• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a method for operating a forced steering device of a trailer (2) coupled to a towing vehicle (1), wherein the forced steering device has at least one forcibly steered wheel (3), wherein a first compass (4) arranged in fixed position on the trailer (2) Orientation of the trailer (2) is measured, wherein from one of the towing vehicle (1) positionally fixed second compass (5) an orientation of the towing vehicle (1) is measured, wherein from the orientation of the trailer (2) and the orientation of the towing vehicle (1 ) A turning angle for the at least one forcibly steered wheel (3) is determined. Furthermore, a trailer and a vehicle combination for the process is proposed.
    公开号:AT518246A4
    申请号:T50637/2016
    申请日:2016-07-18
    公开日:2017-09-15
    发明作者:Josef Scharmüller Ing；Jun Scharmüller Josef；Scharmüller Christine
    申请人:Josef Scharmüller Ing；Jun Scharmüller Josef；Scharmüller Christine；
    IPC主号:
    专利说明:

    The invention relates to a method for operating a forced steering device of a towing vehicle coupled to a trailer according to claim 1.
    There are trailers known for towing vehicles, which have forcibly steered wheels. In the forced steering, the positively steered wheels of the trailer are steered in dependence on the angle between towing vehicle and trailer such that the axes of rotation of the wheels intersect substantially at the pivot point of the vehicle combination. By this forced steering a better retention of the trailer can be achieved in the track of the towing vehicle. Furthermore, this can be significantly reduced by the lateral shearing motion of the wheels on the ground during cornering wear of the wheels.
    It is known to determine the angle between towing vehicle and trailer to connect a control rod of the trailer by means of a secondary coupling with the towing vehicle. The change in position of the control rod to the drawbar of the trailer can then be the angle between the towing vehicle and the trailer via a mechanism or hydraulics translated into a steering movement of the positively steered wheels. A disadvantage of this solution is that the coupling and decoupling of the trailer to the towing vehicle is complicated by the control rod, and also the angle range for the angle between towing vehicle and trailer is limited by the control rod. Furthermore, this control rod can be heavily stressed during operation and represents a source of error for the operation of the forced steering device.
    Furthermore, forced steering systems are known, which measure the angle between towing vehicle and trailer by a sensor directly on the coupling. This eliminates the problems with the control rod. However, these forced steering systems have the disadvantage that the coupling device has to be modified for this, as a result of which they have a very complicated design and / or the maximum load capacity of the coupling device is reduced. Furthermore, such a sensor is susceptible to errors in a heavily stressed part such as the coupling device.
    The object of the invention is therefore to provide a method for operating a forced steering device coupled to a towing vehicle trailer according to the type mentioned, with which the mentioned disadvantages can be avoided, with which the forced steering device can still be operated reliably.
    This is achieved by the features of claim 1 according to the invention.
    This results in the advantage that a reliable positive steering of the trailer is made possible, whereby the usual disadvantages of the need for a control rod or a modification of the coupling device are avoided. This can be determined by two compasses, namely a first compass on the trailer and a second compass on towing vehicle, at least indirectly, the angle between the orientation of the towing vehicle and the orientation of the trailer. By measuring the orientation of the towing vehicle and the orientation of the trailer, therefore, the necessary information can be provided which is necessary for the reliable operation of the forced steering device. This makes it possible to provide a trailer with a forced steering device, which is easy to operate, especially when coupling and uncoupling the trailer. Furthermore, such a forced steering device is less error-prone, since the two compasses, in contrast to a control rod or a sensor in the coupling device during operation are not substantially worn, whereby the cost of maintenance can be kept low.
    Furthermore, the invention relates to a trailer according to the preamble of claim 4.
    The object of the invention is therefore to provide a trailer according to the type mentioned, with which the mentioned disadvantages can be avoided, which has a reliable positive steering and which is still simple in construction.
    The advantages of the trailer correspond to the advantages of the method.
    The subclaims relate to further advantageous embodiments of the invention.
    It is hereby expressly referred to the wording of the claims, whereby the claims at this point are incorporated by reference into the description and are considered to be reproduced verbatim.
