Tractor steering method and tractor

Abstract

The present application belongs to the technical field of agricultural implements and provides a tractor turning method and a tractor. The tractor turning method comprises the following steps: obtaining the specification type of a working implement dragged by an implement suspension mechanism of the tractor; controlling the implement suspension mechanism to remain in a locked state matched with the specification type of the working implement; and controlling the tractor to perform a turning operation. Before the tractor turns, the locked state of the implement suspension mechanism is kept matched with the dragged working implement, so that the tractor can turn smoothly and safely.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of agricultural implements, and particularly relates to a tractor turning method and a tractor. BACKGROUND

[0002] Tractors are widely used in agricultural production activities, and are commonly used for land rotary tillage, plowing, crop transportation, etc. Four-wheel tractors and two-axle tracked tractors are the most common. In recent years, influenced by the energy strategy, new energy tractor technology is constantly updated and iterated, and electric tractor products have begun to face the public eye. Electric tractors generally adopt a single-axle form and are driven by wheel motors on both sides. However, in the case of fixed connection of farm tools at the rear end of the frame assembly, limited by the driving force of the motor, when the tractor is sliding and turning, under the action of the soil scraping resistance, it is easy to cause the tractor to overturn or the structure to break, causing safety accidents. SUMMARY

[0003] In view of the above defects or deficiencies, the present application provides a tractor turning method and a tractor, aiming to improve the operation performance and safety reliability of the tractor.

[0004] To achieve the above-mentioned purpose, the present application provides a tractor turning method, which comprises the following steps:

[0005] S100: obtaining the specification type of a working implement dragged by an implement suspension mechanism in a tractor;

[0006] S200: controlling the implement suspension mechanism to remain in a locked state matched with the specification type of the working implement;

[0007] S300: controlling the tractor to perform a turning operation.

[0008] In the embodiment of the present application, when the specification type of the working implement is a large implement, S200: controlling the implement suspension mechanism to remain in a locked state matched with the specification type of the working implement specifically comprises:

[0009] S201: controlling the implement suspension mechanism to remain in an unlocked state.

[0010] In the embodiment of the present application, when the specification type of the working implement is a large implement, S300: controlling the tractor to perform a turning operation specifically comprises:

[0011] S301: obtaining a target turning angle;

[0012] S302: determining that the target turning angle is not greater than a single-turn maximum limit angle of the tractor;

[0013] S303: controlling the tractor to perform a turning operation with a turning angle of the target turning angle.

[0014] In the embodiment of the present application, when the specification type of the working implement is a large implement, S300: controlling the tractor to perform a steering operation specifically comprises:

[0015] S301: obtaining a target steering angle;

[0016] S312: determining that the target steering angle is greater than a single-steering maximum limit angle of the tractor;

[0017] S313: controlling the tractor to perform a steering operation with a steering angle of a first steering angle;

[0018] S314: controlling the tractor to travel straight;

[0019] S315: continuing to perform the steering operation in the original pivoting direction until the steering angle of the tractor reaches the target steering angle;

[0020] wherein the first steering angle is not greater than the single-steering maximum limit angle.

[0021] In the embodiment of the present application, when the specification type of the working implement is a small implement, S200: controlling the implement suspension mechanism to remain in a locked state matching the specification type of the working implement specifically comprises:

[0022] S211: controlling the implement suspension mechanism to remain in a locked state.

[0023] In the embodiment of the present application, after obtaining that the specification type of the working implement dragged by the implement suspension mechanism in the tractor is a small implement, before controlling the tractor to perform a steering operation, the tractor steering method further comprises:

[0024] S110: lifting the working implement.

[0025] To achieve the above-mentioned purpose, the present application further provides a tractor, wherein the tractor comprises a frame assembly, an implement suspension mechanism, a suspension constraint mechanism and a controller, the implement suspension mechanism is pivotally connected to the tail of the frame assembly and is used to drag a working implement, the suspension constraint mechanism is used for locking control between the implement suspension mechanism and the frame assembly, and the controller is used to perform the tractor steering method according to the above-mentioned.

[0026] In the embodiment of the present application, a pivoting limit mechanism is further arranged between the frame assembly and the implement suspension mechanism, and the pivoting limit mechanism is used to limit a single-steering maximum limit angle of the implement suspension mechanism starting from a straight traveling state coaxial with the frame assembly.

