Hopper attitude control structure, charging vehicle, control method and overload control method

Abstract

The invention provides a hopper attitude control structure, a charging vehicle, a control method and an overload control method, the attitude control structure is installed between a vehicle frame and a hopper, and the vehicle frame controls the attitude of the hopper through the attitude control structure; the posture control structure comprises a vertical support, the upper end of the vertical support is provided with a first connecting point and a third connecting point, the lower end of the vertical support is provided with a second connecting point, and the vertical support is rotatably connected with the frame through the second connecting point; one end of the first transverse bracket is rotatably mounted at a first connecting point of the vertical bracket, and the other end of the first transverse bracket is rotatably mounted at a first adapter of the hopper; and one end of the second transverse bracket is rotatably mounted at a second connecting point of the vertical bracket, and the other end of the second transverse bracket is rotatably mounted at a second adapter of the hopper.

Description

Technical Field

[0001] The present application relates to the technical field of engineering charging vehicles, and in particular to a hopper posture control structure, a charging vehicle, a control method and an overload control method. Background Art

[0002] The common loading trucks on the market often rely on the coordinated work of multiple cylinders when performing material lifting operations. This design leads to an increase in the number of components, which makes the overall cost quite expensive. In addition, due to the large number of components, once a failure occurs, the maintenance process will become quite complicated and cumbersome. Summary of the invention

[0003] The object of the present invention is to solve the above-mentioned problems and provide a hopper posture control structure and a charging vehicle.

[0004] The technical solution of this application is implemented as follows: In a first aspect, the present application provides a hopper posture control structure, wherein the posture control structure is installed between a frame and the hopper, and the frame controls the posture of the hopper through the posture control structure; The posture control structure comprises: A vertical bracket, wherein the upper end of the vertical bracket has a first connection point and a third connection point, and the lower end has a second connection point, and the vertical bracket is rotatably connected to the frame through the second connection point; A first transverse bracket, one end of which is rotatably mounted on a first connection point of the vertical bracket, and the other end of which is rotatably mounted on a first transition of the hopper; A second transverse bracket, one end of which is rotatably mounted on a second connection point of the vertical bracket, and the other end of which is rotatably mounted on a second transition of the hopper; The direction of the connecting line between the center of the first adapter and the center of the second adapter is parallel to the direction of the vertical bracket in the height direction of the frame; The orientation of the first transverse bracket is parallel to the orientation of the second transverse bracket in the height direction of the frame; The posture control structure further comprises: a first oil cylinder assembly, the base end of which is rotatably mounted on the frame, and the telescopic end of which is rotatably mounted on the lower end of the second transverse bracket; The second oil cylinder assembly has a base end rotatably mounted on the vehicle frame, and a telescopic end rotatably mounted on the third connection point of the vertical bracket.

[0005] The advantages or beneficial effects of the above technical solution include at least: By using the vertical bracket and the combination of the first and second transverse brackets, a parallelogram structure was successfully constructed. This structure ensures that the hopper can be stably lifted in a parallel manner during the hopper lifting process. In addition, by adjusting this parallelogram structure, the elevation and depression angles of the hopper can be flexibly changed. The entire lifting and angle adjustment process only needs to be controlled by two cylinders, thereby simplifying the structure. This design not only reduces costs, but also makes maintenance work more convenient and quick due to its simple structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] The accompanying drawings illustrate exemplary implementations of the present application of embodiments of the present invention and, together with the description, are used to explain the principles of the present application. These drawings are included to provide a further understanding of the present application, and the drawings are included in and constitute a part of this specification.

