield cleaning device 8, alarm device 9, simple power supply system 10, controller group 11, voice control module 12, button control module 13, fully automatic driving module 14, remote control 15, control system housing 16, steering motor 1-1, steering motor output gear 1-1a, steering tie rod 1-2, left steering trapezoidal arm 1-3, right steering trapezoidal arm 1-4, left steering knuckle 1-5, right steering knuckle 1-6, steering tie rod sleeve 1-7, steering motor first positioning Bearing 1-8, second locating bearing 1-9 of steering motor, driving motor 2-1, reducer 2-2, reducer housing 2-2a, differential 2-3, left half shaft 2-4, right half shaft 2-5, power output clutch body 2-6, clutch housing 2-6a, clutch active part 2-6b, clutch driven part 2-6c, clutch clamping mechanism 2-6d, clutch mounting frame 2-6e, power output clutch operating mechanism 2-7, clutch operating motor 2-7a, clutch operating motor output gear 2-7b, clutch operating motor transmission gear 2-7c, clutch electronic control push rod 2-7d, clutch operating mechanism housing 2-7e, brake operating mechanism 3-1, brake operating motor 3-1a, brake motor output gear 3-1b , brake motor transmission gear 3-1c, brake electronic control push rod 3-1d, brake operating mechanism housing 3-1e, left front brake 3-2, left rear brake 3-3, right front brake 3-4, right rear brake 3-5, brake cable 3-6, frame 4-1, front crossbeam 4-1a, front suspension mounting frame 4-1b, steering motor fixing frame 4-1c, brake operating mechanism mounting frame 4-1d, drive motor frame 4-1e, rear suspension mounting frame 4-1f, three-point suspension mounting frame 4-1g, guide wheel 4-2, drive wheel 4-3, front suspension 4-4, rear suspension 4-5, steering axle 4-6, drive axle 4-7, drive axle housing 4-7a, three-point suspension operating mechanism 5-1, three-point suspension operating motor 5-1a, three-point suspension motor output gear 5-1b, three-point suspension motor transmission gear 5-1c, three-point suspension electric control push rod 5-1d, three-point suspension operating mechanism housing 5-1e, three-point suspension driven rod 5-2, three-point suspension lifting arm 5-3, three-point suspension lower pull rod 5-4, three-point suspension upper pull rod 5-5, three-point suspension frame 5-6, body shell 6-1, front fender 6-2, rear fender 6-3, top cover 6-4, battery pack 10-1, wiring harness 10-2, distributor 10-3, steering motor controller 11-1, drive motor controller 11-2, clutch control motor controller 11-3, brake control motor controller 11-4, three-point suspension control motor controller 11-5, voice signal receiving module 12-1, voice recognition module 12-2,Voice decision control module 12-3, key signal receiving module 13-1, key decision control module 13-2, global positioning module 14-1, camera 14-2, pitch and roll detection sensor 14-3, yaw angular velocity detection sensor 14-4, path planning module 14-5, full-automatic decision control module 14-6, voice signal input module 15-1, voice signal transmitting module 15-2, key signal input module 15-3, key signal transmitting module 15-4. DETAILED DESCRIPTION

[0062] The technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings, but this embodiment should not be understood as limiting the present invention.

[0063] like Figure 1 , Figure 2 , Figure 3 , Figure 4 As shown: A small electric intelligent driving tractor, including a simple chassis system A, a body and electrical equipment B, a control system C, and auxiliary equipment D.

[0064] The simple chassis system A is mainly composed of an electric steering system 1, an electric drive system 2, an electric brake system 3, a simple driving system 4, and an electric towing and lifting system 5.

[0065] The vehicle body and electrical equipment B mainly consists of a vehicle body 6, a vehicle body shell 6-1, a lighting device and a signal device 7, a windshield cleaning device 8, and an alarm device 9.

[0066] The control system C is mainly composed of a simple power supply system 10, a controller group 11, a voice control module 12, a button control module 13, a fully automatic driving module 14, and a remote controller 15.

[0067] The accessory equipment D may preferably be a moldboard plow, a seed drill, a harvester, a baler, a cultivator, a mower, or a trailer.

[0068] like Figure 5 , Figure 6 As shown, the electric steering system 1 is symmetrical as a whole, and mainly consists of a steering motor 1-1, a steering tie rod 1-2 with a rack in the middle, a left steering trapezoidal arm 1-3, a right steering trapezoidal arm 1-4, a left steering knuckle 1-5, a right steering knuckle 1-6, a steering tie rod sleeve 1-7, a first locating bearing 1-8 of the steering motor, and a second locating bearing 1-9 of the steering motor.

