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

Abstract

The present application provides a hopper attitude control structure, a feeding 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 attitude control structure includes: a vertical bracket, 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. The vertical bracket is rotatably connected to the vehicle frame through the second connection point; a first transverse bracket, one end of which is rotatably installed at the first connection point of the vertical bracket, and the other end is rotatably installed at a first transfer point of the hopper; a second transverse bracket, one end of which is rotatably installed at the second connection point of the vertical bracket, and the other end is rotatably installed at a second transfer point of the hopper.

Description

Technical Field

[0001] This application relates to the technical field of engineering feeding vehicles, and particularly to a hopper attitude control structure, a feeding vehicle, a control method, and an overload control method. Background Art

[0002] When the common feeding vehicles on the market at present are performing material lifting operations, they often need to rely on the coordinated work of multiple oil cylinders. This design leads to an increase in the number of components, and thus 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 complex and cumbersome. Summary of the Invention

[0003] The purpose of the present invention is to solve the above problems and provide a hopper attitude control structure and a feeding vehicle.

[0004] The technical solution of this application is realized as follows:

[0005] In a first aspect, this application provides a hopper attitude control structure, which is installed between the vehicle frame and the hopper, and the vehicle frame controls the attitude of the hopper through the attitude control structure;

[0006] The attitude control structure includes:

[0007] A vertical support, the upper end of the vertical support has a first connection point and a third connection point, and the lower end has a second connection point. The vertical support is rotatably connected to the vehicle frame through the second connection point;

[0008] A first horizontal support, one end of which is rotatably installed at the first connection point of the vertical support, and the other end is rotatably installed at the first transfer point of the hopper;

[0009] A second horizontal support, one end of which is rotatably installed at the second connection point of the vertical support, and the other end is rotatably installed at the second transfer point of the hopper;

[0010] The orientation of the connection line between the center of the first transfer point and the center of the second transfer point is parallel to the orientation of the vertical support in the height direction of the vehicle frame;

[0011] The orientation of the first horizontal support is parallel to the orientation of the second horizontal support in the height direction of the vehicle frame;

[0012] The attitude control structure further includes:

[0013] A first oil cylinder assembly, the base end of which is rotatably installed on the vehicle frame, and the telescopic end is rotatably installed at the lower end of the second horizontal support;

[0014] The second oil cylinder assembly, with its base end rotatably mounted on the vehicle frame and its telescopic end rotatably mounted on the third connection point of the vertical support.

[0015] The advantages or beneficial effects in the above technical solutions at least include:

[0016] By using the combination of the vertical support, the first transverse support, and the second transverse support, a parallelogram structure is 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 angle and depression angle of the hopper can be flexibly changed. The entire lifting and angle adjustment process only needs to be controlled by two oil cylinders respectively, thus simplifying the structure. This design not only reduces costs, but also makes the maintenance work more convenient and fast due to its simple structure. Brief Description of the Drawings

[0017] The drawings illustrate exemplary embodiments of the present application of the embodiments of the present invention and are used together with the description to explain the principles of the present application, including these drawings to provide a further understanding of the present application, and the drawings are included in this specification and form a part of this specification.

[0018] Figure 1 Shows the first schematic structural diagram of the feeding vehicle of the embodiment of the present invention;

[0019] Figure 2 Shows the second schematic structural diagram of the feeding vehicle of the embodiment of the present invention;

[0020] Figure 3 Shows the schematic position diagram of the gap of the embodiment of the present invention;

[0021] Figure 4 Shows the schematic structural diagram of the second oil cylinder assembly of the embodiment of the present invention;

[0022] Figure 5 Shows the schematic diagram of the parallel lifting of the hopper of the embodiment of the present invention;

[0023] Figure 6 Shows the simplified diagram of the parallel lifting of the hopper of the embodiment of the present invention;

[0024] Figure 7 Shows the schematic diagram of the adjustment of the elevation and depression angles of the hopper of the embodiment of the present invention;

[0025] Figure 8 Shows the simplified diagram of the adjustment of the elevation and depression angles of the hopper of the embodiment of the present invention;

[0026] Figure 9 Shows the schematic diagram of the balance of the hopper of the feeding vehicle on the downhill section of the embodiment of the present invention;

