EP3193575A1

EP3193575A1 - Traction vehicle and attachment device for a mounted implement

Info

Publication number: EP3193575A1
Application number: EP15784273.3A
Authority: EP
Inventors: Jürgen Wagner
Original assignee: Individual
Current assignee: Individual
Priority date: 2014-09-17
Filing date: 2015-08-27
Publication date: 2017-07-26
Also published as: DE102014113448A1; DE112015004234A5; WO2016041547A1; WO2016041547A4

Abstract

A traction vehicle comprises a hydraulic system (5) as well as two bottom links (9) and at least one top link (10) for attaching a mounted implement (11). An adjusting device that extends in the direction of the longitudinal axis of the vehicle and comprises at least one hydraulic cylinder (8) or an electromotive adjusting device is associated with at least one of the bottom links (9). The invention makes available a control means and a mechanism for directing mounted implements and machines on traction machines and tractors with precision at right angles, along parallel lines, even in hilly terrain or on slopes and on straight or odd-shaped fields. This serves as a basis for automating agriculture as a whole.

Description

Towing vehicle and hitch for an attachment

description

The invention relates to a towing vehicle with a hydraulic system and two lower links and at least one upper link for attaching at least one attachment and a hitch for at least one attachment for coupling with a towing vehicle.

Traction vehicles with and without controlled hitches for hitch devices, especially with satellite controls, form the basis of technical automation throughout the agricultural sector.

A so-called three-point power lift hydraulic or three-point hydraulic, is a hydraulic device on a towing vehicle, in particular a tractor to couple implements and lifting equipment against a substrate. On the underside, two levers extending in the longitudinal direction, that is to say substantially in the direction of travel, are mounted at the rear of the towing vehicle, which are referred to as lower links. The lower links are attached at one end to the towing vehicle and have at its free end fastening devices for the attachments. At the free ends of the lower link, which form the two lower attachment points of the three-point hitch, the attachments are attached. The lower links are pivoted by means of hydraulic cylinders either directly or via a lever system. Above the lower link, another lever is mounted approximately in the middle between the two lower links. The upper link is called and the rearward facing free end forms the third point of the three-point suspension. The top link is often designed as a threaded spindle or double-acting hydraulic cylinder. Due to the change in length of the upper handlebar, the inclination of the attachment can be adjusted in the longitudinal axis to the ground.

It is also known to pivot the lower links by means of at least one laterally arranged hydraulic cylinder in their position relative to the longitudinal axis of the towing vehicle.

In practice, it turns out that when driving on a slope in a direction transverse to the slope fixed to the towing vehicle attachment to the direction of travel of the towing vehicle and an alignment of the center axis of the attachment to the direction of travel is not given because the towing vehicle slightly drifts and occupies an uphill orientation, which is angularly offset to the direction of travel. On a nearly flat field unevenness may be present, which trigger a steering of the tractor, whereby a pivoting to the baseline, ie the ideal line, goes along. This may play a minor role in some attachments in their function, but is, for example, in precise working setting and planting, the location and location, ie in exact lines and cross lines, plants, piles, rods or the like set in the earth than problematic, since unwanted deviations from target and actual position occur. The exact positionally accurate insertion of plants, piles, seeds or the like ensures longitudinal and transverse management.

A relatively accurate straight ahead of a towing vehicle with an attachment in a relatively rough terrain is also possible with the use of a towing vehicle with a four-wheel or four-wheel steering, however, such agricultural usable towing vehicles are not available in the market. A four-wheel or four-wheel steering allows improved straight ahead without a twisting of the towing vehicle about its longitudinal axis, leaving the ideal base line and a parallel method is not excluded, which is why for exact guidance of an attachment at least one transversely oriented to the direction of towing device is needed. An attachment may be a planting or processing device or a planter / machine or harvester that is attached to the towing vehicle directly or via a hitch, which may also be referred to as an intermediate hitch. There are both more or less rigid devices as well as devices with at least one drive under the term of the attachment to subsume.

Internationally, much of the field area to be ordered and processed is for the production of food on hilly terrain. In order to make the cultivation, the care and the harvest of the plants forming the nutritional basis more efficient, the technical development described here with its high degree of automation is indispensable.

The invention has for its object to provide a towing vehicle and a hitch of the aforementioned type, which comprises or means for aligning an attachment relative to the towing vehicle during the intended use of the attachment.