[0069] The steering tie rod sleeve 1-7 adopts a cross hollow structure and is installed at the front of the frame 4-1. The rack of the steering tie rod 1-2 faces upward and is coaxially nested in the steering tie rod sleeve 1-7 along the left and right directions of the cross hollow structure. The first locating bearing 1-8 of the steering motor and the second locating bearing 1-9 of the steering motor are respectively arranged in front and behind the cross hollow structure of the steering tie rod sleeve 1-7. The power output shaft of the steering motor is passed through the bearing holes of the first locating bearing 1-8 of the steering motor and the second locating bearing 1-9 of the steering motor. The power output shaft is fixed with a steering motor output gear 1-1a meshing with a rack, and the steering motor 1-1 is installed on the frame through a steering motor fixing frame 4-1c; the two ends of the steering tie rod 1-2 with a rack in the middle are respectively connected to the left steering trapezoidal arm 1-3 and the right steering trapezoidal arm 1-4, the left steering knuckle 1-5 is connected to the left steering trapezoidal arm 1-3, the right steering knuckle 1-6 is connected to the right steering trapezoidal arm 1-4, and the left steering knuckle 1-5 and the right steering knuckle 1-6 are connected through a steering bridge;

[0070] The control system C controls the steering motor 1-1 to output torque by sending a control signal to the steering motor 1-1, and makes the steering tie rod 1-2 move left and right through the steering motor output gear 1-1a. The steering tie rod 1-2 drives the left steering knuckle 1-5 and the right steering knuckle 1-6 to deflect through the left steering trapezoidal arm 1-3 and the right steering trapezoidal arm 1-4.

[0071] When the small electric intelligent driving tractor turns, the control system C controls the movement direction of the steering tie rod 1-2, and drives the left steering knuckle 1-5 and the right steering knuckle 1-6 to deflect; after the steering is completed, the control system C controls the steering tie rod 1-2 to return to the recovery position, and drives the left steering knuckle 1-5 and the right steering knuckle 1-6 to return to the center position, thereby realizing electric steering.

[0072] like Figure 7 , Figure 8 As shown, the electric drive system 2 is arranged as a whole in the middle and rear part of the frame 4-1, and is mainly composed of a drive motor 2-1, a reducer 2-2, a differential 2-3, a left half shaft 2-4, a right half shaft 2-5, a power output clutch body 2-6, and a power output clutch operating mechanism 2-7.

[0073] The drive motor 2-1 is installed between the vehicle frames through the drive motor frame 4-1d, the drive motor is connected to the reducer 2-2, the differential 2-3 arranged in the reducer housing 2-2a is connected to the reducer 2-2, and the left half shaft 2-4 and the right half shaft 2-5 are respectively connected to the differential 2-3;

[0074] The control system C controls the output torque of the drive motor 2-1 by sending a control signal to the drive motor 2-1, and transmits the torque to the left half shaft 2-4 and the right half shaft 2-5 through the reducer 2-2 and the differential 2-3, so that the left half shaft 2-4 and the right half shaft 2-5 rotate;

[0075] When the small electric intelligent driving tractor is driving, the control system C controls the speed and direction of the driving motor 2-1, and drives the left half shaft 2-4 and the right half shaft 2-5 to rotate forward or reverse, realizing electric drive forward or backward.

[0076] like Fig. 9 , Fig.10 , Fig.11 As shown: the power output clutch body 2-6 mainly includes a clutch housing 2-6a, a clutch active part 2-6b, a clutch driven part 2-6c, a clutch clamping mechanism 2-6d, and a clutch mounting frame 2-6e. The power output clutch operating mechanism 2-7 mainly consists of a clutch operating motor 2-7a, a clutch operating motor output gear 2-7b, a clutch operating motor transmission gear 2-7c with an internal thread, a clutch electric control push rod 2-7d with an external thread, and a clutch operating mechanism housing 2-7e.

[0077] The clutch housing 2-6a is mounted on the rear end face of the clutch mounting frame 2-6e located in the reducer housing 2-2a, the clutch active part 2-6b in the clutch housing 2-6a is connected to the reducer 2-2, the clutch driven part 2-6c is engaged with the clutch active part 2-6b, and the clutch clamping mechanism 2-6d is connected to the clutch driven part 2-6c;

[0078] The clutch operating mechanism housing 2-7e is installed on the top surface of the clutch mounting frame 2-6e, the clutch operating motor 2-7a is installed on the clutch operating mechanism housing 2-7e, the clutch operating motor output gear 2-7b installed on the clutch operating motor is located in the clutch operating mechanism housing 2-7e and meshes with the clutch operating motor transmission gear 2-7c, the inner end of the clutch electric control push rod 2-7d is inserted in the clutch operating mechanism housing 2-7e and is threadedly connected with the clutch operating motor transmission gear 2-7c through its external thread, and the outer end of the clutch electric control push rod 2-7d is connected to the clutch clamping mechanism 2-6d;

[0079] The control system C controls the clutch operating motor 2-7a to output torque by sending a control signal to the clutch operating motor 2-7a, and transmits the torque to the clutch electric control push rod 2-7d through the clutch operating motor output gear 2-7b and the clutch operating motor transmission gear 2-7c, so that the clutch electric control push rod 2-7d moves to the separation position or the restoration position;

[0080] When the power output is turned off, the control system C controls the clutch electronic control push rod 2-7d to move to the disengaged position, and drives the clutch clamping mechanism 2-6d to move. The clutch clamping mechanism 2-6d drives the clutch driven part 2-6c to separate from the clutch active part 2-6b, thereby realizing the interruption of the electric power output; when the power output is turned on, the control system C controls the clutch electronic control push rod 2-7d to move to the restored position, and drives the clutch clamping mechanism 2-6d to move. The clutch clamping mechanism 2-6d drives the clutch driven part 2-6c to engage with the clutch active part 2-6b, thereby realizing the connection of the electric power output.