[0027] Figure 10 Shows the balance diagram of the hopper on the downhill section of the feeding vehicle according to an embodiment of the present invention;

[0028] Figure 11 Shows the balance schematic diagram of the hopper on the uphill section of the feeding vehicle according to an embodiment of the present invention;

[0029] Figure 12 Shows the balance diagram of the hopper on the uphill section of the feeding vehicle according to an embodiment of the present invention;

[0030] Figure 13 Shows the schematic diagram of the adapter, extension rod and adapter seat according to an embodiment of the present invention;

[0031] Figure 14 Shows the schematic diagram of the feeding vehicle driving on the side-inclined section according to an embodiment of the present invention;

[0032] Figure 15 Shows the first adjustment schematic diagram of the side angle of the hopper according to an embodiment of the present invention;

[0033] Figure 16 Shows the second adjustment schematic diagram of the side angle of the hopper according to an embodiment of the present invention;

[0034] Figure 17 Shows the schematic diagram of the hydraulic oil circuit according to an embodiment of the present invention;

[0035] Figure 18 Shows the schematic diagram of the included angle A and included angle B according to an embodiment of the present invention;

[0036] Figure 19 Shows the schematic diagram of the position of the microwave sensor according to an embodiment of the present invention.

[0037] Reference numerals: 10, feeding vehicle; 11, vehicle frame; 111, vertical support; 112, first horizontal support; 113, second horizontal 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 connection point; 123, second connection 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 peak locator; 18, microwave sensor; Detailed implementation manners

[0038] Embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although some embodiments of the present application are shown in the drawings, it should be understood that the present application can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. On the contrary, these embodiments are provided to provide 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 used to limit the protection scope of the present application.

[0039] It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the drawings and in combination with the embodiments.

[0040] Referring to Figure 1 , a hopper attitude control structure, the attitude control structure is installed between the vehicle frame 11 and the hopper 12, and the vehicle frame 11 controls the attitude of the hopper 12 through the attitude control structure;

[0041] Wherein the attitude control structure includes: a vertical support 111, the upper end of the vertical support 111 has a first connection point and a third connection point, and the lower end has a second connection point. The vertical support 111 is rotatably connected to the vehicle frame 11 through the second connection point; a first transverse support 112, one end of which is rotatably installed at the first connection point of the vertical support 111, and the other end is rotatably installed at the first transfer point 122 of the hopper 12; a second transverse support 113, one end of which is rotatably installed at the second connection point of the vertical support 111, and the other end is rotatably installed at the second transfer point 123 of the hopper 12; the orientation of the connecting line between the centers of the first transfer point 122 and the second transfer point 123 is parallel to the orientation of the vertical support 111 in the height direction of the vehicle frame 11; the orientation of the first transverse support 112 is parallel to the orientation of the second transverse support 113 in the height direction of the vehicle frame 11; as Figure 5 and Figure 6 shown, the connecting line is parallel to the vertical support 111, and the first transverse support 112 and the second transverse support 113 are parallel, forming a parallelogram structure;

[0042] Furthermore, the attitude control structure further includes: a first oil cylinder assembly 114, the base end of which is rotatably installed on the vehicle frame 11, and the telescopic end is rotatably installed at the third connection point of the vertical support 111; a second oil cylinder assembly 115, the base end of which is rotatably installed on the vehicle frame 11, and the telescopic end is rotatably installed at the lower end of the second transverse support 113; and the length of the first transverse support 112 is the same as the length of the second transverse support 113; the distance from the first connection point to the second connection point is the same as the distance from the first transfer point 122 to the second transfer point 123.