[0027] In the embodiment of the present application, the frame assembly and the implement suspension mechanism are connected through a rotary support mechanism, the rotary support mechanism comprises a fixed support seat arranged on the frame assembly and a support movable seat rotatably arranged on the fixed support seat, the rotary center axis of the support movable seat extends vertically, and the implement suspension mechanism is arranged on the support movable seat.

[0028] In the embodiment of the present application, the pivot limiting mechanism comprises a lower limiting block arranged on the frame assembly and an upper limiting block arranged on the implement suspension mechanism, and the lower limiting block is used to abut against the upper limiting block when the implement suspension mechanism horizontally pivots by a preset angle.

[0029] In the embodiment of the present application, the tractor steering device further comprises a lifting mechanism arranged on the implement suspension mechanism, and the lifting mechanism is used to lift the dragged working implement.

[0030] In the embodiment of the present application, the implement suspension mechanism comprises a suspension mechanism body and a suspension pull arm, the front end of the suspension pull arm is swingably hinged to the suspension mechanism body, the rear end of the suspension pull arm is provided with the working implement, and the lifting mechanism is arranged between the suspension pull arm and the suspension mechanism body.

[0031] In the embodiment of the present application, the suspension limiting mechanism comprises a locking ring arranged on the frame assembly and a locking pin arranged on the implement suspension mechanism, the locking pin is controlled by a driving member, and the driving member is used to control the locking pin to be inserted into the locking ring when the locking pin is aligned with the locking ring.

[0032] In the embodiment of the present application, the suspension limiting mechanism further comprises a guide member arranged on the implement suspension mechanism, and the guide member is used to guide the locking pin to be inserted into the locking ring when the locking pin is aligned with the locking ring.

[0033] In the embodiment of the present application, the tractor is a single-axle electric drive type tractor, the frame assembly comprises a single axle and wheel edge motors distributed on both sides of the single axle, and the controller is used to control the speed difference of the wheel edge motors on both sides to realize the slip steering.

[0034] Through the above technical scheme, the tractor steering method provided by the embodiment of the present application has the following beneficial effects:

[0035] By keeping the locking state of the implement suspension mechanism matched with the dragged working implement before the tractor steering, the influence of the lateral resistance of the scraped soil on the tractor during steering can be effectively reduced, or the swinging of the working implement can be effectively avoided, so that the tractor can be steered stably and safely.

[0036] Other features and advantages of the present application will be described in detail in the following specific embodiment part. BRIEF DESCRIPTION OF DRAWINGS

[0037] The accompanying drawings are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. In the drawings:

[0038] Figure 1 is a flow chart of the tractor steering method according to an embodiment of the present application;

[0039] Figure 2 is a detailed flow chart of one of the steps S200 according to an embodiment of the present application;

[0040] Figure 3 is a detailed flow chart of one of the steps S300 according to an embodiment of the present application;

[0041] Figure 4 is another detailed flow chart of the step S300 according to an embodiment of the present application;

[0042] Figure 5 is another detailed flow chart of the step S200 according to an embodiment of the present application;

[0043] Figure 6 is a detailed flow chart of one of the steps before the step S300 according to an embodiment of the present application;

[0044] Figure 7 is a schematic structural diagram of a tractor according to an embodiment of the present application;

[0045] Figure 8 is a schematic structural diagram of the first perspective view of the implement suspension mechanism and the suspension constraint mechanism according to an embodiment of the present application;

[0046] Figure 9 is a schematic structural diagram of the tractor towing working implement in straight driving according to an embodiment of the present application;

[0047] Figure 10 is a schematic structural diagram of the tractor towing working implement in turning driving according to an embodiment of the present application;

[0048] Figure 11 is a detailed schematic structural diagram of the implement suspension mechanism according to an embodiment of the present application;

[0049] Figure 12 is a schematic structural diagram of the second perspective view of the implement suspension mechanism and the suspension constraint mechanism according to an embodiment of the present application.

[0050] BRIEF DESCRIPTION OF THE DRAWINGS

[0051] 1, frame assembly; 11, traveling mechanism; 111, track; 112, wheel motor; 12, locking ring; 2, implement suspension mechanism; 21, suspension pull arm; 22, balance pull arm; 3, suspension restraint mechanism; 31, locking pin; 32, guide; 33, driving part; 34, state sensing element; 4, pivot limiting mechanism; 41, upper limiting block; 42, lower limiting block; 43, angle sensing element; 5, lifting mechanism; 6, working implement; 7, rotary supporting mechanism; 71, fixed supporting seat; 72, supporting movable seat. DETAILED DESCRIPTION

[0052] The specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely intended to illustrate and explain the present application, and are not intended to limit the present application.