According to the invention the object is solved by the features of the independent claims.

The subclaims represent advantageous embodiments of the invention.

A towing vehicle comprises a hydraulic system and two lower links and at least one upper link for attachment of at least one attachment. At least one of the lower links is aligned in the direction of the vehicle longitudinal axis adjusting device, which comprises at least one hydraulic cylinder or an electromotive actuated arrangement assigned.

The adjusting device may, for example, a double-acting hydraulic cylinder or two simply counter-rotating hydraulic cylinder, wherein each the hydraulic cylinder is connected to the hydraulic system include. In the electromotive actuated arrangement may be, for example, a nut and a co-operating threaded spindle, which is aligned in the direction of the vehicle longitudinal axis, wherein either the mother or the threaded spindle is driven by an electric motor and actuated.

The lower link and the at least one upper link are rear side and / or front mounted. The use described below can be done both in push mode and in train operation in a forward or reverse drive of the towing vehicle.

Furthermore, a hydraulic or electromotive side shift should be provided for further adjustment of the attachment relative to the towing vehicle, which allows a displacement of the attachment transversely or perpendicular to the direction of travel or vehicle longitudinal axis. Such a lateral shift is known from the prior art and may in particular be associated with either the attachment or a hitch.

By adjusting the lower link in the direction of the longitudinal axis of the point of attachment of the attachment is displaced, so that the attachment is displaced in its transverse axis to the longitudinal axis of the towing vehicle. When driving on a slope transverse to its inclination, the towing vehicle is slightly uphill controlled so that it takes a total desired direction of travel, taking into account a downhill drift. Due to the displacement of the attachment due to the adjustment of the lower link, the uphill control or orientation of the towing vehicle can be counteracted and the attachment follows the direction of travel such that its transverse axis is oriented substantially perpendicular to the direction of travel, an ideal baseline. On a steep slope is a greater change in length than a flat slope, as with a steep slope and a stronger countersteering, so a slope-oriented steering of the front axle or ride, is required than on a shallow slope. By testing before starting work, it is possible to make a corresponding adjustment of the lower link. In addition to a one-time manual adjustment and a controlled adjustment of the lower link, for example by means of appropriate engines or cylinder-piston units possible, which are controlled by constantly determined measurement data.

The lower links are designed and arranged so that they do not bring the attachment and its attachment in an absolute immobility by their lateral findings. By a rigid determination of the lower link, the attachment is forced to pivot even in a level terrain by small steering movements. The lower links require a slight lateral mobility, which the driver of the towing vehicle must adjust when steering, but this is only possible in a particularly flat terrain. Due to the lateral mobility of the lower links, each hitch has its own momentum. If the attachment is designed to be laterally rigid, then the vehicle is no longer controllable insofar as the attachment deflects laterally with each steering movement.

Of course, it is possible to attach one or more attachments directly or by means of at least one hitch on the towing vehicle front and / or rear side.

In the invention, it is a technical regulation system, with the drawn by tractors / tractors devices / machines are automatically made mechanically right-angled to form continuous lines and control technology line loyal. Due to the precise automatic guidance of the attachment, the overall capabilities are multiplied.

Preferably, at least one of the lower links in its longitudinal axis by means of the double-acting hydraulic cylinder in or against the direction of travel is adjustable so that the distance of a free end of the lower link to a rear axle of the tractor is increased or decreased. Since a towing vehicle usually has a hydraulic device for the supply of additional units, it is possible with relatively little effort to couple the hydraulic cylinder to a corresponding hydraulic connection.

In an embodiment, each of the lower links is associated with a hydraulic cylinder for adjustment in the longitudinal axis. If the hydraulic cylinders control the lower link in opposite directions or relocate, then relatively short adjustment paths are required to pivot the attachment to a relatively large angle. Correspondingly, a correction of the situation can also be accomplished quickly in terms of time. The hydraulic cylinders can extend or retract the, for example, telescopable lower links in order to move the attachment point farther away or closer to the towing vehicle or laterally offset from the towing vehicle. The top link can stay in a set length. In order to counteract a change in position of the attachment in its longitudinal axis relative to a substrate, a change in length of the upper link is required. With a mutual back and forth regulation, the central top link setting remains the same.