[0043] A first triangular structure is formed between the first oil cylinder assembly 114 and the vertical support 111, and a second triangular structure is also formed between the second oil cylinder assembly 115 and the second horizontal support 113. When the hopper 12 needs to move parallel up and down, the telescopic end of the first oil cylinder assembly 114 remains stationary in place, making the first triangular structure stable. At this time, the vertical support 111 will not swing. Control the telescopic end of the second oil cylinder assembly 115 to extend or contract, so that the second horizontal support 113 swings upward or downward. Due to the parallelogram structure, the connecting line (the connecting line between the center of the first connection point 122 and the center of the second connection point 123) will move upward or downward and always remain parallel to the vertical support 111 during the movement, so that the hopper 12 can move up and down smoothly. Please refer to Figure 5 and Figure 6 ; When the hopper 12 needs to swing at an elevation angle or a depression angle, the telescopic end of the second oil cylinder assembly 115 remains stationary in place, making the second triangular structure stable. At this time, the second horizontal support 113 will not swing. Control the telescopic end of the first oil cylinder assembly 114 to extend or contract, so that the vertical support 111 swings forward and backward. Due to the parallelogram structure, the upper end of the vertical support 111 pushes the first horizontal support 112 to move forward or backward, and always remains parallel to the second horizontal support 113 during the movement, so as to control the depression angle or elevation angle of the hopper 12. Please refer to Figure 7 and Figure 8 , In summary, controlling the up and down movement and the swing of the elevation angle or depression angle of the hopper 12 can be achieved only by the same parallelogram structure.

[0044] The present invention also discloses a feeding vehicle. The feeding vehicle 10 is equipped with the above-mentioned hopper attitude control structure to control the attitude of the hopper 12. Among them, the feeding vehicle 10 includes: a front wheel connecting frame 13. The front wheels of the feeding vehicle 10 are installed at the part of the front wheel connecting frame 13 close to the vehicle head. There is a gap between the front wheel connecting frames 13, and the attitude control structure is located in the gap 131; a rear wheel connecting frame 14. The rear wheels of the feeding vehicle 10 are installed at the part of the rear wheel connecting frame 14 close to the vehicle tail;

[0045] When the hopper attitude control structure is applied to the feeding vehicle 10, the vertical support 111 is rotatably connected to the rear wheel connecting frame 14 through the second connection point; the base end of the first oil cylinder assembly 114 is rotatably installed on the rear wheel connecting frame 14, and the base end of the second oil cylinder assembly 115 is rotatably installed on the rear wheel connecting frame 14.

[0046] Based on the further improvement of the above structure, the feeding vehicle 10 further includes:

[0047] The hydraulic oil circuit main line 15 is used to convey the hydraulic oil pumped by the oil pump 153 of the feeding truck 10 to the first cylinder assembly 114 or the second cylinder assembly 115; the first oil circuit control valve 151, the hydraulic oil circuit main line 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 main line 15 so that the hydraulic oil circuit main line 15 is communicated with the first cylinder assembly 114 or the second cylinder assembly 115. Since one of the first cylinder assembly 114 and the second cylinder assembly 115 needs to be in a locked state when the other is operating, the first oil circuit control valve 151 can achieve this function, enabling the oil circuit to be communicated with one of the two (the first cylinder assembly 114 and the second cylinder assembly 115), as Figure 17 shown;

[0048] As a further improvement of the above structure, the distance between the front wheels and the second connection point is L1, and the distance between the rear wheels and the second connection point is L2; wherein, 3*L2 > L1 > 2*L2, as Figure 5 shown, making the entire hopper attitude control structure biased towards the rear of the feeding truck 10, which can effectively shift the center of gravity of the whole vehicle backward, so that the feeding truck 10 is not prone to tipping forward during the material transportation process;

[0049] Furthermore, as Figure 3 and Figure 4 shown, a pair of first transverse brackets 112 and a pair of second transverse brackets 113 are both arranged along the width direction of the feeding truck 10; a pair of first transfer joints 122 of the hopper 12 and a pair of second transfer joints 123 of the hopper 12 are both arranged along the width direction of the feeding truck 10; the second cylinder assembly 115 includes a first height adjustment cylinder 1151 and a second height adjustment cylinder 1152; to ensure the balanced force of the brackets during the lifting process of the hopper 12; at the same time, the base ends of the first height adjustment cylinder 1151 and the second height adjustment are rotatably installed on the rear wheel connecting frame 14, and the telescopic ends are rotatably installed at the lower ends of the second transverse brackets 113.

