Small agricultural series-parallel power chassis and power switching method

Abstract

The invention relates to a small agricultural series-parallel power chassis and a power switching method. According to the small agricultural series-parallel power chassis and the power switching method, crawler walking mechanisms are installed on the two sides of a rack in parallel, a traction mechanism is installed at the rear end of the rack, a series-parallel hybrid structure is arranged on the rack, and a driver operation table is installed on the upper portion of the front end of the rack; a power supply mechanism and an electric control system are arranged on the rack below the driver operating platform; a multi-mode power system with pure electric drive, engine drive and dual-power coupling drive is constructed, power modes are automatically switched according to working conditions, and self-adaptive power dispatching for complex terrain operation requirements is achieved. According to the scheme, efficient power coupling output can be achieved, the power requirements of hills and mountains are met, the power performance of heavy-load starting, climbing, turning and other working conditions is remarkably improved, and power output is made to be precisely adaptive to complex working conditions.

Description

Technical Field

[0001] This application relates to the field of hybrid agricultural machinery technology, and in particular to a small agricultural hybrid power chassis and a power switching method. Background Technology

[0002] In mountainous and hilly farming areas, crops are mostly grown on complex terrains such as slopes, terraces, and narrow field ridges. Due to steep slopes, narrow roads, small turning radii, and complex operating conditions, there is a strong demand for small agricultural machinery in these areas. However, most small agricultural machines currently suitable for hilly and mountainous areas use traditional mechanical chassis driven by a single power source (such as a small diesel or gasoline engine), which have significant limitations in terms of power response, energy efficiency, climbing ability, and passability.

[0003] Although hybrid technology has been applied to agricultural machinery, hybrid systems for small agricultural machinery in hilly and mountainous areas still have significant shortcomings. On the one hand, existing hybrid structures are mostly simple parallel or series configurations, resulting in low power coupling efficiency and rigid collaborative working logic between the engine and motor, making it impossible to distribute power on demand. On the other hand, there is a lack of power switching strategies adapted to typical working conditions in hilly and mountainous areas, such as frequent starts, sudden changes in slope, load fluctuations, and flexible steering, leading to abrupt power mode switching, slow response, and even power interruption. In addition, some hybrid systems ignore the lightweight and compact requirements of small agricultural machinery, resulting in complex and bulky structures that further reduce terrain adaptability.

[0004] Therefore, small agricultural machinery in hilly and mountainous areas urgently needs a hybrid power chassis and power switching strategy for small agricultural machinery in hilly and mountainous areas, so as to achieve efficient coupling and power distribution between the engine and the motor and improve terrain adaptability. Summary of the Invention

[0005] To address or partially address the problems existing in related technologies, this application provides a small agricultural hybrid power chassis and a power switching method, aiming to solve the problems of low coupling efficiency and poor adaptability of small agricultural machinery hybrid systems for hilly and mountainous areas.

[0006] The first aspect of this application provides a small agricultural hybrid power chassis, comprising: Tracked walking mechanism, frame, traction mechanism, hybrid structure, driver's console, power supply mechanism and electronic control system; The tracked walking mechanism is installed in parallel on both sides of the frame. The traction mechanism is installed at the rear of the frame. A hybrid structure is arranged on the frame. The driver's control panel is installed at the upper front of the frame. The power supply mechanism and the electronic control system are arranged on the frame below the driver's control panel. The hybrid structure includes a left sprocket drive, a left coupling gearbox, an electromagnetic clutch, a bearing housing, a generator pulley, an engine driven pulley, a right coupling gearbox, a right sprocket drive, an electromagnetic brake, an engine belt, an engine throttle control device, a gasoline engine, an engine electric starter, a battery box, an engine pulley overrunning clutch, an electrical control box, a generator belt, a generator, a left servo motor, a drive shaft, a right servo motor, and a pulley electromagnetic clutch. The left and right sprocket drives are identical in size and are mounted on the output shafts of the left and right coupling gearboxes respectively via shaft hole fitting. The left-coupled gearbox and the right-coupled gearbox are mounted on the frame via gearbox mounting brackets; The electromagnetic brakes are respectively engaged with the input shafts of the left coupling gearbox and the right coupling gearbox and fixed on the gearbox body; The left and right ends of the drive shaft are connected to two electromagnetic brakes respectively. The drive shaft passes through two bearing seats fixed on the frame. Electromagnetic clutches are installed between the two bearing seats and the electromagnetic brakes on both sides respectively. Between the two bearing housings, the generator pulley and the engine driven pulley are mounted on the drive shaft from left to right; The generator is mounted on a frame, and a pulley electromagnetic clutch is installed on the generator input shaft, which forms a belt drive through the generator belt and generator pulley. The gasoline engine is fixed on the frame, and the engine pulley overrunning clutch is mounted on the engine's output shaft, forming a belt drive through the engine belt and the engine driven pulley. The engine electric starter is installed on one side of the engine, and the engine throttle control device is fixed on the frame next to the engine. The engine throttle control device and the engine throttle are physically connected. The left and right servo motors are mounted on the frame and connected to the shafts of the left and right coupling gearboxes, respectively. The battery box is mounted on the rack battery box mounting base.

[0007] Optionally, in some embodiments of the first aspect, the right-coupled gearbox includes: The coupling gearbox consists of a first input shaft, a housing, a servo motor output shaft, a first gear, a sun gear, a coupling gearbox output shaft, planetary gears, and internal and external gear rings. The first input shaft of the coupling gearbox is connected to the sun gear shaft hole, passes through the center hole of the inner and outer gear rings, and is fixed to the housing together with the inner and outer gear rings, allowing them to rotate relative to each other; the planet gears mesh with the inner teeth of the sun gear and the inner and outer gear rings; one end of the output shaft of the coupling gearbox is connected to the planet gears, allowing the planet gears to rotate around the shaft, while the other end is fixed to the housing to maintain rotation; the output shaft of the servo motor passes through the housing and is connected to the first gear shaft hole, and the first gear meshes with the outer teeth of the inner and outer gear rings to drive the outer gear rings to rotate.

