CN115158457A - Tractor gearbox capable of achieving pivot steering and control method - Google Patents
Tractor gearbox capable of achieving pivot steering and control method Download PDFInfo
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- CN115158457A CN115158457A CN202210780119.XA CN202210780119A CN115158457A CN 115158457 A CN115158457 A CN 115158457A CN 202210780119 A CN202210780119 A CN 202210780119A CN 115158457 A CN115158457 A CN 115158457A
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- 230000002337 anti-port Effects 0.000 abstract description 4
- 238000011065 in-situ storage Methods 0.000 abstract description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
- B62D11/06—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of a single main power source
- B62D11/10—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of a single main power source using gearings with differential power outputs on opposite sides, e.g. twin-differential or epicyclic gears
- B62D11/14—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of a single main power source using gearings with differential power outputs on opposite sides, e.g. twin-differential or epicyclic gears differential power outputs being effected by additional power supply to one side, e.g. power originating from secondary power source
- B62D11/18—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of a single main power source using gearings with differential power outputs on opposite sides, e.g. twin-differential or epicyclic gears differential power outputs being effected by additional power supply to one side, e.g. power originating from secondary power source the additional power supply being supplied hydraulically
- B62D11/183—Control systems therefor
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Abstract
The invention provides a tractor gearbox capable of realizing pivot steering, which comprises a box body, wherein the front end of the box body is provided with an HST (high speed Transmission) and a gear set which is arranged in the box body and connected with the HST and used for power transmission, and the gear set comprises a front driving group, a rear driving group, a reverse rotation control group, a right half shaft group and a left half shaft group; the front end of HST is equipped with the power input shaft, HST transmits power for back drive group and front drive group, back drive group transmits power for left side semi-axis group with right semi-axis group, reverse control group control left side semi-axis group and right semi-axis group antiport. Therefore, the invention can realize small-turning steering, even in-situ steering, the stepless speed regulation of the steering speed of the tractor is realized, the requirement of machine tool operation is met, the forward and backward rotation of the left wheel and the right wheel is realized, a plurality of manual operation steps are saved, and the working efficiency is greatly improved.
Description
Technical Field
The invention relates to the technical field of tractor transmission, in particular to a tractor gearbox capable of achieving pivot steering and a control method.
Background
In the farmland operation process of the tractor, a smaller turning radius means better maneuverability, and when plowing is performed, the smaller turning radius can provide a larger effective operation area, so that the working efficiency is improved. In addition, when the tractor works in narrow fields such as orchards, mountains and hills, if the turning radius is too large, the tractor needs to go forward and back for many times to avoid collision with surrounding crops or obstacles, and if the tractor goes forward and backs too much, the tractor can compact soil and damage the soil structure on one hand, and on the other hand, a large amount of time can be wasted, the working efficiency is reduced, and the oil consumption of the tractor is improved; in addition, in a particularly small area, an excessively large turning radius may not be able to complete a turn around or the like. At present, a wheel tractor and a crawler tractor generally use a unilateral clutch brake mode to brake a unilateral tire (crawler), and the other side tire (crawler) is driven to rotate around a driven side to reduce the turning radius. The method can reduce the turning radius to a certain extent, but the reduction is limited, the mode can cause the abrasion of the tires at the braking side and the damage to the soil structure such as the compaction of the soil, in addition, the wheeled tractor can also reduce the turning radius by modifying the chassis by increasing the steering angle, shortening the wheel base and the like, but the effect is limited, and the problem of large turning radius cannot be fundamentally solved.
In view of the foregoing, it is apparent that the prior art has inconvenience and disadvantages in practical use, and thus, needs to be improved.
Disclosure of Invention
Aiming at the defects, the invention aims to provide a tractor gearbox capable of realizing pivot steering and a control method, which can realize small-turning steering and pivot steering of a tractor, meet the requirements of machine tool operation, realize forward and backward rotation of left and right wheels, save a plurality of manual operation steps and greatly improve the working efficiency.
In order to achieve the purpose, the invention provides a tractor gearbox capable of achieving pivot steering, which comprises a box body, wherein the front end of the box body is provided with an HST and a gear set which is arranged in the box body and connected with the HST and used for power transmission, and the gear set comprises a front driving group, a rear driving group, a reverse rotation control group, a right half shaft group and a left half shaft group; the front end of the HST is provided with a power input shaft, the HST transmits power to the rear driving group and the front driving group, the rear driving group transmits power to the left half shaft group and the right half shaft group, and the reverse rotation control group controls the reverse rotation of the left half shaft group and the right half shaft group.
