A series-parallel hybrid cotton picker and a control method thereof

Abstract

This invention provides a hybrid-type cotton harvester and its control method, including a hybrid-type hybrid system. The hybrid-type hybrid system includes an engine, a gearbox, a coupling device, a differential, a generator, a battery, a main controller, a travel motor controller, a picking motor controller, a fan motor controller, a baling motor controller, a cotton collecting motor controller, and a conveying motor controller. The engine transmits power to the coupling device via the gearbox, the coupling device couples the power of the engine and the travel motor, and then transmits the power to the wheels via the differential. This invention achieves mechanical decoupling between the various working systems of the cotton harvester through distributed electric drive, solving the problems of numerous components, long paths, and inability to adjust operating parameters in real time in traditional cotton harvester transmission systems. It results in low fuel consumption, low pollution, and high energy efficiency, balancing the machine's range and energy saving, and enabling switching between different modes, thus improving the overall fuel economy and dynamic performance of the vehicle.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery electromechanical hybrid technology, and in particular relates to a hybrid cotton harvester and its control method. Background Technology

[0002] With the increasing mechanization of agriculture, energy consumption and environmental pollution have become increasingly prominent issues. Globally, countries are placing greater emphasis on energy conservation, emission reduction, and ecological civilization construction, and the agricultural sector is no exception. To meet the demands for ecology, energy conservation, and environmental protection, promoting the development and application of green-powered agricultural machinery is becoming increasingly urgent.

[0003] Traditional fuel-fired cotton harvesters have numerous drawbacks, including high fuel costs, significant emissions, and black smoke from exhaust fumes. Furthermore, traditional harvesters use a diesel engine and mechanical transmission to drive the harvesting, pneumatic conveying, baling, and walking mechanisms. This results in a complex transmission system with numerous components and long paths, making real-time adjustment of operating parameters impossible, leading to unstable machine performance and significant energy waste under low loads. Pure electric cotton harvesters, on the other hand, suffer from short driving range, high costs, fire risks, high safety, and significant efficiency drops in cold regions, along with high battery replacement costs. Therefore, traditional cotton harvesters suffer from high fuel consumption, pollution, significant power loss in transmission, and low energy efficiency. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention provides a hybrid cotton harvester that solves at least one of the problems, characterized by low fuel consumption, low pollution, low transmission power loss, and high energy utilization efficiency.

[0005] The present invention also provides a control method for the hybrid cotton harvester, which, through the application of the hybrid system, balances the range and energy saving of the whole machine, and can realize the switching between parking mode, EV pure electric drive mode, HEV hybrid drive mode, braking mode and plug-in mode, thereby improving the fuel economy and dynamic performance of the whole vehicle.

[0006] Note that the description of these objectives does not preclude the existence of other objectives. One aspect of the invention does not require achieving all of the above objectives. Objectives other than those described above can be extracted from the description, drawings, and claims.

[0007] The present invention achieves the above-mentioned technical objectives through the following technical means.

[0008] A hybrid-powered cotton harvester includes a hybrid-powered system. The hybrid-powered system comprises an engine, a gearbox, a coupling device, a differential, a generator, a battery, a main controller, a travel motor controller, a picking motor controller, a fan motor controller, a baling motor controller, a cotton collecting motor controller, and a conveying motor controller. The engine and battery output power. The generator converts the engine's mechanical energy into electrical energy to charge the battery. The battery is connected to the travel motor controller, distributing electrical energy to control the travel motor and drive the travel device. The battery is also connected to the picking motor controller, distributing electrical energy to control the picking motor and drive the picking device for picking. Finally, the battery is connected to the fan motor controller, distributing electrical energy to control the fan motor and drive the pneumatic conveying device for air delivery. The battery is connected to the baling motor controller, distributing electrical energy to the baling motor controller to drive the baling device for baling; the battery is connected to the cotton collecting motor controller, distributing electrical energy to the cotton collecting motor controller to drive the impact roller to feed cotton into the cotton collecting box; the battery is connected to the conveying motor controller, distributing electrical energy to the conveying motor controller to control the hydraulic pump motor to drive the wing plates of the cotton support frame; the engine is connected to the gearbox, the gearbox is connected to the coupling device, and the coupling device is connected to the travel motor. The engine can transmit power to the coupling device through the gearbox, and the coupling device couples the power of the engine and the travel motor, and then transmits it to the wheels through the differential; the main controller is connected to the battery, the travel motor controller, the picking motor controller, the fan motor controller, the baling motor controller, the cotton collecting motor controller, and the conveying motor controller respectively.

[0009] In the above scheme, the travel motor controller includes a front axle motor controller and a rear axle motor controller; the travel motor includes a front axle motor and a rear axle motor; the front axle motor controller is used to control the front axle motor to drive the front wheels to travel; the rear axle motor controller is used to control the rear axle motor to drive the rear wheels to travel.

[0010] In the above scheme, the picking device includes a picking drum and a cotton removal drum; the picking motor is connected to the picking drive shaft, and the picking drive shaft is connected to the picking drum and the cotton removal drum through a transmission gear set; the picking motor drives the picking drive shaft, and then transmits the power to the picking drum and the cotton removal drum respectively through the transmission gear set 15-a.

[0011] In the above scheme, the blower in the pneumatic conveying device is connected to the blower motor and is driven by the blower motor alone.

[0012] In the above scheme, the impact roller of the conveying and feeding system in the cotton collection box is connected to a motor and driven by the motor alone.

[0013] In the above scheme, the film feeding roller and the transmission belt of the film coating device in the packaging device share a packaging motor; the film feeding roller is connected to the packaging motor and is directly driven by the packaging motor; the transmission belt is connected to the packaging motor through a belt and is driven by the packaging motor through the belt.

[0014] In the above scheme, the battery is connected to the main controller via a step-down DC / DC converter; after the battery is stepped down by the step-down DC / DC converter, it supplies power to the main controller.

[0015] In the above scheme, a clutch is provided in front of the generator, and the generator switches the power input to the generator through the clutch.

[0016] In the above scheme, an inverter is provided between the generator and the battery.

