CA2921130A1

CA2921130A1 - Implement operating apparatus

Info

Publication number: CA2921130A1
Application number: CA2921130A
Authority: CA
Inventors: Norbert Beaujot
Original assignee: SeedMaster Manufacturing Ltd
Current assignee: DOT Technology Corp
Priority date: 2016-02-18
Filing date: 2016-02-18
Publication date: 2016-09-20
Anticipated expiration: 2036-02-18
Also published as: CA2921130C

Abstract

An implement operating apparatus has a drive frame supported on drive wheels, each pivotally mounted about a vertical wheel pivot axis. A steering control selectively pivots each drive wheel. A motor is mounted on the drive frame and connected through a drive control operative to rotate the drive wheels in a selected one of first and second directions. An implement rests on the ground and when the drive frame is maneuvered to an implement loading position with respect to the implement, the implement is connectable to the drive frame and movable to an operating position supported by the drive frame. When the implement is in the operating position, the steering and drive controls are operative to move and steer the drive frame and implement along a selected one of a first travel path and a second travel path oriented generally perpendicular to the first travel path

Description

IMPLEMENT OPERATING APPARATUS
This disclosure relates to the field of implements for use in agriculture and industry, in particular to a drive apparatus for attachment to a variety implements for moving the implement in operating and transport modes.
BACKGROUND
Implements such as are used in agriculture and various industries= such as road construction and maintenance include a wide variety of sizes and configurations.
Implements such as combines, swathers, sprayers, road graders, earth movers, and the like are commonly self-propelled, with the engine, drive system, and operators station incorporated into the implement itself. Implements such as air seeders, cultivators, discs, grain carts, mowers, and the like are more commonly towed behind a tractor.
Some implements are configured to be mounted directly on a tractor instead of being towed behind, such as snowplows mounted on the front end of a tractor, mowers mounted under a middle portion of the tractor, and a wide variety of implements mounted to the arrns of a three point hitch system commonly incorporated on the rear end of tractors.
Some self-propelled implements have comprised a drive unit, which includes the engine, drive train, and operator's station, and different implements which can be mounted to the drive unit. For example Versatile Manufacturing Company of Winnipeg, Manitoba, Canada manufactured the VersatileTM 103 which included a drive unit with a swather header and a spraying assembly which were mountable to the drive unit.
Also with the advent of very accurate external positioning systems using global positioning satellites (GPS) and the like have more recently led to the development of robotic agricultural vehicles with no operators station. For example recently Amazonen-Werke of Hasbergen, Germany, has developed a robot vehicle for carrying various application modules along a field surface for identifying plants, testing soil compaction, nutrient deficiencies and the like. The robot is controlled by an external guidance system such as using GPS, or by a remote control device. Remote or GPS controlled driverless tractors are also known, such as manufactured by Autonomous Tractor Corporation of Fargo, North Dakota, USA.
See also for example United States Published Patent Application Number of Bourgault et al. which discloses a driverless self-propelled air seeder that is guided by a GPS or like external guidance system, and/or by a remote operator.
SUMMARY OF THE INVENTION
The present disclosure provides an implement operating apparatus that overcomes problems in the prior art.
The amount of land farmed by a single farmer has gown steadily for several decades. A
successful farm requires timely operations for seeding, chemical application, harvest and the like. As skilled labor has become more difficult to find and more costly, farmers have looked to larger and larger equipment such that seeding equipment is now up to 100 feet wide. While these wide seeders allow a farmer to seed many more acres in a day than with the former narrower seeders, the wide equipment presents many new problems, such as lack of maneuverability in tight quarters, the requirement for sectional control to avoid excessive overlap, correspondingly very large containers for the agricultural products used in the seeding operations to reduce down time for filling, and the like.
Similarly with harvest equipment, present combines have a large capacity and can harvest many hundreds of bushels of grain per hour but the amount of harvested gain they can carry is limited such that it may be required to provide a wagon or the like to empty the combine hopper every ten minutes.
The present disclosure provides an implement operating apparatus that includes a drive frame that carries and operates a variety of implements of a more moderate size. The apparatus can be controlled by a microprocessor connected to an external guidance system using GPS or the like as is known in the art in a robotic unmanned fashion. The drive frame can carry a seeding implement at seeding time, then a spraying implement to spray crops, then a min cart, large conveyor, or the like at harvest time.
The presently disclosed apparatus can include an operator's station, or can be controlled by an external guidance system and/or remote control. A single operator can thus control a plurality seeding implements for example, and each seeding implement can have a more manageable width, such as 20 ¨ 30 feet instead of three times that.
In a first embodiment the present disclosure provides an implement operating apparatus comprising a drive frame supported on a plurality of drive wheels for travel on a ground surface. Each drive wheel is pivotally mounted about a substantially vertical wheel pivot axis and a steering control is operative to selectively pivot each drive wheel about the corresponding wheel pivot axis. A motor is mounted on the drive frame and connected through a drive control to rotate each drive wheel, and the drive control is operative to rotate the drive wheels in a selected one of first and second directions.
First and second implements are configured to rest on the ground surface when in an idle position and each implement and drive frame are configured such that when the drive frame is maneuvered to an implement loading position with respect to each implement in the idle position, each implement is connectable to the drive frame and movable to an operating position where each implement is supported by the drive frame and is connected to an implement control system operative to control implement functions. When each implement is in the operating position, the steering and drive controls are operative to move and steer the drive frame and supported implement along a selected one of a first travel path and a second travel path oriented generally perpendicular to the first travel path.
In a second embodiment the present disclosure provides a method of supporting an implement on a drive frame and operating the implement. The method comprises mounting the drive frame on a plurality of drive wheels, each drive wheel pivotally attached to the drive frame about a substantially vertical wheel pivot axis;
providing a steering control operative to selectively pivot each drive wheel about the corresponding wheel pivot axis; mounting a motor on the drive frame and connecting the motor through a drive control to rotate each drive wheel, the drive control operative to rotate the drive wheels in a selected one of first and second directions; operating the drive control and steering control to move and steer the drive frame along a selected one of a first travel path and a second travel path oriented generally perpendicular to the. first travel path;
supporting the implement on a ground surface in an idle position; moving and steering the drive frame to an implement loading position with respect to the implement in the idle position; connecting the implement to the drive frame and moving the implement to an operating position supported by the drive frame; connecting the implement to an implement control system operative to control implement functions; operating the steering and drive controls to move and steer the drive frame and implement along a selected one of the first travel path and the second travel path, and operating the implement control system to control the implement functions.
The implements that can be used with the present apparatus include a wide range including seeding implements, chemical application implements, grain carts, crop swathers, land packers, earth moving equipment, and cutters. Efficiency is improved as at least some of the weight of the implement is supported by the drive wheels providing ballast such that the drive frame can be lighter and there will still be sufficient weight on the drive wheels to provide the necessary traction. Thus the total amount of weight moved by the motor is reduced. Travel can be along either a first path or perpendicular along a second path. This feature allows an implement to be operated in a wide orientation along one path to cover significant ground area during operation, and then moved in a narrow orientation along the second perpendicular path for transport.
With a motor of 70 ¨ 100 horsepower and drive frame dimensions of 10 - 12 feet or more square, or a rectangular drive frame of 10 - 12 feet by 15-20 feet, implements suitable for large farming operations can be used, such as seeding implements with a width of 25-30 feet, grain carts with a capacity of 500 bushels, spraying equipment with a width of 60-80 feet. Other larger implements such as 100 foot long grain conveyors are also well suited to use as the ability to move in either of the two paths is convenient for moving from bin to bin, and for moving into position under hopper bottom trailers. Tillage and like land working implements are similarly well suited.
With the robotic controls presently available a single operator can supply necessary fertilizer and seed to a fleet of three, four, or more seeding implements for example and monitor the operations of all implements. Similarly the robotic controls can be used to move a plurality of grain carts between a plurality of combines and transport vehicles during harvest.
DESCRIPTION OF THE DRAWINGS
While the invention is claimed in the concluding portions hereof, preferred embodiments are provided in the accompanying detailed description which may be best understood in conjunction with the accompanying diagrams where like parts in each of the several diagrams are labeled with like numbers, and where:

Fig. 1 is a schematic end view of an embodiment of the implement operating apparatus of the present disclosure with the drive frame aligned with the implement, schematically illustrated as a seeding implement, and ready to move to the implement loading position;
Fig. 2 is a schematic side view of the embodiment of Fig. I in the same position as shown in Fig. 1;
Fig. 3 is a schematic top view of the embodiment of Fig. 1 with the drive frame moved along path P1 from the empty position shown in Fig. 1 on the left side of the drawing to the implement loading position shown on the right;
Fig, 4 is a schematic side view of the embodiment of Fig. 1 with the drive frame in the implement loading position;
Fig. 5 is a schematic side view of the embodiment of Fig. 1 with the implement lowered to the operating position supported on the drive frame and with supporting actuators removed or retracted, and showing additional ground working tools in position for installation on the end of the implement extending over the base beam;
Fig. 6 is a schematic top view of the embodiment of Fig. I with the implement in the operating position of Fig. 5 and the drive wheels turned from the position shown in Fig. 4 and oriented to follow path P2 perpendicular to the side beams;
?5 Fig. 7 is a schematic top view showing the configuration of a drive wheel and corresponding steering hydraulic cylinder with the wheel oriented at the end of the steering angle range for travel along path P2;

Fig. 8 is a schematic top view showing the configuration of the drive wheel and corresponding steering hydraulic cylinder of Fig. 7 with the wheel pivoted about the vertical wheel axis through about 130 degrees to the end of the steering angle range for travel along path P1;
Fig. 9 is a schematic side view of the drive wheel and corresponding steering hydraulic cylinder of Figs. 7 and 8 mounted in position on the drive frame;
Fig. 10 is a schematic cut away side view of a conical centering arrangement and latching mechanism for connecting the implement to the drive frame;
Fig. 11 is a schematic side view of the drive frame of the embodiment of Fig.
1 in the loading position beside an different implement, schematically illustrated as a swather, and with connecting arms connected between the implement and the drive frame such that the implement is also in the operating position;
Fig. 12 is a schematic top view of the drive frame and implement as shown in Fig. 11;
Fig. 13 is a schematic side view of the drive frame and implement of Fig. 11 with the implement in the transport position;
Fig. 14 is a schematic top view of the drive frame and implement as shown in Fig. 13;
/5 Fig. 15 is a schematic top view of the drive frame of the embodiment of Fig. I with the first pair of drive wheels under the first side beam steering together through the steering angle range along path P2 and the second pair of drive wheels under the second side beam fixed to roll in alignment with path P2;

=

Fig. 16 is a schematic top view of a the drive frame shown in Fig. 15 with the second pair of drive wheels pivoted in a tight turn direction with respect to the first pair of drive wheels;
Fig. 17 is a schematic top view of a the drive frame shown in Fig. 15 with the second pair of drive wheels pivoted in a crab steer direction with respect to the first pair of drive wheels;
Fig. 18 is a schematic top view of the drive frame of the embodiment of Fig. 1 with the first and second base drive wheels under the base beam steering together through the steering angle range along path P1 and the first and second end drive wheels under the remote ends of the side beams fixed to roll in alignment with path Pl;
Fig. 19 is a schematic top view of the drive frame shown in Fig. 18 with the first and second end drive wheels pivoted in a tight turn direction with respect to the first pair of drive wheels;
Fig. 20 is a schematic top view of the drive frame shown in Fig. 18 with the first and second end drive wheels pivoted in a crab steer direction with respect to the first pair of drive wheels;
Fig. 21 is a schematic top view of an alternate drive frame where one of the drive wheels is offset from the others such that the drive wheels and corresponding wheel axes are not located on the corners of a square or rectangle;
Fig. 22 is a schematic top view of an alternate drive frame with a walking beam mounted along the second side beam;

Fig. 23 is a schematic side view of the drive frame with walking beam of Fig.

shown travelling along an uneven ground surface;
Fig. 24 is a schematic top view of the second side beam of a further alternate drive frame showing the pivot beam attached to the second side beam and base and end arms pivotally attached to tongues extending from ends of the pivot beam;
Fig. 25 is a schematic side view of the drive frame of Fig. 23 showing drive wheels and steering hydraulic cylinders mounted on the base and end arms;
Fig. 26 is a schematic top view of the drive frame of Figs 24 and 25 showing the pivot beam and arms mounted on both the first and second side beams;
Fig.27 is a schematic end view of the drive frame of Fig. 26 raising an implement from its idle position to its operating position;
Fig. 28 is a schematic top view of the drive frame of the embodiment of Fig. I
in the loading position beside a different implement, schematically illustrated as an air seeder with a furrow opener frame comprising folding wings;
Fig. 29 is a schematic top view of an alternate drive frame and supported implement where the base beam is pivotally attached to the first side beam;
Fig. 30 is a schematic side view of the drive frame and supported implement of Fig.
?9, DETAILED DESCRIPTION OF THE ILLUSTRATED EMBODIMENTS