According to a further development, the lower link comprises at its end assigned to the towing vehicle a joint which is fastened to a guide element mounted in a towing vehicle-side guide rail, on which the hydraulic cylinder acts to displace the lower link. The joint allows at least one raising and lowering of the lower link with the attached thereto attachment. In the guide rail, the guide element is displaced to displace the free end of the lower link, on which the attachment is mounted, in the direction of the longitudinal axis. The guide element may be formed, for example in the form of a sliding block.

According to an alternative development, the lower links are connected to one another via a crossbeam, wherein the crossbeam is centered approximately by means of a crossbeam. Nes bolt is pivotally fixed to an eye of the towing vehicle. The hydraulic cylinder acting on one side of the cross-beam, that is in the region of one of the lower links, pivots the cross-beam about the pivot axis formed by the loop and thus changes the distance of the free end of the lower links relative to the rear axle of the towing vehicle and accordingly pivots the attachment such that its transverse axis, which is formed for example by a vehicle axle, is aligned at right angles to the direction of travel.

In order to accomplish a height adjustment of the lower link or the associated attachment, the lower links are hinged to the cross-beam.

So that the attachment can assume a certain position to the ground, the top link is expediently adjustable by means of a double-acting Hydraulikzinders or a threaded spindle assembly in its position. The change in the position of the lower link essentially refers to its attachment point for the attachment. The attachment point at which a holding device can be arranged, can be arranged closer or further away from the towing vehicle, depending on the position of the top link, which is variable by the hydraulic cylinder, wherein with the change of the top link or an adjustment of a longitudinal axis of Attachment goes to the ground. The threaded spindle assembly can be operated manually or by electric motor. Of course, it is possible to connect the electric motor of the threaded spindle assembly with a controller for position control of the attachment and to automatically control, as well as the hydraulic cylinder.

In a further refinement, each hydraulic cylinder is connected to a valve control of a regulated hydraulic system, which is coupled to a computer-aided control device, wherein the control device processes detected inclination and / or position data and actuates the valve control in such a way, in that the hydraulic cylinder is moved from a preset zero position into a compensation position in order to align the attachment in a desired position with respect to the towing vehicle and / or the terrain and / or a culture, ie plants on the terrain. In the control unit correction data can be entered, which are to be determined empirically, for example, or by appropriate zugfahrzeugseitige or attachment-specific sensors are available. By way of example, the straightness of a travel direction from which, in particular, a planting line or the like results, and / or a position relative to a property boundary can be determined by means of a corresponding measuring electronics. These data are taken into account in the adjustment of the lower link and / or the at least one upper link, as for example when driving in a hillside due to a downhill countersteering the longitudinal orientation of the towing vehicle does not correspond to the direction of travel.

Preferably, the controller collects data from at least one tilt sensor that detects the inclination of the towing vehicle and / or the implement attached to the lower links and processes that detected sensor data to control the valve control or the electromotive nut and spindle assembly. The data relating to an inclination, in particular of the attachment transversely to the direction of travel, are processed to correct the position of the lower links, so that the attachment is moved in a straight line with a substantially perpendicularly aligned to the main direction transverse axis.

In addition, detected alternatively or additionally, the control unit data at least one of the lower link associated force measuring sensor and processed for controlling the valve control. A relatively large force acting on a lower link, preferably a tensile force, allows the inference that a deviation of the actual position of the attachment is given by the target position, which is to counteract to achieve a linear guidance by an adjustment of the lower link , Particular preference is given to two lower links force measuring sensors, wherein a uniform force distribution, So close similar force measurements on both force sensors on a rectilinear right-angle method of the attachment.

Alternatively or additionally, the control unit acquires data from a satellite navigation system and processes the acquired actual data for controlling the valve control, wherein both the towing vehicle and the attachment satellite antennas, which are designed for example as a double antennas, the satellite navigation system are arranged. If, for example, the exact actual position is detected at certain points of the towing vehicle and / or the attachment, deviations of the actual position from the desired position during movement over the terrain can be determined and the hydraulic cylinders can be used to correct the position of the attachment. Due to the mutually spaced antennas, an offset between the towing vehicle and the attachment, for example, relative to each other or to a calculated ideal line, calculate and counteract by a displacement of the attachment relative to the towing vehicle. In addition to the possibility of using individual satellite antennas, it is also possible to use so-called double satellite antennas. Such dual satellite antennas are known in the art. As a rule, these are two antennas housed in a common housing or arranged at a defined distance on a holder.

