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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 PDF

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Publication number
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
distance
wheel
hydraulic
rotation angle
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CN106671850A (en
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薛飞
孟祥盟
王立春
边少锋
孙宁
卢景忠
薛争
赵洪祥
方向前
闫伟平
武巍
谭国波
张丽华
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Jilin Academy of Agricultural Sciences
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Jilin Academy of Agricultural Sciences
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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 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

一种具有液压装车斗的农用拖车和引导走直调整方法An agricultural trailer with a hydraulic loading bucket and a method for straightening the guide

技术领域technical field

本发明涉及一种农业拖车，尤其涉及一种具有液压装车斗的农用拖车和一种农用拖车液压车斗引导走直调整方法。The invention relates to an agricultural trailer, in particular to an agricultural trailer with a hydraulic loading bucket and a method for guiding and straightening the hydraulic bucket of the agricultural trailer.

背景技术Background technique

目前在东北农村普遍使用的农用拖车的主要用途是平时拉土和砂石等，秋季用来拉粮食和秸秆，最主要用途还是秋季收获时运送粮食。将大量的粮食装到拖车上是一项繁重的体力劳动，如果一天从早到晚地装下来，决大多数人是吃不消的。另外农民为了加快运粮速度通常都将拖车的车箱加高，这样就更加大了装车的难度。为了减轻农民的劳动强度提高装车速度，急需设计出一种机械式装车斗。At present, the main purpose of agricultural trailers commonly used in the northeastern countryside is to pull soil and gravel, etc., and to pull grain and straw in autumn. The main purpose is to transport grain during autumn harvest. Loading a large amount of food onto a trailer is a heavy physical labor. If it is loaded from morning to night, most people will not be able to bear it. In addition, in order to speed up the grain transportation, farmers usually heighten the trailer compartment, which makes loading more difficult. In order to reduce the labor intensity of farmers and increase the loading speed, it is urgent to design a mechanical loading bucket.

发明内容Contents of the invention

本发明设计开发了一种具有液压装车斗的农用拖车，通过液压装置将装车斗放到拖车侧面较低的位置，待装满后通过液压装置将装车斗提升后倒入车箱，运输行走时装车斗升到拖车上方，能够大大地降低农民的劳动强度提高装车效率。The present invention designs and develops an agricultural trailer with a hydraulic loading bucket. The loading bucket is placed at a lower position on the side of the trailer through a hydraulic device. When walking, the bucket rises above the trailer, which can greatly reduce the labor intensity of farmers and improve the loading efficiency.

本发明还有一个目的是提供一种农用拖车引导走直调整方法，过测距传感器实时检测障碍物参数，给驾驶员田间行走提供数据参照，同时通过转向电机实时调节拖车转向角度，以达到作业过程中引导拖车走直。Another object of the present invention is to provide a method for adjusting the straightness of the agricultural trailer, which can detect the obstacle parameters in real time through the distance measuring sensor, provide data reference for the driver to walk in the field, and at the same time adjust the steering angle of the trailer in real time through the steering motor to achieve the goal of operation. Steer the trailer straight in the process.

本发明提供的技术方案为：The technical scheme provided by the invention is:

一种具有液压装车斗的农用拖车，包括：An agricultural trailer with a hydraulic loading bed, comprising:

车箱；carriage;

液压升降器，其一端安装在所述车箱外侧，靠近所述车箱上方；A hydraulic lifter, one end of which is installed on the outside of the carriage, close to the top of the carriage;

驱动杆，其一端连接所述液压升降器另一端；a driving rod, one end of which is connected to the other end of the hydraulic lifter;

装车斗，其连接所述驱动杆另一端，并能够随液压升降器升降，用于盛装粮食作物。The loading bucket is connected to the other end of the driving rod, and can be raised and lowered with the hydraulic lifter, and is used to hold food crops.

优选的是，所述液压升降器，包括：Preferably, the hydraulic lifter includes:

铰接底座；hinged base;

液压油缸，其连接所述铰接底座，并包括设置在油缸内的活塞杆；a hydraulic cylinder connected to the hinged base and including a piston rod disposed within the cylinder;

动力传动装置，其连接所述液压油缸，用于调节所述活塞杆的伸缩长度。The power transmission device is connected with the hydraulic oil cylinder and is used for adjusting the telescopic length of the piston rod.

优选的是，所述动力传动装置为电动机。Preferably, the power transmission device is an electric motor.