[0007] Figure 1 A first structural schematic diagram of a charging vehicle according to an embodiment of the present invention is shown; Figure 2 A second structural schematic diagram of a charging vehicle according to an embodiment of the present invention is shown; Figure 3 A schematic diagram showing the position of the gap in an embodiment of the present invention; Figure 4 A schematic structural diagram of a second oil cylinder assembly according to an embodiment of the present invention is shown; Figure 5 A schematic diagram of parallel lifting of a hopper according to an embodiment of the present invention is shown; Figure 6 A schematic diagram of parallel lifting of a hopper according to an embodiment of the present invention is shown; Figure 7 A schematic diagram showing adjustment of the pitch angle of a hopper according to an embodiment of the present invention is shown; Figure 8 A simplified diagram of adjusting the pitch angle of a hopper according to an embodiment of the present invention is shown; Fig. 9 A schematic diagram showing the balance of a hopper on a downhill section of a charging vehicle according to an embodiment of the present invention is shown; Fig.10 A schematic diagram showing the balance of a hopper on a downhill section of a charging vehicle according to an embodiment of the present invention is shown; Fig.11 A schematic diagram showing the balance of the hopper of the uphill section of the charging vehicle according to an embodiment of the present invention is shown; Fig.12 A schematic diagram showing the balance of the hopper of the uphill section of the charging vehicle according to an embodiment of the present invention is shown; Fig.13 A schematic diagram showing an adapter, an extension rod and an adapter seat according to an embodiment of the present invention; Fig.14A schematic diagram showing a charging vehicle according to an embodiment of the present invention traveling on a laterally inclined road section; Fig.15 A first schematic diagram of adjusting the side angle of a hopper according to an embodiment of the present invention is shown; Fig.16 A second schematic diagram of adjusting the side angle of the hopper according to an embodiment of the present invention is shown; Fig.17 A schematic diagram of a hydraulic oil circuit according to an embodiment of the present invention is shown; Fig.18 A schematic diagram showing angle A and angle B of an embodiment of the present invention is shown; Fig.19 A schematic diagram showing the position of a microwave sensor according to an embodiment of the present invention is shown.

[0008] Figure numerals: 10, charging vehicle; 11, vehicle frame; 111, vertical support; 112, first transverse support; 113, second transverse support; 114, first oil cylinder assembly; 115, second oil cylinder assembly; 1151, first height adjustment oil cylinder; 1152, second height adjustment oil cylinder; 12, hopper; 121, adapter; 1211, extension rod; 1212, adapter seat; 122, first transfer point; 123, second transfer point; 13, front wheel connecting frame; 131, gap; 14, rear wheel connecting frame; 15, hydraulic oil circuit bus; 151, first oil circuit control valve; 152, second oil circuit control valve; 153, oil pump; 17, wave crest locator; 18, microwave sensor; DETAILED DESCRIPTION The embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be construed as being limited to the embodiments described herein. Instead, these embodiments are provided for a more thorough and complete understanding of the present application. It should be understood that the drawings and embodiments of the present application are only for exemplary purposes and are not intended to limit the scope of protection of the present application.

[0009] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0010] Reference Figure 1 , a hopper posture control structure, the posture control structure is installed between the frame 11 and the hopper 12, and the frame 11 controls the posture of the hopper 12 through the posture control structure; The posture control structure includes: a vertical bracket 111, wherein the upper end of the vertical bracket 111 has a first connection point and a third connection point, and the lower end has a second connection point, and the vertical bracket 111 is rotatably connected to the frame 11 through the second connection point; a first transverse bracket 112, one end of which is rotatably mounted on the first connection point of the vertical bracket 111, and the other end is rotatably mounted on the first transition point 122 of the hopper 12; a second transverse bracket 113, one end of which is rotatably mounted on the second connection point of the vertical bracket 111, and the other end is rotatably mounted on the second transition point 123 of the hopper 12; the direction of the connecting line between the center of the first transition point 122 and the center of the second transition point 123 is parallel to the direction of the vertical bracket 111 in the height direction of the frame 11; the direction of the first transverse bracket 112 and the direction of the second transverse bracket 113 are parallel to the direction of the height direction of the frame 11; Figure 5 and Figure 6 As shown, the connection line is parallel to the vertical bracket 111, and the first horizontal bracket 112 and the second horizontal bracket 113 are parallel to each other, forming a parallelogram structure; Furthermore, the posture control structure also includes: a first cylinder assembly 114, the base end of which is rotatably mounted on the frame 11, and the telescopic end of which is rotatably mounted on the lower end of the second transverse bracket 113; a second cylinder assembly 115, the base end of which is rotatably mounted on the frame 11, and the telescopic end of which is rotatably mounted on the third connection point of the vertical bracket 111; and the length of the first transverse bracket 112 is consistent with the length of the second transverse bracket 113; the distance from the first connection point to the second connection point is consistent with the distance from the first transition point 122 to the second transition point 123.

