阅读说明：本技术 一种适应坡道拐点变化的货箱调平运输车及其工作方法 (Cargo box leveling transport vehicle adapting to change of inflection point of ramp and working method thereof ) 是由 胡文武 杨国成 蒋蘋 石毅新 罗亚辉 李世鹏 冯文 于 2020-04-26 设计创作，主要内容包括：一种适应坡道拐点变化的货箱调平运输车及其工作方法,运输车包括行走底盘和货箱箱体,货箱箱体铰接安装在行走底盘上并能绕铰接轴线摆动调节倾斜角度,行走底盘上安装有用于驱动货箱箱体摆动的摆动驱动组件,行走底盘的前端和后端均安装有用于检测对地距离的对地测距单元,其结构简单、成本低、易于实施推广。工作方法是依据行走底盘前端和后端对地测距单元获得前后前后端对地距离,再计算获得坡道角度,依据坡道来调节行走底盘行进速度和货箱箱体水平度,其调平稳定性、可靠性、控制精度和及时性好,易于控制。(The transport vehicle comprises a walking chassis and a container box body, wherein the container box body is hinged on the walking chassis and can swing around a hinge axis to adjust an inclination angle, a swing driving assembly for driving the container box body to swing is installed on the walking chassis, and a ground distance measuring unit for detecting the distance to the ground is installed at the front end and the rear end of the walking chassis. The working method comprises the steps of obtaining front and rear end-to-ground distances according to the front end and rear end-to-ground distance measuring units of the walking chassis, calculating to obtain a ramp angle, and adjusting the traveling speed of the walking chassis and the levelness of the container body according to the ramp, so that the leveling stability, reliability, control precision and timeliness are good, and the control is easy.)

1. The utility model provides an adaptation ramp inflection point changes packing box leveling transport vechicle, includes walking chassis (1) and packing box (2), packing box (2) are articulated to be installed on walking chassis (1) and can adjust inclination around articulated axis swing, install on walking chassis (1) and be used for driving packing box (2) wobbling swing drive assembly (3), its characterized in that: the front end and the rear end of the walking chassis (1) are both provided with a ground distance measuring unit (4) for detecting the ground distance.

2. A container leveling transport cart as defined in claim 1 wherein: the swing driving assembly (3) comprises a hydraulic station (31) and a telescopic hydraulic cylinder (32), the telescopic hydraulic cylinder (32) is hinged to the walking chassis (1), and the container body (2) is hinged to a telescopic rod of the telescopic hydraulic cylinder (32).

3. A container leveling transport cart as defined in claim 1 wherein: the walking chassis (1) is an electric double-track chassis, and the tracks on two sides of the electric double-track are respectively driven by independent motors.

4. A container leveling transport cart as defined in claim 1 wherein: the ground distance measuring unit (4) adopts an ultrasonic distance measuring sensor.

5. A container leveling transport cart as defined in claim 1 wherein: and a speed sensor for detecting the moving speed of the walking chassis (1) is arranged on the walking chassis (1).

6. A method of operating a container levelling transport vehicle as claimed in any one of claims 1 to 5, wherein: the working method comprises the steps that in the process that the traveling chassis (1) travels from a ramp to a road or from the road to the ramp at an initial speed V, the container body (2) is in a horizontal initial angle, the ground distance measuring unit (4) at the front end of the traveling chassis (1) in the actual traveling direction is set as a front end distance measuring unit (41), the ground distance measuring unit (4) at the rear end of the traveling chassis (1) in the actual traveling direction is set as a rear end distance measuring unit (42), and the front end-to-ground distance D detected by the front end distance measuring unit (41) is used for measuring the distance D₁And a rear end-to-ground distance D detected by the rear end distance measuring unit (42)₂The angle of the container body (2) and the traveling speed of the traveling chassis (1) are controlled and adjusted according to the following method steps:

(S1) when D₁-D₂When > 0, according to D₁And D₂Calculating the difference to obtain the actual angle α of the ramp, and comparing the actual angle α of the ramp with a preset angleComparing at the preset angleThe goods in the lower container body (2) can not slide when being usedWhen the cargo box is in use, the traveling speed of the traveling chassis (1) is adjusted to be less than the initial speed V, and the angle of the cargo box body (2) is adjusted to the preset angle through the swing driving assembly (3)

(S2) when the walking chassis (1) continues to move and reaches an inflection point, the walking chassis (1) rotates around the inflection point, and at the moment, the angle of the cargo box body (2) is adjusted to the actual angle α of the ramp through the swing driving assembly (3), so that the cargo box body (2) is kept horizontal.

