Dual-motor driving type small electric intelligent driving crawler tractor

Abstract

The invention relates to the technical field of agricultural machinery, and discloses a dual-motor driving type small electric intelligent driving caterpillar tractor which comprises a chassis mechanism, a driving motor mechanism and a motor reducer mechanism are installed in the chassis mechanism, and an electrical cabinet and a lithium iron phosphate battery pack are installed at the top of the chassis mechanism. A three-point suspension mechanism is installed on the outer side of the electrical cabinet, a shell is installed on the top of the electrical cabinet, a sensor fixing support is installed on the outer side of the chassis mechanism, an angle sensor is installed on the sensor fixing support, and the chassis mechanism comprises a frame. Energy is provided through the high-capacity lithium iron phosphate battery pack, and the endurance time is long; an electric push rod, a push rod controller, an angle sensor and an intelligent driving module are matched with one another, and intelligent control over the lifting height of the hanging operation machine tool is achieved; unmanned operation is carried out by adopting an intelligent driving technology, so that the labor intensity of related employees is further reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, and in particular to a small electric intelligent driving crawler tractor driven by dual motors. Background Art

[0002] Purely electric tractors offer zero pollution and emissions, while also avoiding the high noise and vibration that can cause discomfort to operators associated with traditional tractors. They hold promising prospects for development in the agricultural machinery sector. However, current research on electric tractors focuses primarily on medium- and high-power models, with limited focus on smaller electric tractors suitable for hilly, mountainous terrain, greenhouses, and other small-scale environments. While agricultural mechanization has reached a high level in plain areas, with full mechanization exceeding 90% for the three major crops of corn, wheat, and rice, the level of mechanization in small-scale environments remains relatively low, and mechanization is still in its early stages.

[0003] Existing small electric working machines have short battery life, weak power, low intelligence, and remain relatively long even when connected to implements. Therefore, existing agricultural electric tractors are being designed and optimized to increase battery capacity, boost overall power, enhance overall intelligence, and rationally design the three-point suspension connection. This approach ensures that the tractor maintains a long battery life while meeting operational requirements. Therefore, the present invention provides a small electric, intelligently driven crawler tractor with dual motors to address these shortcomings. Summary of the Invention

[0004] In response to the shortcomings of the existing technology, the present invention provides a dual-motor driven small electric intelligent driving crawler tractor, which solves the problems of existing small electric working machinery such as short battery life, weak power, low intelligence, and still large size after connecting the machinery.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: a dual-motor driven small electric intelligent driving crawler tractor, including a chassis mechanism, a drive motor mechanism and a motor reducer mechanism are installed inside the chassis mechanism, an electrical cabinet and a lithium iron phosphate battery pack are installed on the top of the chassis mechanism, a three-point suspension mechanism is installed on the outside of the electrical cabinet, a shell is installed on the top of the electrical cabinet, a sensor fixing bracket is installed on the outside of the chassis mechanism, and an angle sensor is installed on the sensor fixing bracket.

[0006] Preferably, the chassis mechanism includes a vehicle frame, crawlers are provided on both sides of the exterior of the vehicle frame, and driving wheels, supporting wheels, support wheels and five tensioning wheels are provided inside the crawlers.

[0007] Preferably, the drive motor mechanism includes a left permanent magnet synchronous motor and a right permanent magnet synchronous motor, and the left permanent magnet synchronous motor and the right permanent magnet synchronous motor are both installed inside the frame. The motor reducer mechanism includes a left motor reducer and a right motor reducer, and the left motor reducer and the right motor reducer are respectively connected to the left permanent magnet synchronous motor and the right permanent magnet synchronous motor, and the output ends of the left motor reducer and the right motor reducer are respectively fixedly connected to the two drive wheels.

[0008] Preferably, the three-point suspension mechanism includes a lower pull rod fixing plate, a lower pull rod limiting rod fixing seat, an upper pull rod fixing plate and a push rod bracket, the lower pull rod fixing plate is fixedly connected to the outside of the vehicle frame, the outer side of the lower pull rod fixing plate is rotatably connected to two lower pull rods, the lower pull rod limiting rod fixing seat is fixedly connected to the outside of the vehicle frame, the outer side of the lower pull rod limiting rod fixing seat is rotatably connected to two lower pull rod limiting rods, and the outer side of the lower pull rod limiting rod is rotatably connected to one side of the lower pull rod.