[0081] like Fig.12 ,like Fig.13 As shown: the electric brake system 3 is integrally installed in the middle of the frame 4-1, and mainly includes a brake operating mechanism 3-1, a left front brake 3-2, a left rear brake 3-3, a right front brake 3-4, a right rear brake 3-5, and a brake cable 3-6. The brake operating mechanism 3-1 mainly includes a brake operating motor 3-1a, a brake motor output gear 3-1b, a brake motor transmission gear 3-1c with an internal thread, a brake electric control push rod 3-1d with an external thread, and a brake operating mechanism housing 3-1e.

[0082] The brake operating mechanism housing 3-1e is installed on the brake operating mechanism mounting frame 4-1d, the brake operating motor 3-1a is installed on the brake operating mechanism housing 3-1e, the brake motor output gear 3-1b installed on the brake operating motor 3-1a is located in the brake operating mechanism housing 3-1e, and meshes with the brake motor transmission gear 3-1c, the inner end of the brake electric control push rod 3-1d is inserted into the brake operating mechanism housing 3-1e and is threadedly connected with the brake motor transmission gear 3-1c through its external thread, the outer end of the brake electric control push rod 3-1d is connected to the brake cable 3-6, and the brake cable 3-6 is respectively connected to the left front brake 3-2, the left rear brake 3-3, the right front brake 3-4, and the right rear brake 3-5, the left front brake 3-2 and the left rear brake 3-3 are respectively installed on the left steering knuckle 1-5 and the left steering knuckle 1-6, and the left rear brake 3-3 and the right rear brake 3-5 are respectively installed on both sides of the drive axle housing 4-7a;

[0083] The control system C controls the brake operating motor 3-1a to output torque by sending a control signal to the brake operating motor 3-1a, and transmits the signal to the brake electric control push rod 3-1d through the brake motor output gear 3-1b and the brake motor transmission gear 3-1c, so that the brake electric control push rod 3-1d moves to the separation position or the restoration position;

[0084] During service braking, the control system C controls the brake electronic control push rod 3-1d to move to the braking position, the brake electronic control push rod 3-1d tightens the brake cable 3-6, and the left front brake 3-2, the left rear brake 3-3, the right front brake 3-4, and the right rear brake 3-5 start to work. When the small electric intelligent driving tractor stops, the control system C controls the brake electronic control push rod 3-1d to move to the recovery position, the brake electronic control push rod 3-1d releases the brake cable 3-6, and the left front brake 3-2, the left rear brake 3-3, the right front brake 3-4, and the right rear brake 3-5 stop working, realizing electric-driven service braking; parking brake When the vehicle brakes, the control system C controls the brake electronic control push rod 3-1d to move to the braking position, the brake electronic control push rod 3-1d tightens the brake cable 3-6, the left front brake 3-2, the left rear brake 3-3, the right front brake 3-4, and the right rear brake 3-5 are completely locked, and the electric-driven parking brake is realized; when the parking brake is turned off, the control system C controls the brake electronic control push rod 3-1d to move to the recovery position, the brake electronic control push rod 3-1d releases the brake cable 3-6, the left front brake 3-2, the left rear brake 3-3, the right front brake 3-4, and the right rear brake 3-5 stop working, and the electric-driven parking brake is turned off.

[0085] like Fig.14 , Fig.15 , Fig.16 As shown: the simple travel system 4 is mainly composed of a frame 4-1, a guide wheel 4-2, a driving wheel 4-3, a front suspension 4-4, a rear suspension 4-5, a steering axle 4-6, and a driving axle 4-7. The frame 4-1 is provided with a front crossbeam 4-1a, a front suspension mounting frame 4-1b, a steering motor fixing frame 4-1c, a brake operating mechanism mounting frame 4-1d, a driving motor frame 4-1e, a rear suspension mounting frame 4-1f, and a three-point suspension mounting frame 4-1g.

[0086] The front suspension mounting frame 4-1b is arranged in pairs at the front part of the frame and has a certain guiding function. The upper and lower ends of the front suspension 4-4 are respectively connected to the front suspension mounting frame 4-1b and the steering axle 4-6. The left steering knuckle 1-5 and the right steering knuckle 1-6 are connected on both sides of the steering axle 4-6. The guide wheels 4-2 are installed in pairs on the left steering knuckle 1-5 and the right steering knuckle 1-6. The upper and lower ends of the rear suspension 4-5 are respectively connected to the rear suspension mounting frame 4-1e and the drive axle housing 4-7a. The drive wheels 4-3 are installed in pairs on the left half shaft 2-4 and the right half shaft 2-5 passing through the drive axle housing 4-7a.