Figs. 1 ¨ 6 schematically illustrate an embodiment of an implement operating apparatus 1 of the present disclosure comprising a drive frame 3 supported on a plurality of drive wheels 5 for travel on a ground surface 7. Each drive wheel 5 is pivotally mounted about a substantially vertical wheel pivot axis WA, and a steering control 9 is operative to selectively pivot each drive wheel 5 about the corresponding wheel pivot axis WA. It is contemplated that the drive wheels 5 could be incorporated into a track, assembly as is known in the art, where the wheel pivot axis extends upward from substantially a center of the ground/track/interface. Thus the term "drive wheel" as used herein includes all such drive wheel assemblies.
In the illustrated apparatus 1 the drive frame includes a base beam 11 and first and second substantially parallel side beams I 3A, 138 extending from corresponding first and second ends of the base beam 11, A first pair of drive wheels 5A supports the first side =
beam 13A and a second pair of drive wheels 5B supports the second side beam I38.
A motor 19 is mounted on the drive frame 3 and is connected through a drive control 21 to rotate each drive wheel 5, and the drive control 21 is operative to rotate the drive wheels 5 in a selected one of first and second directions RI, R2 as shown in Fig. 2. In the apparatus 1 the motor 19 is mounted on the second side beam 13B in an offset position such that the inner side of the second side beam 138 is between the motor 19 and the first side beam 13A, leaving maximum clearance between the side beams 13.
Also forming a part of the apparatus 1 is an implement 23 configured to rest on the ground surface 7 when in an idle position shown in Figs. 1 ¨ 4. The implement 23 and drive frame 3 are configured such that when the drive frame 3 is maneuvered as schematically illustrated in Fig. 3, from the empty position EP to the implement loading position LP with respect to the implement 23 in the idle position, the implement 23 is connectable to the drive frame 3 and movable to the operating position shown in Figs. 5 and 6 where the implement 23 is supported by the drive frame 3 and is connected to an implement control system 25 that is operative to control implement functions.
In the apparatus 1, additional ground working tools 17 or the like are installed after the implement 23 is in the operating position as shown in Fig. 5.
When the implement 23 is in the operating position, the steering and drive controls 9, 21 are operative to move and steer the drive frame 3 and implement along a selected one of a first travel path P1 shown in Fig. 3, and a second travel path P2 oriented generally perpendicular to the first travel path PI as shown in Fig. 6. In Figs. 1 ¨ 4 the wheels 5 are shown oriented to follow path P1 to move the drive frame 3 to the implement loading position under the implement 23. Once in the implement loading position of Fig. 4 the wheels are rotated to the position shown in Fig. 5 oriented to travel along path P2.
In order to travel in a straight line along both paths P1 and P2 the wheels 5 need to pivot only 90 degrees, however in order to actually steer the apparatus 1 along either path the wheels 5 need to pivot through a steering angle range SN of at least about 20 degrees either side of the path.
Since the wheels 5 can be rotated in either direction R1, R2 each wheel 5 is only required to pivot about its wheel pivot axis WA through an angle of about 130 degrees, or for greater steering range through 135 degrees as shown by the position of the wheel edge 5X at one end of the range in Fig. 7 and the position of the same wheel edge 5X at the opposite end of the range in Fig. S. The steering control 9 then can conveniently comprise a hydraulic cylinder 27 mounted under the side beams 13 adjacent to each drive wheel 5 as schematically illustrated in Fig. 9 and operative to selectively pivot the corresponding drive wheel 5 about the corresponding wheel pivot axis WA
through a pivot range greater than about 130 degrees.

The illustrated implement 23 is higher than the drive frame 3 when in the idle position.
The drive frame 3 is U-shaped with an open end and so can be maneuvered along path P1 to the implement loading position where the implement 23 is between the first and second side beams 13. The height of the implement 23 does not interfere with moving the drive frame 3 to the implement loading position shown in Fig. 4, in which position a connecting portion of the implement 23, comprising tie beams 29A, 298, is above the drive frame 3, and support actuators 31 are operative to lower the tie beams 29 to rest on the drive frame 3. The support actuators 31, such as jacks or the like, are then removed or retracted and the implement 23 is supported on the drive frame 3 in the operating position with the implement control system 25 connected, and with the tie beam connected to the side beams 13 and the tie beam 29A connected to the base beam 11, with bolts or like fasteners.
As schematically illustrated in Fig. 10, correct alignment of the tie beams 29, and thus the implement 23, with the drive frame 3 can be facilitated by providing conical projections 33 on tie beams 29 and corresponding conical recesses 35 on the drive frame 3 such that as the tie beams 29 are lowered and the conical projection 33 enters an edge of the conical recess 35, further downward movement will force the conical projection and recess 33, 35 into full engagement in the correct alignment. Further to more quickly connect the implement 23 to the drive frame 3, a lock recess 37 can be provided in the conical projection 33 configured to receive a lock member 39 that is biased by a spring 41 or the like when the conical projection and recess 33, 35 are fully engaged. The lock mechanism 43 provided by the recess, 37, lock member 39, and spring 41 is convenient and other lock mechanisms and fasteners as known in the art can also be used to connect the implement to the drive frame.

