CN106671850B - Agricultural trailer with hydraulic loading hopper and guiding walking straight adjusting method - Google Patents
Agricultural trailer with hydraulic loading hopper and guiding walking straight adjusting method Download PDFInfo
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- CN106671850B CN106671850B CN201610740362.3A CN201610740362A CN106671850B CN 106671850 B CN106671850 B CN 106671850B CN 201610740362 A CN201610740362 A CN 201610740362A CN 106671850 B CN106671850 B CN 106671850B
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- trailer
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- loading hopper
- obstacle
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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
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- 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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- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Guiding Agricultural Machines (AREA)
Abstract
The invention discloses an agricultural trailer with a hydraulic trailer hopper, which comprises: a carriage; one end of the hydraulic lifter is arranged outside the carriage and is close to the upper part of the carriage; one end of the driving rod is connected with the other end of the hydraulic lifter; the loading hopper is connected with the other end of the driving rod and can lift along with the hydraulic lifter and is used for containing grain crops, the loading hopper is placed at a lower position on the side face of the trailer through the hydraulic device, the loading hopper is lifted through the hydraulic device after being filled with the grain crops and poured into the trailer box, the loading hopper is lifted above the trailer during transportation and walking, the labor intensity of farmers can be greatly reduced, the loading efficiency is improved, an agricultural trailer guiding and straight adjusting method is provided, the obstacle parameters are detected in real time through the ranging sensor, data reference is provided for field walking of drivers, and the steering angle of the trailer is adjusted in real time through the steering motor so as to guide the trailer to go straight in the operation process.
Description
Technical Field
The invention relates to an agricultural trailer, in particular to an agricultural trailer with a hydraulic trailer hopper and a method for adjusting the guide and walk straightness of the hydraulic trailer hopper of the agricultural trailer.
Background
The agricultural trailer which is generally used in the northeast rural areas at present mainly uses to pull soil, gravel and the like at ordinary times, pulls grains and straws in autumn, and is mainly used to convey grains in autumn. Loading a large amount of grain onto a trailer is a heavy physical labor, and if the grain is loaded from morning to evening a day, most people are ineffectual. In addition, in order to increase the grain transporting speed, farmers generally heighten the carriage of the trailer, so that the loading difficulty is increased. In order to reduce the labor intensity of farmers and improve the loading speed, a mechanical loading hopper is urgently needed to be designed.
Disclosure of Invention
The invention designs and develops an agricultural trailer with a hydraulic loading hopper, the loading hopper is placed at a lower position of the side surface of the trailer through a hydraulic device, the loading hopper is lifted through the hydraulic device after being filled with the agricultural trailer and then poured into a compartment, and the loading hopper is lifted above the trailer during transportation and walking, so that the labor intensity of farmers can be greatly reduced, and the loading efficiency is improved.
The invention also aims to provide a method for adjusting the guiding and walking straight of the agricultural trailer, which detects the parameters of the obstacles in real time through a distance measuring sensor, provides data reference for the driver to walk in the field, and adjusts the steering angle of the trailer in real time through a steering motor so as to guide the trailer to walk straight in the operation process.
The technical scheme provided by the invention is as follows:
an agricultural trailer having a hydraulic bucket comprising:
a carriage;
one end of the hydraulic lifter is arranged on the outer side of the carriage and is close to the upper part of the carriage;
one end of the driving rod is connected with the other end of the hydraulic lifter;
and the loading hopper is connected with the other end of the driving rod, can lift along with the hydraulic lifter and is used for containing grain crops.
Preferably, the hydraulic lifter includes:
a hinged base;
the hydraulic oil cylinder is connected with the hinged base and comprises a piston rod arranged in the oil cylinder;
and the power transmission device is connected with the hydraulic oil cylinder and is used for adjusting the telescopic length of the piston rod.
Preferably, the power transmission device is an electric motor.
Preferably, the trailer further comprises protection plates arranged on two sides of the trailer body and used for preventing the trailer from being separated from the original track.
Preferably, the carriage is a hollow body.
A guiding and walking straight adjusting method for an agricultural trailer with a hydraulic trailer hopper comprises the following steps:
the data acquisition module detects the distance between the trailer and the front obstacle and the distance between the trailer and the obstacles on the two sides, wherein the data acquisition module comprises a front distance measuring sensor which is arranged at the front end of the trailer and used for measuring the distance between the trailer and the front obstacle and edge distance sensors which are arranged on the two sides;
and calculating the safe obstacle crossing radius according to the detected state parameter information, judging that the trailer enters one of a front wheel steering mode, a rear wheel steering mode and a traction following mode according to a threshold value, and calculating a wheel rotation angle value.