[0053] The tractor turning method of the present application is described below with reference to the accompanying drawings.

[0054] The implement suspension mechanism 2 is used for dragging the working implement 6. Some existing tractors have the implement suspension mechanism 2 fixedly installed at the tail of the frame. For such tractors, if the large working implement 6 is directly turned, the soil scraping will cause a very large lateral resistance to the large agricultural implement, which will easily cause the vehicle to overturn or the connecting part to break.

[0055] To ensure the safe turning of the tractor, the implement suspension mechanism 2 used for the working implement 6 is pivotally connected to the tail of the frame assembly 1, and a set of turning method is designed for this type of tractor, as shown in Figure 1 The tractor turning method includes the following steps:

[0056] S100: obtaining the specification type of the working implement 6 dragged by the implement suspension mechanism 2 in the tractor;

[0057] S200: controlling the implement suspension mechanism 2 to keep in a locking state matched with the specification type of the working implement 6;

[0058] S300: controlling the tractor to perform a turning operation.

[0059] By keeping the locking state of the implement suspension mechanism 2 matched with the working implement 6 before the tractor turns, the influence of the lateral resistance of the soil scraping on the tractor during the turning can be effectively reduced, or the swinging of the working implement 6 can be effectively avoided, so that the tractor can be smoothly and safely turned regardless of whether the specification type of the working implement 6 is a large implement or a small implement.

[0060] In the embodiments of the present application, the type of the working implement 6 includes a large agricultural implement and a small agricultural implement. When the specification type of the working implement 6 is a large agricultural implement, as shown in Figure 2As shown, S200: The control attachment suspension mechanism 2 is kept in a locked state that matches the specifications and type of the working attachment 6, specifically including:

[0061] S201: Control attachment suspension mechanism 2 to remain in the unlocked state.

[0062] Specifically, in addition to including the frame assembly 1 and the attachment suspension mechanism 2 pivotally connected to the rear of the frame assembly 1, the tractor used to perform this method also needs to include a suspension restraint mechanism 3 for realizing the locking control between the attachment suspension mechanism 2 and the frame assembly 1.

[0063] When a tractor towing a large implement turns, if the suspension restraint mechanism 3 remains locked, the lateral resistance to soil scraping on the implement during the turn of the frame assembly 1 will be very high, making the tractor prone to tipping over or structural breakage. Therefore, to perform a smooth and safe turn, the suspension restraint mechanism 3 needs to be switched to or kept unlocked. After the suspension restraint mechanism 3 is unlocked, the attachment suspension mechanism 2 can swing laterally relative to the frame assembly 1 during the turn. This allows the position and working direction of the working attachment 6 to remain fixed while the frame assembly 1 is turning. After the frame assembly 1 has turned, simply control the frame assembly 1 to travel straight. Under the influence of the angle between the traction force and the working direction of the working attachment 6, the working direction of the working attachment 6 will gradually move towards the traveling direction of the frame assembly 1 until they completely overlap. This step-by-step turning strategy effectively reduces the impact of the lateral resistance to soil scraping on the tractor when towing a large implement during the turn.

[0064] When the towed work attachment 6 is a large agricultural implement, the suspension restraint mechanism 3 is in the unlocked state, that is, the attachment suspension mechanism 2 can rotate relative to the frame assembly 1. If the steering angle of the frame assembly 1 relative to the attachment suspension mechanism 2 is too large, it is easy to encounter the problem that the work attachment 6 is difficult to tow when the frame assembly 1 is driving straight after the steering is completed. More seriously, if the frame assembly 1 is over-steering, it will directly hit the work attachment 6. Therefore, it is necessary to set the suspension restraint mechanism 3 to limit the maximum angle of the frame assembly 1 relative to the attachment suspension mechanism 2 in a single steering.

[0065] When the type of work attachment 6 is a large agricultural implement, the steps for the tractor to perform the steering operation will vary slightly depending on the size of the target steering angle.

[0066] like Figure 3 As shown, when the target steering angle is not greater than the maximum single steering limit angle of the tractor, S300: controlling the tractor to perform steering operations specifically includes:

[0067] S301: Obtain the target turning angle;

[0068] S302: Determine whether the target steering angle is not greater than the maximum single steering limiting angle of the tractor;

[0069] S303: Control the tractor to perform a steering operation with a steering angle of the target steering angle.

[0070] When the target steering angle of the frame assembly 1 does not exceed the maximum single steering limiting angle, the frame assembly 1 can be directly controlled to steer to the target steering angle, and then the frame assembly 1 can be controlled to travel straight.