Of course, a corresponding software for data processing and control of the controlled hydraulic cylinder is deposited executable stored in a memory device of the at least one processor comprehensive electronic control.

Furthermore, alternatively or additionally, the control unit is connected to an image capture device for recording images of the attachment or the terrain in front of or behind the towing vehicle and the control device comprises a hardware or software image evaluation device that determines data for adjusting the hydraulic cylinder. The hardware formed Bildauswerteeinrichtung can be designed, for example, in the form of a Field Programmable Gate Array (FPGA).

In a hitch for an attachment for coupling with a towing vehicle, which includes a hydraulic system and two rear-mounted lower link and at least one top link for attaching an attachment, mounting arms are pivotally mounted by means of hydraulic adjusting cylinder to a support frame, wherein the mounting arms with the lower links or the attachment and arranged between the attachment arms fastening device with the top link can be coupled. The hitch is a kind of intermediate hitch, which is arranged between the towing vehicle and the attachment or between two attachments.

With the adjustment of the mounting arms of the same purpose is achieved, as with the previously described adjustment of the lower link, since the displacement of the attachment arms in the attached to the towing vehicle state or in the attached position of the hitch takes place in the direction of the longitudinal axis, so that the attachment in his Transverse axis is displaced to the longitudinal axis of the towing vehicle. Accordingly, in order to maintain a desired line o- the working direction when driving on a slope transverse to its inclination, the attachment is slightly pivoted relative to the towing vehicle, for example, to compensate for drifting.

The hitch can set by their controllable by the control unit, movable mounting arms and a controllable side shift, ie a shift transversely to the direction of travel, a required perpendicularity and a predetermined distance to a target line.

Even in a relatively level terrain the direction of travel corrective steering movements are required, which have a pivoting of the attachment to the baseline result, which is counteracted by appropriate compensation movements of the mounting arms. The towing device can be used both with a conventional towing vehicle, ie without length-adjustable lower links, as well as with a towing vehicle described above, being provided by the adjustability of the lower link and the mounting arms both increased adjustment paths and a quick adjustment can be effected. Accordingly, an adjustment of the attachment relative to the towing vehicle is possible both by an adjustment of the lower links and / or a pivoting of the coupling arms coupled to the lower link. If a lower link is extended on one side and at the same time a mounting arm is pivoted in the direction of the lower link, then these movements add up, so that relatively quickly a relatively large distance between the towing vehicle and the attachment is set without the attachment abutting the towing vehicle, ie a relatively large distance between the towing vehicle and the attachment is adjustable.

Of course, it is also possible to design the towing device such that the fastening arms with their fastening receptacles do not point in the direction of the lower link but in the direction of at least one attachment to be fastened. The hitch can be attached to the towing vehicle with the at least one attachment both front side and rear side.

To create a further enlarged adjustment of the attachment relative to the towing vehicle, the support frame supports a mounting frame which is displaceable by means of a setting cylinder perpendicular to the vehicle longitudinal axis and transversely to a direction of travel. Preferably, the adjusting cylinder and / or the adjusting cylinder by means of data of the above-mentioned computerized control device are adjustable. Due to the displaceability of the attachment transversely or perpendicular to the direction of travel allows for a drifting of the towing vehicle parallel to a processing line a compensation or counter-movement. If the adjustment of the lower link or their adjustment is not sufficient for correcting the position of the attachment, a so-called basic unit between the towing vehicle and the hitch is attached, which includes the mounting frame with movable trailer arms.

This is control unit can be assigned to both the towing vehicle and the attachment or be suitable for exclusive use in connection with the hitch and be assigned exclusively to the hitch, so that no changes must be made to the towing vehicle when using the hitch.

