CN106671850A - Farm trailer with hydraulic loading bucket and straight-walking guiding and adjustment method - Google Patents
Farm trailer with hydraulic loading bucket and straight-walking guiding and adjustment method Download PDFInfo
- Publication number
- CN106671850A CN106671850A CN201610740362.3A CN201610740362A CN106671850A CN 106671850 A CN106671850 A CN 106671850A CN 201610740362 A CN201610740362 A CN 201610740362A CN 106671850 A CN106671850 A CN 106671850A
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- Prior art keywords
- trailer
- hydraulic pressure
- wheel
- hydraulic
- theta
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P1/00—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
- B60P1/48—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading using pivoted arms raisable above load-transporting element
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
- B62D15/0265—Automatic obstacle avoidance by steering
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Guiding Agricultural Machines (AREA)
Abstract
The invention discloses a farm trailer with a hydraulic loading bucket. The hydraulic loading bucket includes a carriage, a hydraulic lifter, a driving rod and the loading bucket, wherein one end of the hydraulic lifter is installed on the outer side of the carriage and close to the upper portion of the carriage, one end of the driving rod is connected with the other end of the hydraulic lifter, and the loading bucket is connected with the other end of the driving rod, can ascend and descend along with the hydraulic lifter and is used for containing grain crops; the loading bucket is placed in the relatively low position on the side of the farm trailer by means of the hydraulic device, after being fully filled, the loading bucket is lifted by means of the hydraulic device to throw the grain crops to the carriage, in transportation, the loading bucket is lifted above the farm trailer, and therefore the labor intensity of farms can be greatly reduced and the loading efficiency is improved. The invention further provides a straight-walking guiding and adjustment method, a distance measurement sensor is used for real-time detection of parameters of obstacles, a dada reference is provided for drivers driving in a field, and at the same time, a steering motor is used for adjusting the steering angle of the trailer in real time so as to guide the trailer and make the trailer walk straightly in the operation process.
Description
Technical field
The present invention relates to a kind of agriculture trailer, more particularly to a kind of farm cart with hydraulic pressure entrucking bucket and one kind it is agricultural
Straight method of adjustment is walked in the guiding of trailer hydraulic pressure wagon box.
Background technology
Being mainly used for of the farm cart for commonly using in northeast village at present draws at ordinary times soil and sandstone etc., and autumn is used for
Draw grain and straw, main purposes or autumn results luck are delivered grain food.It is one numerous that substantial amounts of grain is attached on trailer
The physical work of weight, if from morning to night load within one day, certainly most people is unable to stand.In addition peasant in order to plus fast freight
Grain speed generally all increases the railway carriage of trailer, thus more increases the difficulty of entrucking.In order to mitigate the labor intensity of peasant
Loading speed is improved, urgent need designs a kind of mechanical type entrucking bucket.
The content of the invention
The present invention has designed and developed a kind of farm cart with hydraulic pressure entrucking bucket, is put into entrucking bucket by hydraulic means
The relatively low position in trailer side, railway carriage is poured into after filling after hydraulic means is by the lifting of entrucking bucket, transports walking fashionable dress car
Bucket is raised to trailer top, and the labor intensity that can greatly reduce peasant improves entrucking efficiency.
It is a still further object of the present invention to provide straight method of adjustment is walked in a kind of farm cart guiding, distance measuring sensor is crossed real-time
Detection barrier parameter, to the walking of driver field data reference is provided, while being turned to by steer motor real-time regulation trailer
Angle, to reach operation process in guiding drag chariots going a straight line.
The present invention provide technical scheme be：
A kind of farm cart with hydraulic pressure entrucking bucket, including：
Railway carriage；
Hydraulic pressure lifting device, its one end is arranged on railway carriage outside, near railway carriage top；
Drive rod, its one end connects the hydraulic pressure lifting device other end；
Entrucking bucket, its described drive rod other end of connection, and can lift with hydraulic pressure lifting device, make for containing grain
Thing.
Preferably, the hydraulic pressure lifting device, including：
Articulated base；
Hydraulic jack, its described articulated base of connection, and including being arranged on in-oil cylinder piston rod；
Actuating unit, its described hydraulic jack of connection, for adjusting the collapsing length of the piston rod.
Preferably, the actuating unit is motor.
Preferably, also including protective plate, it is arranged on car body both sides, for preventing the trailer from departing from original track.
Preferably, the railway carriage is hollow car body.
