Tractor chassis suitable for automatic driving

Abstract

The invention relates to a tractor chassis suitable for automatic driving, which comprises an engine, a clutch, a gearbox, a rear axle, a front axle, a main clutch control mechanism, an auxiliary clutch control mechanism, a brake control mechanism, a lifting mechanism and a controller group. Under the condition that automatic driving can be carried out aiming at the specific power machine such as the tractor, manual intervention is guaranteed, and the safety of the unmanned agricultural machine is greatly improved on the premise that efficiency is guaranteed.

Description

Technical Field

[0001] The present invention relates to the field of power machinery, and in particular to a chassis suitable for an automatic driving tractor. Background Art

[0002] Due to the acceleration of aging, urbanization and land intensification, the number of high-quality agricultural labor force has sharply decreased, while society's demand for food is growing. Therefore, the demand for unmanned farms and unmanned agricultural machinery is becoming increasingly strong.

[0003] Due to the relatively closed agricultural operating environment and low movement speed, the technical route of unmanned agricultural machinery is very different from that of automobiles. In the early stage of unmanned agricultural machinery, the technology of unmanned agricultural machinery is relatively simple. Driven by strong demand and low technical requirements, the commercialization of unmanned agricultural machinery has been accelerated.

[0004] However, in addition to field operations, unmanned agricultural machinery also has field transfers and other complex scenarios. For example, if there are other facilities in the field or the terrain is complex, unmanned agricultural machinery still needs human intervention or manual operation. In addition, as a safety measure, manual control functions are also essential.

[0005] Chinese invention patent publication CN109911012A discloses a hybrid tractor, which simplifies the transmission system and improves transmission efficiency by eliminating the engine and transfer case. However, it has too little human intervention, which is prone to cause operating accidents. Summary of the invention

[0006] The purpose of the present invention is to provide an automatic driving tractor in view of the above technical problems.

[0007] The specific implementation is through the following technical solutions:

[0008] A tractor chassis suitable for automatic driving comprises an engine, a clutch, a gearbox, a rear axle, a front axle, a main clutch operating mechanism, a secondary clutch operating mechanism, a brake operating mechanism, a lifting mechanism and a controller group.

[0009] The engine is connected to the gearbox through a clutch, and the output end of the gearbox is directly or indirectly connected to the input end of the rear axle or / and the input end of the front axle; a braking system capable of converting pneumatic force or hydraulic force into braking torque is included on the rear axle or both the rear axle and the front axle; when the direction of the front axle is the rear and the direction of the front and rear axles is the rear, the lifting mechanism is installed behind the rear axle or in front of the front axle; the main clutch operating mechanism and the auxiliary clutch operating mechanism are respectively connected to the output end of the clutch; the brake operating mechanism is connected to the rear axle.

[0010] The brake operating mechanism includes a brake pedal, a brake pump, an electrically controlled linear mechanism, a bearing and a brake rocker arm; the brake pump includes a push rod and a fluid outlet or an air outlet, one end of the brake rocker arm is hinged to the electrically controlled linear mechanism in a manner that allows for mutual rotation, the other end of the brake rocker arm is provided with the bearing, the bearing is directly or indirectly abutted against the push rod of the brake pump, the brake pedal is also connected to the push rod of the brake pump in a manner that allows for mutual rotation, the oil outlet or the air outlet of the brake pump is connected to the brake system, the distance between the rotation base point of the brake rocker arm and the hinge point of the electrically controlled linear mechanism is s1, the distance between the rotation base point of the brake rocker arm and the rotation center of the bearing is s2, wherein s1 and s2 satisfy

[0011] Preferably, the clutch is a double-acting clutch, including a driving plate, a master driven plate, a slave driven plate, a master clutch release rod mechanism and a slave clutch release rod mechanism, the driving plate is connected to the engine in a fixed manner, the master driven plate is connected to the input end of the gearbox in a direct or indirect manner, and the slave driven plate is connected to the input end of the power output device of the tractor in a direct or indirect manner.