优选的是，还包括防护板，其设置在车体两侧，用于防止所述拖车脱离原有轨道。Preferably, it also includes protective plates, which are arranged on both sides of the car body, and are used to prevent the trailer from deviating from the original track.

优选的是，所述车箱为中空车体。Preferably, the vehicle box is a hollow vehicle body.

一种具有液压装车斗的农用拖车引导走直调整方法，包括：A method for guiding and straightening an agricultural trailer with a hydraulic loading bucket, comprising:

数据采集模块检测所述拖车与前方障碍物和两侧障碍物之间的距离，其中，数据采集模块包括设置在拖车前端用于测量拖车与前方障碍物距离的前测距传感器和设置在两侧的边距传感器；The data acquisition module detects the distance between the trailer and the obstacles in front and the obstacles on both sides, wherein the data acquisition module includes a front ranging sensor arranged at the front end of the trailer for measuring the distance between the trailer and the obstacles in front and edge sensor;

根据检测到的状态参数信息，计算安全越障半径，并根据阈值判定拖车进入前轮转向模式、后轮转向模式、牵引跟车模式中的一种，并计算车轮转角数值。According to the detected state parameter information, the safe obstacle-crossing radius is calculated, and according to the threshold, it is determined that the trailer enters one of the front-wheel steering mode, rear-wheel steering mode, and traction-following mode, and the wheel angle value is calculated.

优选的是，所述安全越障半径的计算公式为：Preferably, the formula for calculating the safe obstacle-crossing radius is:

Rsaf＝(1+|sinα|)mrig+Lfor R saf ＝(1+|sinα|)m rig +L for

其中，Rsaf为安全越障半径；α为牵引车与拖车之间的最小夹角，mrig为装车斗与待转向侧障碍物间距；Lfor为拖车与前方障碍物之间的距离。Among them, R saf is the safe obstacle-crossing radius; α is the minimum angle between the tractor and the trailer, m rig is the distance between the loading bucket and the obstacle on the side to be turned; L for is the distance between the trailer and the obstacle in front.

优选的是，所述阈值判定方法为：Preferably, the threshold determination method is:

当

Figure BDA0001093873470000021
时，进入前轮转向模式,由转向电机驱动拖车前轮转向；when
Figure BDA0001093873470000021
, enter the front wheel steering mode, and the steering motor drives the front wheels of the trailer to steer;

当

Figure BDA0001093873470000022
时，进入后轮转向模式，有转向电机驱动拖车后轮转向；when
Figure BDA0001093873470000022
, it enters the rear wheel steering mode, and the steering motor drives the rear wheels of the trailer to steer;

当

Figure BDA0001093873470000031
时，由牵引车转向带动拖车转向；when
Figure BDA0001093873470000031
, the tractor turns to drive the trailer to turn;

其中，L为左前轮轴与左后轮轴的距离，b为左前轮和右前轮之间的距离，C为前悬长度，K为整车宽度，M为主销中心距。Among them, 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 length of the front overhang, K is the width of the whole vehicle, and M is the center distance of the main pin.

优选的是，所述拖车转角数值计算公式为：Preferably, the formula for calculating the numerical value of the trailer angle is:

当进入前轮转向模式时：When entering front-wheel steering mode:

Figure BDA0001093873470000032
Figure BDA0001093873470000032

Figure BDA0001093873470000033
Figure BDA0001093873470000033

其中λ为校正因数，其数值为0.385；Among them, λ is the correction factor, and its value is 0.385;

当进入后轮转向模式时：When entering rear wheel steering mode:

Figure BDA0001093873470000034
Figure BDA0001093873470000034

Figure BDA0001093873470000035
Figure BDA0001093873470000035

其中I为校正系数，其数值为0.525；Among them, I is the correction coefficient, and its value is 0.525;

其中，θ1为左前轮转角，θ2为右前轮转角，θ3为左后轮转角，θ4为右后轮转角，k为倾斜因子，其数值为0.245，定义牵引车的方向盘顺时针转向为正向。Among them, θ 1 is the rotation angle of the left front wheel, θ 2 is the rotation angle of the right front wheel, θ 3 is the rotation angle of the left rear wheel, θ 4 is the rotation angle of the right rear wheel, k is the tilt factor, and its value is 0.245, which defines the steering wheel rotation angle of the tractor. The hour hand turns forward.

