A mechanical coupling device for a parallel hybrid tractor and its control method

Abstract

A mechanical coupling device and its control method for a parallel hybrid tractor, which relate to the field of tractors. In the present invention, a planetary gear coupling mechanism is provided. Since the ring gears on the first planetary gear set and the second planetary gear set are in external meshing transmission, the structure is more compact and the load-bearing capacity is greater. At the same time, the present invention uses the dual power of the engine and the motor as the power source of the tractor. The engine separately transmits power to the transmission drive axle, and the motor separately drives power to the rotary tillage mechanism. By controlling the planetary gear coupler, the power of the engine and the motor can be converged to the transmission drive axle, which can simplify the structure of the gearbox, is beneficial to the overall vehicle layout, and according to different operation requirements, select appropriate working modes, thereby improving the working efficiency and energy utilization rate of the engine, etc. At the same time, due to the introduction of the motor, the working area of the engine can be optimized, the energy utilization efficiency can be improved, and environmental pollution can be reduced, etc., which is suitable for wide promotion and application.

Description

Technical Field

[0001] The present invention relates to the field of tractors, and particularly to a mechanical coupling device and a control method for a parallel hybrid tractor. Background Art

[0002] It is known that with the increasing shortage of exploitable oil resources and the increasingly serious environmental pollution, in order to solve problems such as improving fuel economy and reducing pollutant gas emissions, innovatively improving and upgrading traditional fuel vehicles and designing them to use hybrid oil-electric power as the power source has become an important development direction and future trend in the industry.

[0003] In the research of tractors, most tractors still use diesel engines as the power source. Such traditional diesel tractors not only have high noise, low efficiency but also seriously pollute the environment, resulting in serious energy waste and exhaust emissions; pure electric tractors, due to the main power source being the motor, will have the hidden danger of insufficient power when facing complex operating conditions, and the charging time problem is also a major problem to be solved; although the use of hybrid power for driving has been disclosed in the prior art, there are generally problems such as too large a volume of the coupling mechanism, too single an operation mode, and low energy utilization rate.

[0004] Therefore, it is particularly important to provide a mechanical coupling device and a control method for a parallel hybrid tractor. Summary of the Invention

[0005] To overcome the deficiencies in the background art, the present invention provides a mechanical coupling device and a control method for a parallel hybrid tractor. The present invention realizes a parallel hybrid tractor with high fuel economy, low pollutant gas emissions, and capable of adjusting power output according to the working environment, improves the power performance and economy of the tractor, and significantly reduces the volume of the coupling mechanism, etc.

[0006] To achieve the above-mentioned invention purpose, the present invention adopts the following technical solutions:

[0007] A mechanical coupling device for a parallel hybrid tractor, comprising a vehicle controller, an engine controller, a fuel tank, an engine, a clutch, a planetary gear coupling mechanism, a transmission, a drive axle, a rotary tillage mechanism, a coupler controller, an electric motor, a distribution box, a motor controller, a battery pack, a BMS controller and a battery charger. The distribution box is respectively connected to the vehicle controller, the engine controller, the coupler controller, the motor controller and the battery pack. The engine controller is connected to the engine. The engine is respectively connected to the fuel tank and the clutch. The clutch is connected to a first input shaft in the planetary gear coupling mechanism. A first output shaft in the planetary gear coupling mechanism is connected to the transmission. The transmission is connected to the drive axle. A second input shaft in the planetary gear coupling mechanism is connected to the electric motor. The electric motor is connected to the motor controller. A third output shaft in the planetary gear coupling mechanism is connected to the rotary tillage mechanism. The battery pack is connected to the BMS controller. The BMS controller is connected to the battery charger. The coupler controller is respectively connected to a synchronizer, a metal belt continuously variable transmission mechanism, a first electromagnetic lock, a second electromagnetic lock and a third electromagnetic lock in the planetary gear coupling mechanism to form the mechanical coupling device for the parallel hybrid tractor.

[0008] For the mechanical coupling device of the parallel hybrid tractor, the planetary gear coupling mechanism includes a first input shaft, a first electromagnetic lock, a first planetary gear set, a second electromagnetic lock, a first output shaft, a synchronizer, a third output shaft, a metal belt continuously variable transmission mechanism, a second output shaft, a third electromagnetic lock, a second planetary gear set and a second input shaft. The first sun gear in the first planetary gear set is arranged at the right end of the first input shaft. A first electromagnetic lock is arranged on the outer edge surface of the first input shaft on the left side of the first planetary gear set. A second electromagnetic lock is arranged around the first planetary gear set. The first planet carrier in the first planetary gear set is connected to the left end of the first output shaft. A synchronizer is arranged on the outer edge surface of the first output shaft on the right side of the first planet carrier. The driving working wheel in the metal belt continuously variable transmission mechanism is arranged on the first output shaft. The driven working wheel in the metal belt continuously variable transmission mechanism is arranged on the second output shaft. The driving working wheel and the driven working wheel are connected by a metal belt. The fixed part of the driven working wheel in the driven working wheel is connected to the third output shaft. A third electromagnetic lock for locking or unlocking the transmission of the second sun gear in the second planetary gear set to the second output shaft is arranged on the outer edge surface of the second output shaft. The left end of the second output shaft is connected to the second sun gear in the second planetary gear set. The second planet carrier in the second planetary gear set is connected to the second input shaft. The first ring gear in the first planetary gear set and the second ring gear in the adjacent second planetary gear set are in external meshing transmission.

[0009] The mechanical coupling device of the parallel hybrid tractor. The first planetary gear set includes a first sun gear, a first ring gear, first planetary gears, and a first planetary carrier. The first planetary gears are externally meshed with the first sun gear and internally meshed with the first ring gear. The first planetary gears are connected to the first planetary carrier and supported by the first planetary carrier. The first ring gear is connected to a second electromagnetic lock.

[0010] The mechanical coupling device of the parallel hybrid tractor. The metal belt continuously variable transmission mechanism includes a driving work wheel disposed on the first output shaft and a driven work wheel disposed on the second output shaft. The driving work wheel and the driven work wheel are connected by a metal belt. The driving work wheel includes a driving work wheel fixed part, a driving work wheel movable part, and a driving work wheel hydraulic control cylinder. The driven work wheel includes a driven work wheel fixed part, a driven work wheel movable part, and a driven work wheel hydraulic control cylinder. The driving work wheel hydraulic control cylinder and the driven work wheel hydraulic control cylinder respectively drive the driving work wheel movable part and the driven work wheel movable part to work to achieve the continuously variable transmission of the metal belt continuously variable transmission mechanism.