[0012] The main clutch operating mechanism includes a main clutch electric control rotating mechanism, a pull rod mechanism I, a pedal mechanism, a rocker mechanism and a slider mechanism I; the pull rod mechanism I includes a swing arm I, a pull rod I and a pull rod II, and the swing arm I, the pull rod I and the pull rod II are sequentially connected in a manner that they can rotate with each other, wherein the swing arm I is fixedly connected and rotated with the output end of the main clutch electric control rotating mechanism, the pull rod II is connected to the pedal mechanism in a manner that they can rotate with each other, the pedal mechanism is connected to the slider mechanism through a rocker mechanism with a return function, the slider mechanism is offset against the main clutch separation pull rod mechanism of the clutch, the hinge point lengths at both ends of the pull rod I are l1, and the hinge point lengths at both ends of the pull rod II are l2, wherein l1 and l2 satisfy The requirement is that in the free state, the angle between the pedal mechanism and the pull rod II meets the requirement of 19.4°~70.1°.

[0013] Preferably, the auxiliary clutch operating mechanism includes an auxiliary clutch electrically controlled rotating mechanism, a pull rod mechanism II and a slider mechanism II; the pull rod mechanism II includes a swing arm II, a pull rod III and a swing arm III, and the swing arm II, the pull rod III and the swing arm III are respectively connected in sequence in a manner that allows them to rotate relative to each other, wherein the swing arm II is fixedly connected to the output end of the auxiliary clutch electrically controlled rotating mechanism and can rotate together with the output end, the swing arm III is connected to the slider mechanism II in a fixed manner, and the slider mechanism II is offset against the auxiliary clutch separation pull rod mechanism of the clutch.

[0014] Preferably, the brake pump of the brake operating mechanism includes a left brake pump and a right brake pump, the electrically controlled linear mechanism includes a left electrically controlled linear mechanism and a right electrically controlled linear mechanism, and the rated power difference between the left electrically controlled linear mechanism and the right electrically controlled linear mechanism is less than or equal to 10% of the average rated power value of the left electrically controlled linear mechanism and the right electrically controlled linear mechanism.

[0015] Preferably, the length between the connection points at both ends of the swing arm I of the main clutch operating mechanism is l3, satisfying 1.8l3<l1+l2.

[0016] Preferably, the auxiliary clutch operating mechanism includes an auxiliary clutch electric control rotating mechanism, a pull rod mechanism II and a slider mechanism II; the pull rod mechanism II includes a swing arm II, a pull rod III, a pull rod IV and a swing arm III, and the swing arm II, the pull rod III, the pull rod IV and the swing arm III are sequentially connected in a manner that allows them to rotate with each other, wherein the swing arm II is fixedly connected to the output end of the auxiliary clutch electric control rotating mechanism and can rotate together with the output end, the swing arm III is connected to the slider mechanism II in a fixed connection, and the slider mechanism II is counteracted with the auxiliary clutch separation pull rod mechanism of the clutch. The length between the hinge points at both ends of the pull rod III is l4, the length between the hinge points at both ends of the pull rod IV is l5, and the length between the connection points at both ends of the swing arm II is l6, satisfying 2.1l6<l4+l5.

[0017] Preferably, the secondary clutch operating mechanism also includes a handle mechanism, the swing arm III is connected to the handle mechanism in a manner that allows for mutual rotation, the distance between the rotation base point of the swing arm III and the hinge point of the handle mechanism is s3, the distance between the rotation base point of the swing arm III and the hinge point of the pull rod IV is s4, l4, l5, s3 and s4 satisfy

[0018] Preferably, the maximum power of the main clutch electrically controlled rotating mechanism is P1, the maximum power of the auxiliary clutch electrically controlled rotating mechanism is P2, and P1 and P2 satisfy 0.59<P1 / P2<2.38.

[0019] Preferably, a position sensor I is installed on the rotating shaft or swing arm I of the main clutch electric control rotating mechanism, and a position sensor II is installed on the rotating shaft or swing arm II of the auxiliary clutch electric control rotating mechanism. The position sensor I and the position sensor II are preferably angle sensors.

