Transportation trailer for mill feeding groove and moving and positioning method of transportation trailer

Abstract

The invention relates to a transport trailer for a mill feeding trough and a moving and positioning method thereof.The transport trailer comprises a frame, an electric control box is installed on one side of the frame, the frame comprises a horizontally-arranged first cross beam, two oppositely-arranged second cross beams are installed at the two ends of the first cross beam, and the second cross beams are perpendicular to the first cross beam in the horizontal direction; a steering wheel mechanism with a steering function is installed on the first cross beam located between the two second cross beams, the end, away from the first cross beam, of each second cross beam is rotationally connected with a driving wheel, one driving wheel is in transmission connection with a driving mechanism, and the electric cabinet is electrically connected with the driving mechanism and the steering wheel mechanism. And first electric telescopic rods which are vertically distributed and electrically connected with the electric control box are further installed at the two ends of each second cross beam, the top ends of the first electric telescopic rods are telescopic ends and located on the inner sides of the second cross beams correspondingly, and the four first electric telescopic rods are oppositely arranged.

Description

Technical Field

[0001] The invention belongs to the technical field of transportation equipment, and in particular relates to a transportation trailer for a mill feed trough and a mobile positioning method thereof. Background Art

[0002] The mill is one of the main equipment in a mineral processing plant, and the replacement of the mill liner is a normal maintenance work of the mill. At present, when replacing the mill liner, most of the liner changing robots enter the mill through the feed port. Before entering the mill, the liner changing robot needs to move out the feed trough supported by the legs to create conditions for the entry of the liner changing robot to achieve rapid replacement of the mill liner. After the replacement is completed, the feed trough needs to be moved closer to the mill. However, in the prior art, there is no special transportation equipment that can facilitate the transportation of the feed trough, which will affect the efficiency of replacing the mill liner. Therefore, there are still shortcomings and deficiencies in the prior art. Summary of the invention

[0003] The purpose of the present invention is to provide a transport trailer for a grinding mill feed trough and a mobile positioning method thereof to solve the problems raised in the above background technology.

[0004] In order to solve the above problems, the technical solution adopted by the present invention is as follows:

[0005] A transport trailer for a mill feed trough, comprising a horizontally arranged frame, one side of which is equipped with an electric control box, the frame comprising a horizontally arranged first crossbeam, two oppositely arranged second crossbeams are installed at both ends of the first crossbeam, the second crossbeams are perpendicular to the first crossbeam in the horizontal direction, and a steering wheel mechanism with a steering function is installed on the first crossbeam located between the two second crossbeams, one end of each second crossbeam away from the first crossbeam is rotatably connected to a driving wheel, the driving wheels are respectively located on the outside of the second crossbeams, and one of the driving wheels is transmission-connected to a driving mechanism, and the electric control box is electrically connected to the driving mechanism and the steering wheel mechanism respectively;

[0006] Both ends of each second cross beam are also equipped with first electric telescopic rods that are vertically distributed and electrically connected to the electric control box. The top ends of the first electric telescopic rods are telescopic ends and are respectively located on the inner sides of the second cross beams, and the four first electric telescopic rods are relatively arranged on the side of the steering wheel mechanism away from the first cross beam.

[0007] Furthermore, the steering wheel mechanism includes a horizontally arranged load-bearing frame, which is installed on a first crossbeam located between two second crossbeams, and a wheel frame is hinged on the side of the load-bearing frame close to the second crossbeam, a second electric telescopic rod which is horizontally arranged and electrically connected to an electrical control box is hinged between the load-bearing frame and one of the wheel frames, a steering wheel is rotatably connected on the side of the wheel frame away from the load-bearing frame, and a horizontally distributed connecting rod is hinged between the two wheel frames.

[0008] Furthermore, the driving mechanism includes a driving motor horizontally mounted on the second beam and equipped with a brake, the output shaft of the driving motor is parallel to the first beam, and the output shaft of the driving motor is mounted with an axle, the axle is mounted with the driving wheel, and the electrical control box is electrically connected to the driving motor.

[0009] Furthermore, the driving motor is a hydraulic motor, the first electric telescopic rod and the second electric telescopic rod are both hydraulic cylinders, a hydraulic pump station is installed on the side of the first beam away from the second beam, the hydraulic pump station is electrically connected to the electrical control box, and the hydraulic pump station is respectively connected to the first electric telescopic rod, the second electric telescopic rod and the driving motor.