[0011] A first triangular structure is formed between the first cylinder assembly 114 and the vertical support 111, and a second triangular structure is also formed between the second cylinder assembly 115 and the second transverse support 113. When the hopper 12 needs to move up and down in parallel, the telescopic end of the first cylinder assembly 114 remains stationary, so that the first triangular structure is stable. At this time, the vertical support 111 will not swing, and the telescopic end of the second cylinder assembly 115 is controlled to extend or contract, so that the second transverse support 113 swings up or down. Due to the parallelogram structure, the connecting line (the connecting line between the center of the first adapter 122 and the center of the second adapter 123) will move up or down and always remain parallel to the vertical support 111 during the movement, so that the hopper 12 can move up and down smoothly. Please combine Figure 5 and Figure 6When the hopper 12 needs to swing at an elevation angle or a depression angle, the telescopic end of the second cylinder assembly 115 remains stationary, so that the second triangular structure is stable. At this time, the second horizontal bracket 113 does not swing, and the telescopic end of the first cylinder assembly 114 is controlled to extend or contract, so that the vertical bracket 111 swings forward and backward. Due to the parallelogram structure, the upper end of the vertical bracket 111 pushes the first horizontal bracket 112 to move forward or backward, and is always parallel to the second horizontal bracket 113 during the movement, so that the depression angle or elevation angle of the hopper 12 can be controlled. Please combine Figure 7 and Figure 8 In summary, the control of the up and down movement and the swing of the elevation or depression angle of the hopper 12 only requires the same parallelogram structure.

[0012] The present invention also discloses a charging vehicle, wherein the charging vehicle 10 is equipped with the above-mentioned hopper posture control structure, and the posture of the hopper 12 is controlled by the hopper posture control structure, wherein the charging vehicle 10 comprises: a front wheel connecting frame 13, the front wheels of the charging vehicle 10 are installed at the part of the front wheel connecting frame 13 close to the front of the vehicle, there is a gap between the front wheel connecting frames 13, and the posture control structure is located in the gap 131; a rear wheel connecting frame 14, and the rear wheels of the charging vehicle 10 are installed at the part of the rear wheel connecting frame 14 close to the rear of the vehicle; When the hopper posture control structure is applied to the charging vehicle 10, the vertical bracket 111 is rotatably connected to the rear wheel connecting frame 14 through the second connection point; the base end of the first cylinder assembly 114 is rotatably mounted on the rear wheel connecting frame 14, and the base end of the second cylinder assembly 115 is rotatably mounted on the rear wheel connecting frame 14.

[0013] Based on the further improvement of the above structure, the charging vehicle 10 further comprises: The hydraulic oil circuit bus 15 is used to deliver the hydraulic oil pumped by the oil pump 153 of the charging vehicle 10 to the first cylinder assembly 114 or the second cylinder assembly 115; the first oil circuit control valve 151, the hydraulic oil circuit bus 15 is connected to the first cylinder assembly 114 and the second cylinder assembly 115 through the first oil circuit control valve 151, and the first oil circuit control valve 151 is used to switch the oil circuit of the hydraulic oil circuit bus 15 so that the hydraulic oil circuit bus 15 is connected to the first cylinder assembly 114 or the second cylinder assembly 115. Since when one of the first cylinder assembly 114 and the second cylinder assembly 115 is in operation, the other needs to remain in a locked state. The first oil circuit control valve 151 can achieve this function, so that the oil circuit is connected to one of the two (the first cylinder assembly 114 and the second cylinder assembly 115). Fig.17 As shown; As a further improvement of the above structure, the distance between the front wheel and the second connection point is L1, and the distance between the rear wheel and the second connection point is L2; ​​wherein 3*L2>L1>2*L2, such as Figure 5As shown, the entire hopper posture control structure is biased toward the rear of the charging vehicle 10, which can effectively move the center of gravity of the entire vehicle backward, making it difficult for the charging vehicle 10 to tip forward during the material transportation process; Further, such as Figure 3 and Figure 4 As shown, a pair of the first transverse bracket 112 and the second transverse bracket 113 are each provided along the width direction of the charging cart 10; a pair of the first adapter 122 of the hopper 12 and the second adapter 123 of the hopper 12 are each provided along the width direction of the charging cart 10; the second cylinder assembly 115 includes a first height adjustment cylinder 1151 and a second height adjustment cylinder 1152; to ensure the force balance of the bracket during the lifting of the hopper 12; at the same time, the base ends of the first height adjustment cylinder 1151 and the second height adjustment can be rotatably mounted on the rear wheel connecting frame 14, and the telescopic ends can be rotatably mounted on the lower end of the second transverse bracket 113.