[0008] Optionally, in some embodiments of the first aspect, the right sprocket drive includes: Drive sprocket, driven sprocket, chain, and sprocket guard; The drive sprocket is mounted on the output shaft of the coupling gearbox through a shaft hole, and the driven sprocket is mounted on the drive wheel shaft of the track walking mechanism through a shaft hole. The chain is mounted on the drive sprocket and the driven sprocket. The sprocket protective cover covers the drive sprocket, the driven sprocket and the chain and is fixed to the housing of the coupling gearbox.

[0009] Optionally, in some embodiments of the first aspect, the hybrid structure further includes: Speed ​​sensor, tilt sensor, and hybrid structure protective housing; The speed sensors are installed on the left and right sprocket drives respectively. The speed sensors include a receiving device and a magnetic sheet. The receiving device is installed on the outer cover of the left or right sprocket drive, and the magnetic sheet is installed on the surface of the driving sprocket of the left or right sprocket drive. The tilt sensor is installed inside the electrical control box. The hybrid structure protective shell is wrapped around the outside of the hybrid structure and fixed on the frame.

[0010] Optionally, in some embodiments of the first aspect, the tracked traveling mechanism includes: Drive wheels, track rollers, track support rollers, support frame, tensioning device, guide wheels, and rubber tracks; The support frame is located in the middle of the rubber track, with a drive wheel at the rear and a guide wheel at the front. The rubber track is tensioned by a tensioning device installed on the support frame. A track support roller is installed at the upper middle part of the support frame, and four support rollers are installed below. The rubber track has evenly spaced mating holes in the middle that match the teeth of the drive wheel. Limiting blocks are fixed to the outer and inner sides of the rubber track on both sides of the mating holes. Two symmetrical limiting blocks on the inner side of the rubber track are located between the drive wheel to achieve limited rolling.

[0011] Optionally, in some embodiments of the first aspect, the rack includes: First main beam, second main beam, first gearbox mounting base, second gearbox mounting base, engine mounting base, electrical control box mounting base, battery box mounting base, upper bracket, driver's seat bracket, generator mounting base and motor bracket; The frame includes two trapezoidal beams perpendicular to the direction of travel, fixedly connected to the left and right track support frames at a certain distance. The beam closer to the drive wheel of the track walking mechanism is the first beam, and the beam closer to the guide wheel of the track walking mechanism is the second beam. A first gearbox mounting seat and a second gearbox mounting seat are mounted vertically on the first beam. An engine mounting seat and an electrical control box mounting seat are installed between the first and second beams. A battery box mounting seat is mounted vertically on the second beam towards the guide wheel. An upper bracket is installed above the first and second beams. A driver's seat bracket is set above the electrical control box mounting seat and is mounted on the upper bracket. A generator mounting seat is installed on the upper bracket near the driver's seat bracket. Symmetrical motor brackets are installed at the rear end of the upper bracket near the drive wheels on both sides of the track walking mechanism.

[0012] Optionally, in some embodiments of the first aspect, the power supply mechanism includes: Generator, battery, and DC-DC converter; The generator is electrically connected to the battery, the DC-DC converter is connected to the battery, and the output is connected to the DC power unit of the hybrid structure. The battery output is connected to the left servo motor and the right servo motor.

[0013] Optionally, in some embodiments of the first aspect, the electronic control system includes: Servo motor drivers and hybrid controllers; The hybrid controller controls the left and right servo motors via servo motor drivers; the hybrid controller is connected to the battery, servo motor drivers, engine electric starter, engine throttle control, electromagnetic clutch, speed sensor, electromagnetic brake, tilt sensor and control console.

[0014] The second aspect of this application provides a power switching method for a small agricultural hybrid power chassis, including: The hybrid controller acquires the battery SOC value, speed sensor signal, and tilt sensor signal in real time to obtain the current power status and working status of the power chassis. When the chassis speed increases from 0, it is determined that the current state is the starting state. If the tilt angle sensor obtains a tilt angle greater than the threshold Q1, it is determined to be uphill. If the tilt angle is less than the threshold -Q1, it is determined to be downhill. When the tilt angle Q is within the upper and lower threshold range [-Q1, Q1], the current running state is determined to be running on flat ground. First, determine the drive mode based on the battery status. When the battery SOC value is greater than the charging threshold, it is determined that the battery power is sufficient, and the left and right servo motors are used for drive first. When the SOC value is less than the charging threshold K, it is determined that the battery power is insufficient and needs to be charged, and the gasoline engine is used for drive. Further determining the drive mode based on the starting state: When the hybrid power chassis is starting on flat ground or running at low speed and has sufficient battery power, the left and right servo motors are used first, and the power chassis adopts a pure electric drive mode; when the hybrid power chassis is starting on flat ground with insufficient battery power, starting uphill, or requiring instantaneous high power output, the gasoline engine is used for drive, and the gasoline engine drives the generator to generate electricity to replenish the battery, so that the servo motor can cooperate with the gasoline engine to output power when the power demand is high; when the hybrid power chassis is in a low-speed heavy-load working state or climbing state, resulting in insufficient power for the servo motor, the gasoline engine, left servo motor, and right servo motor jointly drive the power chassis; when going downhill, the gasoline engine is used first for drive, and energy recovery is performed simultaneously; During driving, the drive mode is switched. When the speed values ​​obtained by the left and right speed sensors are inconsistent, it is determined to be a turning or U-turn state, and the left and right servo motors are used first for driving. When the power chassis is running at a higher speed, it is determined to be a transfer or transportation state, and only the gasoline engine is used for driving.

