An electric drive lifting system with energy recovery function for agricultural machinery

Abstract

The present invention discloses an electric-driven lifting system with energy recovery function for agricultural machinery, which belongs to the technical field of electric agricultural machinery. The device adopts a motor-driven lifting method to replace the traditional agricultural machinery suspension hydraulic lifting method, and includes an energy recovery device including a supercapacitor, a force / position sensor system, a DC / DC converter, an AC / DC converter, a power battery, and an ECU controller, which can realize precise control of the position and working depth of agricultural implements, and can efficiently convert, recover, and utilize the landing potential energy of agricultural implements, thereby improving energy utilization efficiency and the operating range of agricultural machinery.

Description

Technical Field

[0001] The present invention belongs to the technical field of electric agricultural machinery, and in particular relates to an electric-driven lifting system with an energy recovery function for agricultural machinery. Background Art

[0002] Front and rear three-point suspension devices are common mechanical structures in modern agricultural machinery, especially high-power tractors. Agricultural machinery is connected to agricultural implements through three-point suspension devices, which tow and manipulate the lifting and lowering of agricultural implements and adjust the working depth. At present, the lifters of common three-point suspension devices mostly use hydraulic actuator systems, which realize the lifting, lowering and force / position adjustment of agricultural implements by filling and discharging oil in hydraulic cylinders. Advanced hydraulic lifters can well achieve the height control of agricultural implements, but there are problems such as high cost, complex key hydraulic technology, reliance on imports for core components, large energy loss, and high maintenance difficulty. On the other hand, with the intensive introduction of energy-saving and emission reduction policies, modern agricultural machinery is developing towards electrification. Summary of the invention

[0003] In order to better adapt to the development trend of electrified agricultural machinery, improve energy utilization efficiency, increase cruising range, reduce manufacturing costs and maintenance difficulty, the present invention is aimed at the three-point suspension system of new energy agricultural machinery, and designs an electric-driven lifting system with energy recovery function for agricultural machinery. The device adopts a motor-driven lifting method instead of the traditional agricultural machinery suspension hydraulic lifting method, which can significantly reduce the complexity of the lifter and improve manufacturing and maintenance costs; and designs an energy recovery device including a supercapacitor, a force-position sensing system, a DC / DC converter, a power battery, and a control system, which can achieve precise control of the position and operating depth of agricultural implements, and can efficiently convert, recover, and utilize the landing potential energy of agricultural implements, thereby improving energy utilization efficiency and the cruising range of agricultural machinery operations.

[0004] To achieve the above-mentioned purpose, the present invention proposes an electric-driven lifting system with energy recovery function for agricultural machinery, including an electric-driven lifting device and an energy recovery device, wherein the electric-driven lifting device mainly includes a motor, an input gear set, a cam connecting shaft, a supporting box, a lifting cam, an upper pull rod, a lifting rod, a lower pull rod, a push rod, and a reduction box; the energy recovery device includes a DC / DC converter, a power battery, a supercapacitor, an ECU control system, a force / position sensing system, and an AC / DC converter.

[0005] In some embodiments of the present application, the input gear set is connected to the reduction gear box; both ends of the cam connecting shaft are connected to the lifting cam; the supporting box is used to support the three-point suspension system; the front end of the lifting cam is connected to the lifting rod, and its lower end is connected to the push rod; the upper pull rod is connected to the front middle and upper part of the support box; the lifting rod is connected to the lower pull rod; the lower pull rod is connected to both sides of the lower part of the front end of the supporting box.

[0006] In some embodiments of the present application, there are two pull-down rods, and the two pull-down rods correspond one-to-one to two lifting rods respectively; the lifting rods are connected one-to-one to two lifting cams; the lifting cams are connected one-to-one to two push rods; and the reduction box corresponds one-to-one to the two lifting rods.

[0007] In some embodiments of the present application, the push rod is driven by a rack and pinion mechanism or a non-self-locking worm screw mechanism.

[0008] In some embodiments of the present application, the force / position sensing system is installed at the lifter cam connecting shaft to monitor the lifter working status and force / position data in real time.