[0087] like Fig.17 , Fig.18As shown: the electric towing lifting system 5 is symmetrical as a whole and is installed at the rear end of the frame 4-1. It is mainly composed of a three-point suspension control mechanism 5-1, a three-point suspension driven rod 5-2, a three-point suspension lifting arm 5-3, a three-point suspension lower pull rod 5-4, a three-point suspension upper pull rod 5-5, and a three-point suspension frame 5-6. The three-point suspension control mechanism 5-1 mainly includes a three-point suspension control motor 5-1a, a three-point suspension motor output gear 5-1b, a three-point suspension motor transmission gear 5-1c with an internal thread, a three-point suspension electric control push rod 5-1d with an external thread, and a three-point suspension control mechanism housing 5-1e.

[0088] The three-point suspension frame 5-6 is installed on the three-point suspension mounting frame 4-1g. The three-point suspension upper pull rod 5-5 is hinged at the middle of the upper end surface of the three-point suspension frame 5-6 and plays a certain positioning role. The three-point suspension driven rod 5-2 is hinged in pairs on both sides of the upper part of the three-point suspension frame 5-6. The three-point suspension lower pull rod 5-4 is hinged in pairs on both sides of the lower part of the three-point suspension frame 5-6. The upper and lower ends of the three-point suspension lifting arm 5-3 are respectively hinged to the end of the three-point suspension driven rod 5-2 and the middle of the three-point suspension lower pull rod 5-4. The auxiliary equipment D is respectively connected to the three-point suspension lower pull rod 5-4 and the three-point suspension upper pull rod 5-5. The three-point suspension control mechanism 5-1 is installed in pairs on both sides of the middle of the three-point suspension frame 5-6.

[0089] The three-point suspension control mechanism housing 5-1e is installed on the three-point suspension frame 5-6, the three-point suspension control motor 5-1a is installed on the three-point suspension control mechanism housing 5-1e, the three-point suspension motor output gear 5-1b installed on the three-point suspension control motor is located in the three-point suspension control mechanism housing 5-1e and meshes with the three-point suspension motor transmission gear 5-1c, the inner end of the three-point suspension electric control push rod 5-1d is inserted in the three-point suspension control mechanism housing 5-1e and is threadedly connected with the three-point suspension motor transmission gear 5-1c through its external thread, and the outer end of the three-point suspension electric control push rod is hinged to the three-point suspension driven rod 5-2;

[0090] The control system C can send a control signal to the three-point suspension control motor 5-1a to control the output torque of the three-point suspension control motor 5-1a, and move the three-point suspension electric control push rod 5-1d with external threads to the lifting position or the lowering position through the three-point suspension motor output gear 5-1b and the three-point suspension motor transmission gear 5-1c;

[0091] When lifting the accessory equipment D, the control system C controls the three-point suspension electric control push rod 5-1d with external threads to move to the lifting position, and drives the accessory equipment D to be lifted through the three-point suspension driven rod 5-2, the three-point suspension lifting arm 5-3, and the three-point suspension lower rod 5-4; when lowering the accessory equipment D, the control system C controls the three-point suspension electric control push rod 5-1d to move to the lowering position, and drives the accessory equipment D to be lowered through the three-point suspension driven rod 5-2, the three-point suspension lifting arm 5-3, and the three-point suspension lower rod 5-4.

[0092] like Fig.19 As shown, the vehicle body 6 is mainly composed of a vehicle body shell 6-1, a front fender 6-2, a rear fender 6-3, and a top cover 6-4.

[0093] The body shell 6-1 is connected to the frame 4-1, the lighting device and the signal device 7 and the alarm device 9 are installed at the front end of the body shell 6-1 and are staggered at a certain distance. The front end of the body shell 6-1 is installed at the front end of the frame 4-1 and is connected to the front crossbeam 4-1a. The front fenders 6-2 are installed in pairs on both sides of the body shell 6-1, the rear fenders 6-3 are installed in pairs at the rear end of the body shell 6-1 and are connected to the rear suspension mounting frame 4-1f. The top cover 6-4 is installed at the top of the middle part of the body shell 6-1, and the windshield cleaning device 8 is installed on the body shell 6-1 below the windshield.

[0094] like Fig. 20 , Fig.21 , Fig. 22 As shown: the simple power supply system 10, the controller group 11, the voice control module 12, the button control module 13, and the full automatic driving module 14 are all installed in the control system housing 16 located in the vehicle body 6 and are arranged at staggered distances.

[0095] The simple power supply system 10 is mainly composed of a battery pack 10-1, a wiring harness 10-2, and a power distributor 10-3. The battery pack 10-1 is connected to the power distributor 10-3 through the wiring harness 10-2. The power distributor 10-3 is respectively connected to the controller group 11, the voice control module 12, the button control module 13, and the fully automatic driving module 14, wherein:

[0096] The controller group 11 mainly includes a steering motor controller 11-1, a drive motor controller 11-2, a clutch control motor controller 11-3, a brake control motor controller 11-4, and a three-point suspension control motor controller 11-5.