Straight method of adjustment is walked in a kind of guiding of the farm cart with hydraulic pressure entrucking bucket, including：
Data acquisition module detects the trailer and the distance between preceding object thing and both sides barrier, wherein, data
Acquisition module includes being arranged on trailer front end for measuring the front distance measuring sensor of trailer and preceding object thing distance and being arranged on
The back gauge sensor of both sides；
According to the state parameter information for detecting, safe obstacle detouring radius is calculated, and front-wheel is entered according to threshold determination trailer
One kind in steering pattern, rear-axle steering pattern, traction Car following model, and calculate wheel steering angle numerical value.
Preferably, the computing formula of the safe obstacle detouring radius is：
Rsaf=(1+ | sin α |) mrig+Lfor
Wherein, RsafFor safe obstacle detouring radius；α is the minimum angle between tractor and trailer, mrigFor entrucking bucket with treat
Turn side obstacle spacing；LforFor the distance between trailer and preceding object thing.
Preferably, the threshold determination method is：
WhenWhen, into front-wheel steer pattern, before steer motor driving-trailer
Rotate to；
WhenWhen, into rear-axle steering pattern, there is steering electricity
Machine driving-trailer rear-axle steering；
WhenWhen, turned to by tractor and drive trailer to turn to；
Wherein, L is the distance of left front wheel shaft and left back wheel shaft, and b is the distance between the near front wheel and off-front wheel, and C is front overhang
Length, K is car load width, based on M pin center away from.
Preferably, the trailer corner numerical computational formulas are：
When into front-wheel steer pattern：
Wherein λ is correction factor, and its numerical value is 0.385；
When into rear-axle steering pattern：
Wherein I is correction coefficient, and its numerical value is 0.525；
Wherein, θ1For the near front wheel corner, θ2For off-front wheel corner, θ3For left rear wheel corner, θ4For off hind wheel corner, k is to incline
The oblique factor, its numerical value is 0.245, and clockwise steering of steering wheel for defining tractor is forward direction.
Beneficial effect of the present invention
1. entrucking bucket is put into the relatively low position in trailer side by the present invention by hydraulic means, is filled by hydraulic pressure after filling
Put and pour into after entrucking bucket is lifted railway carriage, transport walking fashionable dress wagon box is raised to trailer top, can greatly reduce the labor of peasant
Fatigue resistance improves entrucking efficiency, and simple structure, low cost failure is few.
2., it is a still further object of the present invention to provide straight method of adjustment is walked in a kind of guiding of farm cart, distance measuring sensor reality is crossed
When detect barrier parameter, provide data reference to the walking of driver field, while by steer motor real-time regulation trailer turn
To angle, to reach operation process in guiding drag chariots going a straight line.
Description of the drawings
Fig. 1 is the structural representation of the farm cart with hydraulic pressure entrucking bucket of the present invention.
Specific embodiment
Below in conjunction with the accompanying drawings the present invention is described in further detail, to make those skilled in the art with reference to description text
Word can be implemented according to this.
As shown in figure 1, the farm cart with hydraulic pressure entrucking bucket that the present invention is provided, including：Railway carriage 100, hydraulic lifting
Device 200, drive rod 300 and entrucking bucket 400.
Wherein, hydraulic pressure lifting device 200, its one end is arranged on the outside of railway carriage 100, above railway carriage 100, including：It is hinged
Base, hydraulic jack, its connection articulated base, and including being arranged on in-oil cylinder piston rod, actuating unit, its connection liquid
Compressing cylinder, for the collapsing length of regulating piston bar,
As one kind preferably, actuating unit is motor.
Protective plate, it is arranged on car body both sides, for preventing trailer from departing from original track.
As one kind preferably, railway carriage 100 is hollow car body.
Drive rod 300, its one end connection other end of hydraulic pressure lifting device 200；Entrucking bucket 400, its connection drive rod 300 is another
End, and can lift with hydraulic pressure lifting device 200, for containing cereal crops.
Straight method of adjustment is walked in a kind of guiding of the farm cart with hydraulic pressure entrucking bucket, including：
Data acquisition module detects the trailer and the distance between preceding object thing and both sides barrier, wherein, data
Acquisition module includes being arranged on trailer front end for measuring the front distance measuring sensor of trailer and preceding object thing distance and being arranged on
The back gauge sensor of both sides；
According to the state parameter information for detecting, safe obstacle detouring radius is calculated, and front-wheel is entered according to threshold determination trailer
One kind in steering pattern, rear-axle steering pattern, traction Car following model, and calculate wheel steering angle numerical value.
Preferably, the computing formula of the safe obstacle detouring radius is：
Rsaf=(1+ | sin α |) mrig+Lfor
Wherein, RsafFor safe obstacle detouring radius；α is the minimum angle between tractor and trailer, mrigFor entrucking bucket with treat
Turn side obstacle spacing；LforFor the distance between trailer and preceding object thing.