[0009] In some embodiments of the present application, when the actuator lands, the motor reverses as an electric motor, converts potential energy into alternating current, which is rectified and converted into direct current by an AC / DC converter, and then transmitted to a power battery or a supercapacitor after voltage regulation by a DC / DC converter; when the reverse voltage is too large, the electric energy is stored in a supercapacitor through a DC / DC converter, and after recovery, the electric energy in the supercapacitor is transmitted back to the power battery through a DC / DC converter.

[0010] In some embodiments of the present application, when the lifting system is working, the power battery and the supercapacitor can be used as power sources separately or together; when the lifter descends, the recovered energy can be stored in the power battery and the supercapacitor; the AC / DC converter is used for converting direct current and alternating current; the DC / DC converter controls the charging and discharging current of the supercapacitor to ensure the charging and discharging efficiency of the system. When the DC / DC converter is working, it ensures that the output voltage of the supercapacitor remains stable, thereby improving the accuracy and efficiency of agricultural implement lifting and force adjustment.

[0011] In some embodiments of the present application, the ECU control system is electrically connected to the force / position sensing system, the DC / DC converter, and the power battery; the force / position sensing system and the ECU control system are used to obtain the working requirements of the lifter in real time, detect the real-time force / position status, and coordinate the control of the working status of the motor, AC / DC converter, and DC / DC converter to achieve reasonable management of the working requirements of the lifter and energy.

[0012] In some embodiments of the present application, the supercapacitor is connected in parallel with the power battery as a booster power source, and the system energy is managed through a control system, a DC / DC converter, and an AC / DC converter.

[0013] In some embodiments of the present application, the ECU control system is respectively connected to the motor driver, DC / DC converter, AC / DC converter, and force / position sensing system through weak current cables for real-time information collection, processing, decision-making, and control.

[0014] In some embodiments of the present invention, the two lifting cams are connected via a cam connecting shaft; and the lower sides of the two lifting cams are respectively connected to the two push rods.

[0015] In some embodiments of the present invention, the motor provides power to reduce speed and increase torque through a reduction gear box, and a gear rack or non-self-locking worm screw mechanism drives the push rod to move up and down.

[0016] In some embodiments of the present invention, two lifting cams drive the lifting rods on both sides to move up and down, and then drive the two lower pull rods to achieve the lifting of the agricultural implement.

[0017] In some embodiments of the present invention, the driver of the motor is connected to the AC / DC converter, the AC / DC converter is connected to the DC / DC converter, and the DC / DC converter is connected to the power battery and the supercapacitor respectively through high-voltage cables for energy transmission.

[0018] In some embodiments of the present invention, the force / position sensing system is installed at the lifter cam connecting shaft to monitor the lifter working status and force / position data in real time.

[0019] In some embodiments of the present invention, the ECU control system is respectively connected to the motor driver, DC / DC converter, AC / DC converter, and force / position sensing system through weak current cables for real-time information collection, processing, decision-making, and control.

[0020] In some embodiments of the present invention, in the external work lifting agricultural implement mode, the power battery and the supercapacitor provide electrical energy to the drive motor separately or jointly; further, the power battery charge state, the supercapacitor charge state, the agricultural implement lifting speed requirement and the suspension load level are determined by the force / position sensing system and the ECU control system to determine the power supply source and control the current.

[0021] In some embodiments of the present invention, in a high-power external work demand mode, the supercapacitor can be used to supplement the power battery for high-current discharge, improve the efficiency of agricultural implement lifting and force position adjustment under heavy load, and increase the service life of the power battery.

[0022] In some embodiments of the present invention, during the process of landing the agricultural implement, the motor, DC / DC converter and ECU controller of the present invention can be used to achieve energy recovery.

[0023] In some embodiments of the present invention, in the energy recovery mode, the potential energy of the agricultural implement is converted into the kinetic energy of the motor rotor, which is converted into electrical energy by the motor, and the energy is rectified and voltage-regulated by the AC / DC converter and the DC / DC converter.