[0010] Furthermore, a U-shaped frame is fixedly connected to the bottom surface of each second cross beam, and a third electric telescopic rod is installed on the U-shaped frame, which is arranged parallel to the second cross beam and passes through the U-shaped frame. The third electric telescopic rod is a hydraulic cylinder, and the end of the third electric telescopic rod away from the first cross beam is a telescopic end, and the other end of the third electric telescopic rod is hinged to the second cross beam respectively, the electric control box is electrically connected to the third electric telescopic rod respectively, and the hydraulic pump station is connected to the third electric telescopic rod respectively.

[0011] Furthermore, the method for moving and positioning the transport trailer of the mill feed trough comprises the following steps:

[0012] Step 1: Determine the wheelbase between the two driving wheels as L;

[0013] Step 2: Using two first electric telescopic rods arranged far from the first crossbeam as front lifting push rods, and measuring the position coordinates of the two front lifting push rods, and then combining the wheelbase L to establish a rectangular coordinate system of the trailer motion plane;

[0014] Step 3: Determine the body turning angle as θ, and determine the steering angle of the steering wheel mechanism as β, and obtain the moving speed and steering angle of the center point of the trailer;

[0015] Step 4: According to the above steps, the position change and the angle change of the trailer when it moves in unit time are obtained;

[0016] Step 5: Determine the coordinates of the positions of the two front lifting push rods on the feed trough as the target coordinates, and use the position coordinates of the two front lifting push rods as the reference coordinates, and obtain the correction parameters γ and δ when the trailer moves, and obtain the error between the center point of the trailer and the target coordinates when it moves;

[0017] Step 6: The trailer movement is controlled by an adaptive coordinate compensation algorithm, and the trailer position is adjusted in real time. During the movement of the trailer, the steering angle change of the steering wheel mechanism is changed, combined with the body angle change and correction parameters during the movement of the trailer, to achieve alignment between the reference coordinates and the target coordinates.

[0018] Furthermore, in step 2, by installing a first positioner electrically connected to the electric control box on the two front lifting push rods, the position coordinates of the two front lifting push rods can be obtained as (x0, y0), (x1, y1);

[0019] In step 3, by installing a second positioner electrically connected to the electric control box at both ends of one of the second beams, the position coordinates of the two ends of the second beam can be obtained as (x2y2), (x3, y3), and then according to the formula: The body turning angle θ can be obtained;

[0020] Secondly, by installing an angle encoder electrically connected to the electric control box on the steering wheel mechanism, the steering angle of the steering wheel mechanism relative to the vehicle body can be directly obtained as α, and the steering angle of the steering wheel mechanism is β = α + θ;

[0021] Finally, the motion speed and steering angle of the trailer center point (x, y) can be calculated based on the kinematic equation of the four-wheel vehicle:

[0022] Among them, v is the speed of the driving wheel, which can be directly obtained by inputting the speed of the driving mechanism into the electronic control box. They are the x-axis moving speed, y-axis moving speed and steering angle of the trailer center point respectively;

[0023] In step 4, the values ​​of the current sampling time (k) and the next sampling time (k+1) are calculated according to the unit time T. The position change, the turning angle change and the steering angle change Δβ(k) of the steering wheel mechanism of the trailer when it moves in unit time can be obtained.

[0024] Furthermore, in step 5, by installing a third positioner connected to the electric control box signal at the positions corresponding to the two front lifting push rods on the feed trough, the two target coordinates can be obtained as (x0′, y0′), (x1′, y1′), and then according to the trigonometric formula: The angles γ and δ between the reference coordinates and the target coordinates can be obtained as correction parameters when the trailer moves, while tanγ(k) and tanδ(k) can directly reflect the error between the trailer and the target position during movement.

[0025] Furthermore, in step six, the electric control box uses an adaptive coordinate compensation algorithm to control the movement of the trailer, and establishes a dynamic linearization model by controlling the angle of β(k):

[0026]

[0027] Among them, θ*(k+1)=θ(k)+Δθ(k)T, is the body angle at time (k+1); μ is the error compensation factor, which is an adjustable parameter. The difference between the correction parameter and the body angle can be adjusted in real time by calculating the difference between the correction parameter and the body angle through the electronic control box; To compensate for the rear body angle;

[0028] The body angle change Δθ(k) is related to the steering angle β(k) of the steering wheel, and the two have the following relationship:

[0029]

[0030] in, is the partial derivative, which can be estimated by estimating the criterion function:

[0031]

[0032] Among them, η, ρ are weight coefficient and step coefficient respectively, and the value range is: η∈[0,1], ρ∈(0,2]. The weight coefficient and step coefficient are flexibly adjusted by the electronic control box, and the initial values ​​are set to 0.5 and 1. In this way, when the trailer is moving, by changing the steering angle change Δβ(k) of the steering wheel mechanism, combined with the body angle change Δθ(k) during the trailer movement and the correction parameters γ and δ, the trailer can move according to the planned trajectory and realize the alignment of the reference coordinates and the target coordinates.