[0020] Preferably, the controller group includes at least one central controller with monitoring, decision-making and coordination functions, at least two secondary controllers with decision-making functions and at least one drive controller, and the central controller is respectively connected to at least two secondary controllers and at least one drive controller; the at least two secondary controllers include a secondary controller A and a secondary controller B, wherein the secondary controller A is connected to the actuator of the gearbox, and the secondary controller B is connected to the lifting mechanism; the at least one drive controller is connected to the brake operating mechanism and the auxiliary clutch operating mechanism.

[0021] The technical effects of the present invention are:

[0022] 1. In addition to the electric control input end, the brake operating mechanism of the present invention retains the brake pedal and related components of the external manual operating end by mechanical means, wherein the electric control linear mechanism realizes automatic operation of the brake by abutting against the push rod end of the brake pump through a specific brake rocker arm, and limits the brake rocker arm. By limiting the relationship between the distance between the rotation base point of the brake rocker arm and the hinge point of the electric control linear mechanism and the distance between the rotation base point of the brake rocker arm and the rotation center of the bearing, the dead point can be avoided within the structural range, ensuring that the electric control end can be disconnected by the pedal end within the travel range; thereby, the pedal end can cut off the power to the electric control input end within any position range of the electric control linear mechanism, ensuring that manual braking has a higher priority, and greatly improving the safety of the unmanned agricultural machinery.

[0023] 2. The present invention sets a central controller to be connected with a secondary controller and a drive controller, and puts some judgment, calculation and coordination functions in front. On the one hand, it can integrate multi-party signals, optimize and manage the dynamic control process of the entire tractor chassis control, so that each execution component can complete the operation requirements under the most optimized working mode, and the control strategy is diversified; on the other hand, the lower-level controllers are in parallel, and the functions of each actuator in the tractor chassis are decomposed to set a plurality of different secondary controllers and drive controllers. According to the function realization of the automatic driving, each controller is connected and controlled with different types of mechanisms, and cooperates with the gearbox, a specific clutch operating mechanism, a specific brake operating mechanism and a lifting mechanism, thereby improving standardization and safety, facilitating the modular design of the lower-level controllers, and being more suitable for the realization of the automatic driving function.

[0024] 3. By setting a specific main clutch operating mechanism, in which the main clutch electronically controlled rotating mechanism is connected to the pedal mechanism through a specific pull rod mechanism to realize automatic operation of the main clutch, and to restrict the pull rod mechanism, by specifically setting the length relationship of the two mutually connected pull rods and the angle between the pedal mechanism and one of the pull rods, the overall mechanism is ergonomically designed, and the electronically controlled input end can be cut off in the full pedal stroke state; at the same time, by specifically setting the relationship between different swing arms and different pull rods of the main clutch operating mechanism and the auxiliary clutch operating mechanism, the electronically controlled input end of the clutch operating mechanism can transmit the operating force to the clutch through the intermediate mechanism, and at any position of the clutch operating mechanism, the pedal end can disable the intermediate mechanism, thereby realizing the power cutoff of the electronically controlled input end, reducing the complexity of the agricultural machinery's environmental recognition and decision-making requirements, thereby reducing costs and improving the economy of agricultural machinery.

[0025] 4. By setting up a specific auxiliary clutch operating mechanism, in which a specific pull rod mechanism is connected to the electric control rotating mechanism and the handle mechanism at the same time, automatic operation and manual operation of the auxiliary clutch can be realized at the same time; the clutch operating mechanism can realize the electric control unmanned operation of the auxiliary clutch, and at any position without human operation, the handle end can cut off the power to the electric control input end, thereby further ensuring the safety of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a two-dimensional schematic diagram of the tractor chassis of the present invention.

[0027] Figure 2 It is a three-dimensional schematic diagram of the brake operating mechanism of the present invention.

[0028] Figure 3 It is a two-dimensional schematic diagram of an implementation mode of the main clutch operating mechanism and the auxiliary clutch operating mechanism of the present invention.

[0029] Figure 4 It is a two-dimensional schematic diagram of another embodiment of the main clutch operating mechanism and the auxiliary clutch operating mechanism of the present invention.