According to the tractor gearbox capable of achieving pivot steering, the reverse rotation control group comprises a hydraulic brake, a reverse cycloid motor, a reverse gear, a reverse motor gear, a reverse shaft planet gear and a sun gear, the planet gear is meshed with an inner gear ring of the left half shaft group and the sun gear, the sun gear is fixed on the reverse shaft, the reverse gear and the hydraulic brake are fixed on the reverse shaft, and the reverse gear is meshed with the reverse motor gear on the reverse motor.
According to the tractor gearbox capable of realizing pivot steering, a differential and a main reduction gear connected with the differential are arranged between the left half shaft group and the right half shaft group, one end of the differential is provided with a left half shaft input gear meshed with an outer gear ring of the left half shaft group, and the other end of the differential is provided with a right half shaft input gear meshed with a right half shaft final gear of the right half shaft group.
According to the tractor gearbox capable of realizing in-situ steering, the rear driving group comprises a rear driving shaft intermediate gear, a rear driving shaft low-speed gear, a rear driving shaft high-speed gear, a rear driving shaft synchronizer and a rear driving shaft, the rear driving shaft low-speed gear and the rear driving shaft high-speed gear are connected with the rear driving shaft through the rear driving shaft synchronizer, and the rear driving shaft intermediate gear is matched with the front driving group.
According to the tractor gearbox capable of realizing pivot steering, the front driving group comprises a rear driving bevel gear meshed with the main speed reducing gear, a 2/4 driving meshing sleeve gear arranged on the outer wall of the 2/4 driving meshing sleeve, a front driving shaft 4, a front driving gear meshed with the 2/4 driving meshing sleeve gear, a front driving input shaft and a front driving input shaft gear meshed with the rear driving shaft intermediate gear.
According to the tractor gearbox capable of realizing pivot steering, the output shaft of the HST is provided with a first reduction gear meshed with the high-speed gear of the driving shaft and a second reduction gear meshed with the low-speed gear of the driving shaft.
The invention also provides a control method of the tractor gearbox capable of realizing pivot steering, the HST also comprises a system controller, a reverse control 2# electric push rod, an HST1# electric push rod, a storage battery, a reverse braking 2# electromagnetic valve, a steering 1# electromagnetic valve No. 1 electromagnet and a steering 1# electromagnetic valve No. 2 electromagnet, one end of a control instruction line of the reverse control 2# electric push rod is connected with a PWM interface of the system controller, one end of a control instruction line of the HST1# electric push rod is connected with the PWM interface of the system controller, one end of a control instruction line of the reverse braking 2# electromagnetic valve is connected with a switch interface of the system controller, the steering 1# electromagnetic valve No. 1 electromagnet is connected with the switch interface of the system controller, the steering 1# electromagnetic valve No. 2 electromagnet is connected with the switch interface of the system controller, and the control method of steering to the left side when the gearbox advances is as follows:
s1, a reverse rotation steering button is pressed, the reverse rotation braking 2# electromagnetic valve is electrified, receives a starting instruction and outputs to start a reverse braking action, and a 2# electric push rod is reversely controlled to start;
s2, detecting whether the push-out position of the reverse control No. 2 electric push rod is in place or not, controlling the No. 2 electric push rod to continue to act when the push-out position is not in place, enabling only one of the No. 1 electromagnet of the steering No. 1 electromagnetic valve and the No. 2 electromagnet of the steering No. 1 electromagnetic valve to be powered on and receiving a starting instruction when the push-out position is in place, and enabling one powered electromagnet to start to act and enabling an unpowered electromagnet not to act;
s3, detecting whether the output speeds of the left half shaft and the right half shaft are equal, if not, controlling the HST1# electric push rod to act to adjust the speed of the tractor, and if so, controlling the HST1# electric push rod not to act, and continuously steering the tractor;
s4, when the tractor reaches a preset rotation angle, the steering button is released, one electrified electromagnet is electrified, the reverse braking 2# electromagnetic valve is electrified, and meanwhile, the HST1# electric push rod returns to the middle position, and the 2# electric push rod is reversely controlled to reset;
and S5, the engine recovers the idling and the steering is finished.
According to the control method of the tractor gearbox capable of achieving pivot steering, the electromagnet No. 1 of the steering 1# electromagnetic valve controls the left half shaft group to rotate, and the electromagnet No. 2 of the steering 1# electromagnetic valve controls the right half shaft group to rotate.