The illustrated implement 23, when in the operating position of Figs 5 and 6, extends outward beyond the base beam 11 at one end and outward beyond outer ends of the first and second side beams 13A, 13B remote from the base beam 11. The side beams 13 have a length greater than the length of the base beam 11 such that the drive frame is rectangular with a narrow dimension generally equal to the length of the base beam 11 and a long dimension equal to the length of the side beams 13. This configuration is beneficial in that the long dimension provides stable support of lengthy implements such as the illustrated implement 23, which can for example be a seeding implement, where the operating direction is along path P2 generally perpendicular to the side beams 13, and also provides a narrow transport width when moving along roads and the like on path P1 oriented generally parallel to the side beams 13.
Because the side beams 13 can extend a considerable distance from the base beam 11, in order to secure the side beams 13A, 13B in a relatively rigid relationship and reduce "
stress on the connection between the side beams 13 and base beam II, it is beneficial to provide an end beam attached at first and second ends thereof to outer end portions of the first and second side beams 13 remote from the base beam 11. In some configurations of the present apparatus 1 where the implements contemplated for use will be of a different configuration, a permanent fixed end beam can be provided. Such a fixed end beam however closes the open end of the U-shaped drive frame 3, preventing the drive frame from moving to the loading position LP shown in Fig. 3 with respect to the illustrated implement 23.
In the illustrated apparatus I then the end beam is provided by the tie beams 29 fixed to the implement 23 that is releasably attached to the first and second side beams 13A, 13B
only when the implement 23 is in the operating position. Thus for example with the conical recess 35 and the lock member 39 and spring 41 of the lock mechanism schematically illustrated in Fig. 10 mounted on outer end portions of each of the first and second side beams 13, and the corresponding conical projection 33 and lock recess 37 mounted on corresponding ends of the tie beam 29B, the implement engages the lock mechanisms 43 when the implement 23 is in the operating position, such that the side beams 13 are substantially fixed with respect to the implement 23, and thus with respect to each other, when the implement 23 is in the operating position.
When the implement 23 is again moved to its idle position, the end of the drive frame 3 is open and the drive frame 3 is free to maneuver to load other implements. Where no implement is supported on the drive frame 3, or when the drive frame supports certain implements where operation thereof does not exert significant forces on the connection between the side beams 13 and base beam 11, the end beam is not typically required.
Figs. 11 ¨ 14 schematically illustrate the drive frame 3 in use with a different implement 23' where the implement 23' is beside the drive frame 3 adjacent to the 'first side beam I 3A when the drive frame 3 is in the implement loading position shown in Figs. 11 and 12, and the motor 19 is mounted on the second side beam 13B. With the implement 23' the drive frame can be maneuvered to the loading position along either path PI
parallel to the side beams or path P2 perpendicular to the side beams 13.
The implement 23' is schematically illustrated as a swather header which like the seeding implement 23 extends beyond each end of the drive frame 3. Here the implement 23' is connected to the drive frame 3 by movable raising arms 45 attachable to the implement and the drive frame, and actuator 47 operative to move the raising arms 45 to move the implement to the operating position. With a swather header the operating position is typically located in a range from the illustrated position where the implement 23' is touching the ground, essentially the same as the idle position shown in Figs.
11 and 12, to an elevated position suited to cutting a particular crop.

An end beam 49 is attached between the outer end portions of the first and second side beams 13A, 13B to secure the side beams 13A, 13B in a relatively rigid relationship, and also to provide a mounting location for the various raising arms 45, actuators 47, and the like that may be required. The implement 23' is operated in a field operation by moving the drive frame 3 and implement 23' along the second travel path P2 in the direction of the arrow in Fig. 12 with the implement 23 in an operating location forward of the drive frame 3.
The implement 23' is movable from the operating location beside the first side beam 13A
shown in Figs. 11 and 12 to a transport location above the drive frame 3 as shown in Figs.
13 and 14. The motor 19 is movable from a first motor operating position 19A
shown in Figs. 11 and 12, to a second motor operating position 19B shown in Figs. 13 and 14. In the position 19A the motor is moved outward with respect to the drive frame 3 in a direction opposite the location of the implement 23' to counterbalance the implement 23' and provide improved stability.
Once the implement 23' is moved to the transport location above the drive frame 3, the counterbalance is not required and the motor can be moved to position 19B for transport along the first travel path P1 The implement 23' and drive frame 3 can then be transported along a road in a narrow configuration substantially equal to the length of the base beam 11 by moving the drive frame 3 and implement 23' along the first travel path P1.
As best seen in Figs. 15 ¨ 17 the first pair of drive wheels SA supporting the first side beam I3A includes a first base drive wheel SAX proximate to the base beam 11, and a first end drive wheel SAY remote from the base beam 11. The second pair of drive wheels 5B supporting the second side beam 13B includes a second base drive wheel 5BX
IS