[0009] Preferably, the upper pull rod fixing plate is fixedly connected to the outside of the frame, an upper pull rod is provided on the outside of the upper pull rod fixing plate, the push rod bracket is fixedly connected to the inside of the frame, the outside of the push rod bracket is rotatably connected to an electric push rod, the output end of the electric push rod is rotatably connected to a lifting component, two vertical seat bearings are provided on the outside of the lifting component, the outside of the lifting component is rotatably connected to two lifting rods, and the lifting rod is rotatably connected to the lower pull rod.

[0010] Preferably, a chassis motor driver is installed inside the electrical cabinet, and the chassis motor driver includes a left motor driver and a right motor driver, and the left motor driver and the right motor driver are electrically connected to the left permanent magnet synchronous motor and the right permanent magnet synchronous motor respectively. An intelligent driving module is installed inside the electrical cabinet, and the intelligent driving module includes an inclination sensor, an acceleration sensor, a path planning module, an automatic control module and an information processing and output module. A step-down module mechanism is installed inside the electrical cabinet, and the step-down module mechanism includes a 12V step-down module and a 48V step-down module. A charger, a push rod controller, an air switch, a fan and a power output controller are also installed inside the electrical cabinet.

[0011] Preferably, the intelligent driving module is electrically connected to the lithium iron phosphate battery pack, the input ends of the air switch and the step-down module mechanism are connected to the output ends of the lithium iron phosphate battery pack, the chassis motor driver and the intelligent driving module are interconnected through a CAN bus, and the push rod controller, angle sensor and intelligent driving module are connected to each other through a CAN bus.

[0012] Preferably, a touch display, a charging base and an emergency stop button are installed on the outside of the shell, three signal antennas are installed on the outside of the shell, a GNSS positioning antenna mechanism is installed on the outside of the shell, the GNSS positioning antenna mechanism includes a front GNSS positioning antenna and a rear GNSS positioning antenna, a camera mechanism is installed on the outside of the shell, the camera mechanism includes a left camera and a right camera, and the touch display is electrically connected to the intelligent driving module.

[0013] The present invention provides a small electric intelligent driving crawler tractor driven by dual motors. It has the following beneficial effects:

[0014] 1. The present invention uses a large-capacity lithium iron phosphate battery pack to provide energy, with a long battery life. It uses an electric push rod, a push rod controller, an angle sensor and an intelligent driving module to cooperate with each other to achieve intelligent control of the lifting height of the suspended work tool. It uses intelligent driving technology for unmanned operation, further reducing the labor intensity of related practitioners. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A perspective view of the present invention;

[0016] Figure 2 Schematic diagram of the structure of the drive motor mechanism of the present invention;

[0017] Figure 3 It is a schematic diagram of the expansion state of the present invention;

[0018] Figure 4 This is a schematic diagram of the internal structure of the electrical cabinet of the present invention;

[0019] Figure 5 This is a schematic diagram of the intelligent driving module of the present invention;

[0020] Figure 6 Schematic diagram of the control system architecture of the present invention.