[0050] Based on the further improvement of the above structure, as Figure 13As shown in the figure, the following components are also installed on the hopper 12: an adapter 121, several adapters 121 are installed at the first connection point 122 and the second connection point 123 respectively; an extension rod 1211, installed on the part of the adapter 121 close to the outside of the feeding truck 10, the adapter 121 can swing towards the top or bottom of the hopper 12 truck, so that the orientations of each extension rod 1211 are the same, and each extension rod 1211 is parallel in the height direction of the feeding truck 10; an adapter seat 1212, movably installed on the extension rod 1211, and the adapter seat 1212 can move back and forth along the axial direction of the extension rod 1211; wherein, one end of the first horizontal bracket 112 is rotatably installed on the adapter seat 1212 close to the first connection point 122; one end of the second horizontal bracket 113 is rotatably installed on the adapter seat 1212 close to the second connection point 123; and the feeding truck 10 is also equipped with a second oil circuit control valve 152 for controlling the oil flow from the hydraulic oil circuit bus 15 to the first height adjustment cylinder 1151 or the second height adjustment cylinder 1152.

[0051] Please combine Figure 14 with Figure 15 and 16 For reference, based on the above structure, this structure is used to control the side angle of the hopper 12. By controlling the oil output or extraction from the oil pump 153 to the first height adjustment cylinder 1151 and the second height adjustment cylinder 1152 through the second oil circuit control valve 152, 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 can be achieved. As Figure 13 shown, X2 is the distance between two pairs of horizontal 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. As Figure 15 shown, X1 is the 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. For example, the lifting amount of the right horizontal bracket is higher than that of the left horizontal bracket. Since the extension rod 1211 is straight and its orientation is perpendicular to the adapter seat 1212, there will be a height difference in the central axes of the extension rods 1211 on both sides of the hopper 12, and this difference is X1. Combining Figure 15 and Figure 14 it can be observed that since the vehicle is in an inclined state at this time, the adapter seat 1212 is also in an inclined state. At this time, the adapter 121 near the left side of the hopper 12 will adaptively rotate upward due to this difference, and the adapter 121 near the right side of the hopper 12 will adaptively rotate downward due to this difference. At the same time, since X2 remains unchanged, in Figure 15 the adapter seat 1212 in the upper left corner will move towards the adapter 121, and the adapter seat 1212 in the lower right corner will also move towards the adapter 121, thereby realizing the adjustment of the side angle of the hopper 12. Figure 16For the angle adjustment on the other side, it is the reverse operation of the above steps and will not be elaborated here.

[0052] Through the above structure, the control of the elevation angle, depression angle, and side angle of the hopper 12 can be achieved. Only two oil cylinder assemblies are required for the whole process of control, which can ensure the balance of the hopper 12 during the process of the feeding vehicle 10 transporting materials on an inclined road surface, avoiding the spilling of materials in the front, rear, left, or right directions when the materials overflow the top of the hopper 12, and avoiding material loss. The materials include sand, cement, gravel blocks, and other materials.

[0053] The present invention also discloses a control method for an intelligent feeding vehicle. The control method is based on the feeding vehicle 10 with the above structure. The feeding vehicle 10 further includes: a controller installed in the frame 11 of the feeding vehicle 10, which is used to control the first oil cylinder assembly 114, the first height adjustment oil cylinder 1151, the second height adjustment oil cylinder 1152, the first oil circuit control valve 151, the second oil circuit control valve 152, and the oil pump 153 of the feeding vehicle 10; a hopper 12 tilt angle sensor installed at the bottom of the hopper 12 for detecting the tilt angle of the hopper 12; a load sensor for detecting whether the height of the materials in the hopper 12 is higher than the top opening of the hopper 12. The load sensor includes a microwave sensor 18, and the microwave sensors 18 are all installed at the top opening of the hopper 12. The microwave sensors 18 are inclined towards the top direction of the hopper 12. The inclined setting enables the microwaves of the microwave sensors 18 to be emitted obliquely. If they are arranged in parallel, the microwave signals will be parallel. When the top of the materials is parallel to the top of the hopper 12, it is impossible to judge the height at which the materials overflow the top of the hopper 12. When the materials overflow the top opening of the hopper 12 by a certain height, they will contact and reflect the signals with the obliquely emitted microwave signals. At this time, the material sensor confirms that there are materials overflowing the top of the hopper 12 and overflowing by a certain height, as Figure 19 shown; the above-mentioned hopper 12 tilt angle sensor and load sensor are both electrically connected to the controller;