proximate to the base beam 11, and a second end drive wheel 5BY remote from the base beam 11.
When moving and steering the drive frame 3 and any implement attached thereto along the second travel path P2, the steering control is operative to pivot the first base and end drive wheels drive wheels SAX, SAY together in the same direction through the steering angle range SN of at least about 20 degrees either side of the path P2 as shown in Fig. 15.
When moving and steering the drive frame and implement along the second travel path P2, the steering control can pivot only the first base and end drive wheels drive wheels SAX, SAY and maintain the second base and end drive wheels 5BX, 5BY aligned with the second travel path P2 as shown in Fig. 15. The steering control can also be configured to pivot the second base and end drive wheels SBX, 5BY together about the corresponding wheel pivot axes WA in one of a tight turn direction shown in Fig. 16, opposite the direction of pivoting of the first base and end drive wheels 5AX, SAY, and a crab steer direction shown in Fig. 17, the same as the direction of pivoting of the first base and end drive wheels SAX, SAY.
Similarly when moving and steering the drive frame 3 and any implement attached thereto along the first travel path P1, the steering control is operative to pivot the first and second base drive wheels SAX, 5BX together in the same direction through the steering angle range SN of at least about 20 degrees either side of the path P1 as shown in Fig. 18.
Again when moving and steering the drive frame and implement along the first travel path P1, the steering control can pivot only the first and second base drive wheels SAX, 5BX and maintain the first and second end drive wheels drive wheels SAY, 5BY
aligned with the first travel path PI as shown in Fig. 18. The steering control can also be configured to pivot the first and second end drive wheels drive wheels SAY, together about the corresponding wheel pivot axes WA in one of a tight turn direction shown in Fig. 19, opposite the direction of pivoting of the first and second base drive wheels SAX, 5BX, and a crab steer direction shown in Fig. 20, the same as the direction of pivoting of the first and second base drive wheels 5AX, 58X.
In a typical apparatus I the steering control 9 can be configured to maintain the drive wheels 5 at any selected common steering angle, depending on the path being followed.
The drive frame 3 can thus be oriented at an angle during travel if desired, such as to correct skewing of the implement on sloping terrain, however steering will be limited in one direction because of the limited range of pivoting about the wheel axes WA.
The illustrated wheels 5 are located at the corners of a rectangle as in .a conventional vehicle such that steering along either path P1 or P2 is conventional.
As shown in Fig. 21, where the steering control 9 is operated by a microprocessor 77 as described below, the microprocessor can be programmed to pivot the drive wheels 5 the required degree to follow a desired path even where the wheels 5 are not on the corners of a square or rectangle. In Fig. 21 the second side beam 13' is shorter than the first side beam 13A' and the wheels SAX', SAY', 58X', 5BY' are located where conventional steering is not possible, however the microprocessor can be programmed to provide the required degree of pivot to each wheel to steer along either path PI or P2. In various applications it may be desired to locate the wheels at offset locations.
With a substantially rigid drive frame 3 supported on four drive wheels 5,, the weight on the wheels will vary as the apparatus I passes over uneven ground, and one wheel 5 may be above the ground in some cases. Since all four drive wheels 5 are in fact driven, and since the drive frame 3 will flex to a certain extent, this may be acceptable in most situations with a wide variety of implement types. In some situations it may however it may be desired to provide that at least one of the drive wheels 5 is movable vertically with respect to the drive frame 3.
Figs. 22 and 23 schematically illustrate a drive frame 103 comprising a walking beam 151 oriented parallel to the second side beam 1I3B and pivotally attached at a center portion thereof to a center portion of the second side beam 113B at horizontal beam pivot axis BPA. Each of the second pair of drive wheels 105B is mounted to opposite end portions of the walking beam 151 about wheel pivot axes WA. In the illustrated drive frame 103, the base beam 111 has been shortened so that the overall dimension D from the outside edge of the first side beam 113A to the outside edge of the walking beam 151 of the drive frame 103 is the same as in the drive frame 3 described above. In the illustrated drive frame 103 the walking beam 151 is substantially the same length as the second side beam H 3B such that the second pair of drive wheels 105B is located at the same location, when the walking beam 151 is aligned with the second side beam 113B, with respect to the first pair of drive wheels 105A as in the drive frame 3 described above such that the same steering is achieved along both paths P1 and P2.
The walking beam 151 however provides only three point support for the drive frame 103 at the beam pivot axis BPA and the first pair of drive wheels 105A. An alternate arrangement is schematically illustrated in Figs. 24 - 26 that provides improved support on all four drive wheels of the drive frame 203.
In the drive frame 203 the second pair of drive wheels 205B comprises a second base drive wheel 205BX pivotally mounted about the corresponding substantially vertical wheel pivot axis WA to a lower portion of a second base arm 253B pivotally attached about horizontal arm pivot axis APX to the second side beam 213B proximate to the base beam 211.

Similarly a second end drive wheel 205BY is pivotally mounted about the corresponding vertical wheel pivot axis to a lower portion of a second end arm 255B
pivotally attached about horizontal arm pivot axis APY to the second side beam 213B remote from the base beam 211. The second side beam 213B includes a pivot beam 257B attached to a side of the second side beam 213B as shown in Fig. 23 with pivot tongues 259 extending from each end thereof to provide an pivotal attachment location for a pivot pin 261 extending through each tongue and the corresponding arm 253B, 255B. Hydraulic cylinders are mounted to the arms 253B, 255B for steering control as well.
The second base and end arms 253B, 255B are linked such that when one of the second base and end wheels 205Bx, 205BY pivots up the other of the second base and end wheels pivots down. The drive frame 203 is thus supported by the second pair of wheels 205B at the pivot axes APX, APY, and by the first pair of drive wheels 205A
supporting the first side beam 213A. As with the walking beam arrangement described above, the pivot beam 257B and arms 253B, 255B are arranged so that the first pair .of drive wheels 205A and the second pair of drive wheels 205B are located at the corners of a rectangle such that steering is conventional along both paths P1 and P2.
Fig. 25 also shows a second base hydraulic cylinder 265X connected between the second base arm 255B and the pivot beam 257B, and a second end hydraulic cylinder connected between the second end arm 255B and the pivot beam 257B.. The hydraulic cylinders 265X, 265Y are connected by fluid conduits 267 such that as the second base arm 2538 pivots upward or downward hydraulic fluid flows from the second base hydraulic cylinder 265X into the second end hydraulic cylinder 265Y such that the second end arm 2553 moves in a vertical direction opposite the movement of the second base arm 253B.
An advantage of using the hydraulic cylinders 265 is that the elevation of the second side beam 213B can be adjusted by adjusting the length of the hydraulic cylinders 265, such as to ensure for example that on level ground the wheel pivot axes WA are oriented vertically. To adjust the elevation, a pressurized hydraulic fluid source 267 is connected to the second base and end hydraulic cylinders 265 through a hydraulic control valve 269.
The hydraulic control valve 269 is operative to direct pressurized hydraulic fluid through conduit 267A into the rod ends of the second base and end hydraulic cylinders 265 to extend the hydraulic cylinders to move the second side beam 2I3B up, or to direct pressurized hydraulic fluid through conduit 267B into the piston ends of the base and end hydraulic cylinders 265 to retract the hydraulic cylinders to move the second side beam 213B down.
Once the desired vertical position of the second side beam 213A is reached, the valve 269 is closed and hydraulic fluid simply flows back and forth between the hydraulic cylinders 265 as the arms 253B, 255B move up and down, and the side beam 213A
will be level when on level ground, and each end thereof will move up and down somewhat as the wheels on each end move correspondingly down and up.
Fig. 26 schematically illustrates the drive frame 203 with a similar arrangement of pivoting arms whereby the first side beam 213A can also be moved up and down.
The first pair of drive wheels 205A comprises a first base drive wheel 205AX
pivotally mounted about the corresponding vertical wheel pivot axis WA to a lower portion of a first base arm 253A that is pivotally attached about arm pivot axis APA to tongue 259 proximate to the base beam 211 of pivot beam 257A attached to the side of the first side beam 213A. A first end drive wheel 205AY pivotally mounted about the corresponding vertical wheel pivot axis WA to a lower portion of a first end arm 255A
pivotally attached about arm pivot axis APA to tongue 259 of the pivot beam 257A remote from the base beam 211.