[0021] Among them, 1. chassis mechanism; 101. frame; 102. crawler track; 103. driving wheel; 104. supporting roller; 105. support wheel; 106. tensioning wheel; 2. driving motor mechanism; 201. permanent magnet synchronous motor on the left; 202. permanent magnet synchronous motor on the right; 3. motor reducer mechanism; 301. motor reducer on the left; 302. motor reducer on the right; 4. three-point suspension mechanism; 401. upper pull rod fixing plate; 402. upper pull rod; 403. bearing with vertical seat; 404. lifting component; 405. lifting rod; 406. lower pull rod fixing plate; 407. lower pull rod; 408. lower pull rod limit rod fixing seat; 409. lower pull rod limit rod; 410. electric push rod; 411. push rod bracket; 5. electrical cabinet; 501. chassis motor driver; 511. left motor driver; 521. right motor driver; 5 02. Intelligent driving module; 512. Inclination sensor; 522. Acceleration sensor; 532. Path planning module; 542. Automatic control module; 552. Information processing and output module; 503. Step-down module mechanism; 513. 12V step-down module; 523. 48V step-down module; 504. Charger; 505. Push rod controller; 506. Air switch; 507. Fan; 508. Power output controller; 6. Lithium iron phosphate battery pack; 7. Housing; 701. Touch display; 702. Charging base; 703. Emergency stop button; 704. Signal antenna; 705. GNSS positioning antenna mechanism; 715. Front GNSS positioning antenna; 725. Rear GNSS positioning antenna; 706. Camera mechanism; 716. Left camera; 726. Right camera; 8. Angle sensor; 9. Sensor fixing bracket. DETAILED DESCRIPTION

[0022] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the present specification. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0023] Please see the attached Figure 1 -Attached Figure 5An embodiment of the present invention provides a dual-motor driven small electric intelligent driving crawler tractor, including a chassis mechanism 1, a drive motor mechanism 2, a motor reducer mechanism 3, a three-point suspension mechanism 4, an electrical cabinet 5, a chassis motor driver 501, an intelligent driving module 502, a step-down module mechanism 503, a charger 504, a push rod controller 505, an air switch 506, a fan 507, a power output controller 508, a lithium iron phosphate battery pack 6, a housing 7, a touch display 701, a charging base 702, an emergency stop button 703, a signal antenna 704, a GNSS positioning antenna mechanism 705, a camera mechanism 706, an angle sensor 8, and a sensor fixing bracket 9.

[0024] The chassis 1 includes a frame 101, tracks 102, drive wheels 103, supporting rollers 104, support wheels 105, and tensioning rollers 106. There are two tracks 102, two drive wheels 103, ten supporting rollers 104, two support wheels 105, and two tensioning rollers 106.

[0025] The driving motor mechanism 2 includes a left permanent magnet synchronous motor 201 and a right permanent magnet synchronous motor 202; the motor reducer mechanism 3 includes a left motor reducer 301 and a right motor reducer 302, and the two motor reducers are respectively connected to the left permanent magnet synchronous motor 201 and the right permanent magnet synchronous motor 202; the left motor reducer 301 and the right motor reducer 302 are both fixedly mounted on the frame 101 by bolts, and the motor reducers on both sides are planetary reducers of the same model, and the left motor reducer 301 and the right motor reducer 302 are respectively connected to the driving wheels 103 on both sides to provide power for driving the tracks 102 on both sides.

[0026] The three-point suspension mechanism 4 includes an upper pull rod fixing plate 401, an upper pull rod member 402, a vertical seat bearing 403, a lifting component 404, a lifting rod 405, a lower pull rod fixing plate 406, a lower pull rod member 407, a lower pull rod limiting rod fixing seat 408, a lower pull rod limiting rod member 409, an electric push rod 410, and a push rod bracket 411. There are two upper pull rod fixing plates 401, two vertical seat bearings 403, two lifting rods 405, four lower pull rod fixing plates 406, two lower pull rod members 407, two lower pull rod limiting rod fixing seats 408, and two lower pull rod limiting rod members 409; the electric push rod 410 is installed on the push rod bracket 411, and the push rod bracket 411 is fixed to the frame 101 by bolts.