The adjusting cylinder and the adjusting cylinder are connected to the valve control of the controlled hydraulic system of the towing vehicle or another hydraulic system, which is associated, for example, the hitch or attachment, in conjunction, wherein the hydraulic system is coupled to the computer-aided control unit, the detected inclination and / or position data processed and controls the valve control such that the adjusting cylinder and / or the adjusting cylinder is moved from a preset zero position in a balancing position to align the hitch or the attachment in the desired position to the towing vehicle and / or the terrain. In addition, the control unit processes data from at least one of the towing device or the tilting device associated with the attachment or towing vehicle for controlling the valve control associated with the adjusting cylinder and the adjusting cylinders. Further data that go into the control, for example, come from arranged on the mounting arms force measuring sensors, or be received by satellite antennas of the satellite navigation system. Also, the coupling of the control unit with an image of the attachment and / or the terrain detecting image capture device is possible to determine adjustment data for the adjustment and the adjusting cylinder. Of course, the adjusting cylinder and the adjusting cylinder by electromotive adjusting devices be replaced, for example, nut threaded spindle assemblies or the like, without departing from the scope of the invention.

The simultaneously adjustable in two directions, namely parallel and perpendicular to a target line, adjustable hitch is the basis for a highly efficient work and forms the basis for a technical automation throughout agriculture.

The invention provides control and mechanics for the right-angled, parallel accurate alignment of towing devices or machines to tractors, even in hilly terrain or on a side slope, and on straight or curved sloping fields. Sowing and planting equipment can deliver seed and plants into the soil relatively precisely in given longitudinal and transverse lines, and controlled tillage and harvesting machines are subordinate to the sowing and planting equipment for further processing in predetermined longitudinal and transverse lines.

Furthermore, the invention allows a simplification in the attachment. Usually equipment / machinery, ie attachments in the context of the invention, as follows attached to tractors:

The driver must drive backwards to the attachment as accurately as possible at right angles, so that the lower links fit into the bolt holes of the attachment on both sides. Such a millimeter start, especially backwards, requires a lot of practice and can rarely happen at first.

Therefore, there is usually a second person on site who puts himself in a very dangerous way between the tractor and implement to instruct the driver while attaching the front and rear! Sometimes a forklift truck is used for heavy implements.

Due to the possibility of right-angled shifting, back and forth, and side shift, implements can be approached and attached much more safely and quickly, by the tractor operator alone! It goes without saying that the features mentioned above and those yet to be explained below can be used not only in the respectively specified combination but also in other combinations. The scope of the invention is defined only by the claims.

The invention will be explained in more detail below with reference to several embodiments with reference to the accompanying drawings.

It shows:

1 is a schematic plan view of a towing vehicle with an attached by means of a three-point hydraulic attached thereto implement in a first representation,

Fig. 2 is a schematic plan view of the towing vehicle with the

Attachment according to FIG. 1 in an alternative representation,

3 is a schematic representation of a rear of the tractor of FIG. 1 with lower links in a first embodiment,

4 is a schematic representation of the rear of the tractor of FIG. 1 with lower links in a second embodiment,

5 is a schematic representation of the rear of the tractor of FIG. 1 with lower links in a third embodiment,

6 is a schematic representation of the rear of the tractor of FIG. 1 with lower links in a fourth embodiment, 7 is a schematic representation of the rear of the tractor of FIG. 1 with lower links in a fifth embodiment,

8 is a schematic representation of a hitch at the rear of the tractor of FIG. 1 with lower links in a sixth embodiment,

9 is an alternative schematic representation of the hitch of FIG. 8,

Fig. 10 is a schematic representation of the hitch with lower links in a seventh embodiment

1 1 is a schematic representation of the hitch with lower links in an eighth embodiment,

Fig. 12 is a schematic of a hitch invention and

Fig. 13 is a schematic plan view of the towing vehicle with the

Attachment according to Fig. 2 in an alternative representation.

A towing vehicle 1 according to the invention is, for example, a tractor or similar tractor and is used in particular in the field of agriculture, forestry or gardening and landscaping or viticulture or fruit growing or the like. The towing vehicle 1 has a front axle 2 and a rear axle 3, which are each equipped with wheels 4. In addition, the towing vehicle 1 comprises a hydraulic system 5, which are coupled via a connected to a control unit 6 valve control 7 with double-acting hydraulic cylinders 8, the lower links 9 and a top link 10 of the three-point hydraulic for attachment of an attachment 1 1. The lower link 9 and the at least one upper link 10 can both front and also be installed on the rear of the towing vehicle 1. Does the towing vehicle 1 front and rear lower link 9 and upper link 10, then two implements 1 1 can be used simultaneously. Also, the attachment 1 1 has in the present example, but not necessarily, an axle 12 with two wheels 13.