[0011] The mechanical coupling device of the parallel hybrid tractor. The second planetary gear set includes a second planetary carrier, second planetary gears, a second ring gear, and a second sun gear. The second planetary gears are externally meshed with the second sun gear and internally meshed with the second ring gear. The second planetary gears are connected to the second planetary carrier and supported by the second planetary carrier.

[0012] The mechanical coupling device of the parallel hybrid tractor. The BMS controller controls the battery pack. The battery pack supplies power to the motor, synchronizer, first electromagnetic lock, second electromagnetic lock, and third electromagnetic lock. The coupler controller respectively controls the interruption and engagement of the synchronizer, controls the operation of the driving work wheel hydraulic control cylinder and the driven work wheel hydraulic control cylinder, and controls the locking or unlocking of the first electromagnetic lock, second electromagnetic lock, and third electromagnetic lock.

[0013] The mechanical coupling device of the parallel hybrid tractor. The vehicle controller obtains information from the BMS controller, engine controller, coupler controller, motor controller, and distribution box through the high-speed CAN bus, and sends control signals to the corresponding controllers and distribution box through the high-speed CAN bus, and obtains the operation information of the tractor through the low-speed CAN bus.

[0014] The mechanical coupling device of the parallel hybrid tractor. The operation information includes key signal, gearbox gear position signal, pedal position signal, operation mode signal, motor and rotating shaft speed signal.

[0015] A control method for a mechanical coupling device of a parallel hybrid tractor. The control method is as follows: after the tractor starts, the vehicle enters the system self-check status. After the vehicle is normal and passes the self-check, it can run. The vehicle controller obtains the vehicle operation demand signal and sends control signals to each controller and the distribution box according to the obtained signal, so as to select different control operation modes, specifically as follows:

[0016] A. Pure engine drive mode:

[0017] When the vehicle controller receives the traveling signal, the vehicle controller calculates the real-time demand power Px. When the rated power Pq of the engine is greater than or equal to Px and the engine can work in the high-efficiency working range, the vehicle enters the pure engine drive mode at this time. The coupler controller controls the first electromagnetic lock to disengage, the second and third electromagnetic locks to engage, and the synchronizer to interrupt. At this time, the engine is in the working state. The vehicle controller calculates the target speed nq of the engine and then transmits the signal to the engine controller. The engine adjusts the speed in real time according to the signal of the engine controller;

[0018] B. Pure motor drive mode:

[0019] When the vehicle controller receives the operation signal, the vehicle controller calculates the real-time demand power Px. When the rated power Pe of the motor is greater than or equal to Px, the vehicle enters the pure motor drive mode at this time. The coupler controller controls the first electromagnetic lock to fix the first sun gear, the second electromagnetic lock to engage, the third electromagnetic lock to disengage, and the synchronizer to interrupt. At this time, the motor is in the working state. The vehicle controller calculates the target speed np of the motor and then transmits the signal to the motor controller. The motor operates at a constant speed according to the signal of the motor controller. The sensor collects the actual speed of the motor in real time. The vehicle controller compares whether the actual speed of the motor is equal to np and feeds it back to the motor controller in time, so that the motor controller controls the speed of the motor in real time to keep the motor operating at a constant speed;

[0020] C. Hybrid drive mode:

[0021] ① When the vehicle controller receives the traveling signal, the vehicle controller calculates the real-time demand power Px. When the rated power Pq of the engine is less than Px or the engine cannot work in the high-efficiency working range, the vehicle enters the hybrid drive mode at this time. The coupler controller controls the first and second electromagnetic locks to disengage, the third electromagnetic lock to engage, and the synchronizer to interrupt. At this time, both the engine and the motor are in the working state. The vehicle controller calculates the target speed nq of the engine and the target speed np of the motor based on the maximum working efficiency distribution control strategy, and then transmits the signal to the engine controller and the motor controller. The engine controller and the motor controller adjust the speed of the control components in real time according to the signal, so that the vehicle reaches the expected working condition;

[0022] ② When the vehicle controller receives the operation signal, the vehicle controller calculates the real-time required power Px. When the rated power of the motor Pe < Px, the vehicle enters the hybrid drive mode. The coupler controller controls the first electromagnetic lock, the second electromagnetic lock, and the third electromagnetic lock to disengage, and the synchronizer is interrupted. At this time, both the engine and the motor are in the working state. The vehicle controller calculates the target speed nq of the engine and the target speed np of the motor based on the maximum working efficiency distribution control strategy, and then transmits the signal to the engine controller and the motor controller. The engine controller and the motor controller adjust the speed of the control components in real time according to the signal, so that the vehicle reaches the desired working condition;

[0023] D. Hybrid operation mode:

[0024] ① When the vehicle enters the hybrid operation mode, the vehicle controller calculates the real-time required traveling power Px1 and the real-time required operation power Px2. When the rated power of the engine Pq ≥ Px1, the rated power of the motor Pe ≥ Px2, and the engine can operate in the high-efficiency working range, the vehicle controller sends a traveling operation separation signal to the coupler controller. The coupler controller controls the first electromagnetic lock and the third electromagnetic lock to be interrupted, the second electromagnetic lock is engaged, and the synchronizer is interrupted. At this time, both the engine and the motor are in the working state. The controller on the whole machine calculates the target speed nq of the engine and the target speed np of the motor, and then transmits the signal to the engine controller and the motor controller. The engine adjusts its speed in real time according to the signal of the engine controller, the motor operates at a constant speed according to the signal of the motor controller, the sensor collects the actual speed of the motor in real time, and the controller on the whole machine transmits the signal to the motor controller in real time by comparing the actual speed of the motor with the target speed of the motor, and controls the speed of the motor through the motor controller to keep the motor operating at a constant speed;