Preferably, the threshold determination method is：
WhenWhen, into front-wheel steer pattern, before steer motor driving-trailer
Rotate to；
WhenWhen, into rear-axle steering pattern, there is steering electricity
Machine driving-trailer rear-axle steering；
WhenWhen, turned to by tractor and drive trailer to turn to；
Wherein, L is the distance of left front wheel shaft and left back wheel shaft, and b is the distance between the near front wheel and off-front wheel, and C is front overhang
Length, K is car load width, based on M pin center away from.
Preferably, the trailer corner numerical computational formulas are：
When into front-wheel steer pattern：
Wherein λ is correction factor, and its numerical value is 0.385；
When into rear-axle steering pattern：
Wherein I is correction coefficient, and its numerical value is 0.525；
Wherein, θ1For the near front wheel corner, θ2For off-front wheel corner, θ3For left rear wheel corner, θ4For off hind wheel corner, k is to incline
The oblique factor, its numerical value is 0.245, and clockwise steering of steering wheel for defining tractor is forward direction.
Entrucking bucket is put into the relatively low position in trailer side by the present invention by hydraulic means, and hydraulic means is passed through after filling
Pour railway carriage after entrucking bucket is lifted into, transport walking fashionable dress wagon box is raised to trailer top, can greatly reduce the work of peasant
Intensity improves entrucking efficiency, and simple structure, low cost failure is few, while providing a kind of farm cart guiding walks straight method of adjustment,
By distance measuring sensor real-time detection barrier parameter, data reference is provided to the walking of driver field, while by turning to electricity
Machine real-time regulation trailer steering angle, to reach operation process in guiding drag chariots going a straight line.
Although embodiment of the present invention is disclosed as above, it is not restricted to listed in description and embodiment
With, it can be applied to completely various suitable the field of the invention, for those skilled in the art, can be easily
Other modification is realized, therefore under the general concept limited without departing substantially from claim and equivalency range, the present invention is not limited
In specific details and shown here as the legend with description.
Claims (9)
1. a kind of farm cart with hydraulic pressure entrucking bucket, it is characterised in that include：
Railway carriage；
Hydraulic pressure lifting device, its one end is arranged on railway carriage outside, near railway carriage top；
Drive rod, its one end connects the hydraulic pressure lifting device other end；
Entrucking bucket, its described drive rod other end of connection, and can lift with hydraulic pressure lifting device, for containing cereal crops.
2. the farm cart with hydraulic pressure entrucking bucket according to claim 1, it is characterised in that the hydraulic pressure lifting device,
Including：
Articulated base；
Hydraulic jack, its described articulated base of connection, and including being arranged on in-oil cylinder piston rod；
Actuating unit, its described hydraulic jack of connection, for adjusting the collapsing length of the piston rod.
3. the farm cart with hydraulic pressure entrucking bucket according to claim 2, it is characterised in that the actuating unit
For motor.
4. the farm cart with hydraulic pressure entrucking bucket according to claim 3, it is characterised in that also including protective plate, its
Car body both sides are arranged on, for preventing the trailer from departing from original track.
5. the farm cart with hydraulic pressure entrucking bucket according to claim 4, it is characterised in that the railway carriage is hollow car
Body.
6. straight method of adjustment is walked in a kind of guiding of the farm cart with hydraulic pressure entrucking bucket, it is characterised in that included：
Data acquisition module detects the trailer and the distance between preceding object thing and both sides barrier, wherein, data acquisition
Module includes being arranged on trailer front end for measuring the front distance measuring sensor of trailer and preceding object thing distance and being arranged on both sides
Back gauge sensor；
According to the state parameter information for detecting, safe obstacle detouring radius is calculated, and front-wheel steer is entered according to threshold determination trailer
One kind in pattern, rear-axle steering pattern, traction Car following model, and calculate wheel steering angle numerical value.
7. straight method of adjustment is walked in the guiding of the farm cart with hydraulic pressure entrucking bucket according to claim 6, it is characterised in that
The computing formula of the safe obstacle detouring radius is：
Rsaf=(1+ | sin α |) mrig+Lfor
Wherein, RsafFor safe obstacle detouring radius；α is the minimum angle between tractor and trailer, mrigFor entrucking bucket with it is to be diverted
Side obstacle spacing；LforFor the distance between trailer and preceding object thing.