[0015] The technical solution provided in this application may include the following beneficial effects: Employing a symmetrical hybrid structure, the system achieves a compact overall structure and uniform weight distribution through the connection and arrangement of the coupling gearbox, drive shaft, servo motor, gasoline engine, and generator, meeting the design requirements of a small chassis, low center of gravity, and narrow wheelbase for hilly and mountainous terrain. The hybrid structure organically integrates the gasoline engine and servo motor, and with core components such as the electromagnetic clutch and coupling gearbox, it achieves efficient power coupling output, meeting the power needs of hilly and mountainous terrain. The left and right coupled gearbox adopts a dual-input structure with internal and external gear rings, planetary gears, servo motor driving the external gear ring, and gasoline engine driving the sun gear. It superimposes the engine power and servo motor power onto the same output shaft, realizing high torque low speed drive, efficient superposition output of engine and motor, smooth power switching and stepless speed regulation, significantly improving the power performance in heavy load starting, climbing, turning and other working conditions. A multi-mode power system is constructed, which includes pure electric, engine-only drive, and dual-power coupling drive. Combined with tilt sensors, speed sensors, and battery SOC, it can make real-time judgments on slope, speed difference, load, and battery power, and automatically switch power modes according to working conditions. This enables adaptive power scheduling to meet the needs of complex terrain operations, and makes the power output accurately adapt to complex working conditions.

[0016] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0017] The above and other objects, features and advantages of this application will become more apparent from the more detailed description of exemplary embodiments thereof in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments thereof.

[0018] Figure 1 This is an axonometric perspective view of a small agricultural hybrid power chassis shown in the embodiments of this application; Figure 2 This is a front view schematic diagram of a small agricultural hybrid power chassis shown in an embodiment of this application; Figure 3 This is a front view schematic diagram of a small agricultural hybrid power chassis shown in the embodiments of this application; Figure 4 This is a top view schematic diagram of a small agricultural hybrid power chassis shown in an embodiment of this application; Figure 5 This is a schematic diagram of the power coupling gearbox structure of a small agricultural hybrid power chassis shown in the embodiments of this application; Figure 6 This is a schematic diagram of the battery box structure of a small agricultural hybrid power chassis shown in an embodiment of this application.

[0019] Reference numerals: 1. Tracked walking mechanism; 1-1. Drive wheel; 1-2. Track roller; 1-3. Track support roller; 1-4. Support frame; 1-5. Tensioning device; 1-6. Guide wheel; 1-7. Rubber track; 1-7-1. Limiting block; 1-7-2. Mating hole; 2. Frame; 2-1. First beam; 2-2. Second beam; 2-3. First gearbox mounting base; 2-4. Second gearbox mounting base; 2-5. Engine mounting base; 2-6. Electrical control box mounting base; 2-7. Battery box mounting base; 2-8. Upper bracket; 2-9. Driver's seat bracket; 2-10. Generator mounting base; 2-11. Motor bracket; 3. 1. Traction mechanism, 3-1. Fixed crossbar, 3-2. Movable U-shaped frame, 3-3. Pin seat, 3-4. Adjustment hole, 3-5. Pin hole, 3-6. Fixed pin, 3-7. Through hole; 4. Hybrid structure, 4-1. Left sprocket drive, 4-2. Left coupling gearbox, 4-3. Electromagnetic clutch, 4-4. Bearing seat, 4-5. Generator pulley, 4-6. Engine driven pulley, 4-7. Right coupling gearbox, 4-7-1. First input shaft of coupling gearbox, 4-7-2. Housing, 4-7-3. Servo motor output shaft, 4-7-4. First gear, 4-7-5. Sun gear, 4-7-6. Output of coupling gearbox Shaft, 4-7-7, Planetary gears, 4-7-8, Internal and external gear rings; 4-8, Right sprocket drive, 4-8-1, Drive sprocket, 4-8-2, Driven sprocket, 4-8-3, Chain, 4-8-4, Sprocket guard; 4-9, Speed ​​sensor, 4-10, Electromagnetic brake, 4-11, Engine belt, 4-12, Engine throttle control device, 4-13, Gasoline engine, 4-14, Engine electric starter, 4-15, Battery box, 4-15-1, Battery, 4-15-2, DC-DC converter; 4-16, Engine pulley overrunning clutch, 4-17, Electrical control box, 4-18, Generator 4-19. Belt, Generator, Generator Mounting Bracket, Left Servo Motor, Drive Shaft, Right Servo Motor, Gearbox Mounting Mount, Pulley Electromagnetic Clutch, Engine Exhaust Pipe, Tilt Sensor, Hybrid Structure Protective Housing; 5. Driver's Control Panel, Seat, Joystick, Control Console, Control Console Bracket, Control Panel, Guardrail, Pad; 6. Power Supply Mechanism, Electronic Control System, Servo Motor Driver, Hybrid Controller. Detailed Implementation

[0020] Embodiments of this application will now be described in more detail with reference to the accompanying drawings. While embodiments of this application are shown in the drawings, it should be understood that this application may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to make this application more thorough and complete, and to fully convey the scope of this application to those skilled in the art.

[0021] It should be understood that although the terms "first," "second," "third," etc., may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0022] In the description of this application, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0023] Unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0024] The technical solutions of the embodiments of this application are described in detail below with reference to the accompanying drawings.

[0025] Figure 1 This is a schematic diagram of the structure of a small agricultural hybrid power chassis shown in the embodiments of this application.

[0026] See Figure 1 A small agricultural hybrid power chassis, comprising: 1. Tracked walking mechanism; 2. Frame; 3. Traction mechanism; 4. Hybrid structure; 5. Driver's control panel; 6. Power supply mechanism; and 7. Electronic control system. The tracked walking mechanism 1 is located parallel to both sides of the frame 2 and is fixedly connected to the frame 2. The rear end of the frame 2 is equipped with a traction mechanism 3, the middle part is equipped with a hybrid structure 4, and the front end is equipped with a driver's operating platform 5. The power supply mechanism 6 and the electronic control system 7 are arranged under the driver's operating platform 5 and fixed on the frame 2.