[0014] Based on the further improvement of the above structure, such as Fig.13 As shown, the hopper 12 is also equipped with: an adapter 121, which has several adapters 121, which are respectively installed at the first adapter 122 and the second adapter 123; an extension rod 1211, which is installed at the portion of the adapter 121 close to the outside of the charging cart 10, and the adapter 121 can swing toward the top or bottom of the hopper 12, so that the direction of each extension rod 1211 is consistent, and each extension rod 1211 is parallel in the height direction of the charging cart 10; an adapter seat 1212, which is movably installed on the extension rod 1211 On it, the adapter seat 1212 can move forward and backward along the axial direction of the extension rod 1211; wherein, one end of the first transverse bracket 112 can be rotatably mounted on the adapter seat 1212 near the first adapter 122; one end of the second transverse bracket 113 can be rotatably mounted on the adapter seat 1212 near the second adapter 123; and the charging cart 10 is also equipped with a second oil circuit control valve 152, which is used to control the oil flow from the hydraulic oil circuit bus 15 to the first height adjustment cylinder 1151 or the second height adjustment cylinder 1152.

[0015] Please Fig.14 and Fig.15 , 16 Combined with the reference, based on the above structure, the structure is used to control the side angle of the hopper 12, and the output or extraction of oil from the oil pump 153 of the first height adjustment cylinder 1151 and the second height adjustment cylinder 1152 is controlled by the second oil circuit control valve 152, so that the extension or contraction amount of the telescopic end of the first height adjustment cylinder 1151 and the second height adjustment cylinder 1152 can be different, such as Fig.13 As shown, X2 is the distance between the two pairs of transverse brackets. When there is a difference in the amount of extension or contraction of the telescopic ends of the first height adjustment cylinder 1151 and the second height adjustment cylinder 1152, the distance X2 remains unchanged. Fig.15 As shown, X1 is the difference between the extension or contraction amount of the telescopic end of the first height adjustment cylinder 1151 and the second height adjustment cylinder 1152. For example, the lifting amount of the right side transverse bracket is higher than that of the left side transverse bracket. Since the extension rod 1211 is straight and perpendicular to the adapter 1212, the central axis of the extension rod 1211 on both sides of the hopper 12 will have a height difference. This difference is X1. Fig.15 and Fig.14 It can be observed that, since the vehicle is tilted at this time, the adapter 1212 is also tilted. At this time, the adapter 121 near the left side of the hopper 12 will be adaptively rotated upward due to the difference, and the adapter 121 near the right side of the hopper 12 will be adaptively rotated downward due to the difference. At the same time, since X2 remains unchanged, Fig.15 The adapter seat 1212 at the upper left corner will move toward the adapter 121, and the adapter seat 1212 at the lower right corner will also move toward the adapter 121, thereby achieving the adjustment of the side angle of the hopper 12. Fig.16 To adjust the angle on the other side, the above steps are reversed and will not be described in detail.

[0016] Through the above structure, the elevation angle, depression angle and side angle of the hopper 12 can be controlled, and only two cylinder assemblies are needed for control throughout the whole process. The hopper 12 can be kept balanced when the charging vehicle 10 is transporting materials on an inclined road surface, and the material is prevented from overflowing from the top of the hopper 12 and spilling forward, backward, left or right, thereby preventing the loss of materials, which include sand, cement, gravel blocks and other materials.