[0054] The control method includes a hopper 12 attitude adjustment control method and a hopper 12 balance control method. Among them, the hopper 12 attitude 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 inclination angle for loading and unloading; the hopper 12 balance control method is used to control the balance of the hopper 12 during the process of the feeding vehicle 10 driving on an inclined section when the materials overflow the top of the hopper 12, avoiding the spilling of materials in the front, rear, left, or right directions when the materials overflow the top of the hopper 12 and avoiding material loss.

[0055] The attitude adjustment control method of the hopper 12 includes: the height control of the hopper 12 and the elevation and depression angle control of the hopper 12; among them, for the 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 main line 15 with the first height adjustment cylinder 1151 and the second height adjustment cylinder 1152, and at the same time, disconnect the hydraulic oil circuit main line 15 from the first cylinder assembly 114, and control the oil pump 153 to input or extract hydraulic oil into or from the first height adjustment cylinder 1151 and the second height adjustment cylinder through the hydraulic oil circuit main line 15, so as to change the included 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 elaborated here.

[0056] Among them, for the elevation and depression angle control of the hopper 12: the controller controls the first oil circuit control valve 151 to disconnect the hydraulic oil circuit main line 15 from the first height adjustment cylinder 1151 and the second height adjustment cylinder 1152, and at the same time, connect the hydraulic oil circuit main line 15 with the first cylinder assembly 114, and control the oil pump 153 to input or extract hydraulic oil into or from the first cylinder assembly 114 through the hydraulic oil circuit main line 15, so as to change the included angle between the vertical bracket 111 and the first and second horizontal brackets 113, so as 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 elaborated here.

[0057] The balance control method of the hopper 12, the balance control method of the hopper 12 includes the method of leveling the elevation and depression angles and the method of leveling the side angles:

[0058] The method of leveling the elevation and depression angles includes detecting the included angle A between the axis extending in the height direction of the center of the hopper 12 and the first horizontal line through the inclination angle sensor of the hopper 12. The included angle A is consistent with the elevation and depression angles of the hopper 12. The extending direction of the first horizontal line is the length direction of the feeding vehicle 10. When the included angle A is greater than the threshold value, the controller controls the first oil circuit control valve 151 to disconnect the hydraulic oil circuit main line 15 from the first height adjustment cylinder 1151 and the second height adjustment cylinder 1152, and at the same time, connect the hydraulic oil circuit main line 15 with the first cylinder assembly 114, and control the oil pump 153 to input or extract hydraulic oil into or from the first cylinder assembly 114 through the hydraulic oil circuit main line 15, so as to change the included angle between the vertical bracket 111 and the first and second horizontal brackets 113, so as to control the elevation or depression angle of the hopper 12 until the elevation or depression angle of the hopper 12 is 0°.

[0059] The method of leveling the side angles includes: detecting the included angle B between the axis extending in the height direction of the center of the hopper 12 and the second horizontal line through the inclination angle sensor of the hopper 12. The included angle B is consistent with the side angle of the hopper 12. As Figure 18As shown, the extension direction of the first horizontal line is the length direction of the feeding vehicle 10, and the extension direction of the second horizontal line is the width direction of the feeding vehicle 10. The first horizontal line and the second horizontal line are perpendicular to each other. When the angle B is greater than the threshold value, the load sensor detects whether there is any material higher than the top opening of the hopper 12. If not, there is no action; if so, the first oil circuit control valve 151 is controlled through the controller to connect the hydraulic oil circuit bus 15 with the second oil circuit control valve 152. The controller controls the oil inlet 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 there is a difference in the swing angles of the two groups of first transverse brackets 112 and second transverse brackets 113 on both sides in the width direction of the feeding vehicle 10, and thus the side angle of the hopper 12 can be changed (the specific steps have been described above) until the side angle of the hopper 12 is 0°.