[0027] like Figure 2 As shown, the tracked walking mechanism 1 includes a drive wheel 1-1, a support roller 1-2, a track support roller 1-3, a support frame 1-4, a tensioning device 1-5, a guide wheel 1-6, and a rubber track 1-7. The support frame 1-4 is located in the middle of the rubber track 1-7, with the drive wheel 1-1 mounted at the rear end and the guide wheel 1-6 mounted at the front end. The tensioning device 1-5 mounted on the support frame 1-4 tensions the rubber track 1-7. The track support roller 1-3 is mounted on the upper part of the middle of the support frame 1-4, and four support rollers 1-2 are mounted below it. The rubber track 1-7 has multiple evenly spaced mating holes 1-7-2 that match the teeth of the drive wheel, forming a circle. Limiting blocks 1-7-1 are fixed to both sides of the mating holes 1-7-2 on the outer and inner sides respectively. Two symmetrical limiting blocks 1-7-1 on the inner side wall are positioned between the drive wheel 1-1 to achieve limited rolling.

[0028] The frame 2 includes two trapezoidal beams perpendicular to the direction of travel, fixedly connected to the left and right track support frames at a certain distance. The beam closer to the drive wheel is the first beam 2-1, and the beam closer to the guide wheel 1-6 is the second beam 2-2. The first beam 2-1 is vertically fixed with a first gearbox mounting seat 2-3 and a second gearbox mounting seat 2-4 for fixing two coupled gearboxes. An engine mounting seat 2-5 and an electrical control box mounting seat 2-6 are fixed between the first beam 2-1 and the second beam 2-2 for mounting the engine and electrical control box. The second beam 2-2 is vertically fixed towards the guide wheel 1-6 with a battery box mounting seat 2-7 for mounting and fixing the battery box. A ring of upper brackets 2-8 is fixed along the entire machine above the beams. Above the electrical control box mounting base 2-6, there is a driver's seat bracket 2-9 fixed to the upper bracket 2-8. Above the first beam 2-1, near the driver's seat bracket 2-9, there is a generator mounting base 2-10 for mounting and fixing the generator. At the rear end of the upper bracket 2-8 near the two drive wheels 1-1, there are symmetrical motor brackets 2-11 for fixing the servo motor.

[0029] like Figure 3As shown, the traction mechanism 3 includes a fixed crossbar 3-1, a movable U-shaped frame 3-2, pin seats 3-3, adjusting holes 3-4, pin holes 3-5, fixing pins 3-6, and through holes 3-7. The fixed crossbar 3-1 is welded perpendicularly to the first gearbox mounting base 2-3 and the second gearbox mounting base 2-4 on the left and right sides, respectively. The fixed crossbar 3-1 has two through holes 3-7 symmetrically opened on its upper and lower surfaces, and two pin holes 3-5 symmetrically opened on its front and rear sides. The movable U-shaped frame 3-2 has multiple adjusting holes 3-4 evenly spaced on its two sides and front and rear sides. Four pin seats 3-3 are fixedly connected at equal intervals on the front surface of the bottom rod. The movable U-shaped frame 3-2 passes through the through holes 3-7 on the fixed crossbar 3-1 and is fixed by the fixing pins 3-6 passing through the pin holes 3-5 and adjusting holes 3-4. When mounting agricultural implements, the mounting height can be adjusted by adjusting the fit between the adjustment hole 3-4 and the pin hole 3-5 on the movable U-shaped frame 3-2, and the mounting width can be adjusted by selecting the mounting pin 3-3.

[0030] like Figure 4 As shown, the hybrid structure 4 includes a left sprocket drive 4-1, a left coupling gearbox 4-2, an electromagnetic clutch 4-3, a bearing housing 4-4, a generator pulley 4-5, an engine driven pulley 4-6, a right coupling gearbox 4-7, a right sprocket drive 4-8, a speed sensor 4-9, an electromagnetic brake 4-10, an engine belt 4-11, an engine throttle control device 4-12, a gasoline engine 4-13, an engine electric starter 4-14, a battery box 4-15, an engine pulley overrunning clutch 4-16, an electrical control box 4-17, a generator belt 4-18, a generator 4-19, a generator mounting bracket 4-20, a left servo motor 4-21, a drive shaft 4-22, and a right... Servo motor 4-23, gearbox mounting base 4-24, pulley electromagnetic clutch 4-25, engine exhaust pipe 4-26, tilt sensor 4-27, and hybrid structure protective shell 4-28; the left sprocket drive 4-1 and right sprocket drive 4-8 have the same structural size, including drive sprocket 4-8-1, driven sprocket 4-8-2, chain 4-8-3, and sprocket protective cover 4-8-4. The drive sprocket 4-8-1 is mounted on the output shaft of the coupling gearbox through a shaft hole, and the driven sprocket 4-8-2 is mounted on the drive wheel shaft through a shaft hole. The sprocket protective cover covers the outside of the drive sprocket 4-8-1, driven sprocket 4-8-2, and chain 4-8-3 and is fixed to the gearbox body.