7. The method of claim 6, wherein the actual ramp angle α is obtained by a method specified in D₁-D₂Obtaining a plurality of D within a preset continuous time period T after the start of more than 0₁And D₂And calculating to obtain a plurality of instantaneous angle values α_tAnd then a plurality of instantaneous angle values α_tThe average is taken to obtain the actual ramp angle α.

8. The method of claim 7, wherein each instantaneous angle value α_tCalculated according to the following equations (1) to (3):

D_t＝D₁-D₂(1)

in the above formula, D₁Front end-to-ground distance, D, detected for a front end ranging unit (41)₂Rear end-to-ground distance, D, detected for a rear end ranging unit (42)_tIs D₁And D₂V is the initial speed of the running chassis (1) and dt is the acquisition of each D₁And D₂Time of (α)_tIs the instantaneous angle value.

9. The working method according to claim 8, wherein the actual ramp angle α is obtained by processing with a processor, and the preset continuous time T satisfies the following equation (4):

in the formula, L_maxThe length of the contact between the crawler belt of the walking chassis (1) and the ground when the crawler belt is on the horizontal ground.

10. The method of operation of claim 6, wherein: the preset angleIs half of the friction angle of the goods carried by the container body (2).

Technical Field

The invention relates to the technical field of agricultural machinery, in particular to a container leveling transport vehicle adapting to change of a ramp inflection point and a working method of the container leveling transport vehicle.

Background

Most of Chinese orchards are distributed in hilly and mountainous regions, so that a plurality of steep slope transportation environments exist when fruits are transported in mountain regions. Present hillside orchard transport vechicle all can only travel on gentle mountain region, and the slope change in mountain region can not be followed to the packing box of vehicle, and when getting into the road abrupt slope, the goods of packing box can be followed the change of slope and produced the removal, leads to fragile article such as fruit to be broken easily, causes economic loss. How to guarantee that the transport vechicle keeps the horizontality when carrying out the operation, prevent that fruit from not pouring out the packing box in the transportation is the problem that awaits a urgent solution at present.

Disclosure of Invention

The invention aims to overcome the defects in the prior art, provides a container leveling transport vehicle which is simple in structure, low in cost and easy to implement and popularize and adapts to change of a ramp inflection point, and also correspondingly provides a working method of the container leveling transport vehicle so as to realize good leveling stability, reliability, control precision and timeliness and easy control.

In order to solve the technical problems, the invention adopts the following technical scheme:

the utility model provides a container leveling transport vechicle that adapts to ramp inflection point change, includes walking chassis and container box, the container box is articulated to be installed on walking chassis and can adjust inclination around articulated axis swing, install on the walking chassis and be used for driving the wobbling swing drive assembly of container box, the front end and the rear end of walking chassis all install the ranging unit to ground that is used for detecting the distance to ground.

Preferably, the swing driving assembly comprises a hydraulic station and a telescopic hydraulic cylinder, the telescopic hydraulic cylinder is hinged to the walking chassis, and the container body is hinged to a telescopic rod of the telescopic hydraulic cylinder.

In the above container leveling transport vehicle, preferably, the traveling chassis is an electric dual-crawler chassis, and the crawlers on the two sides of the electric dual-crawler are respectively driven by independent motors.

In the above container leveling transport vehicle, preferably, the ground ranging unit uses an ultrasonic ranging sensor.

In the above container leveling transport vehicle, preferably, a speed sensor for detecting a moving speed of the traveling chassis is mounted on the traveling chassis.