[0025] ② When the vehicle enters the hybrid operation mode, the vehicle controller calculates the real-time required traveling power Px1 and the real-time required operation power Px2. When the rated power of the engine Pq < Px1 or the rated power of the motor Pe < Px2, and the engine cannot operate in the high-efficiency working range, at this time, the vehicle controller sends a traveling operation coupling signal to the coupler controller. The coupler controller controls the first electromagnetic lock, the second electromagnetic lock, and the third electromagnetic lock to disengage, the synchronizer engages, and the hydraulic control cylinders of the driving work wheel and the driven work wheel on the metal belt continuously variable transmission mechanism work. At this time, both the engine and the motor are in the working state. The vehicle controller calculates the target speed nq of the engine, the target speed np of the motor, and the pressures of the hydraulic control cylinders of the driving work wheel and the driven work wheel based on the maximum working efficiency distribution control strategy and the required speeds of the first input shaft and the third output shaft, and then transmits the signals to the engine controller, the motor controller, and the coupler controller. The engine adjusts its speed in real time according to the signal from the engine controller, the motor adjusts its speed in real time according to the signal from the motor controller, and the hydraulic control cylinders of the driving work wheel and the driven work wheel control the transmission ratio of the metal belt continuously variable transmission mechanism in real time according to the signal from the coupler controller. The sensor collects the actual speeds of the first input shaft and the third output shaft in real time. The vehicle controller compares the actual speeds of the first input shaft and the third output shaft with the required speeds of the first input shaft and the third output shaft, and transmits the signals to each controller in real time to control the operation of the corresponding components, so as to keep the first input shaft adjusting its speed in real time and the third output shaft operating at a constant speed.

[0026] Adopting the technical solution described above, the present invention has the following advantages:

[0027] In the planetary gear coupling mechanism set in the present invention, since the ring gear on the first planetary gear set and the ring gear on the second planetary gear set are in external meshing transmission, the structure is more compact and the load-bearing capacity is larger. At the same time, the present invention uses the engine and the motor as the power sources of the tractor. The engine separately transmits the power to the transmission drive axle, and the motor separately drives the power to the rotary tillage mechanism. By controlling the planetary gear coupler, the engine and the motor powers are converged to the transmission drive axle, which can simplify the structure of the gearbox, is beneficial to the overall vehicle layout, and can select the appropriate working mode according to different operation requirements, thereby improving the working efficiency and energy utilization rate of the engine, etc. At the same time, due to the introduction of the motor, the working area of the engine can be optimized, the energy utilization efficiency can be improved, and environmental pollution can be reduced, etc., which is suitable for wide promotion and application. Description of the Drawings

[0028] Figure 1 is the structural schematic diagram of the present invention;

[0029] Figure 2 is the structural schematic diagram of the planetary gear coupling mechanism in the present invention;

[0030] Figure 3 It is a schematic structural diagram of the first planetary gear set in the present invention;

[0031] Figure 4 It is a schematic structural diagram of the second planetary gear set in the present invention;

[0032] Figure 5 It is a schematic structural diagram of the metal belt continuously variable transmission mechanism in the present invention;

[0033] Figure 6 It is a circuit connection diagram of the control system of the mechanical coupling device in the present invention;

[0034] Figure 7 It is Flowchart A of the control method of the mechanical coupling device in the present invention;

[0035] Figure 8 It is Flowchart B of the control method of the mechanical coupling device in the present invention;

[0036] Figure 9 It is Flowchart C of the control method of the mechanical coupling device in the present invention;

[0037] Figure 10 It is Flowchart D of the control method of the mechanical coupling device in the present invention;

[0038] In the figure: 1. Vehicle controller; 2. Engine controller; 3. Fuel tank; 4. Engine; 5. Clutch; 6. Planetary gear coupling mechanism; 7. Transmission; 8. Drive axle; 9. Rotary tillage mechanism; 10. Coupler controller; 11. Motor; 12. Distribution box; 13. Motor controller; 14. Battery pack; 15. BMS controller; 16. Battery charger; 17. First input shaft; 18. First electromagnetic lock; 19. First planetary gear set; 19s. First sun gear; 19r. First ring gear; 19p. First planetary gear; 19c. First planetary carrier; 20. Second electromagnetic lock; 21. First output shaft; 22. Synchronizer; 23. Third output shaft; 24. Metal belt continuously variable transmission mechanism; 2401. Fixed part of the driving pulley; 2402. Movable part of the driving pulley; 2403. Hydraulic control cylinder of the driving pulley; 2404. Metal belt; 2405. Fixed part of the driven pulley; 2406. Movable part of the driven pulley; 2407. Hydraulic control cylinder of the driven pulley; 25. Second output shaft; 26. Third electromagnetic lock; 27. Second planetary gear set; 27c. Second planetary carrier; 27p. Second planetary gear; 27r. Second ring gear; 27s. Second sun gear; 28. Second input shaft. Detailed implementation manners

[0039] The present invention can be more detailedly explained through the following embodiments, and the present invention is not limited to the following embodiments;

[0040] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "lateral", "length", "width", "height", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "side", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention.

[0041] In the description of the present invention, it should also be noted that unless otherwise clearly specified and defined, the terms "set", "installed", "connected", "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0042] Combined with the attached Figures 1 to 10 The described parallel hybrid tractor mechanical coupling device includes a vehicle controller 1, an engine controller 2, a fuel tank 3, an engine 4, a clutch 5, a planetary gear coupling mechanism 6, a transmission 7, a drive axle 8, a rotary tillage mechanism 9, a coupler controller 10, a motor 11, a distribution box 12, a motor controller 13, a battery pack 14, a BMS controller 15, and a battery charger 16. The distribution box 12 is respectively connected to the vehicle controller 1, the engine controller 2, the coupler controller 10, the motor controller 13, and the battery pack 14. The engine controller 2 is connected to the engine 4. The engine 4 is respectively connected to the fuel tank 3 and the clutch 5. The clutch 5 is connected to a first input shaft 17 in the planetary gear coupling mechanism 6. A first output shaft 21 in the planetary gear coupling mechanism 6 is connected to the transmission 7. The transmission 7 is connected to the drive axle 8. A second input shaft 28 in the planetary gear coupling mechanism 6 is connected to the motor 11. The motor 11 is connected to the motor controller 13. A third output shaft 23 in the planetary gear coupling mechanism 6 is connected to the rotary tillage mechanism 9. The battery pack 14 is connected to the BMS controller 15. The BMS controller 15 is connected to the battery charger 16. The coupler controller 10 is respectively connected to a synchronizer 22, a metal belt continuously variable transmission mechanism 24, a first electromagnetic lock 18, a second electromagnetic lock 20, and a third electromagnetic lock 26 in the planetary gear coupling mechanism 6 to form the described parallel hybrid tractor mechanical coupling device.