本发明所述的有益效果Beneficial effects of the present invention

1.本发明通过液压装置将装车斗放到拖车侧面较低的位置，待装满后通过液压装置将装车斗提升后倒入车箱，运输行走时装车斗升到拖车上方，能够大大地降低农民的劳动强度提高装车效率，结构简单，成本低故障少。1. The present invention puts the loading bucket at a lower position on the side of the trailer through the hydraulic device, lifts the loading bucket through the hydraulic device after being filled and pours it into the carriage, and lifts the loading bucket to the top of the trailer during transportation, which can greatly improve the Reduce farmers' labor intensity and improve loading efficiency, simple structure, low cost and few failures.

2.本发明还有一个目的是提供一种农用拖车引导走直调整方法，过测距传感器实时检测障碍物参数，给驾驶员田间行走提供数据参照，同时通过转向电机实时调节拖车转向角度，以达到作业过程中引导拖车走直。2. Another object of the present invention is to provide a method for adjusting the straightness of the agricultural trailer, which detects the obstacle parameters in real time through the ranging sensor, provides data reference for the driver to walk in the field, and simultaneously adjusts the steering angle of the trailer in real time through the steering motor, so as to Guide the trailer straight during reach operations.

附图说明Description of drawings

图1为本发明所述的具有液压装车斗的农用拖车的结构示意图。Fig. 1 is a structural schematic diagram of an agricultural trailer with a hydraulic loading bucket according to the present invention.

具体实施方式Detailed ways

下面结合附图对本发明做进一步的详细说明，以令本领域技术人员参照说明书文字能够据以实施。The present invention will be further described in detail below in conjunction with the accompanying drawings, so that those skilled in the art can implement it with reference to the description.

如图1所示，本发明提供的具有液压装车斗的农用拖车，包括：车箱100、液压升降器200、驱动杆300和装车斗400。As shown in FIG. 1 , the agricultural trailer with a hydraulic loading bucket provided by the present invention includes: a carriage 100 , a hydraulic lifter 200 , a driving rod 300 and a loading bucket 400 .

其中，液压升降器200，其一端安装在车箱100外侧，靠近车箱100上方,包括：铰接底座，液压油缸，其连接铰接底座，并包括设置在油缸内的活塞杆，动力传动装置，其连接液压油缸，用于调节活塞杆的伸缩长度，Among them, the hydraulic lifter 200, one end of which is installed on the outside of the carriage 100, close to the top of the carriage 100, includes: a hinged base, a hydraulic oil cylinder, which is connected to the hinged base, and includes a piston rod arranged in the cylinder, and a power transmission device, which is connected to the hydraulic cylinder. Oil cylinder, used to adjust the telescopic length of the piston rod,

作为一种优选，动力传动装置为电动机。As a preference, the power transmission device is an electric motor.

防护板，其设置在车体两侧，用于防止拖车脱离原有轨道。The protective plates are arranged on both sides of the car body and are used to prevent the trailer from deviating from the original track.

作为一种优选，车箱100为中空车体。As a preference, the vehicle box 100 is a hollow vehicle body.

驱动杆300，其一端连接液压升降器200另一端；装车斗400，其连接驱动杆300另一端，并能够随液压升降器200升降，用于盛装粮食作物。One end of the drive rod 300 is connected to the other end of the hydraulic lifter 200; the loading bucket 400 is connected to the other end of the drive rod 300, and can be raised and lowered with the hydraulic lifter 200 for containing food crops.

一种具有液压装车斗的农用拖车引导走直调整方法，包括：A method for guiding and straightening an agricultural trailer with a hydraulic loading bucket, comprising:

数据采集模块检测所述拖车与前方障碍物和两侧障碍物之间的距离，其中，数据采集模块包括设置在拖车前端用于测量拖车与前方障碍物距离的前测距传感器和设置在两侧的边距传感器；The data acquisition module detects the distance between the trailer and the obstacles in front and the obstacles on both sides, wherein the data acquisition module includes a front ranging sensor arranged at the front end of the trailer for measuring the distance between the trailer and the obstacles in front and edge sensor;

根据检测到的状态参数信息，计算安全越障半径，并根据阈值判定拖车进入前轮转向模式、后轮转向模式、牵引跟车模式中的一种，并计算车轮转角数值。According to the detected state parameter information, the safe obstacle-crossing radius is calculated, and according to the threshold, it is determined that the trailer enters one of the front-wheel steering mode, rear-wheel steering mode, and traction-following mode, and the wheel angle value is calculated.

