• 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:

    公开号:NL2013228A
    申请号:NL2013228
    申请日:2014-07-21
    公开日:2015-01-26
    发明作者:Kornelius Frank；Stefan Sauter
    申请人:Claas Saulgau Gmbh；
    IPC主号:
    专利说明:

    Title: Control device for an agricultural trailer device and trailer device for the agricultural industry
    Description
    The invention relates to a control device for an agricultural trailer device and an agricultural trailer device.
    An agricultural towing combination has an agricultural towing vehicle and an agricultural towing device pulled by the towing vehicle. The towing vehicle is typically a tractor. The towing device pulled by the towing vehicle can be a trailer, a loading wagon, a swath-mower, a turner, a press or other towing device pulled by the towing vehicle. The towing vehicle and the towing device each have a towing device, whereby the towing device can be coupled to the towing vehicle towing device via its towing device. The trailer device of the trailer device is typically a so-called drawbar. The trailer device of the towing vehicle can be a so-called towing jaw or a ball coupling.
    Then, when an agricultural towing combination has to be operated in a movement through curves, a steering angle is set by a driver via a steering wheel on a steered axle of the towing vehicle. It should be noted that the towing vehicle can also travel over chain running tracks or crawling tracks. It is already known from practice that also the agaric trailer device can have at least one steerable axle in order to improve the driving behavior of an agricultural traction combination. Typically, an agaric trailer device has a non-steerable axle and at least one steerable axle, wherein a steerable axle of the trailer device can be positioned before and / or after the non-steerable axis of the trailer device. An agricultural trailer can also only have at least one steerable axle.
    Then, when a trailer device has at least one steerable axle and a non-steerable axle, the control of the or each steerable axle in the prior art trailer is adjusted such that a resulting control pole or a resultant control center of the trailer device is driven by a staple steerable axle of the trailer-extending straight line.
    It is further known from practice that on the driver's side, for example, by actuating a change-over device, the steering behavior at the or each steerable axle of the trailer device can be changed such that the steering pole of the trailer device is moved forward so that a turning circle of the trailer device and consequently of the draw combination.
    Based on this, the present invention is based on the object of providing a new control device for an agricultural trailer and a new agricultural trailer.
    This object is achieved by the control device for an agricultural trailer according to claim 1.
    The control device according to the invention then automatically sets a first constant control pole if the driving speed is greater than an upper limit value and / or corresponds to the upper limit value. Then, when the driving speed is less than the lower limit value and / or corresponds to the lower limit value, the control device according to the invention automatically sets a second constant control pole. Then, when the driving speed is greater than the lower limit value and smaller than the upper limit value, the control device according to the invention sets an automatic and variable control pole depending on the driving speed that lies between the first control pole and the second control pole.
    Preferably, the first constant control pole of the trailer device with a minimum tire wear and / or a high driving stability are moved to the rear and the second constant control pole of the trailer device with a minimum turning circle moved forward.
    With the present invention it is proposed for the first time to automatically change the control pole of an agricultural trailer as a function of the driving speed. Then, if the driving speed is greater than the upper limit value or corresponds to it or is smaller than the lower limit value or corresponds thereto, a constant control pole is set for the trailer in each case, the second control pole set at low driving speeds for ensuring a minimum turning circle and the at high driving speeds set first steering pole for providing good driving stability and ensuring a lower tire wear. Then, when the trailing device is operated at a travel speed which lies between the lower limit value and the upper limit value, the control pole becomes variable and therefore dynamically changed in dependence on the driving speed, so that an optimum compromise always lies between the lower limit value and the upper limit value. between good driving stability, low tire wear and a minimum turning circle.
    According to a favorable further development of the invention, the control device according to the invention then changes, when the driving speed is greater than the lower limit value and smaller than the upper limit value, the control pole continuously changes between the first control pole and the second control pole depending on the driving speed. Preferably, if the driving speed is greater than the lower limit value and smaller than the upper limit value, the control device then changes the control pole linearly.
    The continuous, in particular a linear, shift of the control pole in the driving speed range, which lies between the lower limit value and the upper limit value, is preferred.
    The agricultural trailer according to the invention is defined in claim 11.
    Preferred further developments of the invention follow from the sub-claims and the following description. Embodiments of the invention are, without being limited thereto, explained with reference to the drawing below.
    It shows:
    FIG. 1 shows an agricultural towing combination with a towing vehicle and a towing device pulled by the towing vehicle in schematic top view;
    FIG. 2 a diagram for the further clarification of the invention.
    The invention relates to a control device for an agricultural trailer device and a trailer device for agriculture.