[0043] As Figure 2As shown, the planetary gear coupling mechanism 6 includes a first input shaft 17, a first electromagnetic lock 18, a first planetary gear set 19, a second electromagnetic lock 20, a first output shaft 21, a synchronizer 22, a third output shaft 23, a metal belt continuously variable transmission mechanism 24, a second output shaft 25, a third electromagnetic lock 26, a second planetary gear set 27, and a second input shaft 28. The first sun gear 19s in the first planetary gear set 19 is arranged at the right end of the first input shaft 17. A first electromagnetic lock 18 is provided on the outer edge surface of the first input shaft 17 on the left side of the first planetary gear set 19. A second electromagnetic lock 20 is provided around the first planetary gear set 19. The first planet carrier 19c in the first planetary gear set 19 is connected to the left end of the first output shaft 21. A synchronizer 22 is provided on the outer edge surface of the first output shaft 21 on the right side of the first planet carrier 19c. The driving working wheel in the metal belt continuously variable transmission mechanism 24 is arranged on the first output shaft 21, and the driven working wheel in the metal belt continuously variable transmission mechanism 24 is arranged on the second output shaft 25. The driving working wheel and the driven working wheel are connected by a metal belt 2404. The fixed part 2405 of the driven working wheel in the driven working wheel is connected to the third output shaft 23. A third electromagnetic lock 26 for locking or unlocking the transmission of the second sun gear 27s in the second planetary gear set 27 to the second output shaft 25 is provided on the outer edge surface of the second output shaft 25. The left end of the second output shaft 25 is connected to the second sun gear 27s in the second planetary gear set 27. The second planet carrier 27c in the second planetary gear set 27 is connected to the second input shaft 28. The first ring gear 19r in the first planetary gear set 19 and the second ring gear 27r in the adjacent second planetary gear set 27 are in external meshing transmission.

[0044] During specific implementation, the first input shaft 17 in the first planetary gear set 19 is connected to the engine 4, the first output shaft 21 is connected to the drive axle 8 of the tractor. The second input shaft 28 of the second planetary gear set 27 is connected to the motor 11, the second output shaft 25 is connected to the metal belt continuously variable transmission mechanism 24, and the metal belt continuously variable transmission mechanism 24 drives the rotary tillage mechanism 9 to operate through the third output shaft 23.

[0045] A first input shaft 17, a first electromagnetic lock 18, a first planetary gear set 19, a second electromagnetic lock 20, a first output shaft 21, a synchronizer 22, a metal belt continuously variable transmission mechanism 24, and a transmission 7 are provided between the engine 4 and the drive axle 8. The transmission 7 is an intermediate shaft type transmission, which realizes changing the transmission ratio, switching the transmission direction, and interrupting the power transmission.

[0046] A second input shaft 28, a second planetary gear set 27, a third electromagnetic lock 26 for locking or unlocking the transmission of the second sun gear 27s in the second planetary gear set 27 to the second output shaft 25, a second output shaft 25, a metal belt continuously variable transmission mechanism 24, and a third output shaft 23 are provided between the electric motor 11 and the rotary tillage mechanism 9.

[0047] Further, as Figure 3 shown, the first planetary gear set 19 includes a first sun gear 19s, a first ring gear 19r, a first planetary gear 19p, and a first planetary carrier 19c. The first planetary gear 19p is externally meshed with the first sun gear 19s, the first planetary gear 19p is internally meshed with the first ring gear 19r. The first planetary gear 19p is connected to the first planetary carrier 19c and is positioned and supported by the first planetary carrier 19c. The first ring gear 19r is connected to the second electromagnetic lock 20. During implementation, the first input shaft 17 is connected to the engine 4, the clutch 5, and the first electromagnetic lock 18, and the first output shaft 21 is connected to the drive axle 8 of the tractor. Between the first ring gear 19r in the first planetary gear set 19 and the first output shaft 21, the following are sequentially provided: a synchronizer 22 for transmitting power to the first output shaft 21, a metal belt continuously variable transmission mechanism 24, and a transmission 7.

[0048] Further, as Figure 5 shown, the metal belt continuously variable transmission mechanism 24 includes a driving work wheel provided on the first output shaft 21 and a driven work wheel provided on the second output shaft 25. The driving work wheel and the driven work wheel are connected by a metal belt 2404. The driving work wheel includes a driving work wheel fixed part 2401, a driving work wheel movable part 2402, and a driving work wheel hydraulic control cylinder 2403. The driven work wheel includes a driven work wheel fixed part 2405, a driven work wheel movable part 2406, and a driven work wheel hydraulic control cylinder 2407. The driving work wheel hydraulic control cylinder 2403 and the driven work wheel hydraulic control cylinder 2407 respectively push the driving work wheel movable part 2402 and the driven work wheel movable part 2406 to work to achieve the continuously variable transmission of the metal belt continuously variable transmission mechanism.

[0049] Further, as Figure 4 shown, the second planetary gear set 27 includes a second planetary carrier 27c, a second planetary gear 27p, a second ring gear 27r, and a second sun gear 27s. The second planetary gear 27p is externally meshed with the second sun gear 27s, and the second planetary gear 27p is internally meshed with the second ring gear 27r. The second planetary gear 27p is connected to the second planetary carrier 27c and is positioned and supported by the second planetary carrier 27c.

[0050] During specific implementation, the second input shaft 28 is connected to the motor 11. A third electromagnetic lock 26 is provided at the second output shaft 25 for locking or unlocking the transmission of the second sun gear 27s in the second planetary gear set 27 to the second output shaft 25. The second output shaft 25 is connected to the metal belt continuously variable transmission mechanism 24, and the metal belt continuously variable transmission mechanism 24 drives the rotary tillage mechanism 9 to operate through the third output shaft 23; the first ring gear 19r of the first planetary gear set 19 in the planetary gear coupling mechanism 6 is in external meshing transmission with the second ring gear 27r provided adjacent thereto on the second planetary gear set 27.