[0033] Furthermore, proximity switches are installed at one end of the second crossbeam away from the first crossbeam and at the positions of the two front lifting push rods, and the electric control box is electrically connected to the proximity switches respectively.

[0034] By adopting the above technical solution, the beneficial effects of the present invention are:

[0035] When the present invention is in use, the driving wheel can be driven to rotate by the driving mechanism, and by setting a steering wheel mechanism, the trailer can be easily driven to move to the position of the feeding trough, until the four first electric telescopic rods are all located below the feeding trough, the telescopic ends of the first electric telescopic rods can be gradually extended, and then the feeding trough can be lifted up. At this time, the driving wheel can be driven to rotate in the opposite direction by the driving mechanism to move out of the feeding trough, thereby facilitating the transportation of the feeding trough; in addition, the feeding trough base can also be fixedly installed on the feeding trough, and a groove corresponding to the position of the first electric telescopic rod can be provided on the feeding trough base for cooperation. For example, when the distance between the two second beams is greater than the specifications of the feed trough, a feed trough base parallel to the second beams can be fixedly installed on both sides of the feed trough, and a groove opposite to the position of the first electric telescopic rod is opened on each feed trough base. At this time, when the four first electric telescopic rods are located below the feed trough base and opposite to the groove position on the feed trough base, the telescopic end of the first electric telescopic rod is gradually extended into the groove to lift the feed trough for transportation; that is to say, the present invention is a special transportation equipment for the feed trough, which can facilitate the transportation of the feed trough. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a structural schematic diagram of the present invention;

[0037] Figure 2 for Figure 1 The schematic diagram of the structure of the middle part of the device in a top view;

[0038] Figure 3 for Figure 2 Schematic diagram of the structure when the middle steering wheel is turning;

[0039] Figure 4 This is one of the structural schematic diagrams of the present invention in use;

[0040] Figure 5 This is the second structural schematic diagram of the present invention in use;

[0041] Figure 6 It is a schematic diagram of the present invention when positioning during movement.

[0042] Figure numerals: 1. first electric telescopic rod; 2. frame; 21. first crossbeam; 22. second crossbeam; 23. U-shaped frame; 3. steering wheel mechanism; 31. steering wheel; 32. load-bearing frame; 33. wheel frame; 34. connecting rod; 4. driving mechanism; 5. hydraulic pump station; 6. third electric telescopic rod; 7. operating table; 8. electric control box; 9. driving wheel; 10. fixing seat; 11. feeding trough; 12. feeding trough base; 13. groove. DETAILED DESCRIPTION

[0043] In order to make the objectives, technical solutions and beneficial effects of the present invention more clear, the embodiments of the present invention are further described in detail below with reference to the accompanying drawings.

[0044] like Figures 1 to 5 As shown, the present invention provides a transport trailer for a mill feed trough, comprising a horizontally arranged frame 2, one side of which is equipped with an electric control box 8. Specifically, the electric control box 8 is a prior art, and as a control center on the trailer, it includes power generation equipment and a controller, etc.; and an emergency stop button is installed on the electric control box 8. When in use, if a dangerous situation occurs, after pressing the emergency stop button, all operations of the trailer can be stopped immediately; the frame 2 comprises a horizontally arranged first crossbeam 21, and two oppositely arranged second crossbeams 22 are installed at both ends of the first crossbeam 21. The second crossbeams 22 are perpendicular to the first crossbeam 21 in the horizontal direction, and are located between the two crossbeams. A steering wheel mechanism 3 with a steering function is installed on the first crossbeam 21 between the second crossbeams 22. The steering wheel mechanism 3 can make the trailer turn during the movement, so that the trailer can be easily moved. The end of each second crossbeam 22 away from the first crossbeam 21 is rotatably connected to a driving wheel 9, and the driving wheels 9 are respectively located on the outside of the second crossbeam 22, and one of the driving wheels 9 is transmission-connected with a driving mechanism 4. The electric control box 8 is located on the side of the first crossbeam 21 away from the second crossbeam 22 and is electrically connected to the driving mechanism 4 and the steering wheel mechanism 3 respectively. Specifically, when in use, the driving mechanism 4 can drive the driving wheel 9 to rotate to realize the movement of the trailer.