    The invention will be described in more detail with reference to the accompanying drawing, in which only a preferred embodiment is shown by way of example.
    1 shows a sketch of a preferred embodiment of a vehicle combination in plan view.
    1 shows a preferred embodiment of a vehicle combination 7 for a method for operating a forced steering device of a trailer 2 coupled to a towing vehicle 1, wherein the forced steering device has at least one positively steered wheel 3. A vehicle combination 7 is a combination comprising a towing vehicle 1, in particular a tractor, and a trailer 2 coupled to the towing vehicle 1. The coupling between towing vehicle 1 and trailer 2 takes place via a coupling device 8, in particular by means of a conventional coupling device 8 comprising a coupling ball or a trailer towing eye. By the coupling device 8, the towing vehicle 1 is pivotally coupled to the trailer 2.
    The trailer 2 has a forced steering device with the at least one positively driven wheel 3. Preferably, the trailer 2 may have several forcibly steered wheels 3. In particular, the trailer 2 may have at least one forcibly steered axle 9, 10, which has two positively steered wheels 3. The forced steering device of the at least one positively driven wheel 3 can in particular be operated hydraulically and / or electrically.
    Furthermore, it is provided that an alignment of the trailer 2 is measured by a fixed position on the trailer 2 arranged first compass 4. The first compass 4 may in particular be a magnetic compass, preferably comprising at least one Hall sensor or a fluxgate magnetometer, which determines an orientation on the basis of the terrestrial magnetic field. Alternatively, the first
    Compass 4 be designed as a gyrocompass. The orientation of the trailer 2 may be in particular the direction parallel to the drawbar axle 6 of the trailer, the orientation of the trailer 2 pointing straight ahead in the direction of travel. The first compass 4 is arranged fixed on the trailer 2 to reliably measure the orientation of the trailer 2.
    It is further provided that an orientation of the towing vehicle 1 is measured by a second compass 5, which is fixed in position on the towing vehicle 1. The second compass 5 may be formed in particular equal to the first compass 4. The orientation of the towing vehicle 1 may in particular be the direction parallel to a central axis 11 of the towing vehicle 1, the orientation of the towing vehicle 1 pointing straight ahead in the direction of travel. The second compass 5 is arranged fixed on the towing vehicle 1 to reliably measure the orientation of the towing vehicle 1.
    It is provided that from the orientation of the trailer 2 and the orientation of the towing vehicle 1, a steering angle for the at least one forcibly steered wheel 3 is determined. Here, a difference between the orientation of the trailer 2 and the orientation of the towing vehicle 1 corresponds to an angle between the trailer 2 and the towing vehicle 1. By the orientation of the trailer 2 and the orientation of the towing vehicle 1 can thereby, as in a direct measurement of the angle between the trailer 2 and the towing vehicle 1 by a control rod or sensor on the coupling device 8, based on the predetermined kinematics of the vehicle combination 7, the steering angle for the at least one forcibly steered wheel 3 are set such that the axes of rotation of the wheel 3 substantially the pivot point of the vehicle combination. 7 cuts.
    This results in the advantage that a reliable positive steering of the trailer 1 is made possible, the usual disadvantages of the need for a control rod or a modification of the coupling device 8 are avoided. This can be determined by two compasses 4,5, namely a first compass 4 on the trailer 2 and a second compass 5 on towing vehicle 1, at least indirectly, the angle between the orientation of the towing vehicle 2 and the orientation of the trailer 1. By measuring the orientation of the towing vehicle 1 and the orientation of the trailer 2, therefore, the necessary information can be provided, which are necessary for the reliable operation of the forced steering device. This makes it possible to provide a trailer 1 with a forced steering device, which is easy to operate, especially when coupling and uncoupling the trailer 1. Furthermore, such a forced steering device is less prone to error, since the two compasses 4,5, in contrast to a control rod or a Sensors in the coupling device 8 are not worn in operation substantially, whereby the cost of maintenance can be kept low.
    Furthermore, a trailer 2 is provided for coupling with the towing vehicle 1, wherein the trailer 2 has a forced steering device with at least one positively steered wheel 3, wherein it is provided that the trailer 2 for determining the steering angle for the at least one forcibly steered wheel 3 the fixed position and arranged having the orientation of the trailer 2 measuring the first compass 4.