[0051] Furthermore, the BMS controller 15 controls the battery pack 14, and the battery pack 14 supplies power to the motor 11, the synchronizer 22, the first electromagnetic lock 18, the second electromagnetic lock 20, and the third electromagnetic lock 26. The coupler controller 10 respectively controls the interruption and engagement of the synchronizer 22, controls the operation of the hydraulic control cylinder 2403 of the driving work wheel and the hydraulic control cylinder 2407 of the driven work wheel, and controls the locking or unlocking of the first electromagnetic lock 18, the second electromagnetic lock 20, and the third electromagnetic lock 26.

[0052] Furthermore, a control system of the mechanical coupling device is composed of the BMS controller 15, the engine controller 2, the coupler controller 10, the motor controller 13, the vehicle controller 1, and the distribution box 12 connected by circuits; the vehicle controller 1 is used to control the operation of the tractor; the engine controller 2 and the motor controller 13 respectively control the rotation of the engine 4 and the motor 11; the coupler controller 10 controls the operation of the planetary gear coupling mechanism 6; the system is provided with a pure engine drive mode, a pure electric drive mode, a hybrid drive mode, and a hybrid operation mode.

[0053] Furthermore, as Figure 6 shown, the vehicle controller 1 obtains the information of the BMS controller 15, the engine controller 2, the coupler controller 10, the motor controller 13, and the distribution box 12 through the high-speed CAN bus, and sends control signals to the corresponding controllers and the distribution box 12 through the high-speed CAN bus, and obtains the operation information of the tractor through the low-speed CAN bus. During implementation, the operation information includes a key signal, a gearbox gear position signal, a pedal position signal, an operation mode signal, and motor and rotating shaft speed signals.

[0054] Furthermore, as Figures 6 to 10 shown, a control method for a mechanical coupling device of a parallel hybrid tractor, the control method is that after the tractor starts, the vehicle enters the system self-check status. After the vehicle is normal and the self-check passes, it can run. The vehicle controller 1 obtains the vehicle operation demand signal, and sends control signals to each controller and the distribution box 12 according to the obtained signal, so as to select different control operation modes, specifically as follows:

[0055] A. Pure engine drive mode:

[0056] When the vehicle controller 1 receives a travel signal, the vehicle controller 1 calculates the real-time required power Px. When the rated power Pq of the engine 4 ≥ Px and the engine 4 can operate in the high-efficiency operating range, the vehicle enters the pure engine drive mode. The coupler controller 10 controls the first electromagnetic lock 18 to disengage, the second electromagnetic lock 20 and the third electromagnetic lock 26 to engage, and the synchronizer 22 to interrupt. At this time, the engine 4 is in the operating state. The vehicle controller 1 calculates the target speed nq of the engine 4 and then transmits the signal to the engine controller 2. The engine 4 adjusts its speed in real time according to the signal from the engine controller 2;

[0057] B. Pure motor drive mode:

[0058] When the vehicle controller 1 receives a work signal, the vehicle controller 1 calculates the real-time required power Px. When the rated power Pe of the motor 11 ≥ Px, the vehicle enters the pure motor drive mode. The coupler controller 10 controls the first electromagnetic lock 18 to fix the first sun gear 19s, the second electromagnetic lock 20 to engage, the third electromagnetic lock 26 to disengage, and the synchronizer 22 to interrupt. At this time, the motor 11 is in the operating state. The vehicle controller 1 calculates the target speed np of the motor 11 and then transmits the signal to the motor controller. The motor 11 operates at a constant speed according to the signal from the motor controller 13. The sensor collects the actual speed of the motor 11 in real time. The vehicle controller 1 compares whether the actual speed of the motor 11 is equal to np and feeds it back to the motor controller 13 in a timely manner, so that the motor controller 13 controls the speed of the motor 11 in real time to maintain the constant-speed operation of the motor 11;

[0059] C. Hybrid drive mode:

[0060] ① When the vehicle controller 1 receives a travel signal, the vehicle controller 1 calculates the real-time required power Px. When the rated power Pq of the engine 4 < Px or the engine 4 cannot operate in the high-efficiency operating range, the vehicle enters the hybrid drive mode. The coupler controller 10 controls the first electromagnetic lock 18 and the second electromagnetic lock 20 to disengage, the third electromagnetic lock 26 to engage, and the synchronizer 22 to interrupt. At this time, both the engine 4 and the motor 11 are in the operating state. The vehicle controller 1 calculates the target speed nq of the engine 4 and the target speed np of the motor 11 based on the maximum operating efficiency distribution control strategy and then transmits the signal to the engine controller 2 and the motor controller 13. The engine controller 2 and the motor controller 13 adjust the control components in real time according to the signal, so that the vehicle reaches the desired operating condition;

[0061] ②When the vehicle controller 1 receives the operation signal, the vehicle controller 1 calculates the real-time required power Px. When the rated power Pe of the motor 11 < Px, the vehicle enters the hybrid drive mode at this time. The coupler controller 10 controls the first electromagnetic lock 18, the second electromagnetic lock 20, and the third electromagnetic lock 26 to disconnect, and the synchronizer 22 is interrupted. At this time, both the engine 4 and the motor 11 are in the working state. The vehicle controller 1 calculates the target speed nq of the engine 4 and the target speed np of the motor 11 based on the maximum working efficiency distribution control strategy, and then transmits the signal to the engine controller 2 and the motor controller 13. The engine controller 2 and the motor controller 13 perform real-time speed regulation on the control components according to the signal, so that the vehicle reaches the desired working condition;

[0062] D. Hybrid operation mode:

[0063] ①When the vehicle enters the hybrid operation mode, the vehicle controller 1 calculates the real-time required traveling power Px1 and the real-time required operation power Px2. When the rated power Pq of the engine 4 ≥ Px1 and the rated power Pe of the motor 11 ≥ Px2, and the engine 4 can work in the high-efficiency working range, the vehicle controller 1 issues a traveling operation separation signal to the coupler controller 10 at this time. The coupler controller 10 controls the first electromagnetic lock 18 and the third electromagnetic lock 26 to be interrupted, the second electromagnetic lock 20 is engaged, and the synchronizer 22 is interrupted. At this time, both the engine 4 and the motor 11 are in the working state. The controller on the whole machine calculates the target speed nq of the engine 4 and the target speed np of the motor 11, and then transmits the signal to the engine controller 2 and the motor controller 13. The engine 4 performs real-time speed regulation according to the signal of the engine controller 2, and the motor 11 operates at a constant speed according to the signal of the motor controller 13. The sensor real-time collects the actual speed of the motor 11. The controller on the whole machine transmits the signal to the motor controller 13 in real time by comparing the actual speed of the motor 11 with the target speed of the motor 11, and controls the speed of the motor 11 through the motor controller 13 to keep the motor 11 operating at a constant speed;

[0064] ②When the vehicle enters the hybrid operation mode, the vehicle controller 1 calculates the real-time required traveling power Px1 and the real-time required operation power Px2. When the rated power Pq of the engine 4 < Px1 or the rated power Pe of the motor 11 < Px2, and the engine 4 cannot operate in the high-efficiency working range, at this time, the vehicle controller 1 sends a traveling operation coupling signal to the coupler controller 10. The coupler controller 10 controls the first electromagnetic lock 18, the second electromagnetic lock 20, and the third electromagnetic lock 26 to disengage, the synchronizer 22 engages, and the hydraulic control cylinders 2403 of the driving working wheel and 2407 of the driven working wheel on the metal belt continuously variable transmission mechanism 24 work. At this time, both the engine 4 and the motor 11 are in the working state. The vehicle controller 1 calculates the target speed nq of the engine 4, the target speed np of the motor 11, and the pressures of the hydraulic control cylinders 2403 of the driving working wheel and 2407 of the driven working wheel based on the maximum working efficiency distribution control strategy and the required speeds of the first input shaft 17 and the third output shaft 23, and then transmits the signals to the engine controller 2, the motor controller 13, and the coupler controller 10. The engine 4 adjusts its speed in real time according to the signal of the engine controller 2, the motor 11 adjusts its speed in real time according to the signal of the motor controller 13, and the hydraulic control cylinders 2403 of the driving working wheel and 2407 of the driven working wheel control the transmission ratio of the metal belt continuously variable transmission mechanism 24 in real time according to the signal of the coupler controller 10. The sensors collect the actual speeds of the first input shaft 17 and the third output shaft 23 in real time. The vehicle controller 1 compares the actual speeds of the first input shaft 17 and the third output shaft 23 with the required speeds of the first input shaft 17 and the third output shaft 23, and transmits signals to each controller in real time to control the operation of the corresponding components, so as to keep the first input shaft 17 adjusting its speed in real time and the third output shaft 23 operating at a constant speed.

[0065] Finally, this embodiment also further relates to a hybrid tractor, in which the mechanical coupling device hybrid power system as described above is installed. And the hybrid tractor of this embodiment can realize multi-mode driving of the system, can reduce fuel consumption, and has good practicability by installing the mechanical coupling device hybrid power system as above.

[0066] The beneficial effects of the present invention are as follows:

[0067] 1. The planetary gear coupler set in the present invention has a more compact structure and a larger load-bearing capacity because the ring gears on the first planetary gear set and the second planetary gear set are in external meshing transmission.

[0068] 2. The engine and the motor are used as the power sources of the tractor. The engine separately transmits the power to the variable speed drive axle, and the motor separately drives the power to the rotary tillage mechanism. By controlling the planetary gear coupler, the power of the engine and the motor can be converged to the variable speed drive axle, which can simplify the structure of the gearbox and is beneficial to the overall vehicle layout. According to different operation requirements, the appropriate working mode can be selected, thereby improving the working efficiency and energy utilization rate of the engine.

[0069] 3. By controlling the lock, synchronizer and continuously variable transmission mechanism, flexible conversion of multiple operation modes such as pure engine drive mode, pure electric drive mode, hybrid drive mode, and mixed operation mode can be realized, meeting the operation requirements of the tractor in multiple scenarios and improving the power performance, economy and adaptability of the whole vehicle.

[0070] 4. By controlling the hydraulic cylinder to change the transmission ratio of the metal belt continuously variable transmission mechanism, the mechanical coupling mechanism can distribute the power of the engine and the motor to the drive axle and the rotary tillage mechanism based on the maximum working efficiency distribution control strategy.

[0071] 5. The power sources used in the present invention are the engine and the motor. Due to the introduction of the motor, the working area of the engine can be optimized, the energy utilization efficiency can be improved, and environmental pollution can be reduced, etc.

[0072] The parts not detailed in the present invention are the prior art.

[0073] The embodiments selected herein for disclosing the invention purpose of the present invention are considered to be suitable at present. However, it should be understood that the present invention is intended to include all changes and improvements of all embodiments belonging to the concept and scope of the invention.