[0071] As shown in Figure 4 When the target steering angle is greater than the maximum single steering limiting angle, S300: controlling the tractor to perform a steering operation specifically includes:

[0072] S301: Obtain the target steering angle;

[0073] S312: Determine whether the target steering angle is greater than the maximum single steering limiting angle of the tractor;

[0074] S313: Control the tractor to perform a steering operation with a steering angle of the first steering angle;

[0075] S314: Control the tractor to travel straight;

[0076] S315: Continue to perform a steering operation in the original pivoting direction until the steering angle of the tractor reaches the target steering angle;

[0077] The first steering angle is not greater than the maximum single steering limiting angle.

[0078] For example, in a specific steering case, the target steering angle is 90°, and the maximum single steering limiting angle is set to 60°. When the first steering angle of the frame assembly 1 relative to the implement suspension mechanism 2 reaches 60° (or less than 60°), the frame assembly 1 is controlled to travel straight. With the straight travel of the frame assembly 1, the working implement 6 is dragged to steer, and the steering angle of the frame assembly 1 relative to the implement suspension mechanism 2 gradually decreases. When the angle is less than the second steering angle control threshold (such as 15°, 0°, etc.), the differential rotation of the wheel-side motors 112 on both sides and the straight travel can be controlled again, and the above operation is repeated until the steering angle of the frame assembly 1 relative to the ground reaches the target steering angle.

[0079] As shown in Figure 5 In the embodiment of the present application, when the specification type of the working implement 6 is a small agricultural implement, S200: controlling the implement suspension mechanism 2 to remain in a locking state matched with the specification type of the working implement 6 specifically includes:

[0080] S211: Control the implement suspension mechanism 2 to remain in the locked state.

[0081] For the frame assembly 1 towing small agricultural implements, since the lateral resistance of the soil scraping to the small agricultural implements is small, the implement suspension mechanism 2 should be in the locked state when the frame assembly 1 turns to avoid the small agricultural implements being thrown when the frame assembly 1 turns.

[0082] As shown in the embodiment of the present application, after obtaining the specification type of the small agricultural implements that the implement suspension mechanism 2 drags in the tractor, before controlling the tractor to perform the turning operation, the tractor turning method further comprises: Figure 6

[0083] S110: Lift the working implement 6.

[0084] By lifting the small agricultural implements, the influence of the lateral resistance of the soil scraping on the overall turning of the frame can be further avoided.

[0085] The tractor turning method of the present application will be described below in combination with the specific structure of the tractor.

[0086] To implement the above method, the present application provides a tractor, as shown in Figure 7 and Figure 8 The tractor comprises a frame assembly 1, an implement suspension mechanism 2, a suspension constraint mechanism 3, and a controller. The implement suspension mechanism 2 is pivotally connected to the tail of the frame assembly 1 and is used to drag the working implement 6. The suspension constraint mechanism 3 is used for locking control between the implement suspension mechanism 2 and the frame assembly 1. The controller is used to execute the tractor turning method according to the above description.

[0087] The implement suspension mechanism 2 used for dragging the working implement 6 is pivotally connected to the tail of the frame assembly 1. When the tractor turns, the frame assembly 1 will first turn, and after the frame assembly 1 turns, only the frame assembly 1 needs to be controlled to travel straight, so as to straighten the implement suspension mechanism 2 and the dragged working implement 6 along the straight travel direction of the frame assembly 1. Through this step-by-step turning strategy, the influence of the lateral resistance of the soil scraping on the turning of the tractor can be effectively reduced, and the tractor can be turned smoothly and safely.

[0088] ​In the embodiment of the present application, the specification types of the working implement 6 include large implements and small implements. When the working implement 6 towed by the implement suspension mechanism 2 is a large implement, the lateral resistance of the soil to the large implement is very large after the large implement is inserted into the soil, so that the large implement follows the straight travel of the frame assembly 1 even if the implement suspension mechanism 2 is kept free pivoting with the frame assembly 1. However, for the small implement, the lateral resistance of the soil to the small implement is small due to the small size and weight of the small implement, so that the small implement is very easy to swing left and right when the frame assembly 1 is straight traveling or turning if the locking between the implement suspension mechanism 2 and the frame assembly 1 is absent.