[0017] The present invention also discloses a control method for an intelligent charging vehicle, the control method is based on the charging vehicle 10 of the above structure, and the charging vehicle 10 further comprises: a controller, installed in the frame 11 of the charging vehicle 10, the controller is used to control the first cylinder assembly 114, the first height adjustment cylinder 1151, the second height adjustment cylinder 1152, the first oil circuit control valve 151, the second oil circuit control valve 152 and the oil pump 153 of the charging vehicle 10; a hopper 12 tilt angle sensor, installed at the bottom of the hopper 12, used to detect the tilt angle of the hopper 12; a load sensor, used to detect whether the height of the material in the hopper 12 is higher than the height of the hopper 12 The load sensor includes a microwave sensor 18, and the microwave sensor 18 is installed at the opening of the top of the hopper 12. The microwave sensor 18 is tilted toward the top of the hopper 12. The tilted setting allows the microwaves of the microwave sensor 18 to be emitted at an angle. If they are set in parallel, the microwave signals will be parallel. When the top of the material is parallel to the top of the hopper 12, it is impossible to determine the height of the material overflowing the top of the hopper 12. When the material overflows the top opening of the hopper 12 to a certain height, it will contact the tilted microwave signal and reflect the signal. At this time, the material sensor confirms that the material overflows the top of the hopper 12 and overflows a certain height, such as Fig.19 As shown; the above-mentioned hopper 12 tilt angle sensor and load sensor are electrically connected to the controller; The control method includes a hopper 12 posture adjustment control method and a hopper 12 balance control method, wherein the hopper 12 posture adjustment control method is used to realize the up and down parallel movement of the hopper 12 and the adjustment of the elevation angle and the inclination angle for loading and unloading; the hopper 12 balance control method is used to control the balance of the hopper 12 when the material overflows the top of the hopper 12 during the driving of the charging vehicle 10 on the inclined section, so as to avoid the material from being spilled forward, backward, left or right when the material overflows the top of the hopper 12, thereby avoiding material loss.

[0018] The control method for adjusting the posture of the hopper 12 includes: height control of the hopper 12 and control of the elevation and depression angles of the hopper 12; wherein, height control of the hopper 12: the controller controls the first oil circuit control valve 151 and the second oil circuit control valve 152 to connect the hydraulic oil circuit bus 15 with the first height adjustment cylinder 1151 and the second height adjustment cylinder 1152, and at the same time, disconnects the hydraulic oil circuit bus 15 from the first cylinder assembly 114, controls the oil pump 153 to input or extract hydraulic oil to the first height adjustment cylinder 1151 and the second height adjustment through the hydraulic oil circuit bus 15 at the same time, changes the angle between the first and second horizontal brackets 113 and the vertical bracket 111, so as to lift or lower the hopper 12. The specific operation process has been described in detail above and will not be repeated here.

[0019] Among them, the elevation and depression angles of the hopper 12 are controlled: the controller controls the first oil circuit control valve 151 to disconnect the hydraulic oil circuit bus 15 from the first height adjustment cylinder 1151 and the second height adjustment cylinder 1152, and at the same time, connects the hydraulic oil circuit bus 15 with the first cylinder assembly 114, controls the oil pump 153 to input or extract hydraulic oil to the first cylinder assembly 114 through the hydraulic oil circuit bus 15, and changes the angle between the vertical support 111 and the first and second horizontal supports 113 to control the elevation or depression angle of the hopper 12. The specific operation process has been described in detail above and will not be repeated here.

[0020] The hopper 12 balance control method includes a pitch angle leveling method and a side angle leveling method: The method for leveling the pitch angle includes detecting the angle A between the axis extending along the height direction of the center of the hopper 12 and the first horizontal line through the tilt angle sensor of the hopper 12, the angle A is consistent with the pitch angle of the hopper 12, and the extension direction of the first horizontal line is the length direction of the charging vehicle 10. When the angle A is greater than the threshold value, the controller controls the first oil circuit control valve 151 to disconnect the hydraulic oil circuit bus 15 from the first height adjustment cylinder 1151 and the second height adjustment cylinder 1152, and at the same time, the hydraulic oil circuit bus 15 is connected to the first cylinder assembly 114, and the control oil pump 153 inputs or extracts hydraulic oil to the first cylinder assembly 114 through the hydraulic oil circuit bus 15, and changes the angle between the vertical support 111 and the first and second transverse supports 113 to control the pitch or elevation angle of the hopper 12 until the pitch or elevation angle of the hopper 12 is 0°; The side angle leveling method includes: using the hopper 12 tilt angle sensor to detect the angle B between the axis extending in the height direction of the center of the hopper 12 and the second horizontal line, the angle B is consistent with the side angle of the hopper 12, such as Fig.18 As shown, the extension direction of the first horizontal line is the length direction of the charging cart 10, and the extension direction of the second horizontal line is the width direction of the charging cart 10. The first horizontal line and the second horizontal line are perpendicular to each other. When the angle B is greater than the threshold, the load sensor detects whether there is material higher than the top opening of the hopper 12, otherwise there is no action; if so, the first oil circuit control valve 151 is controlled by the controller to connect the hydraulic oil circuit bus 15 with the second oil circuit control valve 152. The controller controls the oil intake or oil overflow of the first height adjustment cylinder 1151 and the second height adjustment cylinder 1152 through the second oil circuit control valve 152, so that the swing angles of the two groups of first transverse brackets 112 and second transverse brackets 113 located on both sides of the width direction of the charging cart 10 differ, and the side angle of the hopper 12 can be changed (the specific steps have been explained above) until the measured angle of the hopper 12 is 0°.