Preferably, the calculation formula of the safe obstacle crossing radius is as follows:
R saf ＝(1+|sinα|)m rig +L for
wherein R is saf A safe obstacle crossing radius; alpha is the minimum angle between the tractor and the trailer, m rig The distance between the loading hopper and the obstacle on the side to be steered; l is for The distance between the trailer and the obstacle in front.
Preferably, the threshold value determination method is:
when in use
When the front wheel steering mode is started, the steering motor drives the front wheel of the trailer to steer;
when in use
When the trailer is in a rear wheel steering mode, a steering motor drives the rear wheels of the trailer to steer;
when the temperature is higher than the set temperature
When the tractor steers, the trailer is driven to steer;
wherein, L is the distance between the left front wheel axle and the left rear wheel axle, b is the distance between the left front wheel and the right front wheel, C is the front overhang length, K is the width of the whole vehicle, and M is the center distance of the kingpin.
Preferably, the trailer turning angle value calculation formula is as follows:
when entering the front wheel steering mode:
wherein λ is a correction factor having a value of 0.385;
when entering the rear wheel steering mode:
wherein I is a correction factor having a value of 0.525;
wherein, theta 1 Angle of rotation of left front wheel, theta 2 Is the right front wheel angle θ 3 At a left rear wheel angle θ 4 For the right rear wheel angle, k is a tilt factor with a value of 0.245, defining the steering wheel of the tractor to turn clockwise as the forward direction.
The invention has the advantages of
1. According to the invention, the loading hopper is placed at a lower position on the side surface of the trailer through the hydraulic device, the loading hopper is lifted through the hydraulic device after being filled with the materials and then poured into the carriage, and the loading hopper is lifted above the trailer during transportation and walking, so that the labor intensity of farmers can be greatly reduced, the loading efficiency is improved, the structure is simple, the cost is low, and the faults are few.
2. The invention also aims to provide a method for adjusting the guiding and walking straight of the agricultural trailer, which detects the parameters of the obstacles in real time through a distance measuring sensor, provides data reference for the driver to walk in the field, and adjusts the steering angle of the trailer in real time through a steering motor so as to guide the trailer to walk straight in the operation process.
Drawings
Fig. 1 is a schematic structural view of an agricultural trailer with a hydraulic bucket according to the present invention.
Detailed Description
The present invention is further described in detail below with reference to the attached drawings so that those skilled in the art can implement the invention by referring to the description text.
As shown in fig. 1, the present invention provides an agricultural trailer with a hydraulic trailer hopper, comprising: the truck loading device comprises a truck box 100, a hydraulic lifter 200, a driving rod 300 and a truck loading hopper 400.
Wherein, hydraulic lift 200, its one end is installed in the railway carriage 100 outside, is close to railway carriage 100 top, includes: a hinged base, a hydraulic oil cylinder which is connected with the hinged base and comprises a piston rod arranged in the oil cylinder, a power transmission device which is connected with the hydraulic oil cylinder and is used for adjusting the extension length of the piston rod,
preferably, the power transmission device is an electric motor.
The guard plate, it sets up in the automobile body both sides for prevent that the trailer from breaking away from original track.
Preferably, the compartment 100 is a hollow body.
One end of the driving rod 300 is connected to the other end of the hydraulic lifter 200; and a loading hopper 400 connected to the other end of the driving rod 300 and capable of lifting with the hydraulic lifter 200 for containing grain crops.
A guiding and walking straight adjusting method for an agricultural trailer with a hydraulic trailer hopper comprises the following steps:
the data acquisition module detects the distance between the trailer and a front obstacle and the distance between the trailer and the obstacles on two sides, wherein the data acquisition module comprises a front distance measuring sensor arranged at the front end of the trailer and used for measuring the distance between the trailer and the front obstacle and edge distance sensors arranged on two sides;
and calculating the safe obstacle crossing radius according to the detected state parameter information, judging that the trailer enters one of a front wheel steering mode, a rear wheel steering mode and a traction following mode according to a threshold value, and calculating a wheel rotation angle value.
Preferably, the calculation formula of the safe obstacle crossing radius is as follows:
R saf ＝(1+|sinα|)m rig +L for
wherein R is saf Radius for safe obstacle detouring; alpha is the minimum angle between the tractor and the trailer, m rig The distance between the loading hopper and the obstacle on the side to be steered; l is for Is the distance between the trailer and the obstacle in front.
Preferably, the threshold value determination method includes:
when the temperature is higher than the set temperature
When the trailer is in a front wheel steering mode, the steering motor drives the front wheels of the trailer to steer;
when in use
When the trailer is in a rear wheel steering mode, a steering motor drives the rear wheels of the trailer to steer;
when the temperature is higher than the set temperature
When the tractor turns, the trailer is driven to turn;
wherein, L is the distance between the left front wheel axle and the left rear wheel axle, b is the distance between the left front wheel and the right front wheel, C is the front overhang length, K is the width of the whole vehicle, and M is the center distance of the kingpin.