[0089] Therefore, in order to be compatible with the straight travel and turning of the working implement 6 of different specification types, the tractor in the present application is further provided with a suspension constraint mechanism 3 to realize the locking control between the implement suspension mechanism 2 and the frame assembly 1. Figure 8 and Figure 12

[0090] In order to ensure the safety of turning, in the embodiment of the present application, the controller needs to control the locking state of the suspension constraint mechanism 3 according to the specification type of the working implement 6 before the turning operation is performed. Specifically, when the working implement 6 is a large implement, the suspension constraint mechanism 3 needs to be in the unlocked state, while when the type of the working implement 6 is a small implement, the lateral resistance of the soil to the small implement is small, so that in order to avoid the small implement from being thrown and impacting the vehicle body, the corresponding matching state of the suspension constraint mechanism 3 should be the locked state.

[0091] As shown in Figure 8 and Figure 12 In the embodiment of the present application, the locking mode of the suspension constraint mechanism 3 can be a latch type locking, for example, the suspension constraint mechanism 3 can include a locking ring 12 arranged on the frame assembly 1 and a locking pin 31 arranged on the implement suspension mechanism 2, the locking pin 31 is controlled by a driving member 33, and the driving member 33 is used to control the locking pin 31 to extend into the locking ring 12 when the locking pin 31 is aligned with the locking ring 12. The alignment position of the locking pin 31 and the locking ring 12 can be the position where the central axis of the implement suspension mechanism 2 in the front-rear direction is parallel to the central axis of the frame assembly 1 in the front-rear direction, and by locking the implement suspension mechanism 2 at this alignment position, the normal operation of the working implement 6 during the straight travel of the tractor can be facilitated. The driving member 33 can be a motor rack, a motor screw, an electric cylinder, a pneumatic cylinder, etc.

[0092] As shown in Figure 12 ​As shown, in the embodiment of the present application, the suspension constraint mechanism 3 further comprises a guide 32 arranged on the implement suspension mechanism 2, which is used to guide the locking pin 31 to insert into the locking ring 12 when the locking pin 31 is aligned with the locking ring 12. The guide 32 can be a guide rail, a guide sleeve or the like structure, for example, the locking pin 31 can be slidably arranged in the guide sleeve, and through the guidance of the guide sleeve, the locking pin 31 can be conveniently and accurately inserted into or out of the locking ring 12.

[0093] As shown in Figure 12 , in the embodiment of the present application, the suspension constraint mechanism 3 further comprises a state sensing element 34 for detecting whether the locking pin 31 is inserted into the locking ring 12, and through the state sensing element 34, the controller can obtain the state of the suspension constraint mechanism 3. The state sensing element 34 can be a distance sensor, a position sensor, a travel switch or the like.

[0094] The following will take the large agricultural implement as an example to describe the control process of the controller.

[0095] As shown in Figure 7 , Figure 9 , Figure 10 , when the specification type of the working implement 6 is a large agricultural implement, the controller is specifically configured to:

[0096] receive a steering instruction;

[0097] confirm that the type of the working implement 6 is a large agricultural implement;

[0098] control the suspension constraint mechanism 3 to remain in an unlocked state;

[0099] control the wheel motor 112 to perform a steering operation in response to the steering instruction.

[0100] The controller can acquire the type 6 working attachment through manual input by the operator or identification by the corresponding sensing element. When the tractor is turning while towing a large agricultural implement, if the suspension restraint mechanism 3 remains locked, the lateral resistance to the soil scraping experienced by the implement during steering will be very large, making the tractor prone to rollover or structural breakage. Therefore, to perform steering operations smoothly and safely, the suspension restraint mechanism 3 needs to be switched to the unlocked state. Of course, in some cases, the suspension restraint mechanism 3 may already be in the unlocked state before receiving the steering command; in this case, it is only necessary to keep the suspension restraint mechanism 3 in the unlocked state. After the suspension restraint mechanism 3 is released, during the turning process of the frame assembly 1, the attachment suspension mechanism 2 can swing laterally left and right relative to the frame assembly 1. Thus, when the frame assembly 1 is turning, the position and working direction of the working attachment 6 can remain fixed. After the frame assembly 1 has turned, it is only necessary to control the frame assembly 1 to travel in a straight line. Under the influence of the angle between the traction force and the working direction of the working attachment 6, the working direction of the working attachment 6 will gradually move towards the traveling direction of the frame assembly 1 until they completely overlap. Through this step-by-step turning strategy, the impact of the lateral resistance of the soil scraping on the tractor when the tractor is turning while towing large agricultural implements can be effectively reduced.