According to the control method of the tractor gearbox capable of achieving pivot steering, when the tractor moves forwards and turns to the left side, the electromagnet which is electrified is the No. 1 electromagnet of the steering No. 1 electromagnetic valve; when the tractor moves forwards and turns to the right side, the electromagnet which is electrified is the No. 2 electromagnet of the turning 1# electromagnetic valve; when the tractor backs a car and turns to the right side, the electromagnet which is electrified is the No. 1 electromagnet of the turning 1# electromagnetic valve; when the tractor backs a car and turns to the left side, the electromagnet which gets electrified is the No. 2 electromagnet of the 1# electromagnetic valve.
According to the control method of the tractor gearbox capable of achieving pivot steering, position detection sensors are arranged on the HST1# electric push rod and the reverse control 2# electric push rod, the reverse steering button comprises a left steering button and a right steering button, the left steering button controls the No. 1 electromagnet of the steering No. 1 electromagnetic valve, and the right steering button controls the No. 2 electromagnet of the steering No. 1 electromagnetic valve.
The invention provides a tractor gearbox capable of realizing pivot steering, which comprises a box body, wherein the front end of the box body is provided with an HST (high speed transmission) and a gear set which is arranged in the box body and connected with the HST for power transmission, and the gear set comprises a front driving group, a rear driving group, a reverse control group, a right half shaft group and a left half shaft group; the front end of HST is equipped with the power input shaft, guarantees to transmit the inside of gearbox with outside power, realizes the drive to the gearbox, HST transmits power for back drive group and front drive group, back drive group transmits power for left half axle group with right half axle group, reverse control group control left half axle group and right half axle group antiport, it is to guarantee to carry out pivot turn at the tractor, through left half axle group and right half axle group cooperation, realizes that the turning to of left half axle group and right half axle group is opposite to realize the pivot steering operation of tractor.
The invention also provides a control method of a tractor gearbox capable of realizing pivot steering, the HST also comprises a system controller, a reverse control 2# electric push rod, an HST1# electric push rod, a storage battery, a reverse braking 2# electromagnetic valve, a steering 1# electromagnetic valve 1# electromagnet and a steering 1# electromagnetic valve 2# electromagnet, one end of a control instruction line of the reverse control 2# electric push rod is connected with a PWM interface of the system controller, one end of a control instruction line of the HST1# electric push rod is connected with the PWM interface of the system controller, one end of a control instruction line of the reverse braking 2# electromagnetic valve is connected with a switch interface of the system controller, the steering 1# electromagnetic valve 1# electromagnet is connected with the switch interface of the system controller, the steering 1# electromagnetic valve 2# electromagnet is connected with the switch interface of the system controller, and the control method of steering to the left side when the gearbox advances is as follows: s1, a reverse rotation steering button is pressed, the reverse rotation braking 2# electromagnetic valve is electrified, receives a starting instruction and outputs to start a reverse braking action, and a 2# electric push rod is reversely controlled to start; s2, detecting whether the push-out position of the reverse control No. 2 electric push rod is in place or not, when the push-out position is not in place, reversely controlling the No. 2 electric push rod to continue to act, when the push-out position is in place, only one of the No. 1 electromagnet of the steering No. 1 electromagnetic valve and the No. 2 electromagnet of the steering No. 1 electromagnetic valve is electrified and receives a starting instruction, and the electrified electromagnet starts to act while the electromagnet which is not electrified does not act; s3, detecting whether the output speeds of the left half shaft and the right half shaft are equal, if not, controlling the HST1# electric push rod to act to adjust the speed of the tractor, and if so, controlling the HST1# electric push rod not to act, and continuously steering the tractor; s4, when the tractor reaches a preset rotation angle, the steering button is released, one electrified electromagnet is electrified, the reverse braking 2# electromagnetic valve is electrified, and meanwhile, the HST1# electric push rod returns to the middle position, and the 2# electric push rod is reversely controlled to reset; s5, the engine is returned to idle speed, and steering is finished, so that the tractor has the technical effects that small-turning steering and pivot steering of the tractor can be realized, the requirements of machine tool operation are met, forward and backward rotation of the left wheel and the right wheel is realized, a plurality of manual operation steps are omitted, and the working efficiency is greatly improved.