[0027] The electrical cabinet 5 is fixedly mounted on the vehicle frame 101 by bolt connection; there are two chassis motor drivers 501, which are installed in the electrical cabinet 5, namely the left motor driver 511 and the right motor driver 521, and are respectively connected to the left permanent magnet synchronous motor 201 and the right permanent magnet synchronous motor 202; the intelligent driving module 502 is installed in the electrical cabinet 5, and can communicate with the mobile phone through the 5G network, and can also communicate with the remote control through Bluetooth; the chassis motor driver 501 and the intelligent driving module 502 are interconnected through the CAN bus for communication; there are two step-down module mechanisms 503, namely the 12V step-down module 513 and the 48V step-down module 523, both of which are installed in the electrical cabinet 5; the charger 504 is installed in the electrical cabinet 5; the push rod controller 505 is installed in the electrical cabinet 5; the push rod controller 505, the angle sensor 8, and the intelligent driving module 502 are interconnected through the CAN bus for communication, and the intelligent driving module 502 sends The command is sent through the push rod controller 505 to control the lifting height of the three-point suspension, and the angle sensor 8 feeds back the current lifting height of the three-point suspension to the intelligent driving module 502 in real time to realize automatic control of the lifting height of the three-point suspension; the air switch 506 is installed in the electrical cabinet 5; the input end of the air switch 506 is connected to the output end of the lithium iron phosphate battery pack 6, and the input end of the step-down module mechanism 503 is connected to the output end of the air switch 506, wherein the 12V step-down module 513 is used to convert the 72V electric energy in the lithium iron phosphate battery pack 6 into 12V electric energy to provide electric energy for the intelligent driving module 502 and the angle sensor 8, and the 48V step-down module 523 is used to convert the 72V electric energy in the lithium iron phosphate battery pack 6 into 48V electric energy to provide electric energy for the push rod controller 505; the fan 507 is installed in the electrical cabinet 5; the power output controller 508 is installed in the electrical cabinet and is connected to the intelligent driving module 502 through a wiring harness to realize the opening and closing of the power output.

[0028] The lithium iron phosphate battery pack 6 is fixedly mounted on the vehicle frame 101 by bolt connection; the voltage of the lithium iron phosphate battery pack 6 is 72V, the capacity is 400Ah, and the maximum current limit is 500A, which can meet the normal operation of two 72V3kW motors. The battery pack has a battery management system inside, which can communicate with the intelligent driving module 502 through electrical connection, and can send parameters such as the voltage, charge and discharge current, discharge power, and battery temperature of the lithium iron phosphate battery pack 6 to the intelligent driving module 502.

[0029] The shell 7 is fixedly mounted on the vehicle frame 101 by bolts; the touch display 701 is mounted on the shell 7 and connected to the intelligent driving module 502 via USB; the charging base 702 is mounted on the shell 7, and the emergency stop button 703 is mounted on the shell 7; there are three signal antennas 704, which are mounted on the shell 7; there are two GNSS positioning antenna mechanisms 705, the front GNSS positioning antenna 715 is mounted on the front upper part of the shell 7, and the rear GNSS positioning antenna 725 is mounted on the rear upper part of the frame 101, and connected to the intelligent driving module 502 via USB; there are two camera mechanisms 706, the left camera 716 is mounted on the left front of the shell 7, and the right camera 726 is mounted on the right front of the frame 101, and connected to the intelligent driving module 502 through a wiring harness; the angle sensor 8 is mounted on the sensor fixing bracket 9, and the sensor fixing bracket 9 is fixed to the frame 101 by bolts.

[0030] Please see the attached Figure 6 An embodiment of the present invention provides a control system for a dual-motor driven small electric intelligent driving crawler tractor. A charger 504 reads parameters such as power and temperature from the battery management system (BMS) in the lithium iron phosphate battery pack 6 to adapt and charge the lithium iron phosphate battery pack 6. The battery management system (BMS) in the lithium iron phosphate battery pack 6 can communicate with the intelligent driving module 502 via Bluetooth, and transmit parameters such as discharge current, discharge voltage, temperature, and discharge power of the lithium iron phosphate battery pack 6 to the intelligent driving module 502. The lithium iron phosphate battery pack 6 supplies 72V power to the left motor reducer 301, the right motor reducer 302, and the power output controller 508 through the air switch 506.

[0031] The 12V step-down module 513 can convert the 72V high voltage electricity in the lithium iron phosphate battery pack 6 into 12V low voltage electricity to power the intelligent driving module 502 and the angle sensor 8; the 48V step-down module 523 can convert the 72V high voltage electricity in the lithium iron phosphate battery pack 6 into 48V low voltage electricity to power the push rod controller 505.