优选的是，所述安全越障半径的计算公式为：Preferably, the formula for calculating the safe obstacle-crossing radius is:

Rsaf＝(1+|sinα|)mrig+Lfor R saf ＝(1+|sinα|)m rig +L for

其中，Rsaf为安全越障半径；α为牵引车与拖车之间的最小夹角，mrig为装车斗与待转向侧障碍物间距；Lfor为拖车与前方障碍物之间的距离。Among them, R saf is the safe obstacle-crossing radius; α is the minimum angle between the tractor and the trailer, m rig is the distance between the loading bucket and the obstacle on the side to be turned; L for is the distance between the trailer and the obstacle in front.

优选的是，所述阈值判定方法为：Preferably, the threshold determination method is:

当

Figure BDA0001093873470000051
时，进入前轮转向模式,由转向电机驱动拖车前轮转向；when
Figure BDA0001093873470000051
, enter the front wheel steering mode, and the steering motor drives the front wheels of the trailer to steer;

当

Figure BDA0001093873470000052
时，进入后轮转向模式，有转向电机驱动拖车后轮转向；when
Figure BDA0001093873470000052
, it enters the rear wheel steering mode, and the steering motor drives the rear wheels of the trailer to steer;

当

Figure BDA0001093873470000053
时，由牵引车转向带动拖车转向；when
Figure BDA0001093873470000053
, the tractor turns to drive the trailer to turn;

其中，L为左前轮轴与左后轮轴的距离，b为左前轮和右前轮之间的距离，C为前悬长度，K为整车宽度，M为主销中心距。Among them, 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 length of the front overhang, K is the width of the whole vehicle, and M is the center distance of the main pin.

优选的是，所述拖车转角数值计算公式为：Preferably, the formula for calculating the numerical value of the trailer angle is:

当进入前轮转向模式时：When entering front-wheel steering mode:

Figure BDA0001093873470000054
Figure BDA0001093873470000054

Figure BDA0001093873470000055
Figure BDA0001093873470000055

其中λ为校正因数，其数值为0.385；Among them, λ is the correction factor, and its value is 0.385;

当进入后轮转向模式时：When entering rear wheel steering mode:

Figure BDA0001093873470000056
Figure BDA0001093873470000056

Figure BDA0001093873470000057
Figure BDA0001093873470000057

其中I为校正系数，其数值为0.525；Among them, I is the correction coefficient, and its value is 0.525;

其中，θ1为左前轮转角，θ2为右前轮转角，θ3为左后轮转角，θ4为右后轮转角，k为倾斜因子，其数值为0.245，定义牵引车的方向盘顺时针转向为正向。Among them, θ 1 is the rotation angle of the left front wheel, θ 2 is the rotation angle of the right front wheel, θ 3 is the rotation angle of the left rear wheel, θ 4 is the rotation angle of the right rear wheel, k is the tilt factor, and its value is 0.245, which defines the steering wheel rotation angle of the tractor. The hour hand turns forward.

本发明通过液压装置将装车斗放到拖车侧面较低的位置，待装满后通过液压装置将装车斗提升后倒入车箱，运输行走时装车斗升到拖车上方，能够大大地降低农民的劳动强度提高装车效率，结构简单，成本低故障少，同时提供一种农用拖车引导走直调整方法，通过测距传感器实时检测障碍物参数，给驾驶员田间行走提供数据参照，同时通过转向电机实时调节拖车转向角度，以达到作业过程中引导拖车走直。The invention puts the loading bucket at a lower position on the side of the trailer through a hydraulic device, lifts the loading bucket through the hydraulic device after it is full and pours it into the carriage, and lifts the loading bucket to the top of the trailer during transportation, which can greatly reduce the labor cost of farmers. The labor intensity improves the loading efficiency, the structure is simple, the cost is low, and the failure is few. At the same time, it provides a method of guiding and straightening the agricultural trailer. The obstacle parameters are detected in real time through the ranging sensor, and the data reference is provided for the driver to walk in the field. At the same time, through the steering The motor adjusts the steering angle of the trailer in real time to guide the trailer to go straight during the operation.

尽管本发明的实施方案已公开如上，但其并不仅仅限于说明书和实施方式中所列运用，它完全可以被适用于各种适合本发明的领域，对于熟悉本领域的人员而言，可容易地实现另外的修改，因此在不背离权利要求及等同范围所限定的一般概念下，本发明并不限于特定的细节和这里示出与描述的图例。Although the embodiment of the present invention has been disclosed as above, it is not limited to the use listed in the specification and implementation, it can be applied to various fields suitable for the present invention, and it can be easily understood by those skilled in the art Therefore, the invention is not limited to the specific details and examples shown and described herein without departing from the general concept defined by the claims and their equivalents.