[0017] In the above scheme, the hybrid electric system includes parking mode A, EV pure electric drive mode B, HEV hybrid drive mode C, braking mode D, and plug-in mode E, and can switch between different modes.

[0018] In the above scheme, under EV pure electric drive mode B, the driving motor is powered only by the battery.

[0019] In the above scheme, under parking mode A, the entire machine remains stationary.

[0020] In the above scheme, under HEV hybrid drive mode C, when pure electric drive cannot meet the target power, the battery and engine work simultaneously. The engine and battery drive the walking motor through the coupling device and drive the wheels through the differential. The clutch cuts off the power entering the generator and stops charging the battery.

[0021] Furthermore, in HEV hybrid drive mode C, when pure electric drive can meet the target power, the engine connects to the generator to charge the battery.

[0022] In the above scheme, under braking mode D, the wheels charge the battery in reverse through the walking motor.

[0023] In the above scheme, in plug-in mode E, the hybrid cotton harvester uses an external power source to charge the power battery.

[0024] A control method for the hybrid cotton harvester includes the following steps:

[0025] The battery of the hybrid power system distributes electrical energy to the walking motor controller to control the walking motor and drive the walking device; the battery distributes electrical energy to the picking motor controller to control the picking motor and drive the picking roller and cotton removal roller of the picking device for picking; the battery distributes electrical energy to the fan motor controller to control the fan motor to drive the pneumatic conveying device for air supply; the battery distributes electrical energy to the baling motor controller to control the baling motor to drive the film feeding roller and transmission belt of the baling device for baling; the battery distributes electrical energy to the cotton collecting motor controller to control the motor to drive the impact roller to feed cotton into the cotton collecting box; the battery distributes electrical energy to the conveying motor controller to control the hydraulic pump motor to drive the wing plate of the cotton support frame; the main controller independently adjusts the speed of the walking motor, picking motor, fan motor, baling motor, cotton collecting motor, and conveying motor through the walking motor controller, picking motor, fan motor, baling motor, and hydraulic pump motor, respectively.

[0026] The above scheme also includes the following steps:

[0027] In EV pure electric drive mode B, the series-parallel hybrid system provides power to the drive motor only through the battery;

[0028] In the HEV hybrid drive mode C, when pure electric drive cannot meet the target power, the battery and engine work simultaneously. The engine and battery drive the walking motor through the coupling device and then drive the wheels through the differential. The clutch cuts off the power entering the generator and stops charging the battery.

[0029] In the HEV hybrid drive mode C, when the pure electric drive can meet the target power, the engine connects to the generator to charge the battery.

[0030] In braking mode D, the wheels of the series-parallel hybrid system charge the battery in reverse via the drive motors.

[0031] In plug-in mode E, the hybrid power system uses an external power source to charge the power battery of the hybrid cotton harvester.

[0032] The above scheme also includes the following control steps for the series-parallel hybrid power system:

[0033] When the cotton harvester starts, it switches from parking mode A to EV pure electric drive mode B, and the driving torque... >0, braking torque =0;

[0034] The cotton harvester decelerates by switching from EV pure electric drive mode B to braking mode D, and the vehicle speed... >0, driving torque =0, braking torque >0;

[0035] The cotton harvester accelerates by switching from braking mode D to EV pure electric drive mode B, and the vehicle speed... >0, driving torque >0, braking torque =0;

[0036] The cotton harvester decelerates by switching from HEV hybrid drive mode C to EV pure electric drive mode B, and the vehicle speed... Pure electric mode vehicle speed threshold Drive torque >0, braking torque =0, battery SOC > minimum battery capacity;

[0037] The cotton harvester continuously accelerates, switching from EV pure electric drive mode B to HEV hybrid drive mode C, with vehicle speed... Pure electric mode vehicle speed threshold Drive torque >0, braking torque =0;

[0038] The cotton harvester wheels drive a generator to charge the battery, and the vehicle speed... >0, driving torque =0, braking torque ≤ The maximum regenerative braking torque of the motor, and the battery SOC < the maximum battery capacity;

[0039] The cotton harvester accelerates by switching from braking mode D to HEV hybrid drive mode C, and the vehicle speed... >0, driving torque >0, braking torque =0;

[0040] The cotton harvester decelerates by switching from HEV hybrid drive mode C to braking mode D, and the vehicle speed... >0, driving torque >0, braking torque =0;

[0041] When the cotton harvester decelerates to a stop, it switches from braking mode D to parking mode A, and the vehicle speed... =0, driving torque =0, braking torque =0.

[0042] Compared with the prior art, the beneficial effects of the present invention are:

[0043] The hybrid cotton harvester of this invention features low fuel consumption, low pollution, low transmission power loss, and high energy utilization efficiency, making it a highly efficient, energy-saving, and low-cost cotton harvester.

[0044] This invention achieves mechanical decoupling between various working systems of a cotton harvester through distributed electric drive, solving the problems of numerous components, long paths, and inability to adjust operating parameters in real time in traditional cotton harvester transmission systems. By eliminating transmission belts and other belts, the operating system and power system are simplified. The electric motor is an independent system from the engine, making it easier to maintain and adjust.

[0045] The hybrid cotton harvester of this invention has the advantages of flexible operating system structure and high energy utilization rate. At the same time, the application of batteries and generators can reduce the fuel consumption and carbon emissions of the whole machine and improve environmental friendliness. Through the application of hybrid power system, the range and energy saving of the whole machine can be balanced, and the machine can switch between parking mode, EV pure electric drive mode, HEV hybrid drive mode, braking mode and plug-in mode, thereby improving the fuel economy and dynamic performance of the whole vehicle.

[0046] Note that the description of these effects does not preclude the existence of other effects. One aspect of the invention does not necessarily have to have all of the above.

[0047] The effects described above are obvious from the description, drawings, claims, etc., and other effects can be extracted. Attached Figure Description

[0048] Figure 1 This is a topology diagram of a hybrid power cotton harvester according to an embodiment of the present invention;

[0049] Figure 2 This is a partial sectional view of the side of the hybrid cotton harvester according to an embodiment of the present invention.

[0050] Figure 3 This is a top view of the cotton harvesting process of the hybrid power cotton harvester according to an embodiment of the present invention.