In the working method, the container body is in a horizontal initial angle in the process that the walking chassis travels from a ramp to a road or from the road to the ramp at an initial speed V, a ground distance measuring unit at the front end in the actual traveling direction of the walking chassis is set as a front end distance measuring unit, a ground distance measuring unit at the rear end in the actual traveling direction of the walking chassis is set as a rear end distance measuring unit, and the front end-to-ground distance D detected by the front end distance measuring unit is used as the rear end distance measuring unit₁And the rear end to ground distance D detected by the rear end distance measuring unit₂The angle of the container body and the traveling speed of the traveling chassis are controlled and adjusted according to the following method steps:

(S1) when D₁-D₂When > 0, according to D₁And D₂Calculating the difference to obtain the actual angle α of the ramp, and comparing the actual angle α of the ramp with a preset angleComparing at the preset angleThe goods in the box body of the lower cargo box can not slide when being taken outAdjusting the traveling speed of the traveling chassis to be less than the initial speed V, and adjusting the angle of the container body to the preset angle through the swing driving assembly

(S2) when the traveling chassis continues to travel and reaches the inflection point, the traveling chassis rotates around the inflection point, and the container body is maintained horizontal by adjusting the angle of the container body to the actual angle α of the ramp through the swing driving assembly.

In the above working method, preferably, the actual angle α of the ramp is obtained by the method specifically shown in D₁-D₂Obtaining a plurality of D within a preset continuous time period T after the start of more than 0₁And D₂And calculating to obtain a plurality of instantaneous angle values α_tAnd then a plurality of instantaneous angle values α_tThe average is taken to obtain the actual ramp angle α.

The above-mentioned operating method, preferably, the instantaneous angle values α_tCalculated according to the following equations (1) to (3):

D_t＝D₁-D₂(1)

in the above formula, D₁Front end to ground distance, D, detected for a front end ranging unit₂Rear end to ground distance, D, detected for a rear end ranging unit_tIs D₁And D₂V is the initial speed of the running chassis, dt is the acquisition of each D₁And D₂Time of (α)_tIs the instantaneous angle value.

In the above working method, preferably, the actual ramp angle α is obtained by processing with a processor, and the preset continuous time period T satisfies the requirement of the following formula (4):

in the formula, L_maxThe length of the contact between the crawler belt of the walking chassis (1) and the ground when the crawler belt is on the horizontal ground.

In the above working method, preferably, the preset angle isWhich is half of the friction angle of the goods carried by the container body.

Compared with the prior art, the invention has the advantages that:

according to the container leveling transport vehicle adapting to the change of the ramp inflection point, the ground distance measuring units are arranged at the front end and the rear end of the walking chassis, the ground distance measured by the ground distance measuring units at the front end and the rear end of the walking chassis can be used for calculating to obtain the angle of the ramp, and further reference and basis are provided for the leveling of the container body. The container leveling transport vehicle also has the advantages of simple structure, low cost and easy implementation and popularization.

The working method of the container leveling transport vehicle, disclosed by the invention, can detect in advance to obtain the ramp angle, can compensate the problem that the hydraulic adjustment responsiveness is not timely due to the quick rotation change of the track caused by the ramp inflection point, has good leveling stability, reliability and timeliness, and can improve the trafficability of the transport vehicle at the ramp inflection point. The working method is simple to implement, when the working method is combined with a control device, the control logic is simple and easy to implement, the algorithm is easy to program, and the control precision and the responsiveness are good.

Drawings

Fig. 1 is a schematic perspective view of a container leveling truck.

Fig. 2 is a schematic view of the configuration of the container leveling truck as it travels from the road to the ramp.

Illustration of the drawings:

1. a walking chassis; 2. a cargo box body; 3. a swing drive assembly; 31. a hydraulic station; 32. a telescopic hydraulic cylinder; 4. a ground ranging unit; 41. a front-end ranging unit; 42. a rear-end ranging unit.

Detailed Description

The invention is described in further detail below with reference to the figures and specific examples.