Drawings
FIG. 1 is a schematic representation of the transmission of the present invention;
FIG. 2 is a logic diagram of the electrical wiring of the present invention;
FIG. 3 is a control flow diagram of the control method of the present invention;
FIG. 4 is a control diagram of the hydraulic system of the present invention;
FIG. 5 is a schematic view of the left axle shaft configuration of the present invention;
in the figure, 1-2/4 drive meshing sleeve gear, 2-rear drive bevel gear, 3-2/4 drive meshing sleeve, 4-front drive shaft, 5-front drive gear, 6-front drive input shaft, 7-front drive input shaft gear, 8-rear drive shaft intermediate gear, 9-rear drive shaft low-speed gear, 10-rear drive shaft high-speed gear, 11-rear drive shaft synchronizer, 12-rear drive shaft, 13-first reduction gear, 14-second reduction gear, 15-output shaft, 17-power input shaft, 18-left half shaft, 19-left half shaft input gear, 20-planet carrier, 21-sun gear, 22-planet gear, 23-an inner gear ring, 24-an outer gear ring, 25-a counter shaft, 26-a counter motor gear, 27-a counter gear, 28-a counter cycloid motor, 29-a hydraulic brake, 30-a main reduction gear, 31-a differential, 32-a right half shaft, 33-a right half shaft final stage gear, 34-a right half shaft input gear, 35-a front axle counter cycloid motor, 36-a rear axle counter cycloid motor, 37-a flow dividing and collecting valve, 38-a three-position four-way electromagnetic reversing valve, 39-a hydraulic brake, 40-a two-position three-way reversing valve, 41-a pressure reducing valve, 42-an overflow valve, 43-a gear disc and 44-a rotating speed sensor.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings and embodiments, it being understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.
Referring to fig. 1, the invention provides a tractor gearbox capable of achieving pivot steering, which comprises a gearbox body, wherein the front end of the gearbox body is provided with an HST and a gear set which is arranged in the gearbox body and connected with the HST and used for power transmission, and the gear set comprises a front driving group, a rear driving group, a reverse rotation control group, a right half shaft group and a left half shaft group; the front end of HST is equipped with power input shaft 17, guarantees to transmit the inside of gearbox with outside power, realizes the drive to the gearbox, HST transmits power for back drive group and front drive group, back drive group transmits power for left half axle group with right half axle group, reverse control group control left half axle group and right half axle group antiport, it is to guarantee to carry out pivot turn at the tractor, through left half axle group and right half axle group cooperation, realizes that the turning to of left half axle group and right half axle group is opposite to realize the pivot of tractor and turn to the operation.
Preferably, the reverse rotation control group of the present invention includes a hydraulic brake 29, a reverse rotation cycloid motor 28, a reverse rotation gear 27, a reverse rotation motor gear 26, planetary gears 22 and a sun gear 21 on a reverse rotation shaft 25, the planetary gears 22 are engaged with the ring gear 23 of the left half shaft group and the sun gear 21, the sun gear 21 is fixed on the reverse rotation shaft 25, the reverse rotation gear 27 and the hydraulic brake 29 are fixed on the reverse rotation shaft 25, and the reverse rotation gear 27 is engaged with the reverse rotation motor gear 26 on the reverse rotation motor.
In addition, a differential 31 and a main reduction gear 30 connected to the differential 31 are provided between the left and right axle groups, a left axle input gear 19 engaged with the outer ring gear 24 of the left axle group is provided at one end of the differential 31, and a right axle input gear 34 engaged with the right axle final gear 33 of the right axle group is provided at the other end.
Further, the rear drive group of the present invention includes a rear drive shaft intermediate gear 8, a rear drive shaft low-speed gear 9, a rear drive shaft high-speed gear 10, a rear drive shaft synchronizer 11 and a rear drive shaft 12, the rear drive shaft low-speed gear 9 and the rear drive shaft high-speed gear 10 are connected to the rear drive shaft 12 through the rear drive shaft synchronizer 11, the rear drive shaft intermediate gear 8 is matched with the front drive group, the front drive group includes a rear drive bevel gear 2, a 2/4 drive meshing sleeve 3 meshed with the main reduction gear 30, a 2/4 drive meshing sleeve gear 1 and a front drive shaft 4 arranged on the outer wall of the 2/4 drive meshing sleeve 3, a front drive gear 5 meshed with the 2/4 drive meshing sleeve gear 1, a front drive input shaft 6 and a front drive input shaft gear 7 meshed with the rear drive shaft intermediate gear 8, and a first reduction gear 13 meshed with the drive shaft high-speed gear and a second gear 14 meshed with the drive shaft low-speed gear are arranged on an output shaft 15 of the HST.