[0051] Figure 4 This is a schematic diagram of the pneumatic conveying of the hybrid cotton harvester according to an embodiment of the present invention.

[0052] Figure 5 This is a packing side view of the hybrid cotton harvester according to an embodiment of the present invention.

[0053] Figure 6 This is a top view of the chassis of the hybrid cotton harvester according to an embodiment of the present invention.

[0054] Figure 7 This is a schematic diagram illustrating the operation mode switching of a hybrid cotton harvester according to an embodiment of the present invention.

[0055] Figure 8This is a schematic diagram of the power flow in the EV pure electric drive mode of the hybrid cotton harvester described in this invention.

[0056] Figure 9 This is a schematic diagram of the power flow in the HEV hybrid drive mode of the hybrid cotton harvester described in this invention.

[0057] Figure 10 This is a schematic diagram of the braking mode power flow of the hybrid cotton harvester described in this invention.

[0058] Figure 11 This is a schematic diagram illustrating the operation mode switching of the hybrid cotton harvester described in this invention.

[0059] In the diagram: 10. Operating system, 11. Main controller, 11-a. Front axle motor controller, 11-b. Rear axle motor controller, 11-c. Harvesting motor controller, 11-e. Fan motor controller, 11-f. Baling motor controller, 11-g. Cotton collecting motor controller, 11. Main controller, 12. Step-down DC / DC converter, 13. Front axle motor, 14. Rear axle motor, 15. Harvesting motor, 16. Fan motor, 17. Baling motor, 17-a. Belt, 18-a. Motor, 18. Hydraulic pump motor, 15-a. Transmission gear set, 15-b. Harvesting drive shaft, 19. Hydraulic system, 20. Power system, 21. Engine, 22. 23-a. Gearbox, 23-b. First coupling device, 23-c. Second coupling device, 24-a. First differential, 24-b. Second differential, 25-a. Front wheel, 25-b. Rear wheel, 25-c. Front drive shaft, 25-d. Rear drive shaft, 26. Generator, 26-a. Clutch, 27. Inverter, 28. Battery, 29. External power supply, 30. Walking device, 40. Harvesting device, 41. Seed lifter, 42. Harvesting roller, 43. Cotton stripping roller, 50. Pneumatic conveying device, 51. Air distribution pipe, 52. Cotton conveying pipe, 60. Cotton collection box, 61. Beating roller, 70. Baling device, 71. Film feeding roller, 72. Drive belt, 80. Cotton support frame. Detailed Implementation

[0060] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0061] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "front," "rear," "left," "right," "upper," "lower," "axial," "radial," "vertical," "horizontal," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0062] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0063] like Figure 1 and 2 The diagram illustrates a preferred embodiment of the hybrid cotton harvester of the present invention. The hybrid cotton harvester includes a hybrid power system 20 and an operating system 10. The hybrid power system 20 includes an engine 21, a gearbox 22, a coupling device, a differential, a generator 26, an inverter 27, a battery 28, a main controller 11, a walking motor controller, a picking motor controller 11-c, a fan motor controller 11-e, a baling motor controller 11-f, a cotton collecting motor controller 11-g, a conveying motor controller 11-h, a step-down DC / DC converter 12, and multiple motors. The operating system 10 includes a walking device 30, a picking device 40, a pneumatic conveying device 50, a cotton collecting box 60, a baling device 70, and a cotton support frame 80.

[0064] like Figure 1As shown, in a specific embodiment of the present invention, the coupling device includes a first coupling device 23-a and a second coupling device 23-b, and the differential includes a first differential 24-a and a second differential 24-a; the motor includes a travel motor and a working motor, the travel motor includes a front axle motor 13 and a rear axle motor 14, and the travel motor controller includes a front axle motor controller 11-a and a rear axle motor controller 11-b; the working motor includes a picking motor 15, a fan motor 16, a packing motor 17, a motor 18-a, and a hydraulic pump motor 18; the engine 21, gearbox 22, first coupling device 23-a, second coupling device 23-b, first differential 24-a, second differential 24-a, and generator 21 are connected via a mechanical path. The generator 21, inverter 27, battery 28, main controller 11, step-down DC / DC converter 12, front axle motor 13, rear axle motor 14, picking motor 15, fan motor 16, baling motor 17, motor 18-a, and hydraulic pump motor 18 are connected to the battery 28 via wires. The main controller 11, picking motor controller 11-c, fan motor controller 11-e, baling motor controller 11-f, cotton collecting motor controller 11-g, and conveying motor controller 11-h are connected via control signals. The motor 18-a of the wing plate in the cotton support frame 80 is connected to the hydraulic system via a hydraulic path.

[0065] The engine 21 and battery 28 are used to output power; the generator 26 is used to convert the mechanical energy of the engine 21 into electrical energy to charge the battery 28; the battery 28 is connected to the travel motor controller, distributing electrical energy to the travel motor controller to control the travel motor to drive the travel device; the front axle motor controller 11-a is used to control the front axle motor to drive the front wheel 25-a to travel; the rear axle motor controller 11-b is used to control the rear axle motor to drive the rear wheel 25-b to travel; the battery 28 is connected to the harvesting motor controller 11-c, distributing electrical energy to the harvesting motor controller 11-c to control the harvesting motor 15 to drive the harvesting device for harvesting; the battery 28 is connected to the fan motor controller 11-e, distributing electrical energy to the fan motor controller 11-e to control the fan motor 16 to drive the pneumatic conveying device 50 for air delivery; the battery 28 is connected to the packing motor controller 11-f, distributing electrical energy to the packing motor controller 11-f to control the packing motor 17 to drive the packing device. The process involves packaging the cotton. The battery is connected to the cotton collecting motor controller 11-g, which distributes electrical energy to the cotton collecting motor controller 11-g to control the motor 18-a to drive the impact roller 61 in the conveying and feeding system to feed the cotton into the cotton collecting box 60. The battery 28 is connected to the conveying motor controller 11-h, which distributes electrical energy to the conveying motor controller 11-h to control the hydraulic pump motor 18 to drive the wing plate of the cotton support frame 80 to lower and unload the cotton from the cotton collecting box 60. The engine 21 is connected to the gearbox 22, which is connected to the coupling device, which is connected to the travel motor. The engine 21 can transmit power to the coupling device through the gearbox 22. The coupling device couples the power of the engine 21 and the travel motor, and then transmits it to the wheels through the differential. The main controller 11 is connected to the battery 28, the travel motor controller, the picking motor controller 11-c, the fan motor controller 11-e, the packaging motor controller 11-f, the cotton collecting motor controller 11-g, and the conveying motor controller 11-h.