[0097] The steering motor controller 11-1 is connected to the steering motor 1-1 through the wiring harness 10-2, the drive motor controller 11-2 is connected to the drive motor 2-1 through the wiring harness 10-2, the clutch control motor controller 11-3 is connected to the clutch control motor 2-7a through the wiring harness 10-2, the brake control motor controller 11-4 is connected to the brake control motor 3-1a through the wiring harness 10-2, and the three-point suspension control motor controller 11-5 is connected to the three-point suspension control motor 5-1a through the wiring harness 10-2.

[0098] The controller group 11 powered by the distributor 10-3 can change the voltage output to the steering motor 1-1, the drive motor 2-1, the clutch control motor 2-7a, the brake control motor 3-1a, and the three-point suspension control motor 5-1a through the steering motor controller 11-1, the drive motor controller 11-2, the clutch control motor controller 11-3, the brake control motor controller 11-4, and the three-point suspension control motor controller 11-5 to achieve speed and direction control;

[0099] The voice control module 12 is mainly composed of a voice signal receiving module 12-1, a voice recognition module 12-2, and a voice decision control module 12-3. The voice signal receiving module 12-1, the voice recognition module 12-2, and the voice decision control module 12-3 are all installed on the voice control module 12 and are staggered. The voice signal receiving module 12-1 is connected to the voice recognition module 12-2 through a wiring harness 10-2, and the voice recognition module 12-2 is connected to the voice decision control module 12-3 through a wiring harness 10-2. The voice decision control module 12-3 is respectively connected to the steering motor controller 11-1, the drive motor controller 11-2, the clutch control motor controller 11-3, the brake control motor controller 11-4, the three-point suspension control motor controller 11-5, and the full automatic driving module 14 through the wiring harness 10-2.

[0100] The voice signal receiving module 12-1 receives the voice signal and sends it to the voice recognition module 12-2. The voice recognition module 12-2 recognizes the voice content and sends the recognition result to the voice decision control module 12-3. The voice decision control module 12-3 controls the steering motor 1-1, the drive motor 2-1, the clutch control motor 2-7a, the brake control motor 3-1a, and the three-point suspension control motor 5-1a through the controller group 11 to realize the voice control of the functions of starting, moving forward, moving backward, steering, braking, opening and closing the power output, and lifting and lowering the auxiliary equipment;

[0101] The key control module 13 is mainly composed of a key signal receiving module 13-1 and a key decision control module 13-2. The key signal receiving module 13-1 and the key decision control module 13-2 are both installed on the key control module 13 and are set at staggered distances. The key signal receiving module 13-1 is connected to the key decision control module 13-2 through a wiring harness 10-2. The key decision control module 13-2 is respectively connected to the steering motor controller 11-1, the drive motor controller 11-2, the clutch control motor controller 11-3, the brake control motor controller 11-4, the three-point suspension control motor controller 11-5, and the full automatic driving module 14 through the wiring harness 10-2.

[0102] The key signal receiving module 13-1 receives the key signal and sends it to the key decision control module 13-2. The key decision control module 13-2 controls the steering motor 1-1, the drive motor 2-1, the clutch control motor 2-7a, the brake control motor 3-1a, and the three-point suspension control motor 5-1a through the controller group 11 to realize key control of functions such as starting, moving forward, moving backward, steering, braking, turning on and off power output, and lifting and lowering auxiliary equipment;

[0103] The fully automatic driving module 14 is mainly composed of a global positioning module 14-1, a camera 14-2, a pitch and roll detection sensor 14-3, a yaw angular velocity detection sensor 14-4, a path planning module 14-5, and a fully automatic decision control module 14-6.

[0104] The global positioning module 14-1, the pitch roll detection sensor 14-3, and the yaw angular velocity detection sensor 14-4 in the control system housing 16 are staggered and connected to the full-automatic decision control module 14-6 through the wiring harness 10-2. The camera 14-2 under the top cover 6-4 is respectively connected to the path planning module 14-5 and the full-automatic decision control module 14-6 through the wiring harness 10-2. The path planning module 14-5 and the full-automatic decision control module 14-6 are staggered on the full-automatic driving module 14 and are connected to each other through the wiring harness 10-2. The full-automatic driving module 14 is respectively connected to the steering motor controller 11-1, the drive motor controller 11-2, the clutch control motor controller 11-3, the brake control motor controller 11-4, and the three-point suspension control motor controller 11-5 through the wiring harness 10-2.

[0105] The global positioning module 14-1 obtains the position of the vehicle body, the camera 14-2 obtains the relative position of the vehicle body and the surrounding objects, and sends them to the path planning module 14-5 and the fully automatic decision control module 14-6. The pitch and roll detection sensor 14-3 and the yaw angular velocity detection sensor 14-4 detect the motion state of the vehicle body and send them to the fully automatic decision control module 14-6. The path planning module 14-5 receives the information from the global positioning module 14-1 and the camera 14-2, and plans the path and sends it to the fully automatic driving module 14. The fully automatic driving module 14 controls the steering motor 1-1, the drive motor 2-1, the clutch control motor 2-7a, the brake control motor 3-1a, and the three-point suspension control motor 5-1a through the controller group 11 to realize fully automatic driving of functions such as starting, moving forward, moving backward, steering, braking, opening and closing power output, and lifting and lowering auxiliary equipment.