    In particular, the trailer 2 may have at least one forcibly steered axle 9, 10, which has two positively steered wheels 3. In Fig. 1 is an example of a trailer with two positively steered axle 9,10 with two positively steered wheels 3, namely a first forcibly steered axle 9 and a second forcibly steered axle 10. The steering angle for all wheels 3 can in this case due to the orientation of the trailer 1 the orientation of the towing vehicle 2 are determined. However, the trailer can also have only one positively steered axle 9, 10 or more than two forcibly steered axles 9, 10.
    Furthermore, a vehicle combination 7 comprising the towing vehicle 1 and the trailer 2 coupled to the towing vehicle 1 is provided, the towing vehicle 1 having a positionally fixed and an alignment of the towing vehicle 1 measuring second compass 5, wherein a control device is formed based on the orientation of the trailer 2 and the orientation of the towing vehicle 1 to determine a steering angle for the at least one forcibly steered wheel 3.
    The towing vehicle 1 may in particular have a rigid drive axle 12 and a steering axle 13, as shown by way of example in the preferred embodiment in FIG. The point of intersection of the drive axle 12 with the steering axle 13 in particular gives the pivot point of the turning circle.
    The second compass 5 may in particular be part of a navigation system of the towing vehicle 1, whereby existing navigation systems for use in the method can easily be retrofitted.
    Preferably, it can be provided that the first compass 4 is arranged on a drawbar axle 6 of the trailer 2. The drawbar axis 6 is the axis of the centrally extending drawbar. As a result, the alignment of the drawbar axis 6 is measured as the orientation of the trailer 1.
    In particular, it can be provided that the trailer 1 has a rigid, so not horizontally pivotable drawbar.
    Alternatively, the trailer 1 may have a horizontal pivotable axis. In this case, the kinematics can be accurately determined via additional sensors on the hinge between the drawbar and the rest of the trailer 1, wherein the angle between towing vehicle 1 and drawbar of the trailer 2 can be determined by the two compasses 4.5.
    It can preferably be provided that the orientation of the trailer 2 and the orientation of the towing vehicle 1 are transmitted to a control device arranged on the trailer 2, and that the control device determines the steering angle for the at least one forcibly steered wheel 3. Furthermore, it can be provided that the trailer 2 has the control device, that a first input of the control device is circuitry connected to the first compass 4, that a second input of the control device is adapted to receive an orientation of the towing vehicle 1, and that the control device is formed based on the orientation of the trailer 2 and the orientation of the towing vehicle 1 to determine the steering angle for the at least one forcibly steered wheel 3. The control device is in particular an electronic device, which determines the steering angle for the at least one forcibly steered wheel 3 on the basis of the orientation of the towing vehicle 2 and of the trailer 1. By the control device on the trailer 2, there is the advantage that the trailer 2 often have different arrangements of positively steered axles 9,10, and so the control device can be adjusted to the arrangement of the positively driven axles 9,10 of the respective trailer 2. This can be ensured when changing the trailer 2 that the correct steering angle can be determined.
    A power supply of the control device can be ensured via a supply line to the towing vehicle 1.
    Alternatively it can be provided that the control device is arranged on the towing vehicle, in particular as part of the onboard computer.
    Particularly preferably, it can be provided that the orientation of the towing vehicle 1 is transmitted via radio to the control device. It can be provided that the second input of the control device has a radio receiver unit. Furthermore, it can be provided that the towing vehicle 1 has a radio-transmitting unit connected in circuit technology with the second compass 5. In this case, the alignment measured by the second compass 5 is output to the radio transmitter unit, transmitted via the radio transmitter unit by radio to the radio receiver unit on the trailer 2, and output by the radio receiver unit to the control device. The advantage of this is that an additional data line between the towing vehicle 1 and the trailer 2 for transmitting the orientation of the towing vehicle 1 is not necessary, whereby no costly adaptations to the outputs in the coupling device 8 of the towing vehicle 1 are necessary.
    Alternatively it can be provided that the second compass 5 is connected via a data line to the control device.