[0030] Among them: 1. front axle, 2. engine, 3. gearbox, 4. four-wheel drive transmission mechanism, 5. brake operating mechanism, 5-1. brake pedal, 5-2. brake rocker arm, 5-3. bearing, 5-4. brake pump push rod, 5-5. brake pump, 5-6. electric control linear mechanism, 6. clutch, 6-1. main clutch release rod mechanism, 6-2. auxiliary clutch release rod mechanism, 7. main clutch operating mechanism, 7-1. main clutch electric control rotating mechanism, 7-2. swing arm I, 7-3. rod I, 7-4. rod II, 7-5. pedal mechanism, 7-6. rocker mechanism, 7-7. return spring, 7-8. main clutch fork, 7-9. main clutch release bearing seat assembly, 8. auxiliary clutch operating mechanism, 8-1. auxiliary clutch electric control rotating mechanism, 8-2. swing arm II, 8-3. rod III, 8-4. rod IV, 8-5 .Swing arm III, 8-6. Handle mechanism, 8-7. Auxiliary clutch fork, 8-8. Auxiliary clutch release bearing seat assembly, 9. Rear axle, 10 Lifting mechanism, l1. Length of the hinge points at both ends of the pull rod I, l2. Length of the hinge points at both ends of the pull rod II, l3. Length between the connection points at both ends of the swing arm II of the main clutch operating mechanism, l4. Length between the hinge points at both ends of the pull rod III of the auxiliary clutch operating mechanism, l5. Length between the hinge points at both ends of the pull rod IV, l6. Length between the connection points at both ends of the swing arm II, s1. Distance between the rotation base point of the braking rocker arm and the hinge point of the electric control linear mechanism, s2. Distance between the rotation base point of the braking rocker arm and the rotation center of the bearing, s3. Distance between the rotation base point of the swing arm III and the hinge point of the handle mechanism, s4. Distance between the rotation base point of the swing arm III and the hinge point of the pull rod IV. DETAILED DESCRIPTION

[0031] Example 1

[0032] like Figure 1-3 A tractor chassis suitable for automatic driving is shown, comprising an engine, a clutch, a gearbox, a rear axle, a front axle, a main clutch operating mechanism, a secondary clutch operating mechanism, a brake operating mechanism, a lifting mechanism and a controller group.

[0033] The engine is connected to the gearbox through a clutch, and the output end of the gearbox is directly or indirectly connected to the input end of the rear axle or / and the input end of the front axle; when the direction of the front axle is the rear, the lifting mechanism is installed behind the rear axle or in front of the front axle; the main clutch operating mechanism and the auxiliary clutch operating mechanism are respectively connected to the clutch; the brake operating mechanism is connected to the rear axle.

[0034] The brake operating mechanism includes a brake pedal, a brake pump, an electrically controlled linear mechanism, a bearing and a brake rocker arm; the brake pump includes a push rod and a fluid outlet or an air outlet, one end of the brake rocker arm is hinged to the electrically controlled linear mechanism in a manner that allows for mutual rotation, the other end of the brake rocker arm is provided with the bearing, the bearing is directly or indirectly abutted against the push rod of the brake pump, the brake pedal is also connected to the push rod of the brake pump in a manner that allows for mutual rotation, the oil outlet or the air outlet of the brake pump is connected to the brake system, the distance s1 between the rotation base point of the brake rocker arm and the hinge point of the electrically controlled linear mechanism is 60 mm, the distance s2 between the rotation base point of the brake rocker arm and the rotation center of the bearing is 60 mm, satisfying requirements.

[0035] The clutch of this embodiment is a double-acting clutch, including an active disk, a master driven disk, a slave driven disk, a master clutch release rod mechanism and a slave clutch release rod mechanism. The active disk is connected to the engine in a fixed manner, the master driven disk is connected to the input end of the gearbox in a direct or indirect manner, and the slave driven disk is connected to the input end of the power output device of the tractor in a direct or indirect manner.