[0031] The left coupling gearbox 4-2 is fixed to the first gearbox mounting base 2-3 via the gearbox fixing seat 4-24, and the right coupling gearbox 4-7 is fixed to the second gearbox mounting base 2-4 via the gearbox fixing seat 4-24. In order to further improve the power coupling efficiency, the left coupling gearbox 4-2 and the right coupling gearbox 4-7 adopt the same structure. The coupling gearbox includes the first input shaft 4-7-1, the housing 4-7-2, the servo motor output shaft 4-7-3, the first gear 4-7-4, the sun gear 4-7-5, the output shaft 4-7-6, the planet gears 4-7-7, and the internal and external gear rings 4-7-8. The first input shaft 4-7-1 of the coupling gearbox is connected to the shaft hole of the sun gear 4-7-5, passes through the center hole of the internal and external gear rings 4-7-8, and is fixed on the housing 4-7-2 together with the internal and external gear rings 4-7-8. They can rotate relative to each other. Planetary gear 4-7-7 meshes with the internal teeth of sun gear 4-7-5 and internal / external gear ring 4-7-8. One end of the coupling gearbox output shaft 4-7-6 is connected to planetary gear 4-7-7, allowing planetary gear 4-7-7 to rotate around the shaft; the other end is fixed to the housing 4-7-2 to maintain rotation. The servo motor output shaft 4-7-3 passes through the housing 4-7-2 and connects to the shaft hole of the first gear 4-7-4. The first gear 4-7-4 meshes with the external teeth of internal / external gear ring 4-7-8, driving the external gear ring to rotate. The specific coupling method is as follows: The first input shaft 4-7-1 of the coupling gearbox is connected to the transmission shaft 4-22 driven by the engine 4-13 via an electromagnetic clutch 4-3, inputting the engine's power into the sun gear 4-7-5 to make it rotate. The first gear 4-7-4 is driven by the servo motor to rotate and meshes with the external teeth of the internal and external gear ring 4-7-8, driving the external gear ring to rotate. The external gear ring and the sun gear simultaneously mesh with the planet gears 4-7-7, thus combining the power of the engine 4-13 and the servo motor and transmitting the power through the planet carrier to the output shaft 4-7-6 of the coupling gearbox for output. When only the servo motor or the engine needs to drive, only the electromagnetic brake 4-10 on the input shaft of the other power source needs to be applied to achieve single power source drive. If both need to drive together, the electromagnetic clutch 4-3 is not applied, and the power of both is coupled and output. The coupling relationship is as follows: (1) (2) In the formula, The output shaft speed of the coupling gearbox. For the output shaft torque of the coupling gearbox, The first input shaft speed of the coupled gearbox. The input speed is the speed of the first gear, i.e., the servo motor. This is the ratio of the number of teeth on the sun gear to the number of teeth on the ring gear.

[0032] The left servo motor 4-21 and the right servo motor 4-23 are respectively fixed on one side of the left coupling gearbox 4-2 and the right coupling gearbox 4-7 and fixed on the motor bracket 2-11. The output shafts of the left servo motor 4-21 and the right servo motor 4-23 are respectively connected to the servo motor output shafts 4-7-3 of the left coupling gearbox 4-2 and the right coupling gearbox 4-7.

[0033] Two electromagnetic brakes 4-10 are respectively engaged with the input shafts of the left coupling gearbox 4-2 and the right coupling gearbox 4-7 and fixed to the gearbox body. The left and right ends of the drive shaft 4-22 are respectively engaged with the two electromagnetic brakes 4-10. The drive shaft 4-22 passes through two bearing seats 4-4 fixed on the upper bracket 2-8. An electromagnetic clutch 4-3 is installed between the two bearing seats 4-4 and the electromagnetic brakes 4-10 on both sides. Between the two bearing seats 4-4, from left to right on the drive shaft 4-22, a generator pulley 4-5 and an engine driven pulley 4-6 are installed. The generator 4-19 is fixed on the generator mounting bracket 4-20, which is fixed on the generator mounting base 2-10. The input shaft of the generator 4-19 is equipped with a pulley electromagnetic clutch 4-25, which forms a belt drive through the generator belt 4-18 and the generator pulley 4-5. The gasoline engine 4-13 is fixed on the engine mounting bracket 2-5. The engine pulley overrunning clutch 4-16 is mounted on the output shaft of the engine 4-13 and forms a belt drive through the engine belt 4-11 and the engine driven pulley 4-6. The engine electric starter 4-14 is mounted on the body of the engine 4-13 on the side of the fuel tank. The engine throttle control device 4-12 is fixed on the upper bracket 2-8 next to the engine 4-13 and is physically connected to the throttle of the engine 4-13.

[0034] The engine exhaust pipe 4-26 is connected to the exhaust port of the engine body 4-13. The battery box 4-15 is fixed on the battery box mounting base 2-7, and the electronic control box 4-17 is fixed on the electronic control box mounting base 2-6. The speed sensor 4-9 includes a receiving device and a magnetic plate. The receiving device is fixed on the outer cover of the two drive sprockets 4-8-1, and the magnetic plate is fixed on the surface of the two drive sprockets 4-8-1. The rotational speed of the sprockets can be obtained by the frequency at which the magnetic plate and the receiving device meet, and the speed of the moving chassis can be obtained by conversion. The tilt sensor 4-27 is fixed inside the electronic control box 4-17 and can obtain the tilt angle of the moving chassis in real time. The hybrid structure protective shell 4-28 is wrapped around the outside of the hybrid structure and fixed on the frame 2.

[0035] like Figure 2As shown, the driver's control panel 5 includes a seat 5-1, a joystick 5-2, a control console 5-3, a control console bracket 5-4, a control panel 5-5, a guardrail 5-6, and a pad 5-7. The seat 5-1 is fixed to the driver's seat bracket 2-9, and the control console bracket 5-4 is fixed to the frame 2 directly in front of it. The control console bracket 5-4 has a control console fixed to it, and the control console is equipped with the joystick 5-2 and the control panel 5-5 for the driver to control the driving mode of the chassis and the direction and speed of travel in each mode. The guardrail 5-6 is fixed to the frame 2 around the driver's control panel 5, and the pad 5-7 is laid flat on the frame surface of the driver's control panel 5.