[0066] To ensure that the picking device 40 and the pneumatic conveying device 50 maintain a relatively constant rotational speed under conditions of large load fluctuations during operation, the main controller 11 can make real-time adjustments according to the operating conditions, ensuring stable operation of the cotton harvester. This invention employs distributed electric drive technology, achieving mechanical decoupling between the various working components and improving operating efficiency.

[0067] like Figure 2 and 3As shown, in one embodiment of the present invention, a picking device 40 is installed at the lower front part of a cotton harvester, spanning both sides of its entire width. The picking device 40 includes a harvester lifter, a grid plate, a picking spindle, a picking drum 42, a cotton stripping drum 43, a guide groove, a cleaning solution, a picking motor, etc. The picking motor 15 is connected to a picking drive shaft 15-b, which is connected to the picking drum 42 and the cotton stripping drum 43 via a transmission gear set 15-a. The picking motor 15 drives the picking drive shaft 15-b, and then transmits power to the picking drum 42 and the cotton stripping drum 43 via the transmission gear set 15-a. The picking drum 42 is partially equipped with the picking motor 15, and the cotton stripping drum 43 is driven by the picking motor 15 via the transmission gear set 15-a. In one specific embodiment of the invention, the picking motor 15 is mounted above the picking drum 42 and the cotton stripping drum 43, and one picking motor 15 controls three picking heads through a transmission gear set 15-a and a picking drive shaft 15-b. Furthermore, the hybrid-type cotton harvester can adjust the speed of the picking motor 15 according to different working conditions, thereby reducing energy waste and improving work performance.

[0068] In one specific embodiment of the present invention, preferably, the picking motor 15 is installed at the front end of the cotton harvester, which is beneficial for equipping the picking part with an electric picking spindle. However, this will cause the center of gravity of the cotton harvester to shift forward. In order to balance the center of gravity of the cotton harvester, the battery 28 is installed in the middle and rear section of the cotton harvester, so as to stabilize the posture of the cotton harvester.

[0069] The output shaft speed of the cotton removal drum 43 is reduced by the transmission gear set 15-a, which makes it possible for the hybrid cotton harvester to obtain high torque at low speeds. Thus, the drive device for the cotton removal drum is the harvesting motor 15, the transmission gear set 15-a, and the harvesting drive shaft 15-b working together to generate the power to drive the cotton removal.

[0070] The working process of the picking device: The picking roller 42 has a self-rotating steel finger picker with hook teeth. When the picking roller 42 rotates, the picker enters the squeezed plant in the picking area. The oblique hook teeth on the picker catch the seed cotton and pull it out of the cotton boll, rotating it inward. The cotton stripping rollers arranged in front of, behind, left and right of the picking roller 42 sweep down the cotton. The cotton stripping roller 43 rotates in the opposite direction to the rotation of the picker. The cotton picking roller 42 and the cotton stripping roller 43 are connected by a high-speed air distribution pipe 51, which enables air to remove the seed cotton from the cotton stripping roller 43 at extremely high speed and enter the cotton conveying pipe 52.

[0071] However, the picking device of a traditional horizontal spindle cotton harvester is a complex mechanical system. During actual harvesting, the picking device operates at a stable speed, so clogging is a frequent occurrence when encountering dense cotton plants, affecting harvesting efficiency. Therefore, when the output flow is large, increasing the speed of the picking motor and implementing stepless speed regulation can reduce the possibility of system clogging.

[0072] like Figure 4 As shown, the pneumatic conveying device 50 of the cotton harvester includes a blower, a distribution pipe 51, a cotton conveying pipe 52, and a blower motor 16. The blower is installed below the cotton harvester, and its right side is driven by the blower motor 16. The blower rotates at high speed to generate airflow, which has two directions. One direction is to enter the distribution pipe 51, the end of which is located above the middle of the picking drum 42 and the stripping drum 43, and then blows the cotton that has been separated from the stripping drum 43 backward to the cotton conveying pipe 52. The other direction of the airflow is to the cotton conveying pipe 52, which transports the cotton blown from the stripping drum 43 to the cotton collection box 60 and temporarily stores it there.

[0073] The fan driven by the fan motor 16 is integrated with the fan motor controller 11-e to achieve automated and intelligent control. This facilitates functions such as automatic start / stop, speed adjustment, and fault detection of the fan, thereby improving the operating efficiency and reliability of the cotton harvester. By observing the amount of cotton input, the operator can adjust the fan controller 11-e to flexibly control the motor speed, thereby controlling the airflow output to adapt to different working conditions and requirements.

[0074] The blower in the pneumatic conveying device 50 is connected to the blower motor 16 and is driven by the blower motor 16 alone.

[0075] like Figure 5 As shown, the cotton collection box 60 is located in the upper middle part of the cotton harvester, behind the outlet of the cotton conveying pipe 52 of the conveying system. The conveying and feeding system is located below the cotton collection box 60 and above the chassis. The impact roller 61 in the conveying and feeding system is driven by a separate motor 18-a.

[0076] The function of the cotton collection box 60 is to store the cotton conveyed by the fan. When the cotton reaches a certain height, the impact roller 61 of the conveying and feeding system can break up the cotton clumps so that the cotton is evenly fed into the baling device.

[0077] like Figure 5 As shown, the film feeding roller 71 and the transmission belt 72 of the film coating device in the packaging device 70 share a packaging motor 17; the film feeding roller 71 is connected to the packaging motor 17 and is directly driven by the packaging motor 17; the transmission belt 72 is connected to the packaging motor 17 through belt 17-a and is driven by the packaging motor 17 through belt 17-a.