[0032] The angle sensor 8 communicates with the push rod controller 505 and the intelligent driving module 502 through the CAN bus; the left motor reducer 301 communicates with the right motor reducer 302 and the intelligent driving module 502 through the CAN bus; the power output controller 508 receives the control signal of the intelligent driving module 502 through the wiring harness; the GNSS positioning antenna mechanism 705 is connected to the intelligent driving module 502 through USB, and the camera mechanism 706 is connected to the intelligent driving module 502 through the wiring harness, providing the premise for autonomous navigation and operation; the touch display 701 is connected to the intelligent driving module 502 through USB, which is used to realize the behavior control of the whole machine; the intelligent driving module 502 can communicate with the mobile phone through the 5G network, and can communicate with the remote control through Bluetooth, which is used to realize remote control of the tractor.

[0033] Working principle: The intelligent driving module 502 is composed of an inclination sensor 512, an acceleration sensor 522, a path planning module 532, an automatic control module 542, and an information processing and output module 552. The intelligent driving module 502 has multiple control modes: touch screen control mode, in which different routes and working modes are selected through the touch display 701. After the signal is sent to the intelligent driving module 502, it is processed by the automatic control module 542 and controls the left permanent magnet synchronous motor 201, the right permanent magnet synchronous motor 202 and the electric push rod controller 505. The push rod 410 controls the power output through the power output controller to realize touch screen control of functions such as starting, moving forward, moving backward, turning, braking, lifting and lowering the working machine, and turning the power output on and off. The intelligent driving module 502 can read the relevant information of the whole machine status, and process it through the information processing and output module 552 and send it to the touch display 701 to visualize the whole machine status; in the remote control mode, the intelligent driving module 502 receives the key information and then processes it through the automatic control module 542; in the mobile phone control mode, different routes and working modes can be selected through the mobile phone APP or simulated through the mobile phone APP The corresponding signal is sent to the intelligent driving module 502 and then processed by the automatic control module 542. The intelligent driving module 502 can read the relevant information of the whole machine status, process it through the information processing and output module 552 and send it to the mobile phone APP to view the whole machine status in real time; in the intelligent control mode, the GNSS positioning antenna 705 obtains the position of the whole machine, and the camera 706 obtains the current road condition information of the whole machine, sends it to the intelligent driving module 502, and the path planning module 532 plans the working path and sends it to the automatic control module 542. The inclination sensor 512 and the acceleration sensor 522 detect the whole machine. The motion status is sent to the automatic control module 542, and the angle sensor 8 detects the lifting height information of the three-point suspension, which is sent to the intelligent driving module 502. The automatic control module 542 combines the work path information and the motion status of the whole machine for analysis and processing, and controls the left permanent magnet synchronous motor 201, the right permanent magnet synchronous motor 202 and the electric push rod 410 through the chassis motor driver 501 and the electric push rod controller 505, and controls the power output through the power output controller to realize intelligent control of starting, moving forward, moving backward, steering, braking, lifting and lowering working tools, opening and closing power output and other functions.

[0034] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A small electric intelligent driving crawler tractor driven by two motors, comprising a chassis mechanism (1), characterized in that: A driving motor mechanism (2) and a motor reducer mechanism (3) are installed inside the chassis mechanism (1); an electrical cabinet (5) and a lithium iron phosphate battery pack (6) are installed on the top of the chassis mechanism (1); a three-point suspension mechanism (4) is installed on the outside of the electrical cabinet (5); a housing (7) is installed on the top of the electrical cabinet (5); a sensor fixing bracket (9) is installed on the outside of the chassis mechanism (1); and an angle sensor (8) is installed on the sensor fixing bracket (9).

2. A dual-motor driven small electric intelligent driving crawler tractor according to claim 1, characterized in that: The chassis mechanism (1) comprises a vehicle frame (101), crawlers (102) are provided on both sides of the exterior of the vehicle frame (101), and driving wheels (103), supporting wheels (104), supporting wheels (105) and five tensioning wheels (106) are provided inside the crawlers (102).