[0060] As Figure 18 shown, when both the angle A and the angle B are equal to 90°, it indicates that the feeding vehicle 10 is on a horizontal section. When the angle of the angle A is less than 90°, it indicates that the feeding vehicle 10 is on a downhill section with the front of the vehicle facing down (assuming the feeding vehicle 10 is moving forward). When the angle of the angle A is greater than 90°, it indicates that the front of the feeding vehicle 10 is on an uphill section with the front of the vehicle facing up. When the angle of the angle B is less than 90°, it indicates that the feeding vehicle 10 is tilted to the right side. When the angle of the angle B is greater than 90°, it indicates that the feeding vehicle 10 is tilted to the left side.

[0061] An embodiment of the present invention also provides an overload control method, and the control method is based on the above-mentioned feeding vehicle 10;

[0062] A wave peak locator 17 is installed on the feeding vehicle 10. Preferably, the wave peak locator 17 is installed at a high position of the front wheel connecting frame 13. As Figure 2 shown, the wave peak locator 17 is used to locate the height of the top end of the material in the hopper 12 and the distances from both ends in the length direction of the hopper 12;

[0063] The control method includes, after loading the material and before the hopper 12 is lifted, determining whether the weight of the material in the hopper 12 exceeds the load capacity of the feeding vehicle 10. Otherwise, it is determined that there is no overload. If so, it is determined that there is an overload and the driver is reminded;

[0064] The weight of the material in the hopper 12 ; wherein, is the density of the material, is the volume of the material.

[0065] The density of the material is obtained by the driver inputting the type of the material to the computer controller, and the computer controller calculates the weight of the material based on the density of the material type and the volume of the material;

[0066] The method for the volume of the material includes the following steps:

[0067] S1. Assume that the material in the hopper 12 is distributed in a prismatic shape with a sine wave form.

[0068] S2. Through the wave peak locator 17, determine that the length between the wave peak endpoint and the bottom of the hopper 12 is , and the vertical distance from the wave peak to the wave trough is .

[0069] S3. Determine the sine wave function form:

[0070] The sine wave function form is: , where is the amplitude, equal to ; is the reciprocal of the period, equal to: ;

[0071] The obtained sine wave function is:

[0072] S4. Use the formula for the volume of a solid of revolution:

[0073] Substitute the volume formula for revolution into the sine wave function and calculate the integral:

[0074]

[0075]

[0076]

[0077]

[0078]

[0079] S5. Obtain the result:

[0080] The volume formed by rotating the sine wave around the x-axis is:

[0081] As the second embodiment of the volume method of the material:

[0082] S21. Assume that the shape of the material accumulation is a structure formed by stretching a sine wave graph along the width direction of the hopper 12;

[0083] S22. Calculate the area of the sine wave through :

[0084] Substitute into the sine wave function: ;

[0085] The calculated integral gives: ;

[0086] S23. Substitute into the area formula: , where is the width of the hopper 12.

[0087] In the description of the present application, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present application.

[0088] Those skilled in the art should understand that the above embodiments are only for clearly explaining the present application, rather than limiting the scope of the present application. For those skilled in the art, other changes or modifications can be made on the basis of the above disclosure, and these changes or modifications are still within the scope of the present application.