[0024] In some embodiments of the present invention, in the energy recovery mode, the ECU determines the direction of the current according to the magnitude of the rectified current and voltage, the state of charge of the power battery, and the state of charge of the supercapacitor: in the case of low current, the recovered energy is directly stored in the power battery; in the case of high current, the current first enters the supercapacitor for buffering. The final power distribution is then determined according to the state of charge of the two and the working state of the booster, and the DC / DC converter is responsible for regulation to achieve stable power recovery and prepare for the next stage of operation.

[0025] In some embodiments of the present invention, during the real-time adjustment of the depth force / position of the agricultural implement, the motor is in a continuous change of work output and energy recovery, and the ECU makes real-time judgments and control decisions to achieve optimal energy management.

[0026] The present invention has at least the following technical effects:

[0027] (1) The device can realize the electric lifting and force / position adjustment of the three-point suspension of electric agricultural machinery.

[0028] (2) The electric-driven lifting device in this device has high control accuracy, a relatively simple overall structure, and low manufacturing and maintenance costs.

[0029] (3) The device has a reasonable layout, simple structure, easy control, and can convert and recover the potential energy of the actuator when it lands and the idling braking energy of the actuator, thereby better alleviating energy shortage and pollution problems.

[0030] (4) The device uses electric drive instead of hydraulic drive, which overcomes the viscosity of the liquid in the hydraulic transmission mechanism, the need to consume a certain amount of energy to overcome the viscous resistance of the liquid flow, and the continuous energy consumption during the pressure maintenance process of the overflow valve, thereby improving energy utilization efficiency.

[0031] (5) This device is designed with a mechanical transmission system that adapts to the electric-driven lifting of the suspension system. It can convert the potential energy of the actuator's descent and the actuator's idling braking energy through the motor through the gear transmission mechanism, thus overcoming the problem that the hydraulic transmission mechanism cannot recover the actuator's descent potential energy.

[0032] (6) The device is designed with an energy recovery structure, which stores energy instantaneously through supercapacitors. After energy recovery is completed, it can be pumped back to the power battery or stored in the capacitor according to the state of charge, reducing the damage of large current to the power battery and improving the energy recovery efficiency. At the same time, a DC / DC converter is used to ensure stable voltage output.

[0033] (7) Using new energy power to replace traditional diesel engines is an inevitable trend in the development of agricultural machinery in line with the "dual carbon" goal. The present invention provides technical support for the development of electric agricultural machinery. On the basis of high-efficiency electric drive improvement, it can realize multi-mode energy comprehensive management including energy recovery and energy distribution, achieving the goals of low cost, low carbon, environmental protection, high efficiency and sustainable development. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0035] Figure 1 It is a schematic diagram of the mechanical structure of the present invention;

[0036] Figure 2 It is a schematic diagram of the energy recovery principle of the present invention;

[0037] In the figure, 1. motor; 2. input gear set; 3. cam connecting shaft; 4. supporting box; 5. lifting cam; 6. upper pull rod; 7. lifting rod; 8. lower pull rod; 9. push rod; 10. reduction box; 11. DC / DC converter; 12. power battery; 13. super capacitor; 14. ECU control system; 15. force / position sensing system; 16. AC / DC converter. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] It should be noted that all directional indications (such as up, down, left, right, front, back, inside, outside...) in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly. In practical applications, due to the limitations of equipment accuracy or installation errors, absolute parallel or vertical effects are difficult to achieve. In the present invention, the description of verticality, parallelism or same direction is not an absolute limiting condition, but means that a vertical or parallel structural setting can be achieved within a preset error range (such as an upper and lower deviation of 5°) and the corresponding preset effect can be achieved. In this way, the technical effect of the limited features can be maximized, and the corresponding technical solution is easy to implement and has high feasibility.

[0040] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0041] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. In addition, when describing pipelines, the "connected" and "connection" used in the present invention have the meaning of conduction. When describing electronic components, the "connected" and "connection" used in the present invention have the meaning of conduction through current. The specific meaning needs to be understood in conjunction with the context.