Fig. 1 shows the tractor 1 with the lower link 9 of the same length attached to the towing vehicle 1 attachment 1 1, wherein the towing vehicle 1 is moved across a slope. That the slope of the slope extends from the left side of the towing vehicle 1 to its right side. To achieve a straight ahead according to the arrow 14, the towing vehicle 1 must be slightly in the direction of the slope of the slope, ie to the left, and it results in a total angular misalignment of the towing vehicle 1 with the attachment 1 1 relative to the resulting direction of travel according to the Arrow 14. The attachment 1 1 is therefore not moved in a working direction in which its axis 12 is oriented perpendicular to the resulting direction of travel according to the arrow 14, wherein this orientation, which can be achieved on a flat surface, is optimal. The offset of the axis 12 to the resulting direction of travel according to the arrow 14, for example, leads to inaccurate results when planting or planting plant or planting rods in rows and / or rows or when harvesting or tillage in such planting or seed application.

In order to eliminate the unwanted offset of the axis 12 of the attachment 1 1 to the resulting direction of travel according to the arrow 14, at least one of the lower link 9 is adjusted in its length such that the axis 12 of the attachment 1 1 perpendicular to the resulting direction of travel according to the arrow 14 is aligned, as shown in FIG. 2 can be seen. For example, the lower-side lower link 9 can be extended and / or the lower-side lower link 9 can be shortened. If the opposite change in length of both lower link 9, then only one of the lower link 9 are compared to the change in length significantly shorter ways required to compensate for the same offset. Is a To compensate for relatively large offset, ie it is a change in length of the or the lower link 9 required by a relatively large way, then the top link 10 can be changed in its length so that the attachment 1 1 occupies a predetermined desired position.

The adjustment of the lengths of the lower link 9 and upper link 10 takes place by means of the associated hydraulic cylinder 8, which can be moved manually. In this case, the exact position of the attachment is determined based on tests in each area. But it is also an actuation of the hydraulic cylinder 8 in response to data of at least one of the towing vehicle 1 and the attachment 1 1 associated inclination sensor 17 possible whose signals for evaluation and further processing in control or control signals for the valve control 7 of the hydraulic system 5 to the Control unit 6 abut. Similarly, for example, data from a satellite navigation system or, in particular, multi-axis inclination sensors or the like can be processed in order to obtain the most accurate actual data regarding the inclination of the terrain or towing vehicle 1 or the position of traction vehicle 1 relative to a desired position to determine the terrain and to calculate a resulting position of the attachment 1 1 to a resulting direction of travel according to the arrow 14 and the required correction adjustment of the lower links 9 by means of at least one double-acting hydraulic cylinder 8. Component of the satellite navigation system are preferably two satellite antennas 41, one of which, for example, at the front of the towing vehicle 1, in particular in the region of a steering axis, and the other is attached to a hitch 27 or the attachment 1 1. Due to the distance between the satellite antennas 41, which may be designed in particular as at least one double satellite antenna, as well as their position data can be on the one hand determine the exact location in the field and on the other any deviation from a predetermined position. As an alternative to the arrangement of two individual satellite antennas 41, the installation of a double satellite antenna is also possible. By means of a lateral displacement, a displacement of the attachment 1 1 according to the double arrow 46 oriented transversely or perpendicular to the direction of travel is possible in order to compensate for a lateral deviation of the towing vehicle 1.

Above, the change in position of the attachment 1 1 is described by a change in length of the lower link 9. Of course, the change in position of the attachment 1 1 can also be achieved by means of a change in position of the lower link 9. It is only important that the attachment point on the free, the attachment 1 1 associated end of the lower link 9, which can be equipped with a hanging hanger 35, is to be relocated. This change in the attachment point can be achieved by a displacement of the entire lower link 9, as can be seen, for example, from the illustration according to FIG. 3.

According to Fig. 3, the spaced-apart lower link 9 are connected to each other via a cross-beam 15, wherein the cross-member 15 is pivotally fixed approximately centrally in the cross-member 15 approximately centrally by means of a bolt, not shown, to an eyelet 16 of the towing vehicle 1. The crossbar 15 is also movably coupled to the associated ends of the lower link 9. In the area of a lower link 9, the double-acting hydraulic cylinder 8 engages, the change in length of a pivoting of the crossbar 15 in the eyelet 16 and thus a change in position of the free ends of the lower link 9, to which the attachment 1 1 is attached, causing a pivoting of the attachment 1 1 is accompanied to align the axis 12 at right angles to the direction of travel according to the arrow 14. The hydraulic cylinder 8 is attached at its one end to the towing vehicle 1 and at its other end to the cross-beam 15. For lifting the lower link 9 Hubstreben 18 are provided.