[0045] In addition, both ends of each second cross beam 22 are also equipped with first electric telescopic rods 1 that are vertically distributed and electrically connected to the electric control box 8. The top ends of the first electric telescopic rods 1 are all telescopic ends and are respectively located on the inner sides of the second cross beam 22, and the four first electric telescopic rods 1 are relatively arranged on the side of the steering wheel mechanism 3 away from the first cross beam 21. Specifically, in the initial state, the telescopic ends of the first electric telescopic rods 1 are all in a retracted state; when in use, the driving mechanism 4 can drive the driving wheel 9 to rotate, and by setting the steering wheel mechanism 3, it is convenient to drive the trailer to the position where the feeding trough 11 is located, until the four first electric telescopic rods 1 are all located below the feeding trough 11, the telescopic ends of the first electric telescopic rods 1 can be gradually extended, and then the feeding trough 11 can be lifted up. At this time, the driving mechanism 4 can drive the driving wheel 9 to rotate in the opposite direction to move out of the feeding trough 11, so as to facilitate feeding. trough 11 for transportation; in addition, the feeding trough base 12 can also be fixedly installed on the feeding trough 11, and a groove 13 opposite to the position of the first electric telescopic rod 1 can be opened on the feeding trough base 12 for cooperation. For example, when the distance between the two second beams 22 is greater than the specification of the feeding trough 11, the feeding trough base 12 arranged parallel to the second beams 22 can be fixedly installed on both sides of the feeding trough 11, and a groove 13 opposite to the position of the first electric telescopic rod 1 is opened on each feeding trough base 12. At this time, when the four first electric telescopic rods 1 are located below the feeding trough base 12 and opposite to the groove 13 on the feeding trough base 12, the telescopic end of the first electric telescopic rod 1 is gradually extended into the groove 13, so as to lift the feeding trough 11 for transportation; that is, the present invention is a special transportation equipment for the feeding trough 11, which can facilitate the transportation of the feeding trough 11.

[0046] Secondly, the layout of the electric control box 8, the driving wheel 9, the steering wheel mechanism 3 and the first electric telescopic rod 1 on the frame 2 is compact and reasonable, which can facilitate the assembly of the trailer.

[0047] The specific configuration of the steering wheel mechanism 3 is as follows: Figures 1 to 3As shown, the steering wheel mechanism 3 includes a horizontally arranged load frame 32, the load frame 32 is installed on the first beam 21 located between the two second beams 22, and a wheel frame 33 is hinged on the side of the load frame 32 close to the second beam 22, a second electric telescopic rod that is horizontally arranged and electrically connected to the electric control box 8 is hinged between the load frame 32 and one of the wheel frames 33, a steering wheel 31 is rotatably connected to the side of the wheel frame 33 away from the load frame 32, and a horizontally distributed connecting rod 34 is hinged between the two wheel frames 33. Specifically, when the axial line of the steering wheel 31 is parallel to the axial line of the driving wheel 9, that is, in the initial state, the telescopic end of the second electric telescopic rod is in a semi-extended state; and when the telescopic end of the second electric telescopic rod is in the process of telescoping, it can drive the wheel frame 33 to rotate. At this time, under the action of the connecting rod 34, the two steering wheels 31 can be synchronously steered to drive the trailer to steer.

[0048] The specific configuration of the driving mechanism 4 is as follows: Figure 1 and Figure 4 As shown, the driving mechanism 4 includes a driving motor horizontally installed on the second crossbeam 22 and equipped with a brake. The output shaft of the driving motor is parallel to the first crossbeam 21, and a wheel axle is mounted on the output shaft of the driving motor, and the driving wheel 9 is mounted on the wheel axle. The electric control box 8 is electrically connected to the driving motor. Specifically, the driving motor with a brake is built into the driving wheel 9. When in use, when the driving motor is started, the driving wheel 9 can be driven to rotate, and the brake can brake the driving motor.

[0049] Further, such as Figure 1 and Figure 5 As shown, the driving motor is a hydraulic motor, the first electric telescopic rod 1 and the second electric telescopic rod are both hydraulic cylinders, a hydraulic pump station 5 with an oil tank is installed on the side of the first crossbeam 21 away from the second crossbeam 22, the hydraulic pump station 5 is electrically connected to the electric control box 8, and the hydraulic pump station 5 is respectively connected to the first electric telescopic rod 1, the second electric telescopic rod, and the driving motor, specifically, the hydraulic pump station 5 is mainly composed of an oil tank, a driving device, a control valve group and pipelines, and the oil tank, the driving device, the functional valve group, and the hydraulic cylinder / motor are mainly connected by hydraulic hoses; the control valve group is controlled by an electric proportional multi-way valve, which can realize manual direct operation and electrical remote control operation; and all control valve groups are equipped with back pressure valves and pressure compensators, which can keep the pressure at a suitable rated load; when in use, the driving motor, the first electric telescopic rod 1 and the second electric telescopic rod are all driven by the hydraulic pump station 5, so that the trailer can be fully hydraulically driven; in addition, when the hydraulic pump station 5 stops providing hydraulic power to the driving motor, the brake of the driving mechanism 4 can be automatically activated to play a braking role.