[0042] In the embodiments of the present invention, the terms "comprises", "comprising" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, article or device. In the absence of further restrictions, an element defined by the sentence "comprising a ..." does not exclude the presence of other identical elements in the process, article or device including the element.

[0043] In the embodiments of the present invention, words such as "exemplarily" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "exemplarily" or "for example" in the embodiments of the present invention should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplarily" or "for example" is intended to present related concepts in a specific way.

[0044] During the operation of agricultural machinery, it is necessary to frequently lift, lower and adjust the depth of agricultural implements. Most common agricultural machinery suspension lifts use hydraulic execution systems, which have problems such as high cost, complex key hydraulic technologies, reliance on imports for core components, large energy loss, and high maintenance difficulty.

[0045] The present invention aims at the three-point suspension system of new energy agricultural machinery and designs an electric drive lifting system with energy recovery function for agricultural machinery. It can improve energy utilization efficiency, increase cruising range, reduce manufacturing cost and maintenance difficulty while better adapting to the development trend of electrified agricultural machinery.

[0046] The lifting system of the present invention comprises an energy recovery device including a supercapacitor, a force / position sensor system, a DC / DC converter, an AC / DC converter, a power battery, and a control system, which can achieve precise control of the position and working depth of the agricultural implement, and efficiently convert, recover, and utilize the landing potential energy of the agricultural implement, thereby reducing the overflow loss of the traditional hydraulic lifter and achieving the purpose of high efficiency and energy saving.

[0047] In some embodiments of the present application, an electric-driven lifting system with energy recovery function for agricultural machinery includes an electric-driven lifting device and an energy recovery device, wherein the electric-driven lifting device mainly includes a motor, an input gear set, a cam connecting shaft, a supporting box, a lifting cam, an upper pull rod, a lifting rod, a lower pull rod, a push rod, and a reduction gear box; the energy recovery device includes a DC / DC converter, a power battery, a supercapacitor, an ECU control system, a force / position sensing system, and an AC / DC converter.

[0048] In some embodiments of the present application, the input gear set is connected to the reduction gear box; both ends of the cam connecting shaft are connected to the lifting cam; the supporting box is used to support the three-point suspension system; the front end of the lifting cam is connected to the lifting rod, and its lower end is connected to the push rod; the upper pull rod is connected to the front middle and upper part of the support box; the lifting rod is connected to the lower pull rod; the lower pull rod is connected to both sides of the lower part of the front end of the supporting box.

[0049] In some embodiments of the present application, there are two pull-down rods, and the two pull-down rods correspond one-to-one to two lifting rods respectively; the lifting rods are connected one-to-one to two lifting cams; the lifting cams are connected one-to-one to two push rods; and the reduction box corresponds one-to-one to the two lifting rods.

[0050] In some embodiments of the present application, the push rod is driven by a rack and pinion mechanism or a non-self-locking worm screw mechanism.

[0051] In some embodiments of the present application, the force / position sensing system is installed at the lifter cam connecting shaft to monitor the lifter working status and force / position data in real time.

[0052] In some embodiments of the present application, when the actuator lands, the motor reverses as an electric motor, converts potential energy into alternating current, which is rectified and converted into direct current by an AC / DC converter, and then transmitted to a power battery or a supercapacitor after voltage regulation by a DC / DC converter; when the reverse voltage is too large, the electric energy is stored in a supercapacitor through a DC / DC converter, and after recovery, the electric energy in the supercapacitor is transmitted back to the power battery through a DC / DC converter.

[0053] In some embodiments of the present application, when the lifting system is working, the power battery and the supercapacitor can be used as power sources separately or together; when the lifter descends, the recovered energy can be stored in the power battery and the supercapacitor; the AC / DC converter is used for converting direct current and alternating current; the DC / DC converter controls the charging and discharging current of the supercapacitor to ensure the charging and discharging efficiency of the system. When the DC / DC converter is working, it ensures that the output voltage of the supercapacitor remains stable, thereby improving the accuracy and efficiency of agricultural implement lifting and force adjustment.