[0036] The power supply unit 6 includes a generator 4-19, a battery 4-15-1, and a DC-DC converter 4-15-2; the output of the generator 4-19 is connected to the battery 4-15-1. The input of the DC-DC converter 4-15-2 is electrically connected to the battery 4-15-1, and its output powers the engine electric starter 4-14, engine throttle control device 4-12, electromagnetic clutch 4-3, speed sensor 4-9, electromagnetic brake 4-10, and tilt sensor 4-27. The output of the battery 4-15-1 is also connected to the left servo motor 4-21 and the right servo motor 4-23 through the electronic control system 7, which modulates the voltage and current to drive the left servo motor 4-21 and the right servo motor 4-23.

[0037] The electronic control system 7 is mainly used to realize the power switching logic control. The electronic control system 7 includes a servo motor driver 7-1, a hybrid controller 7-2, and a tilt sensor 4-27. The control terminal of the servo motor driver 7-1 is connected to the hybrid controller 7-2, the input terminal is connected to the battery 4-15-1, and the output terminal is connected to the left servo motor 4-21 and the right servo motor 4-23. The hybrid controller 7-2 controls the servo motor driver 7-1 through commands, and the servo motor driver 7-1 precisely modulates the voltage and current of the left servo motor 4-21 and the right servo motor 4-23. The hybrid controller 7-2, the servo motor driver 7-1, the engine electric starter 4-14, the engine throttle control device 4-12, the electromagnetic clutch 4-3, the speed sensor 4-9, the electromagnetic brake 4-10, the tilt sensor 4-27, and the control console 5-3 are communicatively connected.

[0038] This embodiment describes the most basic structural composition and assembly method of this application, which can ensure that this application can realize track drive and hybrid power output functions.

[0039] Corresponding to the aforementioned application function implementation device embodiments, this application also provides a power switching method for a small agricultural hybrid power chassis and corresponding embodiments.

[0040] A power switching method for a small agricultural hybrid power chassis includes: The operating mode is determined by the hybrid controller acquiring the battery SOC value, speed sensor signal, and tilt sensor signal in real time to determine the current power chassis's battery status, operating speed, and climbing status, thereby making a power switching decision.

[0041] When the acquired chassis speed increases from 0, the current state is determined to be starting. If the tilt angle Q obtained by the tilt sensor is greater than the threshold Q1, it is determined to be uphill. The threshold can be set as needed. If the tilt angle Q is less than the threshold -Q1, it is downhill. When the tilt angle Q is within the uphill / downhill threshold range [-Q1, Q1], the current operating state is determined to be flat ground operation. When the battery SOC value is greater than the charging threshold K, the battery power is determined to be sufficient. The charging threshold K is preferably 35%. When the SOC value is less than the charging threshold K, the battery power is determined to be insufficient.

[0042] The switching strategy for the operating mode of small agricultural hybrid power chassis is as follows: First, determine the drive mode based on the battery status. When the battery SOC value is greater than the charging threshold, it is determined that the battery power is sufficient, and pure electric mode is used first. When the SOC value is less than the charging threshold K, it is determined that the battery power is insufficient and charging is required. In this case, engine mode is used, or the generator is driven by the engine, and the generator directly supplies power to the left and right servo motors. The drive mode is further determined based on the starting state. When the hybrid chassis is starting on flat ground or running at low speed and has sufficient battery power, pure electric mode is used, driven by the left and right servo motors. When the hybrid chassis is starting on flat ground with insufficient battery power, starting uphill, or requiring instantaneous high power output, engine mode is used. Simultaneously, the gasoline engine drives the generator to replenish the battery, allowing the servo motors to work in conjunction with the gasoline engine for power output when power demand is high. When the hybrid chassis is operating at low speed under heavy load or climbing uphill, resulting in insufficient power from the servo motors, the gasoline engine, left servo motor, and right servo motor jointly drive the chassis. When descending a slope, the gasoline engine is used preferentially for driving, while energy recovery is also implemented.

[0043] During driving, the drive mode is switched. When the speed values ​​obtained by the left and right speed sensors are inconsistent, it is determined to be a turning or U-turn state, and the left and right servo motors are used first for driving. When the power chassis is running at a higher speed, it is determined to be a transfer or transportation state, and only the gasoline engine is used for driving.

[0044] The switching process for the operating mode of a small agricultural hybrid power chassis is as follows: When pure electric drive is required, the battery or generator supplies power to the servo motor driver. The servo motor driver controls the left and right servo motors to operate synchronously or differentially according to the instructions issued by the hybrid controller. At the same time, the electromagnetic clutch is energized and closed, and the electromagnetic brake is energized to brake, realizing pure electric drive. The power is reduced in speed through the left and right coupling gearboxes, and then transmitted to the drive wheels through the left and right sprocket drives to drive the tracks and thus move the chassis.

[0045] When the gasoline engine is required for propulsion, the battery provides the necessary low-voltage electricity converted by the DC-DC converter. The hybrid controller activates the engine's electric starter to start the engine. The throttle control unit controls the gasoline engine's throttle position. The engine pulley overrunning clutch ensures that power is only transmitted after a certain speed is reached. The gasoline engine's power drives the drive shaft and generator pulley via the engine belt and driven pulley. Simultaneously, the generator belt and pulley electromagnetic clutch drive the generator to generate electricity. If it is in pure electric drive mode, the electromagnetic clutch is de-energized and disengaged, while the pulley electromagnetic clutch is energized and engaged. If it is in engine mode, the electromagnetic clutch is energized and engaged, the electromagnetic brake is disengaged, and the left and right servo motors brake or reverse. If it is in a hybrid drive mode, the electromagnetic clutch is energized and engaged, the electromagnetic brake is disengaged, and the left and right servo motors rotate forward. The power from the servo motors and the gasoline engine is coupled and output through the left and right coupling gearboxes.