[0036] like Figure 3 As shown, the main clutch operating mechanism includes a main clutch electric control rotating mechanism, a pull rod mechanism I, a pedal mechanism, a rocker mechanism and a slider mechanism I; the pull rod mechanism I includes a swing arm I, a pull rod I and a pull rod II, and the swing arm I, the pull rod I and the pull rod II are sequentially connected in a manner that they can rotate with each other, wherein the swing arm I is fixedly connected and rotated with the output end of the main clutch electric control rotating mechanism, the pull rod II is connected to the pedal mechanism in a manner that they can rotate with each other, the pedal mechanism is connected to the slider mechanism through a rocker mechanism with a return function, the slider mechanism is against the main clutch separation pull rod mechanism of the clutch, the hinge point length l1 at both ends of the pull rod I is 134 mm, and the hinge point length l2 at both ends of the pull rod II is 181 mm, satisfying According to the requirements, in the free state, the angle between the pedal mechanism and the pull rod II is 56.2° (within the range of 19.4° to 70.1°).

[0037] like Figure 3As shown, the auxiliary clutch operating mechanism includes an auxiliary clutch electrically controlled rotating mechanism, a pull rod mechanism II and a slider mechanism II; the pull rod mechanism II includes a swing arm II, a pull rod III, a pull rod IV and a swing arm III, and the swing arm II, the pull rod III, the pull rod IV and the swing arm III are sequentially connected in a manner that they can rotate relative to each other, wherein the swing arm II is fixedly connected to the output end of the auxiliary clutch electrically controlled rotating mechanism for rotation, the swing arm III is connected to the slider mechanism II in a fixed connection manner, and the slider mechanism II is counteracted against the auxiliary clutch separation pull rod mechanism of the clutch.

[0038] like Figure 2 As shown, the brake pump of the brake operating mechanism includes a left brake pump and a right brake pump, the electric control linear mechanism includes a left electric control linear mechanism and a right electric control linear mechanism, and the rated power difference between the left electric control linear mechanism and the right electric control linear mechanism in this embodiment is less than or equal to 10% of the average rated power value of the left electric control linear mechanism and the right electric control linear mechanism. Since the brake pads will wear out and cause inconsistent thickness during the long-term use of the brake system, the setting of the present invention is convenient for improving the service life on the one hand, and reducing the left-right error on the other hand, which is convenient for the implementation of the control strategy.

[0039] like Figure 3 As shown, the length l3 between the connection points at both ends of the swing arm II of the main clutch operating mechanism is 40 mm, which meets the requirement of 1.8l3<l1+l2.

[0040] like Figure 3 As shown, the length l4 between the hinge points at both ends of the pull rod III of the auxiliary clutch operating mechanism is 526 mm, the length l5 between the hinge points at both ends of the pull rod IV is 134 mm, and the length l6 between the connection points at both ends of the swing arm II is 27 mm. The relationship between the various lengths in this embodiment meets the requirement of 2.1l6<l4+l5.

[0041] like Figure 3 As shown, the secondary clutch operating mechanism also includes a handle mechanism, the swing arm III is connected to the handle mechanism in a mutually rotatable manner, the distance s3 between the rotation base point of the swing arm III and the hinge point of the handle mechanism is 130 mm, the distance s4 between the rotation base point of the swing arm III and the hinge point of the pull rod IV is 158 mm, l4, l5, s3 and s4 satisfy requirements.

[0042] In this embodiment, the maximum power P1 of the main clutch electrically controlled rotating mechanism is 500W, the maximum power P2 of the auxiliary clutch electrically controlled rotating mechanism is 420W, and P1 and P2 satisfy 0.59<P1 / P2<2.38.

[0043] The swing arm I of the main clutch electronically controlled rotating mechanism of this embodiment is equipped with a position sensor I, and the swing arm II of the auxiliary clutch electronically controlled rotating mechanism is equipped with a position sensor II. The position sensor I and the position sensor II of this embodiment are both angle sensors.

[0044] The controller group includes a central controller with monitoring, decision-making and coordination functions, that is, a vehicle control unit for realizing vehicle control decision-making and gateway communication, etc.; two secondary controllers with decision-making functions and a drive controller. The vehicle control unit is connected and communicated with the two secondary controllers through CAN signals respectively on the one hand; on the other hand, it is also connected and communicated with the two drive controllers through CAN signals respectively; the two secondary controllers include secondary controller A and secondary controller B, wherein secondary controller A is a gearbox controller, connected with the gearbox actuator and main clutch operating mechanism, to realize the target gear (speed ratio) decision and main clutch control decision, etc., and secondary controller B is a lifting and rear hydraulic output controller, to realize the control decision of lifting and hydraulic output. The drive controller is a body control module, which is used to control the various accessories and actuators on the vehicle, and is connected with the brake operating mechanism and the auxiliary clutch operating mechanism respectively.