A first base hydraulic cylinder 271X is connected between the first base arm 253A and the first side beam 213A, and a first end hydraulic cylinder 271Y is connected between the first end arm 255A and the first side beam 213A. It is only desired to move the first side beam 213A up and down in a controlled manner, such as when moving to a lowered implement loading position as schematically illustrated in Fig. 27, however during operation the vertical position of the first pair of drive wheels 205A is typically fixed.
Thus the pressurized hydraulic fluid source 267 is connected to the first base and end hydraulic cylinders through the hydraulic control valve 269 which is operative to direct pressurized hydraulic fluid into the first base and end hydraulic cylinders 271X, 271Y to move the first side beam 213A upward or downward to a desired vertical position, and when the desired vertical position is achieved, the hydraulic control valve 269 is operative to maintain the first base and end arms 253A, 255A in a fixed position.
Fig. 27 schematically illustrates an implement 273 in the idle operating position resting on the ground surface 7. The drive frame 203 is shown in a lowered implement loading position with a connecting portion 273C of the implement 273 above the drive frame 203.
As described above the hydraulic control valve directs pressurized hydraulic fluid into the hydraulic cylinders 265X, 265Y, 271X, 271Y to move both side beams and thus the drive frame 203 upward to raise the implement 273 to the operating position shown in phantom lines.
Fig.28 schematically illustrates the drive frame 3 with a different implement 83 in its operating location. The implement 83 in the operating position extends laterally outward beyond the first and second side beams 13A, 13B. The implement 83 is schematically illustrated as an air seeder with tanks 85 supported on the drive frame 3 and a furrow opener frame 87 with folding wings 89. The drive frame 3 moves along path P1, and folds upward to provide a narrow transport configuration.

Figs. 29 and 30 schematically illustrated a further alternative drive frame 303 where the base beam 311 is pivotally attached to the first side beam 313A about a base pivot axis BPA oriented substantially parallel to the base beam 311 and perpendicular to the first side beam 313A. Here the base beam 311 is above the first and second side beams 313A, 3138. Flanges 91 are welded to the base beam 311 and then bolted to the second side beam 313B. At the opposite end of the base beam 311, cooperating pivot lugs 93 are welded to the base beam 311 and to the side beam 313B and a pin 95 is inserted through holes in the lugs 93 to provide the pivot axis. The lugs 93 are configured to provide some clearance between the base beam 311 and the second side beam 313B. The lugs 93 are made heavy and strong to resist forces encountered during operation and maintain substantially a right angle between the base beam 311 and the second side beam 3138.
Thus in the drive frame 303, the first base and end drive wheels 305AX, 305AY
can move up and down. Since the implement 323, here schematically illustrated as a gain tank, is attached to the base beam 311 by tie beam 329A and to the side beams 313A, 313B by tie beams 329B the structure of the drive frame 303 and implement 329 is substantially rigid, however since the beam pivot axis BPA is near the end of the second side beam 313B, the amount of movement is reduced compared to the walking beam arrangement shown in Fig. 23. There is some flex in the rigid beams to accommodate the movement of the second side beam 3138 with respect to the base beam 311 and also it is contemplated that the connection of the tie beams 329 to the drive frame 303 can be somewhat loose to allow for the movement.
While it is contemplated that an operator's position can be provided on the drive frame 3, in a typical application the steering control 9, drive control 21, and implement control system 25 are responsive to signals received from a microprocessor 77 that receives location signals from an external guidance system 79 using field maps with global positioning systems or the like to guide and drive the apparatus 1 and to operate implement controls. Typically as well the microprocessor 77 is responsive to wireless signals sent from a remote control box 81 such that a remote operator can monitor and further control the operation of the apparatus 1.
The present disclosure further provides a method of supporting an implement 23 on a drive frame 3 and operating the implement 23 The method comprises mounting the drive frame 3 on a plurality of drive wheels 5, each drive wheel 5 pivotally attached to the drive frame 3 about a substantially vertical wheel pivot axis WA; providing a steering control 9 operative to selectively pivot each drive wheel 5 about the corresponding wheel pivot axis WA; mounting a motor 19 on the drive frame 3 and connecting the motor 19 through a drive control 21 to rotate each drive wheel 5, the drive control 21 operative to rotate the drive wheels 5 in a selected one of first and second directions R1, R2;
operating the drive control 21 and steering control 9 to move and steer the drive frame 3 along a selected one of a first travel path P1 and a second travel path P2 oriented generally perpendicular to the first travel path P1; supporting the implement 23 on a ground surface 7 in an idle position; moving and steering the drive' frame 3 to an implement loading position with respect to the implement 23 in the idle position;
connecting the implement 23 to the drive frame 3 and moving the implement 23 to an operating position supported by the drive frame 3; connecting the implement 23 to an implement control system 25 operative to control implement functions;
operating the steering and drive controls 9, 21 to move and steer the drive frame 9 and implement 23 along a selected one of' the first travel path P1 and the second travel path P2, and operating the implement control system to control the implement functions.
The implements that can be used with the present apparatus 1 include a wide range including seeding implements, chemical application implements, gain carts, crop swathers and cutters Efficiency is improved as at least some of the weight of the implement, and any product carried in seeder or sprayer tanks is supported by the drive wheels 5 providing ballast such that the drive frame 3 can be lighter and there will still be sufficient weight on the drive wheels to provide the necessary traction. =
Thus the total amount of weight moved by the motor 19 is reduced. Travel along either path P1 or perpendicular along P2 allows an implement to be operated in a wide orientation along path P2 to cover significant ground area during operation, and then moved in a narrow orientation along path P1 for transport The foregoing is considered as illustrative only of the principles of the invention.
Further, since numerous changes and modifications will readily occur to those skilled in the art, it is not desired to limit the invention to the exact construction and operation shown and described, and accordingly, all such suitable changes or modifications in structure or operation which may be resorted to are intended to fall within the scope of the claimed invention.