[0046] The various embodiments of this application have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or improvement of the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A small agricultural hybrid power chassis, characterized in that, include: Tracked walking mechanism (1), frame (2), traction mechanism (3), hybrid structure (4), driver's console (5), power supply mechanism (6) and electronic control system (7); The tracked walking mechanism (1) is installed in parallel on both sides of the frame (2). A traction mechanism (3) is installed at the rear end of the frame (2). A hybrid structure (4) is arranged on the frame (2). A driver's operating platform (5) is installed on the upper front end of the frame (2). A power supply mechanism (6) and an electronic control system (7) are arranged on the frame (2) below the driver's operating platform (5). The hybrid structure (4) includes a left sprocket drive (4-1), a left coupling gearbox (4-2), an electromagnetic clutch (4-3), a bearing housing (4-4), a generator pulley (4-5), an engine driven pulley (4-6), a right coupling gearbox (4-7), a right sprocket drive (4-8), an electromagnetic brake (4-10), an engine belt (4-11), an engine throttle control device (4-12), a gasoline engine (4-13), an engine electric start device (4-14), a battery box (4-15), an engine pulley overrunning clutch (4-16), an electrical control box (4-17), a generator belt (4-18), a generator (4-19), a left servo motor (4-21), a drive shaft (4-22), a right servo motor (4-23), and a pulley electromagnetic clutch (4-25). The left sprocket drive (4-1) and the right sprocket drive (4-8) are identical in size and are mounted on the output shafts of the left coupling gearbox (4-2) and the right coupling gearbox (4-7) respectively through shaft hole fitting; The left coupling gearbox (4-2) and the right coupling gearbox (4-7) are mounted on the frame (2) via wheel box mounting bases; The electromagnetic brake (4-10) is respectively engaged with the input shafts of the left coupling gearbox (4-2) and the right coupling gearbox (4-7) and fixed on the gearbox body; The left and right ends of the drive shaft (4-22) are connected to two electromagnetic brakes (4-10) respectively. The drive shaft (4-22) passes through two bearing seats (4-4) fixed on the frame (2). Electromagnetic clutches (4-3) are installed between the two bearing seats (4-4) and the electromagnetic brakes (4-10) on both sides respectively. Between the two bearing housings (4-4), a generator pulley (4-5) and an engine driven pulley (4-6) are mounted from left to right on the drive shaft (4-22). The generator (4-19) is mounted on the frame (2). The input shaft of the generator (4-19) is equipped with a pulley electromagnetic clutch (4-25), and a belt drive is formed by the generator belt (4-18) and the generator pulley (4-5). The gasoline engine (4-13) is fixed on the frame (2), and the engine pulley overrunning clutch (4-16) is installed on the output shaft of the engine (4-13) and forms a belt drive through the engine belt (4-11) and the engine driven pulley (4-6); The engine electric starter (4-14) is installed on one side of the engine (4-13), and the engine throttle control device (4-12) is fixed on the frame (2) next to the engine (4-13). The engine throttle control device (4-12) and the engine (4-13) throttle are physically connected. The left servo motor (4-21) and the right servo motor (4-23) are mounted on the frame (2) and are respectively connected to the shafts of the left coupling gearbox (4-2) and the right coupling gearbox (4-7); The battery box (4-15) is mounted on the rear end of the frame (2).

2. The small agricultural hybrid power chassis according to claim 1, characterized in that, The right-coupled gearbox (4-7) includes: The coupling gearbox consists of a first input shaft (4-7-1), a housing (4-7-2), a servo motor output shaft (4-7-3), a first gear (4-7-4), a sun gear (4-7-5), a coupling gearbox output shaft (4-7-6), planetary gears (4-7-7), and internal and external gear rings (4-7-8). The first input shaft (4-7-1) of the coupling gearbox is connected to the shaft hole of the sun gear (4-7-5) through the center hole of the inner and outer gear rings (4-7-8), and is fixed on the housing (4-7-2) together with the inner and outer gear rings (4-7-8), and can rotate between each other; The planetary gear (4-7-7) meshes with the sun gear (4-7-5) and the internal teeth of the internal and external gear rings (4-7-8); One end of the output shaft (4-7-6) of the coupling gearbox is connected to the planetary gear (4-7-7) and can make the planetary gear (4-7-7) rotate around the shaft, while the other end is fixed to the housing (4-7-2) to maintain rotation; The output shaft (4-7-3) of the servo motor passes through the housing (4-7-2) and is connected to the shaft hole of the first gear (4-7-4). The first gear (4-7-4) meshes with the outer teeth of the inner and outer gear rings (4-7-8) to drive the outer gear ring to rotate.

3. The small agricultural hybrid power chassis according to claim 1, characterized in that, The right sprocket drive (4-8) includes: Drive sprocket (4-8-1), driven sprocket (4-8-2), chain (4-8-3) and sprocket guard (4-8-4); The driving sprocket (4-8-1) is mounted on the output shaft of the coupling gearbox through a shaft hole, and the driven sprocket (4-8-2) is mounted on the drive wheel shaft of the track walking mechanism (1) through a shaft hole. The chain (4-8-3) is mounted on the driving sprocket (4-8-1) and the driven sprocket (4-8-2). The sprocket guard (4-8-4) covers the outside of the driving sprocket (4-8-1), driven sprocket (4-8-2) and chain (4-8-3) and is fixed to the coupling gearbox housing.

4. The small agricultural hybrid power chassis according to claim 1, characterized in that, The hybrid structure (4) further includes: Speed ​​sensor (4-9), tilt sensor (4-27) and hybrid structure protective shell (4-28); The speed sensor (4-9) is installed on the left sprocket drive (4-1) and the right sprocket drive (4-8) respectively. The speed sensor (4-9) includes a receiving device and a magnetic sheet. The receiving device is installed on the outer cover of the left sprocket drive (4-1) or the right sprocket drive (4-8), and the magnetic sheet is installed on the surface of the driving sprocket of the left sprocket drive (4-1) and the right sprocket drive (4-8). The tilt sensor (4-27) is installed inside the electrical control box (4-17), and the hybrid structure protective shell (4-28) is wrapped around the outside of the hybrid structure and fixed on the frame (2).