[0078] The working process of the baling device 70 is as follows: The baling device 70 is located behind the cotton harvester and the conveying and feeding system. When the cotton bale size reaches the set value, the baling motor 17 in the baling device 70 directly drives the film feeding roller 71. The transmission belt 72 is driven by the baling motor 17 via the belt, smoothly delivering the packaging film into the bin. This winds the cotton into shape and completes the wrapping process. After the cotton collection box is emptied, the film feeding roller stops working, the rear box opens, and the cotton bale is transported to the cotton support frame.

[0079] The battery 28 is connected to the main controller 11 via a step-down DC / DC converter 12; after being stepped down by the step-down DC / DC converter 12, the battery 28 supplies power to the main controller 11.

[0080] The generator 26 is equipped with a clutch 26-a in front of it, and the generator 26 controls the power input to the generator 21 through the clutch 26-a.

[0081] An inverter 27 is provided between the generator 26 and the battery 28.

[0082] The walking device 30 is installed on the chassis below the cotton harvester. The walking device has a pair of tires at the front and rear of the cotton harvester. The rear wheels can provide steering, and the front and rear wheels can make the cotton harvester move forward or backward.

[0083] In one specific embodiment of the present invention, the main controller 11 is located at the front end of the cotton harvester. The main controller 11 is used to operate the front axle motor controller 11-a, the rear axle motor controller 11-b, the picking motor controller 11-c, the conveying motor controller 11-h for conveying cotton in the cotton collection box, the motor controller 11-f for baling cotton, and the hydraulic pump motor controller 11-g for controlling the wing plates.

[0084] like Figure 6 As shown, engine 21 is located on the left side of the cotton harvester chassis, below the cotton collection box 60, and generator 26 is located on the right side of engine 21. Generator 26 is connected to engine 21 and is driven by engine 21. The electrical energy generated by generator 26 is stored in battery 28 via inverter 27. The power of front axle motor 13 and rear axle motor 14 driven by engine 21, gearbox 22 and battery 28 is coupled to the outside through planetary gear coupling device. The first coupling device 23-a and the second coupling device 23-b are respectively connected to the first differential 24-a and the second differential 24-b, and the power is transmitted to the front wheel 25-a and the rear wheel 25-b through front drive shaft 25-c and rear drive shaft 25-d.

[0085] In traditional fuel-fired cotton harvesters, the hydraulic pump in the walking mechanism primarily drives the hydraulic motor, providing power for the harvester to move and steer. The hydraulic system requires regular hydraulic oil changes and maintenance of hydraulic lines and components, resulting in high maintenance costs. Furthermore, the high-pressure fluid in the hydraulic system poses a risk of leakage and splashing, potentially endangering operator safety. In contrast, electrically driven pumps have lower maintenance costs, requiring only regular inspection and maintenance of the motor and electrical control system. Electric pumps do not involve high-pressure fluids, offering relatively higher safety. Electric pumps only require a power source and piping, simplifying the system structure and reducing the difficulty of maintenance and troubleshooting.

[0086] Hydraulic oil in a hydraulic system generates heat and energy loss, while electric pumps have higher energy conversion efficiency, enabling better energy saving, environmental protection, operational efficiency, and energy utilization efficiency.

[0087] The following is the cotton harvesting process of the hybrid cotton harvester: The seed cotton harvested by the cotton harvesting head is sent to the cotton collection box 60 by the pneumatic conveying device 50. The compaction auger makes the cotton evenly distributed. After the cotton box is full, the impact roller 61 breaks up the cotton clumps and feeds the cotton evenly. The baling motor 17 directly drives the film feeding roller to rotate the belt 17-a and roll the cotton into shape. After the cotton collection box 60 is emptied, the film feeding roller 71 stops working. When the cotton bale size reaches the set value, the baling motor 17 drives the baling system to start and complete the baling. The rear box opens and the cotton is baled to the cotton support frame 80. The driver can bale the cotton to the designated location or place it on the ground immediately as needed.

[0088] This invention, a hybrid-powered cotton harvester, utilizes an electric motor to reduce the load on the internal combustion engine, thereby reducing engine wear and the risk of failure. This extends the engine's lifespan and improves the overall reliability and durability of the machine.

[0089] This invention relates to a hybrid-powered cotton harvester that utilizes the high torque and rapid response characteristics of an electric motor to provide additional power and performance to the harvester. The motor can provide auxiliary power when higher power is required, improving acceleration performance and operational efficiency.

[0090] This invention relates to a hybrid cotton harvester that utilizes an electric motor to reduce reliance on fuel, thereby lowering energy consumption and carbon emissions. The electric motor is highly efficient under low loads and during startup, while the internal combustion engine provides additional power under high loads. This combination achieves higher fuel efficiency, improved operational efficiency, and reduced environmental pollution.

[0091] In addition, the engine 21 and battery 28 are the energy sources of the whole machine, and together with the gearbox 22, coupling device, differential, generator 26, inverter 27, battery 28 and other components, they constitute the power system of the whole machine.

[0092] like Figure 7As shown, the hybrid electric system 20 includes parking mode A, EV pure electric drive mode B, HEV hybrid drive mode C, braking mode D, and plug-in mode E, and can switch between different modes. In EV pure electric drive mode B, only the battery 28 provides power to the drive motor. The battery 28 provides electrical energy to multiple motors and the main controller 11, and then the main controller 11 controls the front axle controller and the rear axle controller to achieve stepless speed regulation of the motors; in parking mode A, the entire system is stationary. In EV pure electric drive mode B, battery 28 provides power to front axle motor 13 and rear axle motor 14. Front axle motor 13 drives front wheels 25-a, and rear axle motor 14 drives rear wheels 25-b. In HEV hybrid drive mode C, when greater power is needed, or when the battery is insufficient and the pure electric efficiency is lower than the driving efficiency of engine 21, battery 28 and engine 21 work simultaneously. The power of engine 21 and the front axle motor 13 and rear axle motor 14 driven by battery 28 is coupled and output to the outside through a coupling device, which is a planetary gear coupling device. Clutch 26-a cuts off the power entering the generator and stops charging battery 28, so that the power of engine 21 and motor 26 is used entirely for hybrid cotton harvester to obtain maximum power. When the target power is not needed, engine 21 engages clutch 26-a, driving generator 26 to charge battery 28. In braking mode D, when braking is required, front wheels 25-a charge battery 28 in reverse via front axle motor 13. In plug-in mode E, when the cotton harvester stops, an external power source is connected to the cotton harvester to charge its power battery. Therefore, compared to traditional combine harvesters, the engine does not always operate at maximum horsepower; it always operates within its ideal range, improving energy utilization efficiency.