Claims

What is claimed is:

1. An implement operating apparatus comprising:
a drive frame supported on a plurality of drive wheels for travel on a wound surface;
wherein each drive wheel is pivotally mounted about a substantially vertical wheel pivot axis, and a steering control is operative to selectively pivot each drive wheel about the corresponding wheel pivot axis;
a motor mounted on the drive frame and connected through a drive control to rotate each drive wheel, the drive control operative to rotate the drive wheels in a selected one of first and second directions;
first and second implements, each implement configured to rest. on the wound surface when in an idle position;
wherein each implement and the drive frame are configured such that when the drive frame is maneuvered to an implement loading position with respect to each implement in the idle position, each implement is connectable to the drive frame and movable to an operating position where each implement is supported by the drive frame and is connected to an implement control system operative to control implement funct ions;
wherein when each implement is in the operating position, the steering and drive controls are operative to move and steer the drive frame and supported implement along a selected one of a first travel path and a second travel path oriented generally perpendicular to the first travel path.

2. The apparatus of claim 1 wherein the drive frame includes a base beam and first and second substantially parallel side beams extending from corresponding first and second ends of the base beam, and wherein a first pair of drive wheels supports the first side beam and a second pair of drive wheels supports the second side beam, and wherein the first travel path is oriented generally parallel to the side beams.

3. The apparatus of claim 2 further comprising an end beam attached at first and second ends thereof to outer end portions of the first and second side beams remote from the base beam.

4. The apparatus of claim 3 wherein the drive frame is U-shaped and the end beam is releasably attached to the first and second side beams when the first implement is in the operating position.

5. The apparatus of claim 4 wherein the end beam is provided by the first implement such that the end beam is attached to the first and second side beams only when the implement is in the operating position.

6. The apparatus of claim 5 comprising at least one lock mechanism mounted on outer end portions of each of the first and second side beams, and wherein the first implement engages the lock mechanisms when the first implement is in the operating position, such that the side beams are substantially fixed with respect to the first implement when the first implement is in the operating position.

7. The apparatus of any one of claims 4 - 6 wherein at least a portion of the first implement is between the first and second side beams when the drive frame is in the implement loading position.

8. The apparatus of claim 7 wherein the first implement is higher than the drive frame when in the idle position.

9. The apparatus of any one of claims 2 - 6 wherein at least a portion of the second implement is beside the drive frame adjacent to the first side beam when the drive frame is in the implement loading position, and wherein the motor is mounted on the second side beam.

10. The apparatus of claim 9 wherein the second implement is movable from an operating location beside the first side beam to a transport location above the drive frame.

11. The apparatus of any one of clairns 2 ¨ 10 wherein:
the first pair of drive wheels includes a first base drive wheel proximate to the base beam, and a first end drive wheel remote from the base beam;
the second pair of drive wheels includes a second base drive wheel proximate to the base beam, and a second end drive wheel remote from the base beam;
wherein when moving and steering the drive frame and supported implement along the first travel path, the steering control is operative to pivot the first and second base drive wheels together in the same direction; and wherein when moving and steering the drive frame and supported implement along the second travel path, the steering control is operative to pivot the first base and end drive wheels together in the same direction.

12. The apparatus of claim 11 wherein when moving and steering the drive frame and supported implement along the first travel path, the steering control is operative to pivot the first and second end drive wheels together about the corresponding wheel pivot axes in one of a tight turn direction, opposite the direction of pivoting of the first and second base drive wheels, and a crab steer direction, the same as the direction of pivoting of the first and second base drive wheels.

13. The apparatus of claim 11 wherein when moving and steering the drive frame and supported implement along the second travel path, the steering control is operative to pivot the second base and end drive wheels together about the corresponding wheel pivot axes in one of a tight turn direction, opposite the direction of pivoting of the first base and end drive wheels, and a crab steer direction, the same as the direction of pivoting of the first base and end drive wheels.

14. The apparatus of any one of claims 11 - 13 wherein the steering control comprises a hydraulic cylinder adjacent to each drive wheel and wherein each hydraulic cylinder is operative to selectively pivot the corresponding drive wheel about the corresponding wheel pivot axis through a pivot range greater than about 130 degrees.

15. The apparatus of any one of claims 2 - 14 wherein at least one of the second pair of drive wheels is movable vertically with respect to the second side beam.

16. The apparatus of claim 15 comprising a walking beam oriented substantially parallel to the second side beam and pivotally attached at a center portion thereof to a center portion of the second side beam, and wherein each of the second pair of drive wheels is mounted to opposite end portions of the walking beam.

17. The apparatus of claim 15 wherein the second pair of drive wheels comprises a second base drive wheel pivotally mounted about the corresponding substantially vertical wheel pivot axis to a lower portion of a second base arm that is pivotally attached to the second side beam proximate to the base beam, and a second end drive wheel pivotally mounted about the corresponding substantially vertical wheel pivot axis to a lower portion of a second end arm that is pivotally attached to the second side beam remote from the base beam, and wherein the second base and end arms are linked such that when one of the second base and end wheels pivots up the other of the second base and end wheels pivots down.

18. The apparatus of claim 17 comprising a second base hydraulic cylinder connected between the second base arm and the second side beam, and a second end hydraulic cylinder connected between the second end arm and the second side beam, and wherein the second base hydraulic cylinder and second end hydraulic cylinder are connected by fluid conduits such that as the second base arm pivots upward or downward hydraulic fluid flows from the second base hydraulic cylinder into the second end hydraulic cylinder such that the second end arm moves in a vertical direction opposite the movement of the second base arm.

19. The apparatus of claim 18 comprising a pressurized hydraulic fluid source connected to the second base and end hydraulic cylinders through a hydraulic control valve, wherein the hydraulic control valve is operative to direct pressurized hydraulic fluid into the second base and end hydraulic cylinders to move the second side beam upward or downward to a desired vertical position.

20. The apparatus of claim 19 wherein:
the first pair of drive wheels comprises a first base drive wheel pivotally mounted about the corresponding substantially vertical wheel pivot axis to a lower portion of a first base arm that is pivotally attached to the first side beam proximate to the base beam, and a first end drive wheel pivotally mounted about the corresponding substantially vertical wheel pivot axis to a lower portion of a first end arm pivotally attached to the first side beam remote from the base beam a first base hydraulic cylinder connected between the first base arm and the first side beam, and a first end hydraulic cylinder connected between the first end arm and the first side beam; and wherein the pressurized hydraulic fluid source is connected to the first base and end hydraulic cylinders through the hydraulic control valve, wherein the hydraulic control valve is operative to direct pressurized hydraulic fluid into the first base and end hydraulic cylinders to move the first side beam upward or downward to a desired vertical position, and when the desired vertical position is achieved, the hydraulic control valve is operative to maintain the first base and end arms in a fixed position.