5. The small agricultural hybrid power chassis according to claim 1, characterized in that, The tracked walking mechanism (1) includes: Drive wheel (1-1), track roller (1-2), track support roller (1-3), support frame (1-4), tensioning device (1-5), guide wheel (1-6) and rubber track (1-7). The support frame (1-4) is located in the middle of the rubber track (1-7), with a drive wheel (1-1) at the rear end and a guide wheel (1-6) at the front end. The rubber track (1-7) is tensioned by the tensioning device (1-5) installed on the support frame (1-4). The support frame (1-4) has a support roller (1-3) installed at the upper middle part and four support rollers (1-2) installed at the bottom. The rubber track (1-7) has a uniformly spaced mating hole (1-7-2) in the middle that matches the teeth of the drive wheel (1-1). Limiting blocks (1-7-1) are fixed to the outer and inner sides of the rubber track (1-7) on both sides of the mating hole (1-7-2). Two symmetrical limiting blocks (1-7-1) on the inner side of the rubber track (1-7) are located between the drive wheel (1-1) to achieve limited rolling.

6. The small agricultural hybrid power chassis according to claim 1, characterized in that, The rack (2) includes: First main beam (2-1), second main beam (2-2), first gearbox mounting base (2-3), second gearbox mounting base (2-4), engine mounting base (2-5), electrical control box mounting base (2-6), battery box mounting base (2-7), upper bracket (2-8), driver's seat bracket (2-9), generator mounting base (2-10), and motor bracket (2-11); The frame (2) includes two trapezoidal beams perpendicular to the walking direction and fixed to the left and right track support frames at a certain distance. The beam closer to the drive wheel of the track walking mechanism (1) is the first beam (2-1), and the beam closer to the guide wheel of the track walking mechanism (1) is the second beam (2-2). The first main beam (2-1) is vertically mounted with a first gearbox mounting seat (2-3) and a second gearbox mounting seat (2-4). An engine mounting bracket (2-5) and an electrical control box mounting bracket (2-6) are installed between the first main beam (2-1) and the second main beam (2-2); The second main beam (2-2) has a battery box mounting base (2-7) installed perpendicularly to the direction of the guide wheel; A ring of upper brackets (2-8) is installed above the first main beam (2-1) and the second main beam (2-2); A driver's seat bracket (2-9) is provided above the electrical control box mounting base (2-6), and the driver's seat bracket (2-9) is mounted on the upper bracket (2-8); The upper bracket (2-8) is equipped with a generator mounting bracket (2-10) near the driver's seat bracket (2-9). Symmetrical motor brackets (2-11) are installed at the rear end of the upper support (2-8) near the drive wheels on both sides of the track walking mechanism (1).

7. The small agricultural hybrid power chassis according to claim 1, characterized in that, The power supply mechanism (6) includes: Generator (4-19), battery (4-15-1), and DC-DC converter (4-15-2). The generator (4-19) is electrically connected to the battery (4-15-1), the DC-DC converter (4-15-2) is connected to the battery (4-15-1), and the output end is connected to the DC power unit of the hybrid structure (4). The output end of the battery (4-15-1) is connected to the left servo motor (4-21) and the right servo motor (4-23).

8. The small agricultural hybrid power chassis according to claim 1, characterized in that, The electronic control system (7) includes: Servo motor driver (7-1) and hybrid controller (7-2); The hybrid controller (7-2) controls the left servo motor (4-21) and the right servo motor (4-23) through the servo motor driver (7-1). The hybrid controller (7-2) is connected to the battery (4-15-1), servo motor driver (7-1), engine electric start device (4-14), engine throttle control device (4-12), electromagnetic clutch (4-3), speed sensor (4-9), electromagnetic brake (4-10), tilt sensor (4-27) and console (5-3).

9. A power switching method for a small agricultural hybrid power chassis, applicable to the small agricultural hybrid power chassis described in any one of claims 1-8, characterized in that, include: The hybrid controller acquires the battery SOC value, speed sensor signal, and tilt sensor signal in real time to obtain the current power status and working status of the power chassis. When the chassis speed increases from 0, it is determined that the current state is the starting state. If the tilt angle sensor obtains a tilt angle greater than the threshold Q1, it is determined to be uphill. If the tilt angle is less than the threshold -Q1, it is determined to be downhill. When the tilt angle Q is within the upper and lower threshold range [-Q1, Q1], the current running state is determined to be running on flat ground. First, determine the drive mode based on the battery status. When the battery SOC value is greater than the charging threshold, it is determined that the battery power is sufficient, and the left and right servo motors are used for drive first. When the SOC value is less than the charging threshold K, it is determined that the battery power is insufficient and needs to be charged, and the gasoline engine is used for drive. Further determining the drive mode based on the starting state: When the hybrid power chassis is starting on flat ground or running at low speed and has sufficient battery power, the left and right servo motors are used first, and the power chassis adopts a pure electric drive mode; when the hybrid power chassis is starting on flat ground with insufficient battery power, starting uphill, or requiring instantaneous high power output, the gasoline engine is used for drive, and the gasoline engine drives the generator to generate electricity to replenish the battery, so that the servo motor can cooperate with the gasoline engine to output power when the power demand is high; when the hybrid power chassis is in a low-speed heavy-load working state or climbing state, resulting in insufficient power for the servo motor, the gasoline engine, left servo motor, and right servo motor jointly drive the power chassis; when going downhill, the gasoline engine is used first for drive, and energy recovery is performed simultaneously; During driving, the drive mode is switched. When the speed values ​​obtained by the left and right speed sensors are inconsistent, it is determined to be a turning or U-turn state, and the left and right servo motors are used first for driving. When the power chassis is running at a higher speed, it is determined to be a transfer or transportation state, and only the gasoline engine is used for driving.

Images