According to FIG. 4, the lower links 9 are each connected via an associated joint 19 to a guide element 20, which is displaceable in a longitudinal direction of the towing vehicle 1 in a guide rail 21 on the towing vehicle side. Gert is, wherein at least one of the guide elements 20 is in communication with one of the double-acting hydraulic cylinder 8. Of course, it is possible in this embodiment, which to fix a lower link 9 and the associated guide member 20 and the other lower link 9 to store displaceably or to arrange both lower link 9 by means of associated hydraulic cylinder 8 slidably.

According to Fig. 5, the hydraulic cylinder 8 is disposed within the telescopic lower link 9 to move in the direction of the attachment 1 1 facing sliding part 22 against a zugfahrzeugfesten part 23 of the lower link 9, wherein the lifting rod 18 on the zugfahrzeugfesten part 23 of the pivotally mounted on the Towing vehicle arranged lower link 9 is arranged.

6, the hydraulic cylinder 8 is disposed above the telescopic lower link 9 to move the direction of the attachment 1 1 facing sliding part 22 relative to the zugfahrzeugfesten part 23 of the lower link 9. For attachment of the hydraulic cylinder 8 holding lugs 25 are arranged on the sliding part 22 and on the part 23 of the lower link 9, wherein the hydraulic cylinder 8 is coupled by means of connecting bolts with the retaining lugs 25. The sliding part 22 is guided in the fixed part 23. The lifting strut 18 is arranged on a bracket 24 fastened to the towing vehicle-fixed part 23.

7, the direction of the attachment 1 1 facing sliding part 22 and the zugfahrzeugfeste part 23 of the lower link 9 are each made in two parts and each had a clamp 26 with fittings 47, wherein the clamps 26 on the retaining lugs 25 of the hydraulic cylinder 8 attacks to adjust the free end of the lower link 9 relative to its pivotally mounted end in the longitudinal direction of the towing vehicle 1. The bracket 24 for the lifting strut 18 is mounted so that it is not longitudinally displaced. Due to the clamps 26, the direction of the attachment 1 1 facing sliding part 22 and the zugfahrzeugfeste part 23rd adjustable in length, namely, after loosening the screw 47, the sliding part 22 and the part 23 are varied in length to adjust the distance of the attachment 1 1 or a hitch 27 to the towing vehicle 1 in a basic setting in that there is a sufficient distance to shift the direction of the attachment 1 1 facing sliding part 22 relative to the towing vehicle-fixed part 23 of the lower link 9 by means of the hydraulic cylinder 8.

The towing device 27, for example, for a planting device as an attachment 1 1 or the like, according to FIG. 8 comprises a centrally arranged rotating device 28 to allow vertical alignment and setting of the plants. The hitch 27 hydraulic cylinder 8 are assigned to move the sliding part 22 of the lower link 9 relative to the fixed part 23 of the lower link 9, wherein the fixed part 23 surrounds the sliding part 22. The hydraulic cylinder 8 can of course be arranged contrary to the illustration of FIG. 8 right and left side of the rotating device 28 to adjust a support frame 36 of the hitch 27 relative to the towing vehicle 1 in its position. It is also possible not to adjust the length of the lower link 9 itself and to arrange the hydraulic cylinder 8 between the support frame 36 and the attachment 1 1 to be connected to the hitch 27 to change the position of the attachment 1 1 relative to the hitch 27 ,

According to Fig. 9 and Fig. 1 1, the hitch 27 is connected via mounting flanges 29 with the lower links 9 of the towing vehicle 1 and movable inner parts 30, the hitch 27 and the support frame 36 by means of the hydraulic cylinder 8 in its longitudinal position to the tractor. 1 changed. Also in this embodiment, the attachment of the hydraulic cylinder 8 and the inner parts 30 on both sides of the rotating device 28 is possible and advantageous for rapid adjustment when the two-sided hydraulic cylinder 8 are driven in opposite directions. 10, the hitch 27 is pivotally connected via the mounting flanges 29 with the tractor 1 and has a hinge 31 and an engaging in arcuate slots 32 bolt guide 33. The hydraulic cylinder 8 extends between the joint 31 and the bolt guide 33, which in turn is coupled to a sliding part 34 connected to the lower link 9. To shift the hitch 27 and the holding frame 36 of the hitch 27 in the direction of the longitudinal axis of the towing vehicle 1 and relative to the lower links 9, the sliding part 34 is changed in its position.