[0093] Figure 7 In the middle, vehicle speed Battery SOC represents vehicle state variables, and drive torque... and braking torque Indicates the control input variable, and These represent the maximum regenerative braking torque of the motor and the vehicle speed threshold in pure electric mode, respectively. The symbols “˄” and “˅” represent the logical operators “AND” and “OR”, respectively. ①-⑨ are sets of conditions for switching between different operating modes, such as... Figure 11 As shown. Figure 7 This demonstrates the dynamic evolution of different operating modes in a real driving cycle. The switching condition set ①-⑨, composed of current state feedback and control input, drives the system state and operating mode updates. Furthermore, different operating modes are independent discrete events, and the current mode exhibits a dynamic evolution of continuous state variables. Therefore, switching between different operating modes involves continuous variables and discrete states that influence each other, thereby improving the vehicle's fuel economy and dynamic performance.

[0094] Figures 8 to 10 This describes the power flow in each mode of the power system of this invention. Specifically, the power flow in EV pure electric drive mode B is: battery 28 → front axle motor 13, rear axle motor 14, harvesting motor 15, fan motor 16, packing motor 17, hydraulic pump motor 18, motor 18-a, as follows. Figure 8 As shown. HEV hybrid drive mode C power flow: First path: Battery 28 → Front axle motor 13, Rear axle motor 14, Harvesting motor 15, Fan motor 16, Packing motor 17, Hydraulic pump motor 18, Motor 18-a; Second path: Transmission 22 → Engine 21 → Generator 26 → Inverter 27 → Battery 28; Third path: Engine 21 → Transmission 22 → Coupling device → Differential → Wheels, as shown. Figure 9 As shown. Braking mode D power flow D: front wheels, rear wheels → front axle motor 13, rear axle motor 14 → battery 28, as follows. Figure 10 As shown.

[0095] A control method for the hybrid cotton harvester includes the following steps:

[0096] The battery 28 distributes electrical energy to the walking motor controller to control the walking motor to drive the walking device to move; when the pure electric drive of the battery cannot meet the target power, the engine 21 transmits power to the coupling device through the gearbox 22. The coupling device couples the power of the engine and the walking motor, and then transmits it to the wheels through the differential. The battery 28 and the engine 21 jointly drive the wheels to move; when the pure electric drive of the battery 28 can meet the target power, the engine 21 connects to the clutch 26-a to drive the generator 26 to charge the battery 28.

[0097] The battery 28 distributes electrical energy to the picking motor controller 11-c, which controls the picking motor 15 to drive the picking roller 42 and the cotton removal roller 43 of the picking device 40 for picking; the battery 28 distributes electrical energy to the fan motor controller 11-e, which controls the fan motor 16 to drive the pneumatic conveying device 50 for air supply; the battery 28 distributes electrical energy to the baling motor controller 11-f, which controls the baling motor 17 to drive the film feeding roller 71 and the transmission belt 72 of the baling device 70 for baling; the battery 28 distributes electrical energy to the cotton collecting motor controller 11-g, which controls the motor 18-a to drive the impact roller 61 in the conveying and feeding system to feed cotton into the cotton collecting box 60; and the battery 28 distributes electrical energy to the conveying motor controller 11-h, which controls the hydraulic pump motor to drive the wing plate of the cotton support frame 80 to lower and unload the cotton from the cotton collecting box 60.

[0098] The main controller 11 independently adjusts the speeds of the walking motor, picking motor, fan motor, baling motor, motor 18-a, and hydraulic pump motor through the walking motor controller, picking motor controller 11-c, fan motor controller 11-e, baling motor controller 11-f, cotton collecting motor controller 11-g, and conveying motor controller 11-h, respectively.

[0099] Combination Figure 11 As shown, the control method for the hybrid power cotton harvester also includes control steps for switching between the following different operating modes of the hybrid power system 20:

[0100] When the cotton harvester starts, it switches from parking mode A to EV pure electric drive mode B, and the driving torque... >0, braking torque =0;

[0101] The cotton harvester decelerates by switching from EV pure electric drive mode B to braking mode D, and the vehicle speed... >0, driving torque =0, braking torque >0;

[0102] The cotton harvester accelerates by switching from braking mode D to EV pure electric drive mode B, and the vehicle speed... >0, driving torque >0, braking torque =0;

[0103] The cotton harvester decelerates by switching from HEV hybrid drive mode C to EV pure electric drive mode B, and the vehicle speed... Pure electric mode vehicle speed threshold Drive torque >0, braking torque =0, battery SOC > minimum battery capacity;

[0104] The cotton harvester continuously accelerates, switching from EV pure electric drive mode B to HEV hybrid drive mode C, with vehicle speed... Pure electric mode vehicle speed threshold Drive torque >0, braking torque =0;

[0105] The cotton harvester wheels drive a generator to charge the battery, and the vehicle speed... >0, driving torque =0, braking torque ≤ The maximum regenerative braking torque of the motor, and the battery SOC < the maximum battery capacity;

[0106] The cotton harvester accelerates by switching from braking mode D to HEV hybrid drive mode C, and the vehicle speed... >0, driving torque >0, braking torque =0;

[0107] The cotton harvester decelerates by switching from HEV hybrid drive mode C to braking mode D, and the vehicle speed... >0, driving torque =0, braking torque >0;

[0108] When the cotton harvester decelerates to a stop, it switches from braking mode D to parking mode A, and the vehicle speed... =0, driving torque =0, braking torque =0.

[0109] This invention achieves mechanical decoupling between various working systems of a cotton harvester through distributed electric drive. During the operation of the cotton harvester, it can realize the functions of motor drive, stepless speed regulation and variable torque, so as to pick and pack cotton more smoothly, efficiently and energy-savingly, and improve the speed and transmission efficiency of the cotton harvester.