    FIG. 1 shows a towing combination 1 with a towing vehicle 2 for agriculture and an agricultural trailer 3 pulled by the towing vehicle 2. With the towing vehicle 2, the exemplary embodiment shown is a tractor and the trailer device 3 for agriculture is a trailer or loading wagon.
    Both the towing vehicle 2 and the towing device 3 each have a towing device 4, 5, wherein the towing device 3 can be coupled via its towing device 5 to the towing device 4 of the towing vehicle 2. Then, when the trailer device 3 is a trailer or loading wagon, the trailer device 5 thereof is preferably designed as a drawbar. The towing device 4 of the towing vehicle 2 can be a single-ball coupling or a draw jaw.
    In the embodiment shown, the towing vehicle 2 has a steerable front axle 6 and a steerable rear axle 7.
    In the exemplary embodiment shown, the trailer device 3 has a total of three axles 8, 9 and 10, wherein in the illustrated exemplary embodiment, axle 8 cannot be steered and two axles 9, 10 can be steered. A first steerable axle 9 is then positioned in front of the non-steerable axle 8 viewed in the direction of travel and a second steerable axle 10, viewed in the direction of travel, behind the non-steerable axle 8.
    The steerability of the axles 6, 9 and 10 of towing vehicle 2 and trailer device 3 is visualized in Figure 1 by arrow 11.
    It should be noted that the invention is not limited to a trailer device with a non-steerable shaft 8 and two steerable shafts 9, 10. The invention can also be used with a trailer device with a non-steerable axle 8 and only a steerable axle 9 or 10. Furthermore, the invention can be used with a trailer device which has no non-steerable axle, but only at least one steerable axle. The trailer can also have more than three axes.
    The trailer device 3 has a control device 12, with the aid of which the control of the steerable shafts 9 and 10 can be automatically influenced or adjusted, respectively, with the formation of a control pole or control center for the trailer device 3, respectively the traction combination 1.
    According to the invention, the control device 12 influences the control pole for the trailer device 3 in dependence on the travel speed of the trailer device 3 and the traction combination 1, respectively.
    Then, when the driving speed is above an upper limit value, the controller 12 automatically sets a first constant control pole.
    Then, when the travel speed is less than a lower limit value and / or corresponds to the lower limit value, the control device 12 automatically sets a second constant control pole.
    Then, when the driving speed is greater than the lower limit value and smaller than the upper limit value, the control device sets an automatic and variable control pole in dependence on the driving speed that lies between the first control pole and the second control pole.
    FIG. 2 visualizes these relationships of the travel speed-dependent influence of the control pole by the control device 12 on the basis of a diagram, wherein in Fig. 2 the control pole L for the trailer device 3 is set via the travel speed V.
    Then, when the travel speed V is greater than the upper limit value VO and / or corresponds to the upper limit value VO, the constant first control pole LO is automatically set. Then, on the other hand, if the travel speed is smaller than the lower limit value VU and / or corresponds to the upper limit value VU, the second constant control pole LU is automatically set.
    For a speed V which lies between the lower limit value VU and the upper limit value VO, the control pole L = f (V) is set dynamically or variably depending on the travel speed V, the adjustment control pole being located between the first control pole LO and the second control pole LU lies.
    Then, when the travel speed of the draw combination 1 of lig. 1 and consequently of the trailer device 3 of Fig. 1 is greater than the upper limit value VO and / or corresponds to the upper limit value VO, the control pole of the trailer device 3 is preferably automatically set by the control device 12 such that the control pole guarantees a higher driving stability and has been moved to the rear relatively under the guarantee of a minimum tire wear. In this case, the control pole 13 of the trailer device 3 preferably lies on a straight line 14, which extends through the non-steerable axle 8 of the trailer device 3. Such a control pole 13 ensures high driving stability, in particular rocking stability, and minimal tire wear when cornering.
    The control pole 13, which extends through the non-steerable axle 8 of the trailer device 3 and is relatively rearwardly displaced, can also be referred to as a normal control pole or as a standard control pole or as an output control pole.
    Around the control pole 13 of the trailer device 3 starting from such a position that is moved backwards relatively, that is to say the so-called standard control pole, relatively relative to the front in the direction of the control pole 13, the control device 12 of the trailer device is also slightly ahead of the non-steerable Shaft 8 positioned steerable shaft 9 reduces control and increases the control shaft 10 steered behind non-steerable shaft 8.
    To move the steering pole 13 'backwards in the direction of the steering pole 13, the steering shaft 9 positioned before the non-steering shaft 8 is raised and the steering shaft 10 positioned behind the non-steering shaft 8 increases the steering.