[0054] In some embodiments of the present application, the ECU control system is electrically connected to the force / position sensing system, the DC / DC converter, and the power battery; the force / position sensing system and the ECU control system are used to obtain the working requirements of the lifter in real time, detect the real-time force / position status, and coordinate the control of the working status of the motor, AC / DC converter, and DC / DC converter to achieve reasonable management of the working requirements of the lifter and energy.

[0055] In some embodiments of the present application, the supercapacitor is connected in parallel with the power battery as a booster power source, and the system energy is managed through a control system, a DC / DC converter, and an AC / DC converter.

[0056] In some embodiments of the present application, the ECU control system is respectively connected to the motor driver, DC / DC converter, AC / DC converter, and force / position sensing system through weak current cables for real-time information collection, processing, decision-making, and control.

[0057] In some embodiments of the present invention, the two lifting cams are connected via a cam connecting shaft; and the lower sides of the two lifting cams are respectively connected to the two push rods.

[0058] In some embodiments of the present invention, the motor provides power to reduce speed and increase torque through a reduction gear box, and a gear rack or non-self-locking worm screw mechanism drives the push rod to move up and down.

[0059] In some embodiments of the present invention, two lifting cams drive the lifting rods on both sides to move up and down, and then drive the two lower pull rods to achieve the lifting of the agricultural implement.

[0060] In some embodiments of the present invention, the driver of the motor is connected to the AC / DC converter, the AC / DC converter is connected to the DC / DC converter, and the DC / DC converter is connected to the power battery and the supercapacitor respectively through high-voltage cables for energy transmission.

[0061] In some embodiments of the present invention, the force / position sensing system is installed at the lifter cam connecting shaft to monitor the lifter working status and force / position data in real time.

[0062] In some embodiments of the present invention, the ECU control system is respectively connected to the motor driver, DC / DC converter, AC / DC converter, and force / position sensing system through weak current cables for real-time information collection, processing, decision-making, and control.

[0063] In some embodiments of the present invention, in the external work lifting agricultural implement mode, the power battery and the supercapacitor provide electrical energy to the drive motor separately or jointly; further, the power battery charge state, the supercapacitor charge state, the agricultural implement lifting speed requirement and the suspension load level are determined by the force / position sensing system and the ECU control system to determine the power supply source and control the current.

[0064] In some embodiments of the present invention, in a high-power external work demand mode, the supercapacitor can be used to supplement the power battery for high-current discharge, improve the efficiency of agricultural implement lifting and force position adjustment under heavy load, and increase the service life of the power battery.

[0065] In some embodiments of the present invention, during the process of landing the agricultural implement, the motor, DC / DC converter and ECU controller of the present invention can be used to achieve energy recovery.

[0066] In some embodiments of the present invention, in the energy recovery mode, the potential energy of the agricultural implement is converted into the kinetic energy of the motor rotor, which is converted into electrical energy by the motor, and the energy is rectified and voltage-regulated by the AC / DC converter and the DC / DC converter.

[0067] In some embodiments of the present invention, in the energy recovery mode, the ECU determines the direction of the current according to the magnitude of the rectified current and voltage, the state of charge of the power battery, and the state of charge of the supercapacitor: in the case of low current, the recovered energy is directly stored in the power battery; in the case of high current, the current first enters the supercapacitor for buffering. The final power distribution is then determined according to the state of charge of the two and the working state of the booster, and the DC / DC converter is responsible for regulation to achieve stable power recovery and prepare for the next stage of operation.

[0068] In some embodiments of the present invention, during the real-time adjustment of the depth force / position of the agricultural implement, the motor is in a continuous change of work output and energy recovery, and the ECU makes real-time judgments and control decisions to achieve optimal energy management.