[0106] The remote controller 15 is mainly composed of a voice signal input module 15-1, a voice signal transmitting module 15-2, a key signal input module 15-3, and a key signal transmitting module 15-4. The voice signal input module 15-1, the voice signal transmitting module 15-2, the key signal input module 15-3, and the key signal transmitting module 15-4 are all installed on the remote controller 15 and are arranged at staggered distances. The voice signal input module 15-1 is connected to the voice signal transmitting module 15-2 through a wiring harness 10-2, the voice signal transmitting module 15-2 is wirelessly connected to the voice signal receiving module 12-1, the key signal input module 15-3 is connected to the key signal transmitting module 15-4 through a wiring harness 10-2, and the key signal transmitting module 15-4 is wirelessly connected to the key signal receiving module 13-1.

[0107] The operator inputs voice information through the voice signal input module 15-1, and sends it to the voice signal receiving module 12-1 through the voice signal transmitting module 15-2 to realize voice control; the operator inputs key information through the key signal input module 15-3, and sends it to the key signal receiving module 13-1 through the key signal transmitting module 15-4 to realize key control.

[0108] Parts not described in detail in this specification are well-known technologies in the art.

[0109] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A small electric intelligent driving tractor, comprising a chassis system, a body and electrical equipment, a control system, and auxiliary equipment, characterized in that: The chassis system includes a simple driving system and integrates an electric steering system, an electric drive system, an electric brake system and an electric towing and lifting system, wherein the electric towing and lifting system is used to connect auxiliary equipment; The control system includes a remote controller, a simple power supply system installed in the vehicle body and a controller group connected to the simple power supply system, a voice control module, a button control module and a fully automatic driving module. The voice control module, the button control module and the fully automatic driving module control the electric steering system, the electric drive system, the electric braking system and the electric towing and lifting system through the controller group to realize the functions of starting, moving forward, moving backward, steering, braking, opening and closing the power output of the auxiliary equipment, and lifting and lowering the auxiliary equipment of the intelligent driving tractor; In normal use, the fully automatic driving mode is used first among the three modes of voice control, button control and fully automatic driving. When a failure occurs in the fully automatic driving, intervention is carried out through button remote control and voice control to ensure safety and meet different needs. The electric drive system is arranged at the middle and rear part of the frame, and includes a drive motor, a reducer, a differential, a left half shaft, a right half shaft, a power output clutch body and a power output clutch operating mechanism. The power output clutch body includes a clutch housing, a clutch active part, a clutch driven part, a clutch clamping mechanism and a clutch mounting frame. The power output clutch operating mechanism includes a clutch operating motor, a clutch operating motor output gear, a clutch operating motor transmission gear with an internal thread, a clutch electric control push rod with an external thread and a clutch operating mechanism housing. The power output clutch body can output power to auxiliary equipment, and the power output clutch operating mechanism can open and close the power output, wherein: the drive motor is installed on the frame through the drive motor frame, the drive motor is connected to the reducer, the differential arranged in the reducer housing is connected to the reducer, and the left half shaft and the right half shaft are respectively connected to the differential; the clutch housing is installed on the rear end face of the clutch mounting frame located in the reducer housing, the clutch active part in the clutch housing is connected to the reducer, the clutch driven part is engaged with the clutch active part, and the clutch clamping mechanism is connected to the clutch driven part; The clutch operating mechanism housing is installed on the top surface of the clutch mounting frame, the clutch operating motor is installed on the clutch operating mechanism housing, the clutch operating motor output gear installed on the clutch operating motor is located in the clutch operating mechanism housing and meshes with the clutch operating motor transmission gear, the inner end of the clutch electric control push rod is inserted in the clutch operating mechanism housing and is threadedly connected with the clutch operating motor transmission gear through its external thread, and the outer end of the clutch electric control push rod is connected with the clutch clamping mechanism; The vehicle body and electrical equipment include a vehicle body, a lighting device and a signal device, a windshield cleaning device and an alarm device. The vehicle body includes a vehicle body shell, a front fender, a rear fender and a top cover. The lighting device, the signal device and the alarm device are mounted on the front end of the vehicle body shell. The vehicle body shell is mounted on the frame and connected to the front crossbeam. The front fenders are mounted in pairs on both sides of the vehicle body shell. The rear fenders are mounted in pairs on both sides of the rear end of the vehicle body shell and connected to the rear suspension mounting frame. The top cover is mounted on the top of the middle part of the vehicle body shell. The windshield cleaning device is mounted on the vehicle body shell below the windshield. The simple power supply system includes a battery pack, a wiring harness and a distributor, the battery pack is connected to the distributor through the wiring harness, and the distributor is respectively connected to the controller group, the voice control module, the button control module, and the fully automatic driving module; The controller group includes a steering motor controller, a drive motor controller, a clutch control motor controller, a brake control motor controller and a three-point suspension control motor controller, the steering motor controller is connected to the steering motor through a wiring harness, the drive motor controller is connected to the drive motor through a wiring harness, the clutch control motor controller is connected to the clutch control motor through a wiring harness, the brake control motor controller is connected to the brake control motor through a wiring harness, and the three-point suspension control motor controller is connected to the three-point suspension control motor through a wiring harness; The voice control module includes a voice signal receiving module, a voice recognition module and a voice decision control module, the voice signal receiving module is connected to the voice recognition module through a wiring harness, the voice recognition module is connected to the voice decision control module through a wiring harness, and the voice decision control module is respectively connected to a steering motor controller, a drive motor controller, a clutch control motor controller, a brake control motor controller, a three-point suspension control motor controller, and a full automatic driving module through a wiring harness; The key control module includes a key signal receiving module and a key decision control module, the key signal receiving module is connected to the key decision control module through a wiring harness, and the key decision control module is respectively connected to a steering motor controller, a drive motor controller, a clutch control motor controller, a brake control motor controller, a three-point suspension control motor controller, and a full automatic driving module through a wiring harness; The fully automatic driving module includes a global positioning module, a camera, a pitch and roll detection sensor, a yaw angular velocity detection sensor, a path planning module and a fully automatic decision control module, wherein: the global positioning module, the pitch and roll detection sensor, and the yaw angular velocity detection sensor are connected to the fully automatic decision control module through a wiring harness, the camera arranged under the top cover is respectively connected to the path planning module and the fully automatic decision control module through a wiring harness, the path planning module and the fully automatic decision control module are connected to each other through a wiring harness, and the fully automatic driving module is respectively connected to the steering motor controller, the drive motor controller, the clutch control motor controller, the brake control motor controller, and the three-point suspension control motor controller through a wiring harness; The remote control includes a voice signal input module, a voice signal transmitting module, a key signal input module and a key signal transmitting module, wherein: the voice signal input module is connected to the voice signal transmitting module via a wiring harness, the voice signal transmitting module is wirelessly connected to the voice signal receiving module, the key signal input module is connected to the key signal transmitting module via a wiring harness, and the key signal transmitting module is wirelessly connected to the key signal receiving module.