[0050] Furthermore, a U-shaped frame 23 is fixedly connected to the bottom surface of each second cross beam 22, and a third electric telescopic rod 6 is installed on the U-shaped frame 23, which is arranged parallel to the second cross beam 22 and passes through the U-shaped frame 23. The third electric telescopic rod 6 is a hydraulic cylinder, and the end of the third electric telescopic rod 6 away from the first cross beam 21 is a telescopic end, and the other end of the third electric telescopic rod 6 is hinged to the second cross beam 22, respectively, the electric control box 8 is electrically connected to the third electric telescopic rod 6, and the hydraulic pump station 5 is connected to the third electric telescopic rod 6. In this state, the telescopic end of the third electric telescopic rod 6 is in a retracted state; specifically, in use, when the trailer starts to drive the feed trough 11 away from the grinder, a fixing seat 10 opposite to the position of the third electric telescopic rod 6 can be provided at the end of the second beam 22 away from the first beam 21, and the fixing seat 10 can be fixed with anchor bolts. Then, when the telescopic end of the third electric telescopic rod 6 is extended to abut against the fixing seat 10, the telescopic end of the third electric telescopic rod 6 continues to extend, which can assist the trailer in starting and driving the feed trough 11 away from the grinder.

[0051] Furthermore, displacement sensors are installed in the first electric telescopic rods 1, and the displacement sensors are electrically connected to the electric control box 8. Specifically, the displacement sensor is a pull-wire displacement sensor and is built in the first electric telescopic rod 1. When in use, the displacement sensor can monitor the telescopic height of the four first electric telescopic rods 1 in real time, and then the electric control box 8 can calculate the height difference between the first electric telescopic rods 1 in real time according to the height signal fed back by the pull-wire sensor to judge the speed, and then the telescopic speed of the first electric telescopic rod 1 can be changed in real time, so that the telescopic height difference of the four first electric telescopic rods 1 can be controlled in real time within a certain error range, thereby achieving synchronous lifting and synchronous lowering; in addition, if the height difference exceeds the set safety value, the operation will be stopped immediately.

[0052] Furthermore, a liquid level sensor and a temperature sensor are installed in the oil tank, and the electronic control box 8 is electrically connected to the liquid level sensor and the temperature sensor respectively. Specifically, when in use, the liquid level sensor can be used to monitor the oil level of the hydraulic oil in the oil tank in real time, and then when the liquid level sensor detects that the oil level of the hydraulic oil is too low, the hydraulic pump station 5 can be shut down through the electronic control box 8, and the hydraulic pump station 5 cannot be restarted before the oil tank is filled with oil; and the temperature sensor can be used to monitor the temperature of the hydraulic oil in the oil tank in real time, and then when the temperature sensor detects that the temperature of the hydraulic oil is too high, the hydraulic pump station 5 can also be shut down, and the hydraulic pump station 5 cannot be restarted before the temperature of the hydraulic oil drops to a suitable temperature, thereby protecting the hydraulic pump station 5 to prevent accidents.

[0053] Furthermore, an operating table 7 is installed on the side of the first crossbeam 21 away from the second crossbeam 22, and a plurality of joysticks electrically connected to the electric control box 8 are installed on the operating table 7. Specifically, the joysticks include joysticks for controlling the movement of the trailer and the operation of the electric telescopic rod, so that the trailer can be manually operated during use; in addition, a remote controller connected to the signal of the electric control box 8 can also be provided to remotely control the trailer.

[0054] Furthermore, laser locators electrically connected to the electric control box 8 are installed at both ends of the top surface of each second cross beam 22, and the laser locators are respectively opposite to the positions of the first electric telescopic rods 1. Specifically, when in use, before the feed trough 11 is transported for the first time by a trailer, the sensing area that can be detected by the laser locator can be marked on the feed trough 11 according to the position of the laser locator. In this way, during use, it is convenient to move the trailer into place and transport the feed trough 11; or it is convenient to align the four first electric telescopic rods 1 with the four grooves 13 on the feed trough base 12.

[0055] Furthermore, an audible and visual alarm electrically connected to the electric control box 8 is installed on the frame 2. Specifically, when in use, when the trailer is in operation, the audible and visual alarm can emit sound and light to serve as a warning, thereby avoiding accidental injury to personnel who accidentally approach the transportation site.