8. straight method of adjustment is walked in the guiding of the farm cart with hydraulic pressure entrucking bucket according to claim 7, it is characterised in that
The threshold determination method is：
WhenWhen, into front-wheel steer pattern, rotated by before steer motor driving-trailer
To；
WhenWhen, into rear-axle steering pattern, there is steer motor to drive
Dynamic trailer rear-axle steering；
WhenWhen, turned to by tractor and drive trailer to turn to；
Wherein, L is the distance of left front wheel shaft and left back wheel shaft, and b is the distance between the near front wheel and off-front wheel, and C is front overhang length,
K is car load width, based on M pin center away from.
9. according to claim 8 straight method of adjustment is walked in the guiding of the farm cart with hydraulic pressure entrucking bucket, it is characterised in that institute
Stating trailer corner numerical computational formulas is：
When into front-wheel steer pattern：
Wherein λ is correction factor, and its numerical value is 0.385；
When into rear-axle steering pattern：
Wherein I is correction coefficient, and its numerical value is 0.525；
Wherein, θ1For the near front wheel corner, θ2For off-front wheel corner, θ3For left rear wheel corner, θ4For off hind wheel corner, k for incline because
Son, its numerical value is 0.245, and the steering wheel for defining tractor is turned to clockwise as forward direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610740362.3A CN106671850B (en) | 2016-08-26 | 2016-08-26 | Agricultural trailer with hydraulic loading hopper and guiding walking straight adjusting method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610740362.3A CN106671850B (en) | 2016-08-26 | 2016-08-26 | Agricultural trailer with hydraulic loading hopper and guiding walking straight adjusting method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106671850A true CN106671850A (en) | 2017-05-17 |
| CN106671850B CN106671850B (en) | 2023-03-10 |
Family
ID=58839273
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610740362.3A Active CN106671850B (en) | 2016-08-26 | 2016-08-26 | Agricultural trailer with hydraulic loading hopper and guiding walking straight adjusting method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106671850B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107826024A (en) * | 2017-11-13 | 2018-03-23 | 江苏悦达专用车有限公司 | The innoxious transport vehicle loading attachment of spoil |
| CN108357410A (en) * | 2018-02-05 | 2018-08-03 | 富华中元江苏重机科技有限公司 | A kind of agricultural transportation vehicle increasing wagon box |
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|---|---|---|---|---|
| US20040090117A1 (en) * | 2000-07-26 | 2004-05-13 | Ingo Dudeck | Automatic brake and steering system and method for a vehicle |
| CN101270983A (en) * | 2007-03-21 | 2008-09-24 | 福特环球技术公司 | Trailer reversing guidance |
| CN103941737A (en) * | 2014-05-09 | 2014-07-23 | 济南大学 | Motion planning and controlling method for tractor-trailer mobile robot in complex environment |
| CN104000698A (en) * | 2014-06-04 | 2014-08-27 | 西南交通大学 | Electric bicycle obstacle avoiding method integrating sparse representation and particle filter |
| CN104163200A (en) * | 2014-08-30 | 2014-11-26 | 长城汽车股份有限公司 | Auxiliary semitrailer steering safety system |
| US20160052548A1 (en) * | 2013-04-26 | 2016-02-25 | Jaguar Land Rover Limited | Vehicle Hitch Assistance System |
-
2016
- 2016-08-26 CN CN201610740362.3A patent/CN106671850B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040090117A1 (en) * | 2000-07-26 | 2004-05-13 | Ingo Dudeck | Automatic brake and steering system and method for a vehicle |
| CN101270983A (en) * | 2007-03-21 | 2008-09-24 | 福特环球技术公司 | Trailer reversing guidance |
| US20160052548A1 (en) * | 2013-04-26 | 2016-02-25 | Jaguar Land Rover Limited | Vehicle Hitch Assistance System |
| CN103941737A (en) * | 2014-05-09 | 2014-07-23 | 济南大学 | Motion planning and controlling method for tractor-trailer mobile robot in complex environment |
| CN104000698A (en) * | 2014-06-04 | 2014-08-27 | 西南交通大学 | Electric bicycle obstacle avoiding method integrating sparse representation and particle filter |
| CN104163200A (en) * | 2014-08-30 | 2014-11-26 | 长城汽车股份有限公司 | Auxiliary semitrailer steering safety system |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107826024A (en) * | 2017-11-13 | 2018-03-23 | 江苏悦达专用车有限公司 | The innoxious transport vehicle loading attachment of spoil |
| CN107826024B (en) * | 2017-11-13 | 2023-08-18 | 江苏悦达专用车有限公司 | Loading device of harmless transport vehicle for animal carcasses |
| CN108357410A (en) * | 2018-02-05 | 2018-08-03 | 富华中元江苏重机科技有限公司 | A kind of agricultural transportation vehicle increasing wagon box |
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| Publication number | Publication date |
|---|---|
| CN106671850B (en) | 2023-03-10 |
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