[0110] In this invention, the machine stops working in parking mode A; in EV pure electric drive mode B, the battery 28 drives the machine; in HEV hybrid drive mode C, the battery 28 and the engine 21 jointly drive the machine, and when the engine 21 has surplus power, it can drive the drive motor to charge the battery 28 in reverse; in braking mode D, the wheels charge the battery 28 in reverse through the drive motor; and in plug-in mode E, the external power supply 29 of the hybrid cotton harvester charges the power battery 28. During the operation of the hybrid cotton harvester, the goal of switching between different modes such as parking mode A, EV pure electric drive mode B, HEV hybrid drive mode C, braking mode D, and plug-in mode E under hybrid operation can be achieved, and energy utilization efficiency can be improved, so that the range and energy saving of the whole machine can be balanced.

[0111] This invention addresses the high power and energy consumption of traditional combine harvesters by employing a series-parallel hybrid power system, balancing overall range and energy efficiency. Compared to traditional power systems, hybrid electric systems involve coordinating the output of both the engine and electric motor. This invention allows for mode switching between parking, EV pure electric drive, HEV hybrid drive, braking, and plug-in modes based on specific operational needs, providing greater flexibility and adaptability. The machine also boasts high energy efficiency.

[0112] This invention relates to a cotton harvester employing distributed electric drive technology, which offers advantages such as flexible structural layout and high energy efficiency. As the direct power-generating component, the operating system and power system are not mechanically connected, facilitating decoupling of their control. The machine speed and output torque can be frequently changed to match continuous variations in the actual load. Therefore, it boasts advantages such as stepless speed variation, variable output torque, and high transmission efficiency.

[0113] It should be understood that although this specification is described according to various embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0114] The detailed descriptions listed above are merely specific illustrations of feasible embodiments of the present invention and are not intended to limit the scope of protection of the present invention. All equivalent embodiments or modifications made without departing from the spirit of the present invention should be included within the scope of protection of the present invention.

Claims

1. A hybrid-type cotton harvester, characterized in that, Including a series-parallel hybrid power system (20); The hybrid power system (20) includes an engine (21), a gearbox (22), a coupling device, a differential, a generator (26), a battery (28), a main controller (11), a walking motor controller, a picking motor controller (11-c), a fan motor controller (11-e), a baling motor controller (11-f), a cotton collecting motor controller (11-g), and a conveying motor controller (11-h); the engine (21) and the battery (28) are used to output power; the generator (26) is used to power the engine (21). 1) The mechanical energy is converted into electrical energy to charge the battery (28); the battery (28) is connected to the walking motor controller, which distributes electrical energy to the walking motor controller to control the walking motor to drive the walking device (30) to walk; the battery (28) is connected to the picking motor controller (11-c), which distributes electrical energy to the picking motor controller (11-c) to control the picking motor (15) to drive the picking device (40) to pick; the battery (28) is connected to the fan motor controller (11-e), which distributes electrical energy to the fan motor controller (11-e) to control the picking motor (15) to drive the picking device (40) to pick; 11-e) The control fan motor (16) is used to drive the pneumatic conveying device (50) to deliver air; the battery (28) is connected to the baling motor controller (11-f), which distributes electrical energy to the baling motor controller (11-f) to control the baling motor (17) to drive the baling device (70) to bal; the battery (28) is connected to the cotton collecting motor controller (11-g), which distributes electrical energy to the cotton collecting motor controller (11-g) to control the motor (18-a) to drive the impact roller (61) to feed cotton into the cotton collecting box (60). The battery (28) is connected to the conveyor motor controller (11-h) and distributes electrical energy to the conveyor motor controller (11-h) to control the hydraulic pump motor (18) to drive the wing plate of the cotton support frame (80); the engine (21) is connected to the gearbox (22), the gearbox (22) is connected to the coupling device, the coupling device is connected to the walking motor, the engine (21) can transmit power to the coupling device through the gearbox (22), the coupling device couples the power of the engine (21) and the walking motor, and then transmits it to the wheels through the differential; The main controller (11) is connected to the battery (28), the walking motor controller, the picking motor controller (11-c), the fan motor controller (11-e), the baling motor controller (11-f), the cotton collecting motor controller (11-g), and the conveying motor controller (11-h), respectively. The travel motor controller includes a front axle motor controller (11-a) and a rear axle motor controller (11-b); the travel motor includes a front axle motor (13) and a rear axle motor (14); the front axle motor controller (11-a) is used to control the front axle motor (13) to drive the front wheels (25-a) to travel; the rear axle motor controller (11-b) is used to control the rear axle motor (14) to drive the rear wheels (25-b) to travel; The power of the front axle motor (13) and rear axle motor (14) driven by the engine (21), gearbox (22) and battery (28) is coupled to the outside through the planetary gear coupling device. The first coupling device (23-a) and the second coupling device (23-b) are respectively connected to the first differential (24-a) and the second differential (24-b), and the power is transmitted to the front wheel (25-a) and the rear wheel (25-b) through the front drive shaft (25-c) and the rear drive shaft (25-d).

2. The hybrid-powered cotton harvester according to claim 1, characterized in that, The picking device (40) includes a picking drum (42) and a cotton removal drum (43); the picking motor (15) is connected to the picking drive shaft (15-b), and the picking drive shaft (15-b) is connected to the picking drum (42) and the cotton removal drum (43) through the transmission gear set (15-a); the picking motor (15) drives the picking drive shaft (15-b), and then transmits the power to the picking drum (42) and the cotton removal drum (43) through the transmission gear set (15-a).

3. The hybrid cotton harvester according to claim 1, characterized in that, The blower (51) in the pneumatic conveying device (50) is connected to the blower motor (16) and is driven by the blower motor (16) alone.

4. The hybrid cotton harvester according to claim 1, characterized in that, The impact roller (61) of the conveying and feeding system in the cotton collection box (60) is connected to and driven by a motor (18-a).

5. The hybrid cotton harvester according to claim 1, characterized in that, The film feeding roller (71) and the transmission belt (72) of the film coating device in the packaging device (70) share a packaging motor (17); the film feeding roller (71) is connected to the packaging motor (17) and is directly driven by the packaging motor (17); the transmission belt (72) is connected to the packaging motor (17) through the belt (17-a) and is driven by the packaging motor (17) through the belt (17-a).