As shown in fig. 1, the cargo tank leveling transport vehicle adapted to change of a ramp inflection point in the embodiment includes a traveling chassis 1 and a cargo tank body 2, the cargo tank body 2 is hinged to the traveling chassis 1 and can swing around a hinge axis to adjust an inclination angle, a swing driving assembly 3 for driving the cargo tank body 2 to swing is installed on the traveling chassis 1, and the swing driving assembly 3 drives the cargo tank body 2 to swing so as to adjust the inclination angle of the cargo tank body 2, so that leveling is achieved. The front end and the rear end of the walking chassis 1 are both provided with a ground distance measuring unit 4 for detecting the ground distance, the ground distance measuring units 4 at the front end and the rear end of the walking chassis 1 can respectively and correspondingly detect the ground distance of the front end and the rear end of the walking chassis 1, and then the angle of a ramp can be calculated by combining the traveling distance of the walking chassis 1 so as to serve as the basis for leveling the container body 2. This packing box leveling transport vechicle is through setting up at 1 front end of walking chassis and rear end to ground range unit 4, the ground distance that can utilize 1 front end of walking chassis and rear end to ground range unit 4 to survey, calculate the angle that obtains the ramp, and then for 2 levelings of packing box provide reference and foundation, compare in the mode of traditional level sensor real-time detection 2 levelness of packing box, it can detect in advance and obtain the ramp angle, can compensate the untimely problem of hydraulic pressure regulation responsiveness that the ramp inflection point brought to track fast revolution change. The container leveling transport vehicle also has the advantages of simple structure, low cost and easy implementation and popularization.

In this embodiment, the swing driving assembly 3 includes a hydraulic station 31 and a telescopic hydraulic cylinder 32, the telescopic hydraulic cylinder 32 is hinged to the traveling chassis 1, and the cargo box 2 is hinged to a telescopic rod of the telescopic hydraulic cylinder 32. The hydraulic station 31 adopts the prior art, mainly comprises a mail box, an oil pump and a control valve, controls the telescopic motion of the telescopic hydraulic cylinder 32 by controlling the hydraulic station 31, and can enable the container body 2 to swing correspondingly around the hinged axis thereof, thereby adjusting the inclination angle of the container body 2. The swing driving assembly 3 has the advantages of simple structure, low cost, easy assembly and maintenance, and stable and reliable work.

In this embodiment, the traveling chassis 1 is an electric dual-track chassis, and the tracks on the two sides of the electric dual-track are respectively driven by independent motors, and the two tracks are driven by the two motors to operate, so as to realize the forward and backward movement, and the flexible left and right rotation of the traveling chassis 1. The electric double-crawler chassis mainly comprises a crawler chassis main body and a storage battery used for supplying power to a driving motor. Preferably, the electric double-track chassis is also provided with a generator, and when the voltage of the storage battery is reduced, the electric double-track chassis can drive the generator to rotate through the walking of the track chassis to generate energy to be supplied to the storage battery, so that the storage battery can stably supply power. Therefore, the crawler chassis is prevented from stopping running due to excessive consumption of the storage battery when the crawler chassis runs.

In this embodiment, the ground ranging unit 4 employs an ultrasonic ranging sensor. In other embodiments, the distance measuring unit 4 may also adopt other existing devices capable of detecting distance.

In this embodiment, the traveling chassis 1 is provided with a speed sensor for detecting the moving speed of the traveling chassis 1, so as to facilitate detection of the actual moving speed of the traveling chassis 1, and the controller is used to calculate the traveling distance of the traveling chassis 1 by combining the traveling time of the traveling chassis 1, thereby realizing automatic control.

In the working method of the container leveling truck of the embodiment, as shown in fig. 2, in the process that the traveling chassis 1 travels from a slope to a road or from a road to a slope at an initial speed V, the container body 2 is at a horizontal initial angle, the ground distance measuring unit 4 at the front end in the actual traveling direction of the traveling chassis 1 is set as a front end distance measuring unit 41, the ground distance measuring unit 4 at the rear end in the actual traveling direction of the traveling chassis 1 is set as a rear end distance measuring unit 42, and the front end-to-ground distance D detected by the front end distance measuring unit 41 is used as a basis₁And a rear-end to ground distance D detected by the rear-end distance measuring unit 42₂The angle of the cargo box body 2 and the traveling speed of the traveling chassis 1 are controlled and adjusted according to the following method steps:

(S1) when D₁-D₂When > 0, according to D₁And D₂Calculating the difference to obtain the actual angle α of the ramp, and comparing the actual angle α of the ramp with a preset angleMake a comparison betweenThe preset angleThe goods in the lower box body 2 can not slide when being taken offWhen the moving speed of the walking chassis 1 is adjusted to be less than the initial speed V, the angle of the container body 2 is adjusted to a preset angle through the swing driving component 3In this step, inWhen the speed of the walking chassis 1 is lower than the initial speed V, namely the speed of the walking chassis 1 is reduced, the phenomenon that the speed is controlled manually to cause a fast downhill or a fast uphill can be prevented, and the leveling response speed is insufficient. At a predetermined angleThen, goods in the container body 2 can not obliquely move, and the whole machine is still in a horizontal state due to the fact that the slope is detected, and the angle of the container body 2 is preset to a preset angleUnder the condition that objects in the container body 2 can not tip over and move, the timeliness of leveling the container body 2 when the walking chassis 1 rotates at the inflection point is improved, and the situation that the objects in the container body 2 tip over and move due to the fact that the walking chassis 1 rotates rapidly and the leveling responsiveness of the container body 2 at the inflection point is not enough is prevented.

(S2) when the walking chassis 1 continues to move and reaches the inflection point, the walking chassis 1 rotates around the inflection point, at this time, the swing driving assembly 3 adjusts the angle of the cargo box body 2 to the actual angle α of the ramp, so that the cargo box body 2 is kept horizontal, and when the ground distance detected by the front end distance measuring unit 41 and the rear end distance measuring unit 42 changes sharply, the walking chassis 1 is judged to reach the inflection point.

The working method detects the angle of the ramp in advance to obtain the angle of the ramp, can compensate the problem that the responsiveness of hydraulic adjustment is not timely caused by the quick rotation change of the track caused by the inflection point of the ramp, has good leveling stability, reliability and timeliness, and can improve the trafficability of the container leveling transport vehicle at the inflection point of the ramp. The working method is simple to implement, when the working method is combined with a control device, the control logic is simple and easy to implement, the algorithm is easy to program, and the control precision and the responsiveness are good.

When the container leveling transport vehicle is actually used, the downward slope is in a forward operation mode, and the upward slope is in a reverse operation mode.

In the above-described working method, the actual angle α of the ramp is obtained specifically at D₁-D₂Obtaining a plurality of D within a preset continuous time period T after the start of more than 0₁And D₂And calculating to obtain a plurality of instantaneous angle values α_tAnd then a plurality of instantaneous angle values α_tThe actual angle α of the ramp is obtained by averaging, and a plurality of instantaneous angle values α are obtained due to the fact that the actual ground is uneven_tAnd the actual angle α of the ramp is obtained by averaging, so that the influence of errors caused by uneven ground can be eliminated.

In this embodiment, each instantaneous angle value α_tCalculated according to the following equations (1) to (3):

D_t＝D₁-D₂(1)

in the above formula, D₁Front end-to-ground distance, D, detected for front end ranging unit 41₂Rear end-to-ground distance, D, detected for the rear ranging unit 42_tIs D₁And D₂V is the initial speed of the running chassis 1 and dt is the acquisition of each D₁And D₂Time of (α)_tIs the instantaneous angle value.

In this embodiment, preferably, the actual ramp angle α is obtained by processing with a processor, and the preset continuous time period T satisfies the requirement of the following formula (4):

in the formula, L_maxFor the length of the track of the walking chassis 1 contacting with the ground when the track is on the horizontal ground, 0.25 times L is adopted in the formula (4)_maxThe counterweight of the chassis ensures that the chassis can not turn over to rotate.

When the working method is implemented, the control device is preferably adopted to realize automatic control, the control device mainly comprises a controller (such as a computer), each pair of ground ranging units 4 is connected with the controller and transmits detected data to the controller, the controller is connected with the hydraulic station 31 and controls the electromagnetic valve on the electric hydraulic station to work, so that the telescopic hydraulic cylinder 32 is controlled, and meanwhile, the controller is also connected with the control unit of the walking chassis 1 to realize the control of the walking chassis 1. The controller is provided with a control program and logic for realizing the working method.

In this embodiment, the angle is presetHalf the angle of friction of the cargo carried by the cargo box body 2 reduces or eliminates vibration induced movement of the cargo box body.

The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-described embodiments. Modifications and variations that may occur to those skilled in the art without departing from the spirit and scope of the invention are to be considered as within the scope of the invention.