Claims

1. A mechanical coupling device for a parallel hybrid tractor, characterized in that: It includes a vehicle controller (1), an engine controller (2), a fuel tank (3), an engine (4), a clutch (5), a planetary gear coupling mechanism (6), a transmission (7), a drive axle (8), a rotary tillage mechanism (9), a coupler controller (10), an electric motor (11), a distribution box (12), a motor controller (13), a battery pack (14), a BMS controller (15) and a battery charger (16). The distribution box (12) is respectively connected to the vehicle controller (1), the engine controller (2), the coupler controller (10), the motor controller (13) and the battery pack (14). The engine controller (2) is connected to the engine (4). The engine (4) is respectively connected to the fuel tank (3) and the clutch (5). The clutch (5) is connected to the first input shaft (17) in the planetary gear coupling mechanism (6). The first output shaft (21) in the planetary gear coupling mechanism (6) is connected to the transmission (7). The transmission (7) is connected to the drive axle (8). The second input shaft (28) in the planetary gear coupling mechanism (6) is connected to the electric motor (11). The electric motor (11) is connected to the motor controller (13). The third output shaft (23) in the planetary gear coupling mechanism (6) is connected to the rotary tillage mechanism (9). The battery pack (14) is connected to the BMS controller (15). The BMS controller (15) is connected to the battery charger (16). The coupler controller (10) is respectively connected to the synchronizer (22), the metal belt continuously variable transmission mechanism (24), the first electromagnetic lock (18), the second electromagnetic lock (20) and the third electromagnetic lock (26) in the planetary gear coupling mechanism (6) to form the parallel hybrid tractor mechanical coupling device; The planetary gear coupling mechanism (6) includes a first input shaft (17), a first electromagnetic lock (18), a first planetary gear set (19), a second electromagnetic lock (20), a first output shaft (21), a synchronizer (22), a third output shaft (23), a metal belt continuously variable transmission mechanism (24), a second output shaft (25), a third electromagnetic lock (26), a second planetary gear set (27) and a second input shaft (28). The first sun gear (19s) in the first planetary gear set (19) is arranged at the right end of the first input shaft (17). A first electromagnetic lock (18) is provided on the outer edge surface of the first input shaft (17) on the left side of the first planetary gear set (19). A second electromagnetic lock (20) is provided on the periphery of the first planetary gear set (19). The first planet carrier (19c) in the first planetary gear set (19) is connected to the left end of the first output shaft (21). A synchronizer (22) is provided on the outer edge surface of the first output shaft (21) on the right side of the first planet carrier (19c). The driving working wheel in the metal belt continuously variable transmission mechanism (24) is arranged on the first output shaft (21). The driven working wheel in the metal belt continuously variable transmission mechanism (24) is arranged on the second output shaft (25). The driving working wheel and the driven working wheel are connected by a metal belt (2404). The fixed part (2405) of the driven working wheel in the driven working wheel is connected to the third output shaft (23). A third electromagnetic lock (26) for locking or unlocking the transmission of the second sun gear (27s) in the second planetary gear set (27) to the second output shaft (25) is provided on the outer edge surface of the second output shaft (25). The left end of the second output shaft (25) is connected to the second sun gear (27s) in the second planetary gear set (27). The second planet carrier (27c) in the second planetary gear set (27) is connected to the second input shaft (28). The first ring gear (19r) in the first planetary gear set (19) and the second ring gear (27r) in the adjacent second planetary gear set (27) are in external meshing transmission.

2. The mechanical coupling device of the parallel hybrid tractor according to claim 1, wherein: The first planetary gear set (19) includes a first sun gear (19s), a first ring gear (19r), a first planetary gear (19p) and a first planet carrier (19c). The first planetary gear (19p) is in external meshing with the first sun gear (19s). The first planetary gear (19p) is in internal meshing with the first ring gear (19r). The first planetary gear (19p) is connected to the first planet carrier (19c) and is positioned and supported by the first planet carrier (19c). The first ring gear (19r) is connected to the second electromagnetic lock (20).

3. The mechanical coupling device of the parallel hybrid tractor according to claim 1, characterized in that: The metal belt stepless transmission mechanism (24) includes a driving working wheel disposed on the first output shaft (21) and a driven working wheel disposed on the second output shaft (25). The driving working wheel and the driven working wheel are connected by a metal belt (2404). The driving working wheel includes a driving working wheel fixed part (2401), a driving working wheel movable part (2402), and a driving working wheel hydraulic control cylinder (2403). The driven working wheel includes a driven working wheel fixed part (2405), a driven working wheel movable part (2406), and a driven working wheel hydraulic control cylinder (2407). The driving working wheel hydraulic control cylinder (2403) and the driven working wheel hydraulic control cylinder (2407) respectively push the driving working wheel movable part (2402) and the driven working wheel movable part (2406) to work to achieve stepless transmission of the metal belt stepless transmission mechanism.

4. The mechanical coupling device of the parallel hybrid tractor according to claim 1, characterized in that: The second planetary gear set (27) includes a second planet carrier (27c), second planet gears (27p), a second ring gear (27r), and a second sun gear (27s). The second planet gears (27p) are externally meshed with the second sun gear (27s), and the second planet gears (27p) are internally meshed with the second ring gear (27r). The second planet gears (27p) are connected to the second planet carrier (27c) and are positioned and supported by the second planet carrier (27c).

5. The mechanical coupling device of the parallel hybrid tractor according to claim 1, characterized in that: The BMS controller (15) controls the battery pack (14). The battery pack (14) supplies power to the motor (11), the synchronizer (22), the first electromagnetic lock (18), the second electromagnetic lock (20), and the third electromagnetic lock (26). The coupler controller (10) respectively controls the interruption and engagement of the synchronizer (22), controls the operation of the driving working wheel hydraulic control cylinder (2403) and the driven working wheel hydraulic control cylinder (2407), and controls the locking or unlocking of the first electromagnetic lock (18), the second electromagnetic lock (20), and the third electromagnetic lock (26).

6. The mechanical coupling device of the parallel hybrid tractor according to claim 1, characterized in that: The vehicle controller (1) obtains information of the BMS controller (15), the engine controller (2), the coupler controller (10), the motor controller (13), and the distribution box (12) through the high-speed CAN bus, and sends control signals to the corresponding controllers and the distribution box (12) through the high-speed CAN bus, and obtains the operation information of the tractor through the low-speed CAN bus.

7. The mechanical coupling device of the parallel hybrid tractor according to claim 6, characterized in that: The operation information includes a key signal, a gearbox gear position signal, a pedal position signal, an operation mode signal, and motor and rotating shaft speed signals.