Preferably, the trailer turning angle value calculation formula is as follows:
when entering the front wheel steering mode:
wherein λ is a correction factor having a value of 0.385;
when entering the rear wheel steering mode:
wherein I is a correction factor having a value of 0.525;
wherein, theta 1 Angle of rotation of left front wheel, theta 2 Is the right front wheel angle θ 3 At a left rear wheel angle of theta 4 The right rear wheel rotation angle, k is a tilt factor with a value of 0.245, and the steering wheel of the tractor is defined to be turned clockwise to be a positive direction.
The invention discloses an agricultural trailer guiding and straight adjusting method, which is characterized in that a hydraulic device is used for placing a loading hopper at a lower position of the side surface of a trailer, the loading hopper is lifted by the hydraulic device after being filled, and then is poured into a carriage, the loading hopper is lifted above the trailer during transportation, so that the labor intensity of farmers can be greatly reduced, the loading efficiency is improved, the structure is simple, the cost is low, the faults are few, the agricultural trailer guiding and straight adjusting method is provided, barrier parameters are detected in real time through a distance measuring sensor, data reference is provided for field walking of drivers, and the steering angle of the trailer is adjusted in real time through a steering motor, so that the purpose of guiding the trailer to go straight in the operation process is achieved.
While embodiments of the invention have been described above, it is not intended to be limited to the details shown, described and illustrated herein, but is to be accorded the widest scope consistent with the principles and novel features herein disclosed, and to such extent that such modifications are readily available to those skilled in the art, and it is not intended to be limited to the details shown and described herein without departing from the general concept as defined by the appended claims and their equivalents.
Claims (2)
1. A method for adjusting the guiding and walking straight of an agricultural trailer with a hydraulic trailer hopper is characterized by comprising the following steps:
the data acquisition module detects the distance between the trailer and the front obstacle and the distance between the trailer and the obstacles on the two sides, wherein the data acquisition module comprises a front distance measuring sensor which is arranged at the front end of the trailer and used for measuring the distance between the trailer and the front obstacle and edge distance sensors which are arranged on the two sides;
calculating a safe obstacle crossing radius according to the detected state parameter information, judging that the trailer enters one of a front wheel steering mode, a rear wheel steering mode and a traction following mode according to a threshold value, and calculating a wheel turning angle value;
the calculation formula of the safe obstacle crossing radius is as follows:
R saf ＝(1+|sinα|)m rig +L for
wherein R is saf Radius for safe obstacle detouring; alpha is the minimum angle between the tractor and the trailer, m rig The distance between the loading hopper and the obstacle on the side to be steered; l is for The distance between the trailer and the front obstacle;
the threshold value judging method comprises the following steps:
when in use
When the front wheel steering mode is entered, the steering motor drives the trailerSteering the front wheels;
when the temperature is higher than the set temperature
When the trailer is in a rear wheel steering mode, the steering motor drives the rear wheels of the trailer to steer;
when the temperature is higher than the set temperature
When the tractor turns, the trailer is driven to turn;
wherein, L is the distance between the left front wheel axle and the left rear wheel axle, b is the distance between the left front wheel and the right front wheel, C is the front overhang length, K is the width of the whole vehicle, and M is the center distance of the kingpin.
2. The method for adjusting the guiding and straightening of the agricultural trailer with the hydraulic car hopper as claimed in claim 1, wherein the numerical calculation formula of the trailer corner is as follows:
when entering the front wheel steering mode:
wherein λ is a correction factor having a value of 0.385;
when entering the rear wheel steering mode:
wherein I is a correction factor having a value of 0.525;
wherein, theta 1 Is the angle of rotation of the left front wheel, theta 2 Is the right front wheel angle, theta 3 At a left rear wheel angle of theta 4 For the right rear wheel angle, k is a tilt factor with a value of 0.245, defining the steering wheel of the tractor to turn clockwise as the 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 |
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| Publication Number | Publication Date |
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| CN106671850A CN106671850A (en) | 2017-05-17 |
| CN106671850B true CN106671850B (en) | 2023-03-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610740362.3A Active CN106671850B (en) | 2016-08-26 | 2016-08-26 | Agricultural trailer with hydraulic loading hopper and guiding walking straight adjusting method |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10036276A1 (en) * | 2000-07-26 | 2002-02-07 | Daimler Chrysler Ag | Automatic braking and steering system for a vehicle |
| GB2513393B (en) * | 2013-04-26 | 2016-02-03 | Jaguar Land Rover Ltd | Vehicle hitch assistance system |
-
2016
- 2016-08-26 CN CN201610740362.3A patent/CN106671850B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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| CN106671850A (en) | 2017-05-17 |
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