    According to FIG. 1, the steering poles 13, 13 'also lie on a straight line extending through the non-steerable axle 7 of the towing vehicle 1.
    In Fig. 1, therefore, at travel speeds V which are greater than the upper limit value VO and / or correspond to the upper limit value VO, the control pole 13 of the trailer device 3 displaced rearwardly is kept constant, the control pole 13 then being in a straight line 14 which extends through the non-steerable axle 8 of the trailer device 3. As already mentioned, this control pole 13 can also be referred to as a normal control pole or as a standard control pole or as an output control pole.
    As soon as the travel speed falls below the upper limit value VO, the control device 12 automatically changes the control pole by shifting the control pole forward from the normal control pole or standard control pole or output control pole, and this in dependence on the travel speed of the trailer, until the travel speed reaches the limit value. VU below reach.
    For travel speeds that are smaller than this lower limit value VU and / or correspond to the lower limit value VU, the forwarded control pole is kept constant.
    Then, when the travel speed V starting from a travel speed, which is less than the lower limit value VU, becomes larger, the control pole of the trailer device 3 is shifted relative to the traveling speed, and so long until the lower limit value VU falls, the travel speed greater than the upper limit value VO is reached or the upper limit value VO is reached, while subsequently the control pole 13, which in turn corresponds to the normal control pole or standard control pole or output control pole, is kept constant.
    The upper limit value VO for the driving speed as well as the lower limit value VU for the driving speed and therefore the driving speed window defined by the two limit values VO, VU, within which the control pole is dynamically and variably changed, are stored in a memory of the control device 12, these limit values VO and VU preferably be parameterizable or adjustable. Parameterization can take place on the production side at fixed values. Similarly, it is possible to allow variable parameterization via a service technician or user.
    Furthermore, the type of control pole shift by the control device 12 is stored in the memory of the control device 12 and can be parameterized. The two limit values (LO, LU) for the control pole as well as the type (continuous, step-like, linear, non-linear) of the speed-dependent control pole offset can be parameterized in the speed interval defined by the limit values VU and VO.
    As already mentioned, the control pole shift in the travel speed interval defined by the speed limit values VU and VO takes place continuously, preferably linearly, as shown in FIG.
    Different from a linear shift of the control pole depending on the driving speed, a parabolic, hyperbolic or exponential control pole shift can also take place in the speed interval defined by the limit values VU and VO. Random curve shapes can be used for the control pole shift.
    Different from a continuous control pole shift in the speed interval, which is defined by the limit values VU and VO, a non-continuous, step-like control pole shift location can also be found in this speed interval, which can be represented, for example, via a value table deposited in the control device 12.
    According to the invention, therefore, a travel speed-dependent shift of the control pole of a trailer device 3 takes place.
    With this, an optimum compromise between driving stability, maneuverability and tire wear can be guaranteed for every driving speed.
    Above a top limit value for the driving speed and below a bottom limit value for the driving speed, a control pole constant of the trailer device 3 of the trailer device 3 is set. A dynamic shift of the steering pole in dependence on the driving speed takes place between these two limit values.
    The steering behavior of the trailer device 3 is accordingly adjusted automatically by the control device 12 in dependence on the driving speed. At low travel speeds, a high maneuverability of the trailer device 3 is guaranteed. At high driving speeds, higher driving stability and low tire wear are guaranteed.
    The total adjustment of the control pole of the trailer device 3 by the control device 12 takes place fully automatically in dependence on the driving speed location, which is determined either by the trailer device 3 itself or is made available to the trailer device 3 by the towing vehicle 2.
    The measures described can in principle all be applied also when reversing a trailer device according to the invention, wherein the control pole shift for reversing is preferably parameterized for other than for forward driving.
    In Fig. 2, an exemplary control pole shift is shown in dotted line in the left-hand region, that is, in the negation speed region when reversing. Accordingly, in a short slow speed range the control pole remains constantly moved forward and from a predetermined speed the control pole is moved backwards. In the example shown, the control pole is moved backwards more strongly with increasing reverse speed, i.e. in the reverse direction of travel, than with the forward movement. Moreover, in this exemplary embodiment, the control pole is also moved further backwards than during the forward movement, i.e. the control pole is moved behind the non-steered (rigid) shaft 8.