The working principle of the gearbox of the invention during steering is as follows: during the pivot steering operation of the tractor, the left wheel and the right wheel rotate reversely at the same speed: the hydraulic brake 29 is off and the counter-rotating gerotor motor 28 drives the sun gear 21 in reverse rotation, while the right half shaft 32 is in positive rotation power path: (first reduction gear 13 → rear drive shaft high speed gear 10, second reduction gear 14 → rear drive shaft low speed gear 9) → rear drive bevel gear 2 → main reduction gear 30 → differential 31 → right half shaft input gear 34 → right half shaft final stage gear 33 → right half shaft 32; reverse power path of left axle shaft 18: the reverse cycloid motor 28 → the reverse motor gear 26 → the reverse gear 27 → the reverse shaft 25 → the sun gear 21 → the carrier 20 → the left half shaft 18, the reverse cycloid motor 28 is driven by hydraulic pressure, the rotation speed which can be provided to the left half shaft 18 and output by the reverse cycloid motor is the same as that of the right half shaft 32 by the existing electric control device, the left and right wheels rotate reversely at the same speed, and the tractor realizes pivot steering.
Referring to fig. 2 and 3, the present invention further provides a control method of a tractor gearbox capable of implementing pivot steering, wherein the connection mode between the electrical appliances in the HST is as follows: the HST further comprises a system controller, a reverse control 2# electric push rod, an HST1# electric push rod, a storage battery, a reverse braking 2# electromagnetic valve, a steering 1# electromagnetic valve 1# electromagnet and a steering 1# electromagnetic valve 2# electromagnet, one end of a control instruction line of the reverse control 2# electric push rod is connected with a PWM interface of the system controller, one end of the control instruction line of the HST1# electric push rod is connected with the PWM interface of the system controller, one end of the control instruction line of the reverse braking 2# electromagnetic valve is connected with a switch interface of the system controller, the steering 1# electromagnetic valve 1# electromagnet is connected with the switch interface of the system controller, and the steering 1# electromagnetic valve 2# electromagnet is connected with the switch interface of the system controller.
The control method of the gearbox comprises the following steps:
s1, a reverse rotation steering button is pressed, the reverse rotation braking 2# electromagnetic valve is electrified, receives a starting instruction and outputs to start a reverse braking action, and a 2# electric push rod is reversely controlled to start;
s2, detecting whether the push-out position of the reverse control No. 2 electric push rod is in place or not, when the push-out position is not in place, reversely controlling the No. 2 electric push rod to continue to act, when the push-out position is in place, only one of the No. 1 electromagnet of the steering No. 1 electromagnetic valve and the No. 2 electromagnet of the steering No. 1 electromagnetic valve is electrified and receives a starting instruction, and the electrified electromagnet starts to act while the electromagnet which is not electrified does not act;
s3, detecting whether the output speeds of the left half shaft and the right half shaft are equal, if not, controlling the HST1# electric push rod to act to adjust the speed of the tractor, and if so, controlling the HST1# electric push rod not to act, and continuously steering the tractor;
s4, when the tractor reaches a preset rotation angle, the steering button is released, one electrified electromagnet is electrified, the 2# electromagnetic valve is reversely braked to be electrified, and meanwhile, the HST1# electric push rod returns to the middle position, and the 2# electric push rod is reversely controlled to reset;
and S5, the engine recovers the idling and the steering is finished.
In addition, the working states of the control method corresponding to different running states of the tractor are as follows: the electromagnet of the steering 1# electromagnetic valve No. 1 controls the left half shaft group to rotate, the electromagnet of the steering 1# electromagnetic valve No. 2 controls the right half shaft group to rotate, and when the tractor moves forwards and turns to the left side, the electromagnet which is electrified is the electromagnet of the steering 1# electromagnetic valve No. 1; when the tractor moves forwards and turns to the right side, the electromagnet which is electrified is the No. 2 electromagnet of the turning 1# electromagnetic valve; when the tractor backs up and turns to the right side, the electromagnet which is electrified is the No. 1 electromagnet of the turning 1# electromagnetic valve; when the tractor backs a car and turns to the left side, the electromagnet which gets electrified is the No. 2 electromagnet of the 1# electromagnetic valve.
In the invention, the control principle and the flow of the gearbox are as follows: the HST power passes through a middle gear (numbered from 1 to 15), then the power is transmitted to the reverse shaft 25 through the rear drive bevel gear 2, the reverse instruction transmitted by the system controller acts on the reverse shaft 25 through the reverse cycloid motor 28, the reverse gear 27 and the reverse motor gear 26, and finally acts on the left half shaft through the outer gear ring 24, the inner gear ring 23, the planet wheel 22, the sun wheel 21 and the planet wheel carrier 20 which are hung on the reverse shaft 25 to drive the left wheel to reversely rotate. Alternatively, the reverse rotation command transmitted from the system controller is applied to the reverse rotation shaft 25 via the reverse rotation gerotor motor 28 via the reverse rotation gear 27 and the reverse rotation motor gear 26, and then applied to the right axle shaft 32 via the differential 31 via the right axle input gear 34 and the right axle final gear 33, thereby driving the right wheel to rotate in reverse.