[0021] like Fig.18 As shown, when the angle A and the angle B are both equal to 90°, it means that the charging truck 10 is in a horizontal section; when the angle A is less than 90°, it means that the charging truck 10 is in a downhill section with the front of the vehicle facing downward (assuming that the charging truck 10 is moving forward); when the angle A is greater than 90°, it means that the front of the charging truck 10 is in an uphill section with the front of the vehicle facing upward; when the angle B is less than 90°, it means that the charging truck 10 is tilted to the right; and when the angle B is greater than 90°, it means that the charging truck 10 is tilted to the left.

[0022] The embodiment of the present invention further provides an overload control method, and the control method is based on the above-mentioned charging vehicle 10; The charging vehicle 10 is provided with a crest locator 17. Preferably, the crest locator 17 is installed at a height of the front wheel connecting frame 13. Figure 2As shown, the peak locator 17 is used to locate the height of the top of the material in the hopper 12 and the distance from both ends of the length direction of the hopper 12; The control method includes determining whether the weight of the material in the hopper 12 exceeds the load capacity of the charging vehicle 10 after the material is loaded and before the hopper 12 is lifted, otherwise determining that there is no overload, and if so, determining that there is overload and reminding the driver; The weight of the material in the hopper 12 ;in, is the density of the material, The volume of the material.

[0023] The density of the material is input by the driver into the computer controller, and the computer controller calculates the material weight through the density of the material type and the volume of the material; The volumetric method of materials includes the following steps: S1. Assume that the material in the hopper 12 is distributed in a sinusoidal prism shape; S2, through the crest locator 17, determine the length between the crest end point and the bottom of the hopper 12 , the vertical distance from the crest to the trough is ; S3. Determine the form of the sine wave function: The sine wave function form is: ,in, is the amplitude, equal to ; is the inverse of the period, equal to: ; The sine wave function is:

[0024] S4. Use the volume formula of a solid of revolution: Rotate the volume formula Substitute this into the sine wave function and calculate the integral:

[0025]

[0026]

[0027]

[0028]

[0029] S5. Results: The volume formed by the rotation of the sine wave around the x-axis is:

[0030] As a second example of the volume method for materials: S21. Assume that the three-dimensional shape of the material accumulation is a structure formed by stretching a sine wave pattern along the width direction of the hopper 12; S22, through Compute the area of ​​a sine wave:

[0031] Substituting into the sine wave function: ; Calculating the integral gives: ; S23. Substitute into the area formula: ,in, is the width of the hopper 12.

[0032] In the description of the present application, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0033] Those skilled in the art should understand that the above embodiments are only for the purpose of clearly illustrating the present application, and are not intended to limit the scope of the present application. For those skilled in the art, other changes or modifications may be made based on the above disclosure, and these changes or modifications are still within the scope of the present application.

Claims

1. A hopper posture control structure, the posture control structure is installed between a frame and the hopper, and the frame controls the posture of the hopper through the posture control structure; The posture control structure comprises: A vertical bracket, wherein the upper end of the vertical bracket has a first connection point and a third connection point, and the lower end has a second connection point, and the vertical bracket is rotatably connected to the frame through the second connection point; A first transverse bracket, one end of which is rotatably mounted on a first connection point of the vertical bracket, and the other end of which is rotatably mounted on a first transition of the hopper; A second transverse bracket, one end of which is rotatably mounted on a second connection point of the vertical bracket, and the other end of which is rotatably mounted on a second transition of the hopper; The direction of the connecting line between the center of the first adapter and the center of the second adapter is parallel to the direction of the vertical bracket in the height direction of the frame; The orientation of the first transverse bracket is parallel to the orientation of the second transverse bracket in the height direction of the frame; The posture control structure further comprises: a first oil cylinder assembly, the base end of which is rotatably mounted on the frame, and the telescopic end of which is rotatably mounted on the lower end of the second transverse bracket; The second oil cylinder assembly has a base end rotatably mounted on the vehicle frame, and a telescopic end rotatably mounted on the third connection point of the vertical bracket.