    Furthermore, the towing vehicle may have a control console for the input of control commands of the user to the control device, wherein the control commands such as the orientation of the towing vehicle 1 are transmitted to the control device.
    权利要求:
    Claims (9)
    [1]
    1. A method for operating a forced steering device of a towing vehicle (1) coupled trailer (2), wherein the forced steering device has at least one positively driven wheel (3), one of the trailer (2) fixedly mounted first compass (4) an orientation of the An orientation of the towing vehicle (1) is measured by a to the towing vehicle (1) fixedly arranged second compass (5), wherein from the orientation of the trailer (2) and the orientation of the towing vehicle (1) a Steering angle for the at least one forcibly steered wheel (3) is determined.
    [2]
    2. The method according to claim 1, characterized in that the orientation of the trailer (2) and the orientation of the towing vehicle (1) to a trailer (2) arranged control means are transmitted, and that the control means the steering angle for the at least one forcibly steered wheel (3) determined.
    [3]
    3. The method according to claim 2, characterized in that the orientation of the towing vehicle (1) is transmitted via radio to the control device.
    [4]
    A trailer (2) for coupling with a towing vehicle (1), said trailer (2) having a positive steering device with at least one positively driven wheel (3), characterized in that said trailer (2) for determining a steering angle for said at least one Forced steering wheel (3) has a fixed position and an orientation of the trailer (2) measuring the first compass (4).
    [5]
    5. trailer (2) according to claim 4, characterized in that the first compass (4) on a drawbar axis (6) of the trailer (2) is arranged.
    [6]
    6. trailer (2) according to claim 4 or 5, characterized in that the trailer (2) comprises a control device, that a first input of the control device is circuitry connected to the first compass (4), that a second input of the control device is formed an orientation of the towing vehicle (1) to receive, and that the control device is formed based on the orientation of the trailer (2) and the orientation of the towing vehicle (1) to determine the steering angle for the at least one forcibly steered wheel (3).
    [7]
    7. trailer (2) according to claim 6, characterized in that the second input of the control device comprises a radio receiver unit.
    [8]
    8. vehicle combination (7) comprising a towing vehicle (1) and a trailer (2) coupled to the towing vehicle (1), wherein the towing vehicle (1) has a second compass (5) arranged fixed in position and measuring an orientation of the towing vehicle (1), characterized in that the trailer (2) according to one of claims 4 to 7 is formed, and that a control device is formed on the basis of the orientation of the trailer (2) and the orientation of the towing vehicle (1) a steering angle for the at least one forcibly steered wheel ( 3).
    [9]
    9. vehicle combination (7) according to claim 8, characterized in that the towing vehicle (1) having a second compass (5) circuitally connected radio transmission unit.
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    同族专利:
    公开号 | 公开日
    AT518246B1|2017-09-15|
    DE102017114019A1|2018-01-18|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    EP1048550A2|1999-04-28|2000-11-02|Deere & Company|Steering system and harvesting machine|
    CN101178309A|2006-08-24|2008-05-14|法雷奥视觉公司|Method for determining the passing of a vehicle in a bottleneck|
    EP2243688A2|2009-04-20|2010-10-27|CLAAS Selbstfahrende Erntemaschinen GmbH|Corrected forced steering for steered trailers or semi-trailers on multiple axle steering agricultural or forestry traction vehicles|
    DE102013013584A1|2013-07-23|2013-12-05|Friedhelm Hilken|Trailing axle for use with tractor for transporting e.g. biomass, for fermentaion, has sensor detecting wheel speed of axle of assigned wheel, and angle sensor detecting turning angle of trailing axis assigned to wheel|
    DE102020121315A1|2020-08-13|2022-02-17|Saf-Holland Gmbh|Coupling system with kink angle measurement|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    ATA50637/2016A|AT518246B1|2016-07-18|2016-07-18|METHOD FOR OPERATING A FORCED STEERING DEVICE|ATA50637/2016A| AT518246B1|2016-07-18|2016-07-18|METHOD FOR OPERATING A FORCED STEERING DEVICE|
    DE102017114019.0A| DE102017114019A1|2016-07-18|2017-06-23|Method for operating a forced steering device|
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