[0069] Specifically:

[0070] In some embodiments of the present invention, there are two reduction gearboxes 10, which are respectively arranged on both sides of the support housing 4, and the reduction gearboxes 10 are connected to the input gear shaft;

[0071] The motor 1, reduction gearbox 10, lifting rod 7, supporting box 4, lifting cam 5, cam connecting shaft 3, push rod 9, lower pull rod 8 and upper pull rod 6 constitute an electric-driven lifting device, wherein the front end actuator of the push rod 9 can adopt a gear rack or a non-self-locking turbine screw mechanism.

[0072] In some embodiments of the present invention, there are two pull-down rods 8 , and the two pull-down rods 8 are respectively connected to the two lifting rods 7 .

[0073] In some embodiments of the present invention, the two lifting rods 7 are respectively connected to the two lifting cams 5 in a one-to-one correspondence.

[0074] In some embodiments of the present invention, the two lifting cams 5 are connected via a cam connecting shaft 3 ; and the lower sides of the two lifting cams 5 are respectively connected to two push rods 9 .

[0075] In some embodiments of the present invention, the motor 1 provides power to reduce speed and increase torque through the reduction box 10, and the rack and pinion or non-self-locking worm screw mechanism drives the push rod 9 to move up and down.

[0076] In some embodiments of the present invention, the two lifting cams 5 drive the lifting rods 7 on both sides to rise and fall, and then drive the two lower pull rods 8 to achieve the lifting of the agricultural implement.

[0077] In some embodiments of the present invention, the driver of the motor 1 is connected to the AC / DC converter 16, the AC / DC converter 16 is connected to the DC / DC converter 11, and the DC / DC converter 11 is connected to the power battery 12 and the supercapacitor 13 respectively through high-voltage cables for energy transmission.

[0078] In some embodiments of the present invention, the force / position sensing system 15 is installed at the lifter cam connecting shaft 3 to monitor the lifter working state and force / position data in real time.

[0079] In some embodiments of the present invention, the ECU control system 14 is respectively connected to the motor 1 driver, DC / DC converter 11, AC / DC converter 16, and force / position sensing system 15 through weak current cables for real-time information collection, processing, decision-making and control.

[0080] In the mode of the electric-driven lifting system of the agricultural machinery performing external work to lift the agricultural implement, the power battery (12) and the supercapacitor 13 provide electric energy to the drive motor 1 separately or together; further, the charge state of the power battery 12, the charge state of the supercapacitor 13, the lifting speed requirement of the agricultural implement and the level of the suspended load are determined by the force / position sensor system 15 and the ECU control system 14 to determine the power supply source and control the current.

[0081] In some embodiments of the present invention, in a high-power external work demand mode, the supercapacitor 13 can be used to supplement the power battery 12 for high-current discharge, improve the efficiency of agricultural implement lifting and force position adjustment under heavy load, and increase the service life of the power battery 12.

[0082] During the process of lowering the implement, the motor 1, the DC / DC converter 11 and the ECU controller 14 of the present invention can be used to realize energy recovery.

[0083] In some embodiments of the present invention, in the energy recovery mode, the potential energy of the agricultural implement is converted into the kinetic energy of the rotor of the motor 1, and then converted into electrical energy by the motor 1. The energy is rectified and voltage-regulated by the AC / DC converter 16 and the DC / DC converter 11.

[0084] In some embodiments of the present invention, in the energy recovery mode, the ECU determines the current direction according to the magnitude of the rectified current and voltage, the charge state of the power battery 12, and the charge state of the supercapacitor 13: in the case of low current, the recovered energy directly enters the power battery 12 for storage; in the case of high current, the current first enters the supercapacitor 13 for buffering. The final electric energy distribution is then determined according to the charge state of the two and the working state of the booster, and the DC / DC converter 11 is responsible for the adjustment to achieve stable electric energy recovery and prepare for the next stage of operation.

[0085] In some embodiments of the present application, during operation, the power of the motor 1 is transmitted to the reduction box through the input gear set 2, and after deceleration and torque increase, the push rod 9 is pushed up and down through the gear rack mechanism or the worm screw with non-self-locking parameters.