2. The hopper posture control structure according to claim 1, characterized in that: The length of the first transverse bracket is consistent with the length of the second transverse bracket; The distance from the first connection point to the second connection point is consistent with the distance from the first transition point to the second transition point.

3. A charging vehicle, characterized in that: The charging vehicle is provided with a hopper posture control structure as described in any one of claims 1 to 2, and the hopper is installed at the front end of the charging vehicle; The charging vehicle comprises: A front wheel connecting frame, the front wheel of the charging vehicle is mounted on the front wheel connecting frame near the front of the vehicle, there is a gap between the front wheel connecting frames, and the posture control structure is located in the gap; A rear wheel connecting frame, wherein the rear wheel of the charging vehicle is mounted on a portion of the rear wheel connecting frame close to the rear of the vehicle; The vertical support is rotatably connected to the rear wheel connecting frame via the second connecting point; The base end of the first oil cylinder assembly is rotatably mounted on the rear wheel connecting frame, and the base end of the second oil cylinder assembly is rotatably mounted on the rear wheel connecting frame.

4. The charging vehicle according to claim 3, characterized in that: The charging vehicle further comprises: A hydraulic oil bus, used to deliver the hydraulic oil pumped by the oil pump of the charging vehicle to the first cylinder assembly or the second cylinder assembly; The first oil circuit control valve, the hydraulic oil circuit bus is connected to the first cylinder assembly and the second cylinder assembly through the first oil circuit control valve, and the first oil circuit control valve is used to switch the oil circuit of the hydraulic oil circuit bus so that the hydraulic oil circuit bus is connected to the first cylinder assembly or the second cylinder assembly.

5. The charging vehicle according to claim 4, characterized in that: The distance between the front wheel and the second connection point is L1, and the distance between the rear wheel and the second connection point is L2; Among them, 3*L2>L1>2*L2.

6. The charging vehicle according to any one of claims 3 to 5, characterized in that: A pair of the first transverse bracket and the second transverse bracket are provided along the width direction of the charging vehicle; A pair of first transfer points of the hopper and a pair of second transfer points of the hopper are provided along the width direction of the charging vehicle; The second cylinder assembly includes a first height adjustment cylinder and a second height adjustment cylinder; The base ends of the first height adjustment oil cylinder and the second height adjustment oil cylinder can be rotatably mounted on the rear wheel connecting frame, and the telescopic ends can be rotatably mounted on the lower end of the second transverse bracket.

7. The charging vehicle according to claim 6, characterized in that: The hopper further comprises: A transfer piece, wherein the transfer pieces are in plurality and are respectively installed at the first transfer point and the second transfer point; An extension rod is mounted on a portion of the adapter close to the outside of the charging cart, and the adapter can swing toward the top or bottom of the hopper cart; An adapter seat is movably mounted on the extension rod, and the adapter seat can move forward and backward along the axial direction of the extension rod; One end of the first transverse bracket is rotatably mounted on the transfer seat near the first transfer point; One end of the second transverse bracket is rotatably mounted on the adapter seat close to the second adapter.

8. The charging vehicle according to claim 7, characterized in that: The charging vehicle further comprises: The second oil circuit control valve is used to control the oil circuit from the hydraulic oil circuit bus to flow to the first height adjustment cylinder or the second height adjustment cylinder.