When the tractor works at a low gear of a power gear and executes a left pivot steering program, a left pivot steering button needs to be pressed, the rotating speed of an engine is set at a fixed rotating speed, and meanwhile, a reverse braking 2# electromagnetic valve is electrified and a reverse control 2# electric push rod is pushed to be in place. After the reverse control 2# electric push rod is confirmed to be pushed to the right position again through the program, the No. 1 electromagnet (left position) of the steering 1# electromagnetic valve is electrified, and the HST1# electric push rod is pushed to the position of the set speed. And (3) circularly detecting whether the speeds output by the left and right half shafts are equal or not by the program, continuously adjusting the positions of the HST1# electric push rods if the speeds output by the left and right half shafts are not equal until the speeds output by the left and right half shafts are detected to be equal, and then continuously carrying out left pivot steering. When the program detects that the steering angle reaches the expected angle, the No. 1 electromagnet (left position) of the steering 1# electromagnetic valve loses power, and the HST1# electric push rod returns to the middle position. And (4) reversely controlling the No. 2 electric push rod to return to the initial position, adjusting the engine to idle speed, and finishing the left pivot steering program.
Similarly, when the tractor executes a right pivot steering program, the right pivot steering button needs to be pressed, the rotating speed of the engine is set at a fixed rotating speed, and meanwhile, the reverse braking 2# electromagnetic valve is electrified and the reverse control 2# electric push rod is pushed to the right position. After the reverse control 2# electric push rod is confirmed to be pushed to the right again through the program, the No. 2 electromagnet (right position) of the steering 1# electromagnetic valve is electrified, and the HST1# electric push rod is pushed to the position of the set speed. And circularly detecting whether the speeds output by the left and right half shafts are equal or not by the program, continuously adjusting the position of the HST1# electric push rod if the speeds output by the left and right half shafts are not equal until the speeds output by the left and right half shafts are detected to be equal, and then continuously carrying out left pivot steering. When the program detects that the steering angle reaches the expected angle, the No. 2 electromagnet (right position) of the steering 1# electromagnetic valve is de-energized, and the HST1# electric push rod returns to the middle position. And (4) reversely controlling the No. 2 electric push rod to return to the initial position, adjusting the engine to idle speed, and finishing the right pivot steering program.
In the reverse operation, the two directions of rotation are reversed.
In summary, the invention provides a tractor gearbox capable of realizing pivot steering, which comprises a box body, wherein the front end of the box body is provided with an HST and a gear set which is arranged in the box body and connected with the HST and used for power transmission, and the gear set comprises a front driving group, a rear driving group, a reverse rotation control group, a right half shaft group and a left half shaft group; HST's front end is equipped with the power input shaft, guarantees to transmit the inside of gearbox with outside power, realizes the drive to the gearbox, HST transmits power for back drive group and front drive group, back drive group transmits power for left side half axle group with right half axle group, reverse control group control left side half axle group and right half axle group antiport, it is to guarantee to carry out pivot at the tractor, through left half axle group and right half axle group cooperation, realizes that the turning to of left half axle group and right half axle group is opposite to realize the pivot of tractor and turn to the operation.
The invention also provides a control method of the tractor gearbox capable of realizing pivot steering, the HST also comprises a system controller, a reverse control 2# electric push rod, an HST1# electric push rod, a storage battery, a reverse braking 2# electromagnetic valve, a steering 1# electromagnetic valve 1# electromagnet and a steering 1# electromagnetic valve 2# electromagnet, one end of a control instruction line of the reverse control 2# electric push rod is connected with a PWM interface of the system controller, one end of a control instruction line of the HST1# electric push rod is connected with the PWM interface of the system controller, one end of a control instruction line of the reverse braking 2# electromagnetic valve is connected with a switch interface of the system controller, the steering 1# electromagnetic valve 1# electromagnet is connected with the switch interface of the system controller, the steering 1# electromagnetic valve 2# electromagnet is connected with the switch interface of the system controller, and the control method of steering to the left side when the gearbox advances is as follows: s1, a reverse rotation steering button is pressed, the reverse rotation braking 2# electromagnetic valve is electrified, receives a starting instruction and outputs to start a reverse braking action, and a 2# electric push rod is reversely controlled to start; s2, detecting whether the push-out position of the reverse control No. 2 electric push rod is in place or not, when the push-out position is not in place, reversely controlling the No. 2 electric push rod to continue to act, when the push-out position is in place, only one of the No. 1 electromagnet of the steering No. 1 electromagnetic valve and the No. 2 electromagnet of the steering No. 1 electromagnetic valve is electrified and receives a starting instruction, and the electrified electromagnet starts to act while the electromagnet which is not electrified does not act; s3, detecting whether the output speeds of the left half shaft and the right half shaft are equal, if not, controlling the HST1# electric push rod to act to adjust the speed of the tractor, and if so, controlling the HST1# electric push rod not to act, and continuously steering the tractor; s4, when the tractor reaches a preset rotation angle, the steering button is released, one electrified electromagnet is electrified, the 2# electromagnetic valve is reversely braked to be electrified, and meanwhile, the HST1# electric push rod returns to the middle position, and the 2# electric push rod is reversely controlled to reset; s5, the engine is recovered to be in idle speed, and steering is completed.