3. The dual-motor driven small electric intelligent driving crawler tractor according to claim 1, characterized in that: The driving motor mechanism (2) comprises a left permanent magnet synchronous motor (201) and a right permanent magnet synchronous motor (202), both of which are mounted inside the vehicle frame (101); the motor reducer mechanism (3) comprises a left motor reducer (301) and a right motor reducer (302), the left motor reducer (301) and the right motor reducer (302) being connected to the left permanent magnet synchronous motor (201) and the right permanent magnet synchronous motor (202), respectively; and the output ends of the left motor reducer (301) and the right motor reducer (302) are fixedly connected to two driving wheels (103), respectively.

4. The dual-motor driven small electric intelligent driving crawler tractor according to claim 1, characterized in that: The three-point suspension mechanism (4) comprises a lower pull rod fixing plate (406), a lower pull rod limiting rod fixing seat (408), an upper pull rod fixing plate (401) and a push rod bracket (411); the lower pull rod fixing plate (406) is fixedly connected to the outside of the vehicle frame (101); the outer side of the lower pull rod fixing plate (406) is rotatably connected to two lower pull rods (407); the lower pull rod limiting rod fixing seat (408) is fixedly connected to the outside of the vehicle frame (101); the outer side of the lower pull rod limiting rod fixing seat (408) is rotatably connected to two lower pull rod limiting rods (409); the outer side of the lower pull rod limiting rod (409) is rotatably connected to one side of the lower pull rod (407).

5. The dual-motor driven small electric intelligent driving crawler tractor according to claim 4, characterized in that: The upper pull rod fixing plate (401) is fixedly connected to the outside of the vehicle frame (101), and an upper pull rod (402) is provided on the outside of the upper pull rod fixing plate (401). The push rod bracket (411) is fixedly connected to the inside of the vehicle frame (101). The outer side of the push rod bracket (411) is rotatably connected to an electric push rod (410), and the output end of the electric push rod (410) is rotatably connected to a lifting component (404). Two vertical seat bearings (403) are provided on the outer side of the lifting component (404). Two lifting rods (405) are rotatably connected to the outer side of the lifting component (404), and the lifting rod (405) is rotatably connected to a lower pull rod (407).

6. The dual-motor driven small electric intelligent driving crawler tractor according to claim 1, characterized in that: A chassis motor driver (501) is installed inside the electrical cabinet (5), and the chassis motor driver (501) includes a left motor driver (511) and a right motor driver (521), and the left motor driver (511) and the right motor driver (521) are electrically connected to the left permanent magnet synchronous motor (201) and the right permanent magnet synchronous motor (202), respectively. An intelligent driving module (502) is installed inside the electrical cabinet (5), and the intelligent driving module (502) includes an inclination sensor (512), An acceleration sensor (522), a path planning module (532), an automatic control module (542) and an information processing and output module (552); a voltage reduction module mechanism (503) is installed inside the electrical cabinet (5); the voltage reduction module mechanism (503) includes a 12V voltage reduction module (513) and a 48V voltage reduction module (523); a charger (504), a push rod controller (505), an air switch (506), a fan (507) and a power output controller (508) are also installed inside the electrical cabinet (5).

7. The dual-motor driven small electric intelligent driving crawler tractor according to claim 6, characterized in that: The intelligent driving module (502) is electrically connected to the lithium iron phosphate battery pack (6); the input ends of the air switch (506) and the step-down module mechanism (503) are both connected to the output end of the lithium iron phosphate battery pack (6); the chassis motor driver (501) and the intelligent driving module (502) are interconnected via a CAN bus; and the push rod controller (505), the angle sensor (8) and the intelligent driving module (502) are interconnected via a CAN bus.

8. The dual-motor driven small electric intelligent driving crawler tractor according to claim 1, characterized in that: The outer side of the housing (7) is equipped with a touch display (701), a charging seat (702) and an emergency stop button (703); the outer side of the housing (7) is equipped with three signal antennas (704); the outer side of the housing (7) is equipped with a GNSS positioning antenna mechanism (705); the GNSS positioning antenna mechanism (705) includes a front GNSS positioning antenna (715) and a rear GNSS positioning antenna (725); the outer side of the housing (7) is equipped with a camera mechanism (706); the camera mechanism (706) includes a left camera (716) and a right camera (726); the touch display (701) is electrically connected to the intelligent driving module (502).

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