Claims

1. A feeding vehicle, characterized in that: A hopper attitude control structure is installed on the feeding vehicle. The hopper is installed at the front end of the feeding vehicle, and the attitude control structure is installed between the vehicle frame of the feeding vehicle and the hopper. The vehicle frame controls the attitude of the hopper through the attitude control structure; The attitude control structure includes: A vertical bracket. 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. The vertical bracket is rotatably connected to the vehicle frame through the second connection point; A first horizontal bracket, one end of which is rotatably installed at the first connection point of the vertical bracket, and the other end is rotatably installed at the first transfer point of the hopper; A second horizontal bracket, one end of which is rotatably installed at the second connection point of the vertical bracket, and the other end is rotatably installed at the second transfer point of the hopper; The orientation of the connecting line between the center of the first transfer point and the center of the second transfer point is parallel to the orientation of the vertical bracket in the height direction of the vehicle frame; The orientation of the first horizontal bracket is parallel to the orientation of the second horizontal bracket in the height direction of the vehicle frame; The attitude control structure further includes: A first oil cylinder assembly, the base end of which is rotatably installed on the vehicle frame, and the telescopic end is rotatably installed at the third connection point of the vertical bracket; A second oil cylinder assembly, the base end of which is rotatably installed on the vehicle frame, and the telescopic end is rotatably installed at the lower end of the second horizontal bracket; The length of the first horizontal bracket is the same as the length of the second horizontal bracket; The distance from the first connection point to the second connection point is the same as the distance from the first transfer point to the second transfer point; The feeding vehicle includes: A front wheel connecting frame. The front wheels of the feeding vehicle are installed at the part of the front wheel connecting frame close to the vehicle head. There is a gap between the front wheel connecting frames, and the attitude control structure is located in the gap; A rear wheel connecting frame. The rear wheels of the feeding vehicle are installed at the part of the rear wheel connecting frame close to the vehicle tail; The vertical bracket is rotatably connected to the rear wheel connecting frame through the second connection point; The base end of the first oil cylinder assembly is rotatably installed on the rear wheel connecting frame, and the base end of the second oil cylinder assembly is rotatably installed on the rear wheel connecting frame; A pair of the first horizontal brackets and the second horizontal brackets are both arranged along the width direction of the feeding vehicle; A pair of the first transfer point of the hopper and the second transfer point of the hopper are both arranged along the width direction of the feeding vehicle; The second oil cylinder assembly includes a first height adjustment oil cylinder and a second height adjustment oil cylinder; The base ends of the first height adjustment oil cylinder and the second height adjustment are both rotatably installed on the rear wheel connecting frame, and the telescopic ends are both rotatably installed at the lower end of the second horizontal bracket; The hopper further includes: Adapters, several of which are respectively installed at the first transfer point and the second transfer point; Extension rods, installed at the part of the adapter close to the outside of the feeding vehicle. The adapter can swing towards the top or bottom of the hopper vehicle; Adapter seats, movably installed on the extension rods. The adapter seats can move back and forth along the axial direction of the extension rods; One end of the first horizontal bracket is rotatably mounted on the adapter base near the first adapter joint; One end of the second horizontal bracket is rotatably mounted on the adapter base near the second adapter joint.

2. The charging cart according to claim 1, characterized in that: The feeding vehicle further comprises: A hydraulic oil circuit main line for delivering the hydraulic oil pumped by the oil pump of the feeding vehicle to the first oil cylinder assembly or the second oil cylinder assembly; A first oil circuit control valve, the hydraulic oil circuit main line is connected to the first oil cylinder assembly and the second oil cylinder assembly through the first oil circuit control valve, and the first oil circuit control valve is used for switching the oil circuit of the hydraulic oil circuit main line so that the hydraulic oil circuit main line is communicated with the first oil cylinder assembly or the second oil cylinder assembly.

3. The charging cart according to claim 2, 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; Wherein, 3*L2 > L1 > 2*L2.

4. The charging vehicle according to claim 3, wherein: The feeding vehicle further comprises: A second oil circuit control valve for controlling the oil flow from the hydraulic oil circuit main line to the first height adjustment oil cylinder or the second height adjustment oil cylinder.