[0056] Further, such as Figure 6 As shown, when the transport trailer of the mill feed trough is automatically operated, its mobile positioning method adopts adaptive coordinate compensation control to achieve precise positioning of the vehicle body movement, including the following steps:

[0057] Step 1: Determine the wheelbase between the two driving wheels 9 as L;

[0058] Step 2: Use the two first electric telescopic rods 1 arranged away from the first crossbeam 21 as front lifting push rods, and measure the position coordinates of the two front lifting push rods, and then combine the wheelbase L to establish a rectangular coordinate system of the trailer motion plane;

[0059] Step 3: Determine the body turning angle as θ, and determine the steering angle of the steering wheel mechanism 3 as β, where the steering angle of the steering wheel mechanism 3 as β specifically refers to the steering angle of the steering wheel 31; obtain the moving speed and steering angle of the center point of the trailer;

[0060] Step 4: During the automatic movement of the trailer, the position change and the angle change of the trailer during movement per unit time are obtained according to the above steps;

[0061] Step 5: Determine the coordinates of the positions of the two front lifting push rods on the feeding trough 11 as the target coordinates. The position of the target coordinates can be marked on the feeding trough 11 according to the position of the first electric telescopic rod 1 before the feeding trough 11 is first transported; and the position coordinates of the two front lifting push rods are used as the reference coordinates to obtain the correction parameters γ and δ when the trailer moves, and obtain the error between the center point of the trailer and the target coordinates when moving;

[0062] Step 6: The trailer movement is controlled by an adaptive coordinate compensation algorithm, and the trailer position is adjusted in real time. During the movement of the trailer, the steering angle change of the steering wheel mechanism 3 is changed, and the body angle change during the movement of the trailer is combined with the correction parameters to achieve alignment between the reference coordinates and the target coordinates.

[0063] Furthermore, in step 2, by installing a first positioner electrically connected to the electric control box 8 on the two front lifting push rods, the position coordinates of the two front lifting push rods can be obtained as (x0, y0), (x1, y1);

[0064] In step three, by installing a second positioner electrically connected to the electric control box 8 at both ends of one of the second beams 22, the position coordinates of the two ends of the second beam 22 can be obtained as (x2 y2), (x3, y3), and then according to the formula: The body turning angle θ can be obtained;

[0065] Secondly, by installing an angle encoder electrically connected to the electric control box 8 on the steering wheel mechanism 3, the steering angle of the steering wheel mechanism 3 relative to the vehicle body can be directly obtained as α, and the steering angle of the steering wheel mechanism 3 is β=α+θ;

[0066] Finally, the motion speed and steering angle of the trailer center point (x, y) can be calculated based on the kinematic equation of the four-wheel vehicle:

[0067] Wherein, v is the speed of the driving wheel, which can be directly obtained by inputting the speed of the driving mechanism 4 into the electric control box 8. They are the x-axis moving speed, y-axis moving speed and steering angle of the trailer center point respectively;

[0068] In step 4, the above formula is discretized and the values ​​of the current sampling time (k) and the next sampling time (k+1) are calculated according to the unit time T. The position change and the turning angle change of the trailer during movement in unit time and the steering angle change Δβ(k) of the steering wheel mechanism 3 can be obtained.

[0069] Furthermore, in step 5, by installing a third positioner connected to the signal of the electric control box 8 at the positions corresponding to the two front lifting push rods on the feed trough 11, the two target coordinates (x0′, y0′) and (x1′, y1′) can be obtained. Then, according to the trigonometric formula: The angles γ and δ between the reference coordinates and the target coordinates can be obtained as correction parameters when the trailer moves, while tanγ(k) and tanδ(k) can directly reflect the error between the trailer and the target position during movement.

[0070] Furthermore, in step 6, in order to enable the trailer to move to the target position with the most optimized motion trajectory, the electric control box 8 uses an adaptive coordinate compensation algorithm to control the movement of the trailer, and establishes a dynamic linearization model by controlling the angle of β(k):

[0071]

[0072] Among them, θ*(k+1)=θ(k)+Δθ(k)T, is the body angle at time (k+1); μ is the error compensation factor, which is an adjustable parameter. The difference between the correction parameter and the body angle can be calculated by the electronic control box 8 and can be adjusted in real time; To compensate for the rear body angle;

[0073] The body angle change Δθ(k) is related to the steering angle β(k) of the steering wheel, and the two have the following relationship:

[0074]

[0075] in, is the partial derivative, which can be estimated by estimating the criterion function combined with the optimal condition:

[0076]

[0077] Among them, η, ρ are weight coefficient and step coefficient respectively, and the value range is: η∈[0,1], ρ∈(0,2], the weight coefficient and step coefficient are flexibly adjusted by the electronic control box 8, and the initial values ​​are set to 0.5 and 1. In this way, during the movement of the trailer, by changing the steering angle change Δβ(k) of the steering wheel mechanism 3, combined with the body angle change Δθ(k) during the movement of the trailer and the correction parameters γ and δ, the trailer can be moved according to the planned trajectory, and the reference coordinates and the target coordinates can be aligned, that is, the error between the reference coordinates and the target coordinates can be within a controllable range.