[0045] Example 2

[0046] The other configurations of this embodiment are the same as those of embodiment 1. The differences are as follows: Figure 4 As shown, the auxiliary clutch operating mechanism includes an auxiliary clutch electrically controlled rotating mechanism, a pull rod mechanism II and a slider mechanism II, and the auxiliary clutch operating mechanism does not include a handle mechanism; the pull rod mechanism II includes a swing arm II, a pull rod III, a pull rod IV and a swing arm III, and the swing arm II, the pull rod III, the pull rod IV and the swing arm III are sequentially connected in a manner that they can rotate relative to each other, wherein the swing arm II is fixedly connected to the output end of the auxiliary clutch electrically controlled rotating mechanism for rotation, the swing arm III is connected to the slider mechanism II in a fixed connection manner, and the slider mechanism II is counteracted against the auxiliary clutch separation pull rod mechanism of the clutch.

[0047] Comparative Example 1

[0048] The main clutch operating mechanism of this comparative example is not provided with the pull rod mechanism I of the embodiment 1 and the embodiment 2; instead, only a pull rod and a swing arm are provided, one end of the swing arm is fixedly mounted on the output end of the main clutch electric control rotating mechanism, the other end of the swing arm is directly connected to one end of the pull rod through a pin shaft, there is no bending point in the middle of the pull rod, the other end of the pull rod is connected to the pedal mechanism through a pin shaft, the pedal mechanism is connected to the slider mechanism through a rocker mechanism with a return function, and the slider mechanism is against the main clutch separation pull rod mechanism of the clutch. Other settings are the same as those of the embodiment 1, including that in the free state, the angle between the pedal mechanism and the pull rod is also 56.2°. When the pedal end is not in motion, the electric control rotating mechanism can drive the pedal mechanism to cut off the main clutch through the pull rod, but when the electric control rotating mechanism is not in motion, in order to avoid accidental rotation due to external force, the rotating part will be automatically locked to achieve self-locking operation. When the pedal cuts off the main clutch, it needs to drive the swing arm and the electric control rotating mechanism to rotate together through the pull rod, that is, the pedal end cannot drive the electric control rotating mechanism, which will cause the system to be stuck. This is reflected in self-driving tractors, that is, when the main clutch electronically controlled rotation mechanism fails, the traveling power cannot be cut off, which can easily lead to safety accidents.

[0049] Comparative Example 2

[0050] The distance s1 between the rotation base point of the brake rocker arm and the hinge point of the electric control linear mechanism in this comparative example is 105 mm, and the distance s2 between the rotation base point of the brake rocker arm and the rotation center of the bearing is 30 mm, which does not meet the requirements. In order to facilitate the realization of the function, the rotation base point of the brake rocker arm is moved up 30mm in the direction of the bearing, and the other settings are exactly the same as in Example 1. After the same braking function comparison test as in Example 1, it is found that when the existing brake pump matches the free travel of the brake pedal, the brake pump is insufficient relative to the manual brake push rod during the electric control braking process, the braking time is too long, and the braking effect is not good. While moving the hinge point of the brake pedal and the brake pump push rod end relative to the rotation base point and using a larger displacement brake pump can improve the braking effect, but at the same time it will reduce the comfort of manual braking or reduce the system strength and increase the overall mechanism cost.