2. According to claim 1, a small electric intelligent driving tractor is characterized by: The electric steering system is arranged in a bilaterally symmetrical manner, including a steering motor, a steering tie rod with a rack in the middle, a left steering trapezoidal arm, a right steering trapezoidal arm, a left steering knuckle, a right steering knuckle, a steering tie rod sleeve, a first locating bearing of the steering motor, and a second locating bearing of the steering motor, wherein: the power output end of the steering motor is installed in the vertical direction of the steering tie rod through the first locating bearing of the steering motor and the second locating bearing of the steering motor, and is meshed with the rack of the steering tie rod through the steering motor output gear arranged on the power output end, the two ends of the steering tie rod are respectively connected to the left steering trapezoidal arm and the right steering trapezoidal arm, the left steering knuckle is connected to the left steering trapezoidal arm, the right steering knuckle is connected to the right steering trapezoidal arm, and the left steering knuckle and the right steering knuckle are connected through a steering bridge.

3. The small electric intelligent driving tractor according to claim 1, characterized in that: The electric brake system is installed in the middle of the frame, and includes a brake operating mechanism, a left front brake, a left rear brake, a right front brake, a right rear brake and a brake cable. The brake operating mechanism includes a brake operating motor, a brake motor output gear, a brake motor transmission gear with an internal thread, a brake electric control push rod with an external thread and a brake operating mechanism housing, wherein: The brake operating mechanism housing is installed on the brake operating mechanism mounting frame, the brake operating motor is installed on the brake operating mechanism housing, the brake motor output gear installed on the brake operating motor is located in the brake operating mechanism housing, and meshes with the brake motor transmission gear, the inner end of the brake electronic control push rod is inserted in the brake operating mechanism housing, and is threadedly connected to the brake motor transmission gear through its external thread, the outer end of the brake electronic control push rod is connected to the brake cable, and the brake cable is respectively connected to the left front brake, the left rear brake, the right front brake, and the right rear brake, the left front brake and the right front brake are respectively installed on the left steering knuckle and the right steering knuckle, and the left rear brake and the right rear brake are respectively installed on both sides of the drive axle housing.

4. A small electric intelligent driving tractor according to claim 2 or 3, characterized in that: The simple travel system includes a frame, guide wheels, drive wheels, front suspension, rear suspension, steering axle and drive axle, the frame includes a front cross beam, a front suspension mounting frame, a steering motor fixing frame, a brake operating mechanism mounting frame, a drive motor frame, a rear suspension mounting frame and a three-point suspension mounting frame, wherein: the front suspension mounting frames are arranged in pairs at the front part of the frame and have a certain guiding function, the upper and lower ends of the front suspension are respectively connected to the front suspension mounting frame and the steering axle, the left steering knuckle and the right steering knuckle are connected on both sides of the steering axle, the guide wheels are installed in pairs on the left steering knuckle and the right steering knuckle, the upper and lower ends of the rear suspension are respectively connected to the rear suspension mounting frame and the drive axle housing, and the drive wheels are installed in pairs on the left half shaft and the right half shaft passing through the drive axle housing.