The present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof, and it should be understood that various changes and modifications can be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings, which are based on the orientations and positional relationships indicated in the drawings, and are used for convenience in describing the present invention and for simplicity in description, but do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
Claims (10)
1. The tractor gearbox capable of achieving pivot steering is characterized by comprising a box body, wherein the front end of the box body is provided with an HST and a gear set which is arranged in the box body and connected with the HST and used for power transmission, and the gear set comprises a front driving group, a rear driving group, a reverse rotation control group, a right half shaft group and a left half shaft group;
the front end of the HST is provided with a power input shaft, the HST transmits power to the rear driving group and the front driving group, the rear driving group transmits power to the left half shaft group and the right half shaft group, and the reverse rotation control group controls the reverse rotation of the left half shaft group and the right half shaft group.
2. The pivot steering tractor transmission as defined in claim 1 wherein said reverse control group includes a hydraulic brake, a reverse gerotor motor, a reverse gear, a reverse motor gear, a reverse shaft planet gear and a sun gear, said planet gear meshing with an inner gear ring of said left set of axles and said sun gear, said sun gear being fixed to said reverse shaft, said reverse gear and said hydraulic brake being fixed to said reverse shaft, said reverse gear meshing with said reverse motor gear on said reverse motor.
3. The tractor gearbox capable of achieving pivot steering according to claim 1, wherein a differential and a main reduction gear connected with the differential are arranged between the left half shaft group and the right half shaft group, one end of the differential is provided with a left half shaft input gear meshed with an outer gear ring of the left half shaft group, and the other end of the differential is provided with a right half shaft input gear meshed with a right half shaft final gear of the right half shaft group.
4. The pivot steering tractor gearbox of claim 3, wherein the rear drive group includes a rear drive axle intermediate gear, a rear drive axle low speed gear, a rear drive axle high speed gear, a rear drive axle synchronizer, and a rear drive axle, the rear drive axle low speed gear and the rear drive axle high speed gear being connected to the rear drive axle through the rear drive axle synchronizer, the rear drive axle intermediate gear being engaged with the front drive group.
5. The pivot-steering tractor gearbox of claim 4, wherein the front drive group comprises a rear drive bevel gear meshing with the main reduction gear, a 2/4 drive meshing sleeve gear arranged on the outer wall of the 2/4 drive meshing sleeve, a front drive shaft 4, a front drive gear meshing with the 2/4 drive meshing sleeve gear, a front drive input shaft and a front drive input shaft gear meshing with the rear drive shaft intermediate gear.
6. The pivot steering tractor gearbox of claim 4, wherein a first reduction gear engaged with the drive shaft high speed gear and a second reduction gear engaged with the drive shaft low speed gear are provided on the output shaft of the HST.