[0051] Comparative Example 3

[0052] In this comparative example, the hinge length l1 of the two ends of the pull rod I is 140 mm, and the hinge length l2 of the two ends of the pull rod II is 40 mm, which does not meet the requirements. , in the free state, the angle between the pedal mechanism and the pull rod II is 74° (not within the range of 19.4° to 70.1°). To facilitate the realization of the function, the angle of the pull rod II is directly adjusted to achieve a 74° arrangement, and the positions of the pull rod I, the swing arm I and the main clutch electric control rotating mechanism are adjusted accordingly. The other settings are exactly the same as in Example 1. After the same clutch control function comparison test as in Example 1, it is found that during the process of electronically cutting off the main clutch, the pull rod I will rotate relative to the pull rod II, and the separation stroke requirement cannot be met, resulting in incomplete power cut-off. At the same time, in the reliability test of the electronic control end cut-off at the pedal end, it was found that the electronic control had no action, and the pedal mechanism resistance increased and abnormal noise occurred during the process of stepping on the bottom. After disassembly, it was found that the wear between the hinge points of the pull rod mechanism I was heavier than that of Example 1.

[0053] The present invention is not limited to the above-mentioned implementation modes or examples. Anyone can derive other various forms of methods under the inspiration of the present invention. However, no matter what changes are made in the steps and parameters, all technical solutions that are the same or similar to the present invention fall within the protection scope of the present invention.

Claims

1. A tractor chassis suitable for automatic driving, characterized in that: The tractor chassis suitable for automatic driving includes an engine, a clutch, a gearbox, a rear axle, a front axle, a main clutch operating mechanism, a secondary clutch operating mechanism, a brake operating mechanism, a lifting mechanism and a controller group; The engine is connected to the gearbox through a clutch, the output end of the gearbox is directly or indirectly connected to the input end of the rear axle or / and the input end of the front axle, and a brake system capable of converting pneumatic force or hydraulic force into braking torque is included on the rear axle or both the rear axle and the front axle; the direction of the front axle is forward and the direction of the rear axle is backward, and the lifting mechanism is installed behind the rear axle or in front of the front axle; the main clutch operating mechanism and the auxiliary clutch operating mechanism are respectively connected to the output end of the clutch; the brake operating mechanism is connected to the rear axle; The brake operating mechanism includes a brake pedal, a brake pump, an electrically controlled linear mechanism, a bearing and a brake rocker arm; the brake pump includes a push rod and a fluid outlet or an air outlet, one end of the brake rocker arm is hinged to the electrically controlled linear mechanism in a manner that allows for mutual rotation, the other end of the brake rocker arm is provided with the bearing, the bearing is directly or indirectly abutted against the push rod of the brake pump, the brake pedal is also connected to the push rod of the brake pump in a manner that allows for mutual rotation, the oil outlet or the air outlet of the brake pump is connected to the brake system, the distance between the rotation base point of the brake rocker arm and the hinge point of the electrically controlled linear mechanism is s1, the distance between the rotation base point of the brake rocker arm and the rotation center of the bearing is s2, wherein s1 and s2 satisfy 2. The tractor chassis suitable for automatic driving according to claim 1, characterized in that: The clutch is a double-acting clutch, including a driving plate, a main driven plate, a secondary driven plate, a main clutch release rod mechanism and a secondary clutch release rod mechanism, wherein the driving plate is connected to the engine in a fixed manner, the main driven plate is connected to the input end of the gearbox in a direct or indirect manner, and the secondary driven plate is connected to the input end of the power output device of the tractor in a direct or indirect manner; The main clutch operating mechanism includes a main clutch electrically controlled rotating mechanism, a pull rod mechanism I, a pedal mechanism, a rocker mechanism and a slider mechanism I; the pull rod mechanism I includes a swing arm I, a pull rod I and a pull rod II, and the swing arm I, the pull rod I and the pull rod II are sequentially connected in a manner that they can rotate with each other, wherein the swing arm I is fixedly connected to the output end of the main clutch electrically controlled rotating mechanism and can rotate together with the output end, the pull rod II is connected to the pedal mechanism in a manner that they can rotate with each other, the pedal mechanism is connected to the slider mechanism through a rocker mechanism with a return function, the slider mechanism is offset against the main clutch separation pull rod mechanism of the clutch, the hinge point lengths at both ends of the pull rod I are l1, the hinge point lengths at both ends of the pull rod II are l2, wherein l1 and l2 satisfy The requirement is that in the free state, the angle between the pedal mechanism and the pull rod II meets the requirement of 19.4°~70.1°.