21. The apparatus of claim 15 wherein the base beam is pivotally attached to the first side beam about a base pivot axis oriented substantially parallel to the base beam and perpendicular to the first side beam.

22. The apparatus of claim 21 wherein the base beam is above the first and second side beams.

23. The apparatus of any one of claims 2 ¨ 22 wherein, when in the operating position, the supported implement extends outward beyond the base beam.

24. The apparatus of any one of claims 2 ¨ 22 wherein, when in the operating position, the supported implement extends outward beyond outer ends of the first and second side beams remote from the base beam.

25. The apparatus of any one of claims 2 - 22 wherein, when in the operating position, the supported implement extends outward beyond at least one of the first and second side beams.

26. The apparatus of any one of claims 2 ¨ 22 wherein the first implement, when supported in the operating position, extends outward beyond the base beam, and the second implement, when supported in the operating position, extends outward beyond at least one of the first and second side beams.

27. The apparatus of any one of claims 2 ¨ 26 wherein the motor is mounted on the second side beam in an offset position such that an inner side of the second side beam is between the motor and the first side beam.

28. The apparatus of claim 27 wherein the motor is movable from a first motor operating position to a second motor operating position.

29. The' apparatus of any one of claims 1 - 28 wherein the steering control, drive control, and implement control system are responsive to signals received from a microprocessor that receives location signals from an external guidance system.

30. The apparatus of claim 29 wherein the microprocessor is responsive to wireless signals sent from a remote control box.

31. The apparatus of any one of claims 2 ¨ 30 wherein the implement to be supported is connected to the drive frame by movable raising arms attachable to the implement and the drive frame, and an actuator operative to move the raising arms to move the implement to the operating position.

32. The apparatus of any one of claims 2 ¨ 30 wherein when the drive frame is in the implement loading position, a connecting portion of the implement to be supported is above the drive frame, and an actuator is operative to lower the connecting portion of the implement.

33. The apparatus of any one of claims 2 ¨ 30 wherein when the drive frame is in the implement loading position, a connecting portion of the implement to be supported is above the drive frame, and an actuator is operative to raise the drive frame to raise the implement to the operating position.

34. A method of supporting an implement on a drive frame and operating the implement, the method comprising:

mounting the drive frame on a plurality of drive wheels, each drive wheel pivotally attached to the drive frame about a substantially vertical wheel pivot axis;
providing a steering control operative to selectively pivot each drive wheel about the corresponding wheel pivot axis;
mounting a motor on the drive frame and connecting the motor through a drive control to rotate each drive wheel, the drive control operative to rotate the drive wheels in a selected one of first and second directions;
operating the drive control and steering control to move and steer the drive frame along a selected one of a first travel path and a second travel path oriented generally perpendicular to the first travel path;
supporting the implement on a ground surface in an idle position;
moving and steering the drive frame to an implement loading position with respect to the implement in the idle position;
connecting the implement to the drive frame and moving the implement to an operating position supported by the drive frame;
connecting the implement to an implement control system operative to control implement functions;
operating the steering and drive controls to move and steer the drive frame and implement along a selected one of the first travel path and the second travel path, and operating the implement control system to control the implement functions.

35. The method of claim 34 wherein the drive frame includes a base beam and first and second substantially parallel side beams extending from corresponding first and second ends of the base beam, and wherein a first pair of drive wheels supports the first side beam and a second pair of drive wheels supports the second side beam, and wherein the first travel path is oriented generally parallel to the side beams.

36. The method of claim 35 wherein the drive frame is U-shaped and a first implement is higher than the drive frame when in the idle position, and comprising moving and steering the drive frame to the implement loading position by moving the drive frame along the first travel path and moving the first and second side beams along corresponding first and second sides of the first implement in the idle position.

37. The method of claim 36 comprising a releasable attachment mechanism mounted on outer end portions of each of the first and second side beams, and comprising connecting the first implement to the drive frame by attaching a rigid implement frame portion of the first implement to each attachment mechanism such that the first and second side beams are substantially fixed with respect to each other.

38. The method of any one of claims 36 and 37 comprising operating the first implement in a field operation by moving the drive frame and implement along the second travel path, and transporting the implement along a road by raising the implement to a transport location and moving the drive frame and implement along the first travel path.

39. The method of any one of claims 36 - 38 comprising moving and steering the drive frame along the first travel path to the implement loading position where a first side of the drive frame is beside at least a portion of a second implement, and wherein the motor is mounted on an opposite second side of the drive frame.

40. The method of claim 39 comprising operating the second implement in a field operation by moving the drive frame and supported second implement along the second travel path with the second implement in an operating location forward of the drive frame, and transporting the second implement along a road by raising the second implement to a transport location above the drive frame and moving the drive frame and implement along the first travel path.

41. The method of any one of claims 35 ¨ 40 wherein the first pair of drive wheels includes a first base drive wheel proximate to the base beam, and a first end drive wheel remote from the base beam, and the second pair of drive wheels includes a second base drive wheel proximate to the base beam, and a second end drive wheel remote from the base beam and comprising:
moving and steering the drive frame and supported implement along the first travel path by operating the steering control is operative to pivot the first and second base drive wheels together in the same direction; and moving and steering the drive frame and supported implement along the second travel path by operating the steering control to pivot the first base and end drive wheels together in the same direction.

42. The method of claim 41 comprising, when moving and steering the drive frame and supported implement along the first travel path, operating the steering control to pivot the first and second end drive wheels together about the corresponding wheel pivot axes in one of a tight turn direction, opposite the direction of pivoting of the first and second base drive wheels, and a crab steer direction, the same as the direction of pivoting of the first and second base drive wheels.

43. The method of claim 41 wherein when moving and steering the drive frame and supported implement along the second travel path, operating the steering control to pivot the second base and end drive wheels together about the corresponding wheel pivot axes in one of a tight turn direction, opposite the direction of pivoting of the first base and end drive wheels, and a crab steer direction, the same as the direction of pivoting of the first base and end drive wheels

44 The method of any one of claims 34 - 43 comprising configuring the steering control, drive control, and implement control system to respond to signals received from a microprocessor that receives location signals from an external guidance system.

45 The method of claim 44 comprising configuring the microprocessor to respond to wireless signals sent from a remote control box.