    As a result, the trailer 3 shows a more aggressive steering behavior with slow rearward movement, so that it steer more strongly in a bend and the aggressiveness decreases with increasing rearward speed. As a result, it is not possible to drive a bend radii with slow reversing, which makes shunting easier and with faster reversing the trailer device behaves more passively, that is to say it is less inclined to walk sideways away, so that, for example, a trailer device equipped according to the invention can be recovered more quickly straight ahead.
    List of reference marks 1 Pulling combination 2 Pulling vehicle 3 Trailer device 4 Trailer device 5 Trailer device 6 Front axle 7 Rear axle 8 Axle 9 Axle 10 Axle 11 Axle steerability 12 Control device 13 Steering pole 13 ’Steering pole 14 Straight line
    权利要求:
    Claims (11)
    [1]
    Control device (12) for an agricultural trailer device (3) with at least one controllable axle (9, 10), wherein the control device (12) by adjusting the control at the or each controllable axle (9, 10) of the trailer device control pole or control center of the trailer device (3), characterized in that the control device (12) influences the control pole depending on a driving speed such that, when the driving speed is greater than an upper limit value and / or corresponds to the upper limit value, control device (12) automatically sets a first constant control pole, then, if the driving speed is less than a lower limit value and / or corresponds to the lower limit value, the control device (12) automatically sets a second constant control pole, then, if the driving speed is greater than the lower limit value and less than the upper limit value, the control device (12) is automatically a variable stu urpool depending on the driving speed, which lies between the first steering pole and the second steering pole.
    [2]
    2. Control device as claimed in claim 1, characterized in that it then, when the driving speed is greater than the lower limit value and smaller than the upper limit value, the control pole changes continuously between the first control pole and the second control pole depending on the driving speed.
    [3]
    A control device according to claim 2, characterized in that, when the travel speed is greater than the lower limit value and smaller than the upper limit value, the control pole changes linearly.
    [4]
    A control device according to claim 2, characterized in that when the travel speed is greater than the lower limit value and smaller than the upper limit value, the control pole changes non-linearly.
    [5]
    Control device according to one of Claims 1 to 4, characterized in that then, when the travel speed is less than the lower limit value and / or corresponds to the lower limit value, the control device sets a second constant control pole which, while guaranteeing a minimum turning circle forward.
    [6]
    A control device according to any one of claims 1 to 5, characterized in that, when the travel speed is greater than the upper limit value and / or corresponds to the upper limit value, the control device sets a first constant control pole which guarantees a minimum tire wear and / or high rising stability has been moved backwards.
    [7]
    Control device according to claim 6, characterized in that the first control pole lies on a straight line extending through a non-controllable shaft (8) of the trailer device.
    [8]
    Control device according to one of Claims 1 to 7, characterized in that, in front of a trailer device with a controllable shaft (10) positioned behind a non-controllable shaft (8) for moving the control pole to the front, the control of increases this steerable shaft (10) and reduces the control of this steerable shaft (10) for the displacement of the control pole to the rear.
    [9]
    Control device according to one of Claims 1 to 8, characterized in that, for a trailer device with a controllable shaft (9) positioned in front of a non-controllable shaft (8) for moving the control pole to the front, the control of this controllable shaft (9) decreases and before the control pole is moved backwards, the control of this control bar axis (9) increases.
    [10]
    A control device according to any one of claims 1 to 9, characterized in that the upper limit value and lower limit value for the driving speed are stored in a memory and can be parameterized.
    [11]
    An agricultural trailer, with at least one steerable axle, characterized by a control device (12) according to one of claims 1 to 10.
    类似技术:
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    同族专利:
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    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    CN109969168A|2017-11-28|2019-07-05|丰田自动车株式会社|Vehicle stabilization control device|US5143400A|1989-08-10|1992-09-01|Michelin Recherche Et Technique|Active toe adjustment apparatus|
    GB9507021D0|1995-04-05|1995-05-31|Price Richard D|Improvements relating to vehicle steering systems|
    DE102005023286A1|2005-05-20|2006-12-07|Zf Friedrichshafen Ag|Method and device for steering adjustment and steering of wheels of a vehicle with axle steering|
    DE102006006141B4|2006-02-10|2009-12-10|Zunhammer, Sebastian, Dipl.-Ing. |Vehicle trailer with steerable axle|
    DE102008033729A1|2008-07-18|2010-01-21|Josef Fliegl|Method and device for steering a trailer|
    DE102013013584B4|2013-07-23|2015-05-21|Friedhelm Hilken|Trailing axle with forced steering and trailer with at least one such trailing axle|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    DE102013107883.4A|DE102013107883B4|2013-07-23|2013-07-23|Control device for an agricultural trailer device and agricultural trailer device|
    DE102013107883|2013-07-23|
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