[0078] Furthermore, proximity switches are installed at one end of the second crossbeam 22 away from the first crossbeam 21 and at the positions of the two front lifting push rods, and the electrical control box 8 is electrically connected to the proximity switches respectively. Specifically, the position of the proximity switch on the front lifting push rod can be set according to usage requirements; and when in use, when the trailer is moving, if the distance between the proximity switch at any position and the feed trough 11 is less than the safe distance, that is, the distance is close, the proximity switch at this position will be closed, and the position signal will be fed back to the electrical control box 8, and the electrical control box 8 will prohibit the trailer from continuing to move in the direction of the feed trough 12, and then the movement restriction can be lifted only when the trailer is moved to outside the safe distance, thereby preventing the trailer from colliding with the feed trough 11 during movement.

[0079] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. The present invention may be subject to various changes and improvements without departing from the spirit and scope of the present invention. These changes and improvements fall within the scope of the invention claimed for protection. The scope of protection claimed for the present invention is defined by the attached claims and their equivalents.

Claims

1. A transport trailer for a mill feed trough, comprising a horizontally arranged frame, one side of which is equipped with an electric control box, characterized in that: The frame includes a first horizontal beam, two oppositely arranged second beams are installed at both ends of the first beam, the second beams are perpendicular to the first beam in the horizontal direction, and a steering wheel mechanism with a steering function is installed on the first beam between the two second beams, and one end of each second beam away from the first beam is rotatably connected to a driving wheel, the driving wheels are respectively located on the outside of the second beam, and one of the driving wheels is transmission-connected to a driving mechanism, and the electric control box is electrically connected to the driving mechanism and the steering wheel mechanism respectively; Both ends of each second cross beam are also equipped with first electric telescopic rods that are vertically distributed and electrically connected to the electric control box. The top ends of the first electric telescopic rods are telescopic ends and are respectively located on the inner sides of the second cross beams, and the four first electric telescopic rods are relatively arranged on the side of the steering wheel mechanism away from the first cross beam.

2. A transport trailer for a mill feed trough according to claim 1, characterized in that: The steering wheel mechanism includes a horizontally arranged load-bearing frame, which is installed on a first crossbeam between two second crossbeams, and a wheel frame is hinged on one side of the load-bearing frame close to the second crossbeam, a second electric telescopic rod which is horizontally arranged and electrically connected to an electric control box is hinged between the load-bearing frame and one of the wheel frames, a steering wheel is rotatably connected on one side of the wheel frame away from the load-bearing frame, and a horizontally distributed connecting rod is hinged between the two wheel frames.

3. A transport trailer for a mill feed trough according to claim 2, characterized in that: The driving mechanism includes a driving motor horizontally mounted on the second beam and equipped with a brake, the output shaft of the driving motor is parallel to the first beam, and the output shaft of the driving motor is mounted with an axle, the axle is mounted with the driving wheel, and the electric control box is electrically connected to the driving motor.

4. A transport trailer for a mill feed trough according to claim 3, characterized in that: The driving motor is a hydraulic motor, the first electric telescopic rod and the second electric telescopic rod are both hydraulic cylinders, a hydraulic pump station is installed on the side of the first beam away from the second beam, the hydraulic pump station is electrically connected to the electric control box, and the hydraulic pump station is respectively connected to the first electric telescopic rod, the second electric telescopic rod and the driving motor.

5. A transport trailer for a mill feed trough according to claim 4, characterized in that: A U-shaped frame is fixedly connected to the bottom surface of each second cross beam, and a third electric telescopic rod is installed on the U-shaped frame, which is arranged parallel to the second cross beam and passes through the U-shaped frame. The third electric telescopic rod is a hydraulic cylinder, and the end of the third electric telescopic rod away from the first cross beam is a telescopic end, and the other end of the third electric telescopic rod is hinged to the second cross beam respectively, the electric control box is electrically connected to the third electric telescopic rod respectively, and the hydraulic pump station is connected to the third electric telescopic rod respectively.