[0086] The push rod 9 pushes the lifting cam 5 to rotate around the cam connecting shaft 3, thereby driving the lifting rod 7 to move, driving the two lower pull rods 8 to swing up and down, so as to realize the lifting and lowering of the agricultural implement. In this process, the upper pull rod 6 swings up and down accordingly.

[0087] In the mode of lifting the implement by the lifting system, the power battery 12 and the super capacitor 13 provide power to the drive motor 1 separately or together. The charge state of the power battery 12, the charge state of the super capacitor 13, the lifting speed requirement of the implement and the hanging load level are determined by the sensor system 15 and the ECU controller 14 to decide the power supply source and control the current.

[0088] In the external high-power work demand mode: the supercapacitor 13 is used to supplement the power battery 12 for high-current discharge, improve the efficiency of agricultural implement lifting and force position adjustment under heavy load, and increase the service life of the power battery 12.

[0089] The energy recovery mode is adopted during the landing of the agricultural implement: when the agricultural implement is landed, the potential energy of the agricultural implement is converted into the kinetic energy of the rotor of the motor 1 through the suspension and transmission. The motor 1 reverses and becomes a generator, converting the kinetic energy into electrical energy. The current is rectified and voltage-regulated by the AC / DC converter 16 and the DC / DC converter 11.

[0090] In the energy recovery mode, the ECU determines the current direction according to the magnitude of the rectified current and voltage, the charge state of the power battery 12, and the charge state of the supercapacitor 13: in the case of low current, the recovered energy is directly stored in the power battery 12; in the case of high current, the current first enters the supercapacitor 13 for buffering. The final energy distribution is then determined based on the charge state of the two and the working state of the booster, and is adjusted by the DC / DC converter 11 to achieve stable energy recovery.

[0091] During the real-time adjustment of the depth force / position of the agricultural implement, the motor 1 is in a continuous change of work output and energy recovery. The ECU makes real-time judgments and control decisions. The ECU control system 14 and the DC / DC converter 11 effectively control the charging and discharging current of the supercapacitor 13 to ensure the stability of the work and energy recovery of the electric lifter, thereby ensuring that the system has a high charging and discharging efficiency and achieves optimal energy management.

[0092] When in use, the power battery 12 and the super capacitor 13 provide current to the motor 1 separately or together to realize the lifting and adjustment of the actuator.

[0093] During use, when the farm implement falls, the executive component descends, driving the lifting cam 5 to descend, and then driving the push rod 9 to descend to achieve mechanism reversal, and generate electricity through the reverse effect of the motor 1 to recover energy.

[0094] When in use, the motor 1 fixed on the limit plate and the reduction box 10 are gear-engaged to form a power source for lifting; the input gear set 2, the reduction box 10, the push rod 9, the lifting cam 5, and the lifting rod 7 constitute the mechanical transmission mechanism of the entire electric drive lifting system; the supporting box body 4, the upper pull rod 6 and the two lower pull rods 8 form a three-point suspension to support the agricultural implement components; the ECU control system 14, the DC / DC converter 11, the AC / DC converter 16, the power battery 12, the supercapacitor 13 and the force / position sensor system 15 constitute an energy recovery device to achieve precise and efficient control of the machine.

[0095] It should be understood that the specific description herein is only used to explain the present invention and is not used to limit the present invention. The terms used herein are only used to specifically describe the implementation mode, but are not limited to the exemplary implementation mode according to the present invention. Within the scope described in the claims, all modifications and variations obtained by technical workers in the field without making creative labor are within the scope of protection of the present invention.