Claims (2)

1.一种具有液压装车斗的农用拖车引导走直调整方法，其特征在于，包括：1. A method for guiding and straightening an agricultural trailer with a hydraulic loading bucket, characterized in that it comprises: 数据采集模块检测所述拖车与前方障碍物和两侧障碍物之间的距离，其中，数据采集模块包括设置在拖车前端用于测量拖车与前方障碍物距离的前测距传感器和设置在两侧的边距传感器；The data acquisition module detects the distance between the trailer and the obstacles in front and the obstacles on both sides, wherein the data acquisition module includes a front ranging sensor arranged at the front end of the trailer for measuring the distance between the trailer and the obstacles in front and edge sensor; 根据检测到的状态参数信息，计算安全越障半径，并根据阈值判定拖车进入前轮转向模式、后轮转向模式、牵引跟车模式中的一种，并计算车轮转角数值；According to the detected state parameter information, calculate the radius of safe obstacle crossing, and judge the trailer to enter one of the front wheel steering mode, rear wheel steering mode, and traction following mode according to the threshold value, and calculate the wheel angle value; 所述安全越障半径的计算公式为：The formula for calculating the safe obstacle-crossing radius is: Rsaf＝(1+|sinα|)mrig+Lfor R saf ＝(1+|sinα|)m rig +L for 其中，Rsaf为安全越障半径；α为牵引车与拖车之间的最小夹角，mrig为装车斗与待转向侧障碍物间距；Lfor为拖车与前方障碍物之间的距离；Among them, R saf is the safe obstacle-crossing radius; α is the minimum angle between the tractor and the trailer, m rig is the distance between the loading bucket and the obstacle on the side to be turned; L for is the distance between the trailer and the obstacle in front; 所述阈值判定方法为：The threshold judgment method is: 当
Figure FDA0003972117360000011
时，进入前轮转向模式,由转向电机驱动拖车前轮转向；when
Figure FDA0003972117360000011
, enter the front wheel steering mode, and the steering motor drives the front wheels of the trailer to steer; 当
Figure FDA0003972117360000012
时，进入后轮转向模式，由转向电机驱动拖车后轮转向；when
Figure FDA0003972117360000012
, enter the rear wheel steering mode, and the steering motor drives the rear wheels of the trailer to steer; 当
Figure FDA0003972117360000013
时，由牵引车转向带动拖车转向；when
Figure FDA0003972117360000013
, the tractor turns to drive the trailer to turn; 其中，L为左前轮轴与左后轮轴的距离，b为左前轮和右前轮之间的距离，C为前悬长度，K为整车宽度，M为主销中心距。Among them, 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 length of the front overhang, K is the width of the whole vehicle, and M is the center distance of the main pin. 2.根据权利要求1所述具有液压装车斗的农用拖车引导走直调整方法，其特征在于，所述拖车转角数值计算公式为：2. according to claim 1, there is the agricultural trailer guide straightening adjustment method with hydraulic loading bucket, it is characterized in that, the formula for calculating the numerical value of the trailer angle is: 当进入前轮转向模式时：When entering front-wheel steering mode:
Figure FDA0003972117360000021
Figure FDA0003972117360000021
Figure FDA0003972117360000022
Figure FDA0003972117360000022
 其中λ为校正因数，其数值为0.385；Among them, λ is the correction factor, and its value is 0.385; 当进入后轮转向模式时：When entering rear wheel steering mode:
Figure FDA0003972117360000023
Figure FDA0003972117360000023
Figure FDA0003972117360000024
Figure FDA0003972117360000024
 其中I为校正系数，其数值为0.525；Among them, I is the correction coefficient, and its value is 0.525; 其中，θ1为左前轮转角，θ2为右前轮转角，θ3为左后轮转角，θ4为右后轮转角，k为倾斜因子，其数值为0.245，定义牵引车的方向盘顺时针转向为正向。Among them, θ 1 is the rotation angle of the left front wheel, θ 2 is the rotation angle of the right front wheel, θ 3 is the rotation angle of the left rear wheel, θ 4 is the rotation angle of the right rear wheel, k is the tilt factor, and its value is 0.245, which defines the steering wheel rotation angle of the tractor. The hour hand turns forward.
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