7. The control method for the tractor gearbox capable of achieving pivot steering according to any one of claims 1 to 6, wherein the HST further comprises a system controller, a reverse control 2# electric push rod, an HST1# electric push rod, a storage battery, a reverse braking 2# electromagnetic valve, a steering 1# electromagnetic valve 1# electromagnet and a steering 1# electromagnetic valve 2# electromagnet, one end of a control command line of the reverse control 2# electric push rod is connected with a PWM interface of the system controller, one end of a control command line of the HST1# electric push rod is connected with the PWM interface of the system controller, one end of a control command line of the reverse braking 2# electromagnetic valve is connected with a switch interface of the system controller, the steering 1# electromagnetic valve 1# electromagnet is connected with the switch interface of the system controller, the steering 1# electromagnetic valve 2 is connected with the switch interface of the system controller, and the control method for steering to the left side when the gearbox advances is as follows:
s1, a reverse rotation steering button is pressed, the reverse rotation braking 2# electromagnetic valve is electrified, receives a starting instruction and outputs to start a reverse braking action, and a 2# electric push rod is reversely controlled to start;
s2, detecting whether the push-out position of the reverse control No. 2 electric push rod is in place or not, controlling the No. 2 electric push rod to continue to act when the push-out position is not in place, enabling only one of the No. 1 electromagnet of the steering No. 1 electromagnetic valve and the No. 2 electromagnet of the steering No. 1 electromagnetic valve to be powered on and receiving a starting instruction when the push-out position is in place, and enabling one powered electromagnet to start to act and enabling an unpowered electromagnet not to act;
s3, detecting whether the output speeds of the left half shaft and the right half shaft are equal, if not, controlling the HST1# electric push rod to act to adjust the speed of the tractor, and if so, controlling the HST1# electric push rod not to act, and continuously steering the tractor;
s4, when the tractor reaches a preset rotation angle, the steering button is released, one electrified electromagnet is electrified, the 2# electromagnetic valve is reversely braked to be electrified, and meanwhile, the HST1# electric push rod returns to the middle position, and the 2# electric push rod is reversely controlled to reset;
and S5, the engine recovers the idling and the steering is finished.
8. The control method according to claim 7, characterized in that the electromagnet No. 1 of the steering No. 1 electromagnetic valve controls the left half shaft group to rotate, and the electromagnet No. 2 of the steering No. 1 electromagnetic valve controls the right half shaft group to rotate.
9. The control method according to claim 8, characterized in that when the tractor moves forward and turns to the left side, the powered electromagnet is the No. 1 electromagnet of the No. 1 electromagnetic steering valve; when the tractor moves forwards and turns to the right side, the electromagnet which is electrified is the No. 2 electromagnet of the turning 1# electromagnetic valve; when the tractor backs a car and turns to the right side, the electromagnet which is electrified is the No. 1 electromagnet of the turning 1# electromagnetic valve; when the tractor backs a car and turns to the left side, the electromagnet which gets electrified is the No. 2 electromagnet of the 1# electromagnetic valve.
10. The control method according to claim 7, wherein position detection sensors are arranged on the HST1# electric push rod and the reverse control 2# electric push rod, the reverse steering button comprises a left steering button and a right steering button, the left steering button controls the No. 1 electromagnet of the No. 1 electromagnetic valve, and the right steering button controls the No. 2 electromagnet of the No. 1 electromagnetic valve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210780119.XA CN115158457A (en) | 2022-07-04 | 2022-07-04 | Tractor gearbox capable of achieving pivot steering and control method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210780119.XA CN115158457A (en) | 2022-07-04 | 2022-07-04 | Tractor gearbox capable of achieving pivot steering and control method |
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| CN115158457A true CN115158457A (en) | 2022-10-11 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003034252A (en) * | 2001-07-19 | 2003-02-04 | Iseki & Co Ltd | Steering device fixing structure for service vehicle |
| CN111284557A (en) * | 2020-03-20 | 2020-06-16 | 雷沃重工股份有限公司 | Vehicle pivot steering device and method and vehicle |
| CN215214622U (en) * | 2021-07-16 | 2021-12-17 | 易如(山东)智能科技有限公司 | Automatic stepless gearbox applied to agricultural machinery |
| CN113879116A (en) * | 2021-10-29 | 2022-01-04 | 易如(山东)智能科技有限公司 | Multi-terrain operation tractor capable of steering in situ |
| CN113915309A (en) * | 2021-12-15 | 2022-01-11 | 易如(山东)智能科技有限公司 | Mechanical automatic stepless gearbox capable of realizing left-right forward and reverse rotation |
-
2022
- 2022-07-04 CN CN202210780119.XA patent/CN115158457A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003034252A (en) * | 2001-07-19 | 2003-02-04 | Iseki & Co Ltd | Steering device fixing structure for service vehicle |
| CN111284557A (en) * | 2020-03-20 | 2020-06-16 | 雷沃重工股份有限公司 | Vehicle pivot steering device and method and vehicle |
| CN215214622U (en) * | 2021-07-16 | 2021-12-17 | 易如(山东)智能科技有限公司 | Automatic stepless gearbox applied to agricultural machinery |
| CN113879116A (en) * | 2021-10-29 | 2022-01-04 | 易如(山东)智能科技有限公司 | Multi-terrain operation tractor capable of steering in situ |
| CN113915309A (en) * | 2021-12-15 | 2022-01-11 | 易如(山东)智能科技有限公司 | Mechanical automatic stepless gearbox capable of realizing left-right forward and reverse rotation |
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