5. A small electric intelligent driving tractor according to claim 4, characterized in that: The electric towing lifting system includes a three-point suspension operating mechanism, a three-point suspension driven rod, a three-point suspension lifting arm, a three-point suspension lower pull rod, a three-point suspension upper pull rod and a three-point suspension frame. The three-point suspension operating mechanism includes a three-point suspension operating motor, a three-point suspension motor output gear, a three-point suspension motor transmission gear with an internal thread, a three-point suspension electric control push rod with an external thread and a three-point suspension operating mechanism housing, wherein: the three-point suspension frame is installed on the three-point suspension mounting frame, the three-point suspension upper pull rod is hinged at the middle of the upper end surface of the three-point suspension frame and plays a certain positioning role, the three-point suspension driven rod is hinged in pairs on both sides of the upper part of the three-point suspension frame, the three-point suspension lower pull rod is hinged in pairs on both sides of the lower part of the three-point suspension frame, the upper and lower ends of the three-point suspension lifting arm are respectively hinged to the end of the three-point suspension driven rod and the middle of the three-point suspension lower pull rod, the auxiliary equipment is respectively connected to the three-point suspension lower pull rod and the three-point suspension upper pull rod, the three-point suspension operating mechanism is installed in pairs on both sides of the middle of the three-point suspension frame as a whole, The three-point suspension control mechanism housing is installed on the three-point suspension frame, the three-point suspension control motor is installed on the three-point suspension control mechanism housing, the three-point suspension motor output gear installed on the three-point suspension control motor is located in the three-point suspension control mechanism housing and meshes with the three-point suspension motor transmission gear, the inner end of the three-point suspension electric control push rod is inserted in the three-point suspension control mechanism housing and is threadedly connected to the three-point suspension motor transmission gear through its external thread, and the outer end of the three-point suspension electric control push rod is hinged to the three-point suspension driven rod.

6. The small electric intelligent driving tractor according to claim 1, characterized in that: The simple power supply system includes a battery pack, a wiring harness and a distributor. The battery pack is connected to the distributor through a wiring harness, and the distributor is respectively connected to a controller group, a voice control module, a button control module, and a fully automatic driving module; The controller group includes a steering motor controller, a drive motor controller, a clutch control motor controller, a brake control motor controller, and a three-point suspension control motor controller. The steering motor controller is connected to the steering motor through a wiring harness, the drive motor controller is connected to the drive motor through a wiring harness, the clutch control motor controller is connected to the clutch control motor through a wiring harness, the brake control motor controller is connected to the brake control motor through a wiring harness, and the three-point suspension control motor controller is connected to the three-point suspension control motor through a wiring harness; The voice control module includes a voice signal receiving module, a voice recognition module, and a voice decision control module. The voice signal receiving module is connected to the voice recognition module through a wiring harness, the voice recognition module is connected to the voice decision control module through a wiring harness, and the voice decision control module is respectively connected to the steering motor controller, the drive motor controller, the clutch control motor controller, the brake control motor controller, the three-point suspension control motor controller, and the fully automatic driving module through a wiring harness; The key control module includes a key signal receiving module and a key decision control module, the key signal receiving module is connected to the key decision control module through a wiring harness, and the key decision control module is respectively connected to a steering motor controller, a drive motor controller, a clutch control motor controller, a brake control motor controller, a three-point suspension control motor controller, and a full-automatic driving module through a wiring harness; The full-automatic driving module includes a global positioning module, a camera, a pitch roll detection sensor, a yaw angular velocity detection sensor, a path planning module, and a full-automatic decision control module, wherein: the global positioning module, the pitch roll detection sensor, and the yaw angular velocity detection sensor are connected to the full-automatic decision control module through a wiring harness, the camera arranged under the top cover is respectively connected to the path planning module and the full-automatic decision control module through a wiring harness, the path planning module and the full-automatic decision control module are connected to each other through a wiring harness, and the full-automatic driving module is respectively connected to the steering motor controller, the drive motor controller, the clutch control motor controller, the brake control motor controller, and the three-point suspension control motor controller through a wiring harness; The remote control includes a voice signal input module, a voice signal transmitting module, a key signal input module and a key signal transmitting module, wherein: the voice signal input module is connected to the voice signal transmitting module via a wiring harness, the voice signal transmitting module is wirelessly connected to the voice signal receiving module, the key signal input module is connected to the key signal transmitting module via a wiring harness, and the key signal transmitting module is wirelessly connected to the key signal receiving module.

7. A small electric intelligent driving tractor according to claim 1, 2 or 6, characterized in that: The auxiliary equipment is one of a moldboard plow, a seeder, a harvester, a baler, a cultivator, a mower, and a trailer.

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