9. A control method for an intelligent charging vehicle, characterized in that: The control method is based on the charging vehicle according to any one of claims 3 to 8; The charging vehicle further comprises: A controller installed in the frame of the charging vehicle, the controller is used to control the first cylinder assembly, the first height adjustment cylinder, the second height adjustment cylinder, the first oil circuit control valve, the second oil circuit control valve and the oil pump of the charging vehicle; A hopper tilt angle sensor, installed at the bottom of the hopper, for detecting the tilt angle of the hopper; A load sensor, used to detect whether the height of the material in the hopper is higher than the top opening of the hopper, the load sensor includes a microwave sensor, the microwave sensors are all installed at the opening of the top of the hopper, and the microwave sensors are tilted toward the top of the hopper; The hopper tilt angle sensor and the load sensor are both electrically connected to the controller; The control method includes: a hopper posture adjustment control method, and the hopper posture adjustment control method includes: Hopper height control: The controller controls the first oil circuit control valve and the second oil circuit control valve to connect the hydraulic oil circuit bus with the first height adjustment cylinder and the second height adjustment cylinder, and at the same time, disconnects the hydraulic oil circuit bus from the first cylinder assembly, controls the oil pump to input or extract hydraulic oil to the first height adjustment cylinder and the second height adjustment cylinder through the hydraulic oil circuit bus at the same time, and changes the angle between the first and second transverse brackets and the vertical bracket to lift or lower the hopper; Hopper elevation and depression control: The controller controls the first oil circuit control valve to disconnect the hydraulic oil circuit bus from the first height adjustment cylinder and the second height adjustment cylinder, and at the same time, connects the hydraulic oil circuit bus with the first cylinder assembly, controls the oil pump to input or extract hydraulic oil to the first cylinder assembly through the hydraulic oil circuit bus, and changes the angle between the vertical support and the first and second transverse supports to control the elevation or depression angle of the hopper; The control method further includes: a hopper balance control method, which includes a pitch angle leveling method and a side angle leveling method: The pitch angle leveling method includes detecting an angle A between an axis extending in the height direction of the center of the hopper and a first horizontal line through the hopper tilt angle sensor, wherein the angle A is consistent with the pitch angle of the hopper, and the extension direction of the first horizontal line is the length direction of the charging vehicle. When the angle A is greater than a threshold value, the controller controls the first oil circuit control valve to disconnect the hydraulic oil circuit bus from the first height adjustment cylinder and the second height adjustment cylinder, and at the same time, connects the hydraulic oil circuit bus to the first cylinder assembly, controls the oil pump to input or extract hydraulic oil to the first cylinder assembly through the hydraulic oil circuit bus, and changes the angle between the vertical support and the first and second horizontal supports to control the pitch angle or pitch angle of the hopper until the pitch angle or pitch angle of the hopper is 0°; The side angle leveling method includes detecting an angle B between an axis extending along the height direction of the center of the hopper and a second horizontal line through the hopper inclination angle sensor, the angle B being consistent with the side angle of the hopper, the extension direction of the first horizontal line being the length direction of the charging vehicle, the extension direction of the second horizontal line being the width direction of the charging vehicle, the first horizontal line and the second horizontal line being perpendicular to each other, and when the angle B is greater than a threshold value, the load sensor detects whether there is material higher than the top opening of the hopper, otherwise no action is taken; if so, the first oil circuit control valve is controlled by the controller to connect the hydraulic oil circuit bus with the second oil circuit control valve, and the controller controls the oil intake or oil overflow of the first height adjustment cylinder and the second height adjustment cylinder through the second oil circuit control valve, so that a difference appears in the swing angles of the two groups of the first transverse bracket and the second transverse bracket located on both sides of the width direction of the charging vehicle until the measured angle of the hopper is 0°.

10. A control method for an intelligent charging vehicle as claimed in claim 9, characterized in that: The feeding vehicle is provided with a wave crest locator for locating the height of the top of the material in the hopper and the distance from both ends of the hopper in the length direction; The control method comprises judging whether the weight of the material in the hopper exceeds the load capacity of the charging vehicle, otherwise judging that there is no overload, and judging that there is overload and reminding the driver; The weight of the material in the hopper ;in, is the density of the material, is the volume of the material; The density of the material is input by the driver into the computer controller, and the computer controller calculates the weight of the material by the density of the material type and the volume of the material; The volume method of the material comprises the following steps: S1. Assume that the material in the hopper is distributed in a sinusoidal prism shape; S2. Determine the length between the crest endpoint and the bottom of the hopper by using a crest locator. , the vertical distance from the crest to the trough is ; S3. Determine the form of the sine wave function: The sine wave function form is: ,in, is the amplitude, equal to ; is the inverse of the period, equal to: ; The sine wave function is obtained as: S4. Use the volume formula of a solid of revolution: Substituting the volume of rotation formula into the sine wave function and integrating it yields the following result: The volume formed by the rotation of the sine wave around the x-axis is: .

Images