6. A method for moving and positioning a transport trailer of a mill feed trough according to claim 1, characterized in that: The steps include: Step 1: Determine the wheelbase between the two driving wheels as L; Step 2: Using two first electric telescopic rods arranged far from the first crossbeam as front lifting push rods, and measuring the position coordinates of the two front lifting push rods, and then combining the wheelbase L to establish a rectangular coordinate system of the trailer motion plane; Step 3: Determine the body turning angle as θ, and determine the steering angle of the steering wheel mechanism as β, and obtain the moving speed and steering angle of the center point of the trailer; Step 4: According to the above steps, the position change and the angle change of the trailer when it moves in unit time are obtained; Step 5: Determine the coordinates of the positions of the two front lifting push rods on the feed trough as the target coordinates, and use the position coordinates of the two front lifting push rods as the reference coordinates, and obtain the correction parameters γ and δ when the trailer moves, and obtain the error between the center point of the trailer and the target coordinates when it moves; Step 6: The trailer movement is controlled by an adaptive coordinate compensation algorithm, and the trailer position is adjusted in real time. During the movement of the trailer, the steering angle change of the steering wheel mechanism is changed, combined with the body angle change and correction parameters during the movement of the trailer, to achieve alignment between the reference coordinates and the target coordinates.

7. The method for moving and positioning a transport trailer of a mill feed trough according to claim 6, characterized in that: In step 2, by installing a first positioner electrically connected to the electric control box on the two front lifting push rods, the position coordinates of the two front lifting push rods can be obtained as (x0, y0), (x1, y1); In step three, by installing a second positioner electrically connected to the electric control box at both ends of one of the second beams, the position coordinates of the two ends of the second beam can be obtained as (x2y2), (x3, y3), and then according to the formula: The body turning angle θ can be obtained; Secondly, by installing an angle encoder electrically connected to the electric control box on the steering wheel mechanism, the steering angle of the steering wheel mechanism relative to the vehicle body can be directly obtained as α, and the steering angle of the steering wheel mechanism is β = α + θ; Finally, the motion speed and steering angle of the trailer center point (x, y) can be calculated based on the kinematic equation of the four-wheel vehicle: Among them, v is the speed of the driving wheel, which can be directly obtained by inputting the speed of the driving mechanism into the electronic control box. They are the x-axis moving speed, y-axis moving speed and steering angle of the trailer center point respectively; In step 4, the values ​​of the current sampling time (k) and the next sampling time (k+1) are calculated according to the unit time T. The position change, turning angle change and steering angle change Δβ(k) of the steering wheel mechanism of the trailer when it moves in unit time can be obtained.

8. The method for moving and positioning a transport trailer of a mill feed trough according to claim 6, characterized in that: In step 5, by installing a third positioner connected to the electric control box signal at the position corresponding to the two front lifting push rods on the feed trough, the two target coordinates (x0′, y0′) and (x1′, y1′) can be obtained. Then according to the trigonometric formula: The angles γ and δ between the reference coordinates and the target coordinates can be obtained as correction parameters when the trailer moves, while tanγ(k) and tanδ(k) can directly reflect the error between the trailer and the target position during movement.

9. The method for moving and positioning a transport trailer of a mill feed trough according to claim 6, characterized in that: In step six, the electronic control box uses an adaptive coordinate compensation algorithm to control the movement of the trailer and establishes a dynamic linearization model by controlling the angle of β(k): Among them, θ * (k+1)=θ(k)+Δθ(k)T, which is the body angle at time (k+1); μ is the error compensation factor, which is an adjustable parameter. The difference between the correction parameter and the body angle can be adjusted in real time by calculating the difference between the correction parameter and the body angle through the electronic control box; To compensate for the rear body angle; The body angle change Δθ(k) is related to the steering angle β(k) of the steering wheel, and the two have the following relationship: in, is the partial derivative, which can be estimated by estimating the criterion function: Among them, η, ρ are weight coefficient and step coefficient respectively, and the value range is: η∈[0,1], ρ∈(0,2]. The weight coefficient and step coefficient are flexibly adjusted by the electronic control box, and the initial values ​​are set to 0.5 and 1. In this way, when the trailer is moving, by changing the steering angle change Δβ(k) of the steering wheel mechanism, combined with the body angle change Δθ(k) during the movement of the trailer and the correction parameters γ and δ, the trailer can move according to the planned trajectory and realize the alignment of the reference coordinates and the target coordinates.

10. The method for moving and positioning a transport trailer of a mill feed trough according to claim 6, characterized in that: Proximity switches are installed at one end of the second crossbeam away from the first crossbeam and at the positions of the two front lifting push rods, and the electric control box is electrically connected to the proximity switches respectively.

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