[0101] like Figure 8 and Figure 11 As shown, in an embodiment of the present invention, a pivoting limiting mechanism 4 is further provided between the frame assembly 1 and the attachment suspension mechanism 2. The pivoting limiting mechanism 4 is used to limit the maximum single steering angle of the attachment suspension mechanism 2 starting from the straight-line state coaxial with the frame assembly 1.

[0102] When the towed work attachment 6 is a large agricultural implement, the suspension restraint mechanism 3 is in the unlocked state, that is, the attachment suspension mechanism 2 can rotate relative to the frame assembly 1. If the steering angle of the frame assembly 1 relative to the attachment suspension mechanism 2 is too large, it is easy to encounter the problem that the work attachment 6 is difficult to tow when the frame assembly 1 is driving straight after the steering is completed. More seriously, if the frame assembly 1 is over-steering, it will directly hit the work attachment 6. Therefore, it is necessary to limit the maximum single steering angle of the frame assembly 1 relative to the attachment suspension mechanism 2.

[0103] In embodiments of the present invention, based on the pivot limiting mechanism 4, the steering control operation performed by the controller will differ depending on the target steering angle. For example, when the target steering angle is not greater than the maximum single steering limit angle of the pivot limiting mechanism 4, the steering operation performed by the wheel-side motor 112 in response to the steering command specifically includes:

[0104] Obtain the target steering angle from the steering command;

[0105] Ensure the target steering angle does not exceed the maximum limit angle for a single steering maneuver.

[0106] perform a steering operation with a steering angle as the target steering angle.

[0107] When the target steering angle of the vehicle frame assembly 1 does not exceed the maximum single steering limiting angle, the wheel-side motors 112 on both sides of the vehicle frame assembly 1 are directly controlled to rotate at different speeds, so that the vehicle frame assembly 1 is rotated to the target steering angle relative to the implement suspension mechanism 2, and then the vehicle frame assembly 1 is controlled to travel in a straight line, thereby completing the steering operation.

[0108] When the target steering angle is greater than the maximum single steering limiting angle, the control of the wheel-side motors 112 to perform the steering operation in response to the steering instruction specifically includes:

[0109] obtaining the target steering angle in the steering instruction;

[0110] determining that the target steering angle is greater than the maximum single steering limiting angle;

[0111] controlling the wheel-side motors 112 to rotate at different speeds to perform the steering operation, so that the suspension mechanism is pivoted relative to the vehicle frame assembly 1 by a first steering angle;

[0112] controlling the wheel-side motors 112 to rotate at the same speed, so that the vehicle frame assembly 1 travels in a straight line;

[0113] continuing to perform the steering operation in the original pivoting direction until the target steering angle is reached;

[0114] wherein the first steering angle is not greater than the maximum single steering limiting angle.

[0115] Through this step-by-step steering strategy, the safe steering of the tractor can be ensured.

[0116] As shown in FIG. 1, in the embodiment of the present application, the implement suspension mechanism 2 and the vehicle frame assembly 1 are connected in a rotating manner, and the implement suspension mechanism 2 is connected to the vehicle frame assembly 1 through a rotating support mechanism 7. Figure 8 The rotating support mechanism 7 includes a fixed support seat 71 provided on the vehicle frame assembly 1 and a support movable seat 72 rotatably installed on the fixed support seat 71, and the rotating center axis of the support movable seat 72 extends vertically and can rotate relative to the fixed support seat. The implement suspension mechanism 2 is provided on the support movable seat 72. Through the rotating cooperation of the fixed support seat 71 and the support movable seat 72, the rotating connection can be realized, and the connection strength can be ensured. Of course, the rotating connection between the vehicle frame assembly 1 and the implement suspension mechanism 2 can also be realized through bearings, pin shafts, rotating discs, etc.

[0117] As shown in FIG. 2, in the embodiment of the present application, the implement suspension mechanism 2 and the vehicle frame assembly 1 are connected in a rotating manner, and the implement suspension mechanism 2 is connected to the vehicle frame assembly 1 through a rotating support mechanism 7. Figure 11As shown in the embodiments of the present application, the pivot limiting mechanism 4 can have various forms, such as the pivot limiting mechanism 4 including a lower limiting block 42 arranged on the fixed support seat 71 and an upper limiting block 41 arranged on the support movable seat 72, the lower limiting block 42 being used to abut against the upper limiting block 41 when the support movable seat 72 is horizontally pivoted by a preset angle. By the abutment of the upper limiting block 41 and the lower limiting block 42, the maximum turning angle of the frame assembly 1 relative to the implement suspension mechanism 2 is mechanically limited. Further, the number of the lower limiting blocks 42 is two groups, the two groups of lower limiting blocks 42 being arranged along the circumferential direction of the fixed support seat 71, and the upper limiting block 41 being located between the two groups of lower limiting blocks 42, by arranging the two groups of lower limiting blocks 42, the turning limiting of the frame assembly 1 in two directions can be achieved. Alternatively, the number of the upper limiting blocks 41 is two groups, the two groups of upper limiting blocks 41 being arranged along the circumferential direction of the support movable seat 72, and the lower limiting block 42 being arranged between the two groups of upper limiting blocks 41, and this structure can also achieve the effect of turning limiting in two directions.