Claims

1. An electric drive lifting system with energy recovery function for agricultural machinery, characterized in that: The invention comprises an electric-driven lifting device and an energy recovery device, wherein the electric-driven lifting device mainly comprises a motor (1), an input gear set (2), a cam connecting shaft (3), a supporting housing (4), a lifting cam (5), an upper pull rod (6), a lifting rod (7), a lower pull rod (8), a push rod (9), and a reduction box (10); the energy recovery device comprises a DC / DC converter (11), a power battery (12), a super capacitor (13), an ECU control system (14), a force / position sensor system (15), and an AC / DC converter (16); The input gear set (2) is connected to the reduction box (10); the two ends of the cam connecting shaft (3) are connected to the lifting cam (5); the front end of the lifting cam (5) is connected to the lifting rod (7), and the lower end is connected to the push rod (9); the upper pull rod (6) is connected to the front middle upper part of the support box (4); the lifting rod (7) is connected to the lower pull rod (8); the lower pull rod (8) is connected to both sides of the lower front end of the support box (4); The force / position sensing system (15) is installed at the cam connecting shaft (3) and is used to monitor the working state of the lifter and force / position data in real time; When the actuator descends, the motor (1) reverses as a motor, converts potential energy into alternating current, rectifies and converts it into direct current through an AC / DC converter (16), and then transmits the electric energy to a power battery (12) or a super capacitor (13) after voltage regulation through a DC / DC converter (11); when the reverse voltage exceeds a predetermined threshold, the electric energy is stored in the super capacitor (13) through the DC / DC converter (11), and after recovery is complete, the electric energy in the super capacitor (13) is transmitted back to the power battery (12) through the DC / DC converter (11); When the lifting system is working, the power battery (12) and the supercapacitor (13) are used alone or together as power sources; when the lifter is lowered, the recovered energy is stored in the power battery (12) and the supercapacitor (13); the AC / DC converter (16) is used for converting direct current and alternating current; the DC / DC converter (11) controls the charging and discharging current of the supercapacitor (13) to ensure the charging and discharging efficiency of the system; when the DC / DC converter (11) is working, it ensures that the output voltage of the supercapacitor (13) remains stable, thereby improving the accuracy and efficiency of lifting and force adjustment of the agricultural implement; The ECU control system (14) is electrically connected to the force / position sensing system (15), the DC / DC converter (11), and the power battery (12); the force / position sensing system (15) and the ECU control system (14) are used to obtain the working requirements of the lifter in real time, detect the real-time force / position state, and coordinate the control of the working state of the motor (1), the AC / DC converter (16), and the DC / DC converter (11), so as to achieve reasonable management of the working requirements and energy of the lifter; The super capacitor (13) and the power battery (12) are connected in parallel as a booster power source, and the system energy is managed through an ECU control system (14), a DC / DC converter (11) and an AC / DC converter (16); In the external high-power work demand mode, the supercapacitor can be used to supplement the power battery for high-current discharge, improve the efficiency of agricultural implement lifting and force position adjustment under heavy load, and increase the service life of the power battery; In the energy recovery mode, the ECU control system determines the direction of the current according to the magnitude of the rectified current and voltage, the charge state of the power battery, and the charge state of the supercapacitor: in the case of low current, the recovered energy is directly stored in the power battery; in the case of high current, the current first enters the supercapacitor for buffering; then, according to the charge state of the two and the working state of the booster, the final energy distribution is determined, and the DC / DC converter is responsible for regulation to achieve stable energy recovery and prepare for the next stage of operation; During the real-time adjustment of the depth force / position of the agricultural implement, the motor is in a continuous change of work output and energy recovery. The ECU control system makes real-time judgments and control decisions. The ECU control system and DC / DC converter effectively control the supercapacitor charging and discharging current to ensure the stability of the electric drive hoist's work and energy recovery, thereby ensuring that the system has a high charging and discharging efficiency and achieves optimal energy management. There are two lower pull rods (8), and the two lower pull rods (8) correspond to the two lifting rods (7) respectively; the lifting rods (7) are connected to the two lifting cams (5) in a one-to-one correspondence; the lifting cams (5) are connected to the two push rods (9) in a one-to-one correspondence; the reduction box (10) corresponds to the two lifting rods in a one-to-one correspondence; The push rod (9) is driven by a gear rack mechanism or a non-self-locking turbine screw mechanism; The ECU control system (14) is respectively connected to the motor (1) driver, the DC / DC converter (11), the AC / DC converter (16), and the force / position sensor system (15) through weak current wiring, and is used for real-time information collection, processing, decision-making and control.

Images