8. The control method of the mechanical coupling device of the parallel hybrid tractor according to any one of claims 1 to 7, characterized in that: The control method is that after the tractor starts, the vehicle enters the system self-check status. After the vehicle is normal and the self-check passes, it can run. The vehicle controller (1) obtains the vehicle operation demand signal and sends control signals to each controller and the distribution box (12) according to the obtained signal, so as to select different control operation modes, specifically as follows: A. Pure engine drive mode: When the vehicle controller (1) receives a driving signal, the vehicle controller (1) calculates the real-time required power Px. When the rated power Pq of the engine (4) is ≥ Px and the engine (4) can operate in the high-efficiency operating range, the vehicle enters the pure engine drive mode. The coupler controller (10) controls the first electromagnetic lock (18) to disengage, the second electromagnetic lock (20) and the third electromagnetic lock (26) to engage, and the synchronizer (22) to interrupt. At this time, the engine (4) is in the operating state. The vehicle controller (1) calculates the target speed nq of the engine (4), and then transmits the signal to the engine controller (2). The engine (4) adjusts its speed in real time according to the signal from the engine controller (2). B. Pure motor drive mode: When the vehicle controller (1) receives a working signal, the vehicle controller (1) calculates the real-time required power Px. When the rated power Pe of the motor (11) is ≥ Px, the vehicle enters the pure motor drive mode. The coupler controller (10) controls the first electromagnetic lock (18) to fix the first sun gear (19s), the second electromagnetic lock (20) to engage, the third electromagnetic lock (26) to disengage, and the synchronizer (22) to interrupt. At this time, the motor (11) is in the operating state. The vehicle controller (1) calculates the target speed np of the motor (11), and then transmits the signal to the motor controller. The motor (11) operates at a constant speed according to the signal from the motor controller (13). The sensor collects the actual speed of the motor (11) in real time. The vehicle controller (1) compares whether the actual speed of the motor (11) is equal to np and feeds back to the motor controller (13) in a timely manner, so that the motor controller (13) controls the speed of the motor (11) in real time to maintain the constant-speed operation of the motor (11). C. Hybrid drive mode: ① When the vehicle controller (1) receives a driving signal, the vehicle controller (1) calculates the real-time required power Px. When the rated power Pq of the engine (4) < Px or the engine (4) cannot operate in the high-efficiency operating range, the vehicle enters the hybrid drive mode. The coupler controller (10) controls the first electromagnetic lock (18) and the second electromagnetic lock (20) to disengage, the third electromagnetic lock (26) to engage, and the synchronizer (22) to interrupt. At this time, both the engine (4) and the motor (11) are in the operating state. The vehicle controller (1) calculates the target speed nq of the engine (4) and the target speed np of the motor (11) based on the maximum operating efficiency distribution control strategy, and then transmits the signal to the engine controller (2) and the motor controller (13). The engine controller (2) and the motor controller (13) adjust the speed of the control components in real time according to the signal, so that the vehicle reaches the desired operating condition. ②When the vehicle controller (1) receives the operation signal, the vehicle controller (1) calculates the real-time required power Px. When the rated power Pe of the motor (11) < Px, the vehicle enters the hybrid drive mode at this time. The coupler controller (10) controls the first electromagnetic lock (18), the second electromagnetic lock (20), and the third electromagnetic lock (26) to disconnect, and the synchronizer (22) is interrupted. At this time, both the engine (4) and the motor (11) are in the working state. The vehicle controller (1) calculates the target speed nq of the engine (4) and the target speed np of the motor (11) based on the maximum working efficiency distribution control strategy, and then transmits the signal to the engine controller (2) and the motor controller (13). The engine controller (2) and the motor controller (13) adjust the speed of the control components in real time according to the signal, so that the vehicle reaches the expected working condition; D. Hybrid operation mode: ①When the vehicle enters the hybrid operation mode, the vehicle controller (1) calculates the real-time required traveling power Px1 and the real-time required operation power Px2. When the rated power Pq of the engine (4) ≥ Px1 and the rated power Pe of the motor (11) ≥ Px2, and the engine (4) can work in the high-efficiency working range, the vehicle controller (1) sends a traveling operation separation signal to the coupler controller (10) at this time. The coupler controller (10) controls the first electromagnetic lock (18) and the third electromagnetic lock (26) to be interrupted, the second electromagnetic lock (20) engages, and the synchronizer (22) is interrupted. At this time, both the engine (4) and the motor (11) are in the working state. The controller on the whole machine calculates the target speed nq of the engine (4) and the target speed np of the motor (11), and then transmits the signal to the engine controller (2) and the motor controller (13). The engine (4) adjusts the speed in real time according to the signal of the engine controller (2), and the motor (11) operates at a constant speed according to the signal of the motor controller (13). The sensor collects the actual speed of the motor (11) in real time. The controller on the whole machine transmits the signal to the motor controller (13) in real time by comparing the actual speed of the motor (11) with the target speed of the motor (11), and controls the speed of the motor (11) through the motor controller (13) to keep the motor (11) operating at a constant speed; ②When the vehicle enters the hybrid operation mode, the vehicle controller (1) calculates the real-time required traveling power Px1 and the real-time required operation power Px2. When the rated power Pq of the engine (4) < Px1 or the rated power Pe of the motor (11) < Px2, and the engine (4) cannot operate in the high-efficiency working range, at this time, the vehicle controller (1) sends a traveling operation coupling signal to the coupler controller (10). The coupler controller (10) controls the first electromagnetic lock (18), the second electromagnetic lock (20), and the third electromagnetic lock (26) to disengage, the synchronizer (22) engages, and the hydraulic control cylinders (2403) of the driving working wheel and the hydraulic control cylinders (2407) of the driven working wheel on the metal belt continuously variable transmission mechanism (24) work. At this time, both the engine (4) and the motor (11) are in the working state. The vehicle controller (1) calculates the target speed nq of the engine (4), the target speed np of the motor (11), and the pressures of the hydraulic control cylinders (2403) of the driving working wheel and the hydraulic control cylinders (2407) of the driven working wheel based on the maximum working efficiency distribution control strategy and the required speeds of the first input shaft (17) and the third output shaft (23), and then transmits the signals to the engine controller (2), the motor controller (13), and the coupler controller (10). The engine (4) adjusts its speed in real time according to the signal from the engine controller (2), the motor (11) adjusts its speed in real time according to the signal from the motor controller (13), and the hydraulic control cylinders (2403) of the driving working wheel and the hydraulic control cylinders (2407) of the driven working wheel control the transmission ratio of the metal belt continuously variable transmission mechanism (24) in real time according to the signal from the coupler controller (10). The sensors collect the actual speeds of the first input shaft (17) and the third output shaft (23) in real time. The vehicle controller (1) compares the actual speeds of the first input shaft (17) and the third output shaft (23) with the required speeds of the first input shaft (17) and the third output shaft (23), and transmits signals to each controller in real time to control the operation of the corresponding components, so as to keep the first input shaft (17) adjusting its speed in real time and the third output shaft (23) working at a constant speed.

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