[0118] As shown in the embodiments of the present application, the fixed support seat 71 or the support movable seat 72 is further provided with an angle sensing element 43, the angle sensing element 43 being used to detect the included angle between the frame assembly 1 and the implement suspension mechanism 2. The angle sensing element 43 can be an angle sensor, a position sensor, etc., by arranging the angle sensing element 43, the turning angle of the frame assembly 1 relative to the implement suspension mechanism 2 can be conveniently obtained by the controller. Figure 12

[0119] In the embodiments of the present application, the frame assembly 1 can be provided with an angle sensor for detecting the turning angle relative to the ground.

[0120] The following will take the small agricultural implement as an example to describe the control process of the controller.

[0121] When the specification type of the working implement 6 is the small agricultural implement, the controller is specifically configured to:

[0122] receive a turning instruction;

[0123] confirm that the type of the working implement 6 is the small agricultural implement;

[0124] control the suspension constraint mechanism 3 to be in a locked state;

[0125] control the wheel motor 112 to perform a turning operation in response to the turning instruction.

[0126] For the frame assembly 1 towing the small agricultural implement, since the lateral resistance of the soil scraping to the small agricultural implement is small, the implement suspension mechanism 2 should be in a locked state when the frame assembly 1 is turning, so as to avoid the small agricultural implement being thrown away when the frame assembly 1 is turning.

[0127] As​Figure 8 As shown in the embodiments of the present application, the tool suspension mechanism 2 comprises a suspension mechanism body and a suspension pull arm 21, the front end of the suspension pull arm 21 is swingably hinged to the suspension mechanism body, and the rear end is used for mounting the working tool 6, and a lifting mechanism 5 is arranged between the suspension pull arm 21 and the suspension mechanism body; wherein the controller is further configured to control the lifting mechanism 5 to lift the suspension pull arm 21 to lift the working tool 6 before performing the steering operation.

[0128] As shown in the embodiments of the present application, the tool suspension mechanism 2 further comprises a balance pull arm 22, which is used to balance the working tool 6. Figure 8

[0129] By lifting the small agricultural tool, the lateral resistance of the soil scraping to the overall steering of the frame can be further avoided. Of course, this is the most preferred solution, and sometimes for the sake of simplifying the operation, the steering can be directly performed when the small agricultural tool is being dragged.

[0130] In the embodiments of the present application, the lifting mechanism 5 can be a lifting cylinder.

[0131] In the embodiments of the present application, the lifting mechanism 5 can also drive the working tool 6 to insert into the soil.

[0132] In the embodiments of the present application, the traveling mechanism 11 of the tractor is preferably a track 111, which has a large stress area and better stability, and of course, the traveling mechanism 11 of the tractor can also be a wheel.

[0133] In the embodiments of the present application, the tractor is a single-axle electric drive tractor, the frame assembly 1 comprises a single axle and a wheel-side motor 112 distributed on both sides of the single axle, the controller is used to control the speed difference of the wheel-side motors 112 on both sides to realize the slip steering, and the wheel-side motor 112 is powered by a battery.

[0134] In summary, the present application combines the actual working scene of the tractor, considers the influence of different types of agricultural tools on the steering of the tractor, rotates the tool suspension mechanism 2 and locks it through the suspension restraint mechanism 3, and changes the state of the suspension restraint mechanism 3 according to the type of the agricultural tool, which can increase the stability of the steering of the tractor when carrying different agricultural tools.

[0135] In the description of the present application, it should be understood that the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second" can be explicitly or implicitly included at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise specifically limited. ​

[0136] In this application, unless otherwise clearly indicated, the terms "mounting", "connected", "connecting", "fixed", "fixing", and the like, should be construed in a broad sense and can be interpreted as fixedly connected, detachably connected, or integrated; can be mechanical connection, electrical connection or communication with each other; can be direct connection, or indirect connection through an intermediate medium; can be internal communication of two elements or interaction between two elements, unless otherwise clearly indicated. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0137] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine the different embodiments or examples described in the present application and the features of the different embodiments or examples without contradiction.