3. The tractor chassis suitable for automatic driving according to claim 2, characterized in that: The auxiliary clutch operating mechanism includes an auxiliary clutch electrically controlled rotating mechanism, a pull rod mechanism II and a slider mechanism II; the pull rod mechanism II includes a swing arm II, a pull rod III and a swing arm III, and the swing arm II, the pull rod III and the swing arm III are connected in sequence in a manner that allows them to rotate relative to each other, wherein the swing arm II is fixedly connected to the output end of the auxiliary clutch electrically controlled rotating mechanism and can rotate together with the output end, the swing arm III is connected to the slider mechanism II in a fixed manner, and the slider mechanism II is counteracted by the auxiliary clutch separation pull rod mechanism of the clutch.

4. The tractor chassis suitable for automatic driving according to claim 1, characterized in that: The brake pump of the brake operating mechanism includes a left brake pump and a right brake pump, the electrically controlled linear mechanism includes a left electrically controlled linear mechanism and a right electrically controlled linear mechanism, and the rated power difference between the left electrically controlled linear mechanism and the right electrically controlled linear mechanism is less than or equal to 10% of the average rated power value of the left electrically controlled linear mechanism and the right electrically controlled linear mechanism.

5. The tractor chassis suitable for automatic driving according to claim 2, characterized in that: The length between the connection points at both ends of the swing arm I of the main clutch operating mechanism is l3, satisfying 1.8l3<l1+l2.

6. The tractor chassis suitable for automatic driving according to claim 2, characterized in that: The auxiliary clutch operating mechanism includes an auxiliary clutch electrically controlled rotating mechanism, a pull rod mechanism II and a slider mechanism II; the pull rod mechanism II includes a swing arm II, a pull rod III, a pull rod IV and a swing arm III, and the swing arm II, the pull rod III, the pull rod IV and the swing arm III are sequentially connected in a manner that they can rotate with each other, wherein the swing arm II is fixedly connected to the output end of the auxiliary clutch electrically controlled rotating mechanism and can rotate together with the output end, the swing arm III is connected to the slider mechanism II in a fixed connection manner, and the slider mechanism II is offset against the auxiliary clutch separation pull rod mechanism of the clutch; the length between the hinge points at both ends of the pull rod III is l4, the length between the hinge points at both ends of the pull rod IV is l5, and the length between the connection points at both ends of the swing arm II is l6, satisfying 2.1l6<l4+l5.

7. The tractor chassis suitable for automatic driving according to claim 6, characterized in that: The secondary clutch operating mechanism also includes a handle mechanism, the swing arm III is connected to the handle mechanism in a mutually rotatable manner, the distance between the rotation base point of the swing arm III and the hinge point of the handle mechanism is s3, the distance between the rotation base point of the swing arm III and the hinge point of the pull rod IV is s4, l4, l5, s3 and s4 satisfy 8. The tractor chassis suitable for automatic driving according to claim 3 or 6, characterized in that: The maximum power of the main clutch electronically controlled rotating mechanism is P1, the maximum power of the auxiliary clutch electronically controlled rotating mechanism is P2, and P1 and P2 satisfy 0.59<P1 / P2<2.

38.

9. The tractor chassis suitable for automatic driving according to claim 3 or 6, characterized in that: A position sensor I is installed on the rotating shaft or swing arm I of the main clutch electronically controlled rotating mechanism, and a position sensor II is installed on the rotating shaft or swing arm II of the auxiliary clutch electronically controlled rotating mechanism.

10. The tractor chassis suitable for automatic driving according to any one of claims 1 to 7, characterized in that: The controller group includes at least one central controller with monitoring, decision-making and coordination functions, at least two secondary controllers with decision-making functions and at least one drive controller, wherein the central controller is respectively connected to the at least two secondary controllers and the at least one drive controller; the at least two secondary controllers include a secondary controller A and a secondary controller B, wherein the secondary controller A is connected to the actuator of the gearbox, and the secondary controller B is connected to the lifting mechanism; the at least one drive controller is connected to the brake operating mechanism and the auxiliary clutch operating mechanism.

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