6. The hybrid-powered cotton harvester according to claim 1, characterized in that, The battery (28) is connected to the main controller (11) via a step-down DC / DC converter (12); after the battery (28) is stepped down by the step-down DC / DC converter (12), it supplies power to the main controller (11).

7. The hybrid-powered cotton harvester according to claim 1, characterized in that, The generator (26) is equipped with a clutch (26-a) in front of it, and the generator (26) switches the power input to the generator (26) through the clutch (26-a).

8. The hybrid-powered cotton harvester according to claim 1, characterized in that, An inverter (27) is provided between the generator (26) and the battery (28).

9. The hybrid-powered cotton harvester according to claim 1, characterized in that, The hybrid electric system (20) includes a parking mode (A), an EV pure electric drive mode (B), an HEV hybrid drive mode (C), a braking mode (D), and a plug-in mode (E), and can switch between different modes.

10. The hybrid-powered cotton harvester according to claim 9, characterized in that, In EV pure electric drive mode (B), the drive motor is powered only by the battery (28).

11. The hybrid-powered cotton harvester according to claim 9, characterized in that, In HEV hybrid drive mode (C), when pure electric drive cannot meet the target power, the battery (28) and engine (21) work at the same time. The engine (21) and the battery (28) drive the walking motor through the coupling device and drive the wheels through the differential. The clutch (26-a) cuts off the power entering the generator (26) and stops charging the battery (28).

12. The hybrid-powered cotton harvester according to claim 11, characterized in that, In HEV hybrid drive mode (C), when pure electric drive can meet the target power, the engine (21) connects to the generator (26) to charge the battery (28).

13. The hybrid cotton harvester according to claim 9, characterized in that, In braking mode (D), the wheels charge the battery (28) in reverse via the walking motor.

14. The hybrid-powered cotton harvester according to claim 9, characterized in that, In plug-in mode (E), the external power source (29) of the hybrid cotton harvester charges the power battery (28).

15. A control method for a hybrid cotton harvester according to any one of claims 1-14, characterized in that, Includes the following steps: The battery (28) of the hybrid power system (20) distributes electrical energy to the walking motor controller to control the walking motor to drive the walking device (30) to walk; The battery (28) distributes electrical energy to the picking motor controller (11-c) to control the picking motor (15) to drive the picking roller (42) and cotton stripping roller (43) of the picking device (40) for picking; the battery (28) distributes electrical energy to the fan motor controller (11-e) to control the fan motor (16) to drive the pneumatic conveying device (50) for air supply; the battery (28) distributes electrical energy to the baling motor controller (11-f) to control the baling motor (17) to drive the film feeding roller (71) and transmission belt (72) of the baling device (70) for baling; the battery (28) distributes electrical energy to the cotton collecting motor controller (11-g) to control the motor (18-a) to drive the striking roller (61) to feed cotton into the cotton collecting box (60); the battery (28) distributes electrical energy to the conveying motor controller (11-h) to control the hydraulic pump motor (18) to drive the wing plate of the cotton support frame (80); The main controller (11) independently adjusts the speeds of the walking motor, the picking motor (15), the fan motor (16), the baling motor (17), the motor (18-a), and the hydraulic pump motor (18) through the walking motor controller, the picking motor controller (11-c), the fan motor controller (11-e), the baling motor controller (11-f), the cotton collecting motor controller (11-g), and the conveying motor controller (11-h).

16. The control method for the hybrid cotton harvester according to claim 15, characterized in that, It also includes the following steps: In the EV pure electric drive mode (B), the hybrid system (20) provides power to the drive motor only through the battery (28); In the HEV hybrid drive mode (C) of the hybrid system (20), when the pure electric drive cannot meet the target power, the battery (28) and the engine (21) work at the same time. The engine (21) and the battery (28) drive the walking motor through the coupling device and drive the wheels through the differential. The clutch (26-a) cuts off the power entering the generator (26) and stops charging the battery (28). In the HEV hybrid drive mode (C), when the pure electric drive can meet the target power, the engine (21) connects to the generator (26) to charge the battery (28). In braking mode (D), the wheels of the hybrid power system (20) charge the battery (28) in reverse via the drive motor. In plug-in mode (E), the hybrid power system (20) uses an external power source (29) to charge the power battery (28).

17. The control method for the hybrid cotton harvester according to claim 16, characterized in that, It also includes the following control steps for the series-parallel hybrid power system (20): When the cotton harvester starts, it switches from parking mode (A) to EV pure electric drive mode (B), and the driving torque... >0, braking torque =0; The cotton harvester decelerates by switching from EV pure electric drive mode (B) to braking mode (D), and the vehicle speed... >0, driving torque =0, braking torque >0; The cotton harvester accelerates by switching from braking mode (D) to EV pure electric drive mode (B), and the vehicle speed... >0, driving torque >0, braking torque =0; The cotton harvester decelerates by switching from HEV hybrid drive mode (C) to EV pure electric drive mode (B), and the vehicle speed... Pure electric mode vehicle speed threshold Drive torque >0, braking torque =0, battery SOC > minimum battery capacity; The cotton harvester continuously accelerates, switching from EV pure electric drive mode (B) to HEV hybrid drive mode (C), with vehicle speed... Pure electric mode vehicle speed threshold Drive torque >0, braking torque =0; The cotton harvester wheels drive the generator (26) to charge the battery (28), and the vehicle speed... >0, driving torque =0, braking torque ≤ The maximum regenerative braking torque of the motor, and the battery SOC < the maximum battery capacity; The cotton harvester accelerates by switching from braking mode (D) to HEV hybrid drive mode (C), and the vehicle speed... >0, driving torque >0, braking torque =0; The cotton harvester decelerates by switching from HEV hybrid drive mode (C) to braking mode (D), and the vehicle speed... >0, driving torque =0, braking torque >0; When the cotton harvester decelerates to a stop, it switches from braking mode (D) to parking mode (A), and the speed... =0, driving torque =0, braking torque =0.

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