5. A control method for an intelligent feeding vehicle, characterized in that: The control method is based on the feeding vehicle according to any one of claims 1-4; The feeding vehicle further comprises: A controller installed in the vehicle frame of the feeding vehicle, and the controller is used for controlling the first oil cylinder assembly, the first height adjustment oil cylinder, the second height adjustment oil cylinder, the first oil circuit control valve, the second oil circuit control valve and the oil pump of the feeding vehicle; A hopper tilt angle sensor installed at the bottom of the hopper for detecting the hopper tilt angle; A load sensor for detecting 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, and the microwave sensors are all installed at the opening of the top of the hopper, and the microwave sensors are inclined towards the top direction of the hopper; Both the hopper tilt angle sensor and the load sensor are electrically connected to the controller; The control method includes: a hopper attitude adjustment control method, and the hopper attitude adjustment control method includes: Hopper height control: The controller controls the first oil circuit control valve and the second oil circuit control valve to communicate the hydraulic oil circuit main line with the first height adjustment oil cylinder and the second height adjustment oil cylinder. At the same time, the hydraulic oil circuit main line is disconnected from the first oil cylinder assembly, and the controller controls the oil pump to input or extract hydraulic oil to the first height adjustment oil cylinder and the second height adjustment oil cylinder through the hydraulic oil circuit main line, so as to change the included angle between the first and second horizontal brackets and the vertical bracket, so as to lift or lower the hopper; Hopper elevation angle and depression angle control: The controller controls the first oil circuit control valve to disconnect the hydraulic oil circuit main line from the first height adjustment oil cylinder and the second height adjustment oil cylinder. At the same time, the hydraulic oil circuit main line is communicated with the first oil cylinder assembly, and the controller controls the oil pump to input or extract hydraulic oil to the first oil cylinder assembly through the hydraulic oil circuit main line, so as to change the included angle between the vertical bracket and the first and second horizontal brackets, so as to control the elevation angle or depression angle of the hopper; The control method further includes: a hopper balance control method, and the hopper balance control method includes a method for leveling the elevation and depression angles and a method for leveling the side angles: The method for pitching angle leveling includes detecting, by means of the hopper tilt angle sensor, the included angle A between the axis extending in the height direction of the hopper center and the first horizontal line, where the included angle A is consistent with the pitching angle of the hopper. The extending direction of the first horizontal line is the length direction of the feeding vehicle. When the included angle A is greater than the threshold value, the controller controls the first oil circuit control valve to disconnect the hydraulic oil circuit main line from the first height adjustment cylinder and the second height adjustment cylinder. At the same time, the hydraulic oil circuit main line is connected to the first oil cylinder assembly, and the controller controls the oil pump to input or extract hydraulic oil to the first oil cylinder assembly through the hydraulic oil circuit main line, so as to change the included angle between the vertical support and the first and second transverse supports, and control the pitching angle or depression angle of the hopper until the pitching angle or depression angle of the hopper is 0°; The method for side angle leveling includes detecting, by means of the hopper tilt angle sensor, the included angle B between the axis extending in the height direction of the hopper center and the second horizontal line, where the included angle B is consistent with the side angle of the hopper. The extending direction of the first horizontal line is the length direction of the feeding vehicle, and the extending direction of the second horizontal line is the width direction of the feeding vehicle. The first horizontal line and the second horizontal line are perpendicular to each other. When the included angle B is greater than the threshold value, the load sensor detects whether there is material higher than the top opening of the hopper. If not, there is no action; if so, the controller controls the first oil circuit control valve to connect the hydraulic oil circuit main line to the second oil circuit control valve, and the controller controls the oil inlet amount or oil overflow amount of the first height adjustment cylinder and the second height adjustment cylinder through the second oil circuit control valve, so that the swing angles of the two groups of the first transverse supports and the second transverse supports located on both sides in the width direction of the feeding vehicle have a difference until the side angle of the hopper is 0°.

6. A control method for an intelligent feeding vehicle as claimed in claim 5, characterized in that A wave crest locator is installed on the feeding vehicle, which is used to locate the height of the top end of the material in the hopper and the distances from both ends in the length direction of the hopper; The control method includes judging whether the weight of the material in the hopper exceeds the load capacity of the feeding vehicle. Otherwise, it is judged that there is no overload. If so, it is judged that there is overload and the driver is reminded; The weight of the material in the hopper ; wherein, is the density of the material, is the volume of the material; The density of the material is input by the driver to the computer controller by inputting the type of the material, and the computer controller calculates the weight of the material through the density of the material type and the volume of the material; The method for calculating the volume of the material includes the following steps: S1. Assume that the material in the hopper is distributed in the shape of a prismatic body with a sine wave; S2. Determine, via the peak locator, that the length between the peak endpoint and the bottom of the hopper is , and the vertical distance from the peak to the trough is ; S3. Determine the form of the sine wave function: The sine wave function is in the form of: , where is the amplitude, equal to ; is the reciprocal of the period, equal to: ; The sine wave function obtained is as follows: S4. Use the formula for the volume of a solid of revolution: Substitute the formula for the volume of revolution into the sine wave function and calculate the integral to obtain the result: The volume formed by rotating the sine wave around the x-axis is: .

Images