[0138] Although the embodiments of the present application have been described above, it can be understood that the above embodiments are exemplary and cannot be construed as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application.

Claims

1. A tractor steering method, characterized by, The tractor steering method comprises: acquiring a specification type of a working implement (6) dragged by an implement suspension mechanism (2) in a tractor; controlling the implement suspension mechanism (2) to be kept in a locked state matched with the specification type of the working implement (6); controlling the tractor to perform a steering operation; controlling the implement suspension mechanism (2) to be kept in the locked state matched with the specification type of the working implement (6) specifically comprises: when the specification type of the working implement (6) is a large implement, controlling the implement suspension mechanism (2) to be kept in an unlocked state, and when the specification type of the working implement (6) is a small implement, controlling the implement suspension mechanism (2) to be kept in a locked state.

2. The method of steering a tractor as defined in claim 1, characterized in that when the specification type of the working implement (6) is the large implement, controlling the tractor to perform the steering operation specifically comprises: acquiring a target steering angle; determining that the target steering angle is not greater than a maximum single-steering limiting angle of the tractor; controlling the tractor to perform a steering operation with a steering angle of the target steering angle.

3. The method of steering a tractor of claim 1, wherein, when the specification type of the working implement (6) is the large implement, controlling the tractor to perform the steering operation specifically comprises: acquiring a target steering angle; determining that the target steering angle is greater than a maximum single-steering limiting angle of the tractor; controlling the tractor to perform a steering operation with a steering angle of a first steering angle; controlling the tractor to move straight; continuing to perform the steering operation in an original pivoting direction until a steering angle of the tractor reaches the target steering angle; wherein the first steering angle is not greater than the maximum single-steering limiting angle.

4. The method of steering a tractor of claim 1, wherein, when the specification type of the working implement (6) is the small implement, before controlling the tractor to perform the steering operation, the tractor steering method further comprises: lifting the working implement (6).

5. A tractor characterised in that, The tractor comprises: a frame assembly (1); an implement suspension mechanism (2) pivotally connected to a tail of the frame assembly (1) and used for dragging a working implement (6); a suspension constraint mechanism (3) used for lock control between the implement suspension mechanism (2) and the frame assembly (1); and a controller used for performing the tractor steering method according to any one of claims 1 to 4.

6. The tractor of claim 5, wherein, The frame assembly (1) and the implement suspension mechanism (2) are connected through a slewing bearing mechanism (7), the slewing bearing comprises a fixed bearing seat (71) arranged on the frame assembly (1) and a bearing movable seat (72) rotatably installed on the fixed bearing seat (71), a slewing center axis of the bearing movable seat (72) extends vertically, and the implement suspension mechanism (2) is arranged on the bearing movable seat (72).

7. A tractor according to claim 6, characterised in that The frame assembly (1) and the implement suspension mechanism (2) are further provided with a pivoting limiting mechanism (4) used for limiting a maximum single-steering limiting angle of the implement suspension mechanism (2) from a straight-ahead state coaxial with the frame assembly (1).

8. The tractor of claim 7, wherein, The pivot limiting mechanism (4) comprises a lower limiting block (42) arranged on the frame assembly (1) and an upper limiting block (41) arranged on the implement suspension mechanism (2), and the lower limiting block (42) is used for abutting against the upper limiting block (41) when the implement suspension mechanism (2) horizontally swings by a preset angle.

9. A tractor according to any one of claims 5 to 8, characterised in that, The tractor further comprises a lifting mechanism arranged on the implement suspension mechanism (2), and the lifting mechanism is used for lifting the dragged working implement (6).

10. A tractor according to any one of claims 5 to 8, characterised in that, The suspension limiting mechanism (3) comprises a locking ring (12) arranged on the frame assembly (1) and a locking pin (31) arranged on the implement suspension mechanism (2), the locking pin (31) is controlled by a driving member (33), and the driving member (33) is used for controlling the locking pin (31) to be inserted into the locking ring (12) when the locking pin (31) is aligned with the locking ring (12).

11. A tractor according to any one of claims 5 to 8, characterised in that, The tractor is a single-axle electric drive type tractor, the frame assembly (1) comprises a single axle and wheel edge motors (112) distributed on both sides of the single axle, and the controller is used for controlling the speed difference of the wheel edge motors (112) on both sides to realize slip steering.

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