The towing device 27 of FIG. 12 is composed essentially of the holding frame 36 and a contrast movable mounting frame 37 to the attachment 1 1 by means of a between the holding frame 36 and the mounting frame 37 effectively arranged adjusting cylinder 38 according to the double arrow 39 perpendicular to the vehicle longitudinal axis or transverse to move to the direction of travel. The person skilled in the art also refers to this shift as side shift. With this displacement movement, for example, a process or drifting of towing vehicle 1, for example on a slope, counteracted, so that the attachment 1 1 its predetermined target line, ie an ideal processing line that runs parallel to other processing lines on a field to be processed, not left. To guide the mounting frame 37 on the support frame 36, the support frame 36 is substantially over its entire width extending angle sections 42, one leg 40 is fixed to the support frame 36 and the other leg 40 the mounting frame 37 slidably supports. Of course, the angle sections 42 can also be replaced by tubular profiles or the like. For detecting actual position data, the towing device is assigned a satellite antenna 41. If a method, a drift, the towing vehicle 1 with the hitch 27 and the attachment on the slope by location data of the satellite navigation system, which is connected via the control unit 6 to the hydraulic system, determined, there is a control of the adjusting cylinder 38 to a with Shift of the Mounting frame 37 relative to the support frame 36 to provide a compensating movement, so that the attachment complies with its predetermined setpoint line during machining.

In order to provide for a greater distance between the rear of the towing vehicle 1 and the hitch 27 and the at least one attachment 1 1 and to compensate for a relatively fast displacement of the hitch 27 relative to the towing vehicle 1 to counteract an offset, or this Offset offset between the direction of travel of the towing vehicle 1 and the working direction to be observed, are on the support frame 36 mounting arms 43 pivotally mounted by means of hydraulic adjusting 44. The mounting arms 43 are mounted in the manner of two-armed lever, wherein at one end of the respective associated adjusting cylinder 44 engages and the other end for coupling with the respective lower link 9, which does not necessarily have to be adjustable, is formed. Of course, the adjusting arms 44 are connected to the hydraulic system 5 or a separate hydraulic system. In order to secure the upper link 10 of the towing vehicle 1, a fastening device 45 is provided between the mounting arms 43, which essentially comprises two mutually spaced flange plates 46 with grid holes 47 for locking pins.

Above, the change in position of the attachment 1 1 is described by a change in length or position of the lower link 9. Of course, the change in position of the attachment 1 1 can be achieved by means of a change in position of the mounting arms 43 by these are pivoted by means of the adjusting 44 to pivot the hitch 27 relative to the towing vehicle and to effect a change in position of the attachment 1 1 to the towing vehicle 1 so that the attachment 1 1 complies with the specified setpoint line in the process. To act on the adjusting cylinder 44 and / or the setting cylinder 38, the communication with the control unit 6 or a separate control unit, the functionality of the in the Zu- connected to the towing vehicle 1 described control unit 6, carried out, and which is designed to store desired data and for the evaluation of actual data and at least with the tractor 1 associated multi-axis inclination sensor 17 or at least one other inclination sensor and / or at least the the satellite antenna 41 comprehensive satellite navigation system is coupled.

The attachment arms 43 of the hitch 24 can also be assigned to the attachment 1 1 and the lower links 9 are directly connected to the corresponding attachment devices of the hitch 24.

reference numeral

1 . Tractor vehicle 30. Inner section

2. Front axle 31. joint

3. Rear axle 32. slot

4. Wheel 33. Bolt guide

5. Hydraulic system 34. sliding part

6. Control unit 35. Trailer hitch

7. Valve control 36. Holding frame

8. Hydraulic cylinder 37. Attachment frame

9. Lower link 38. Adjusting cylinder

10. Upper link 39. Double arrow

1 1. Attachment 40th leg

12th axis 41. satellite antenna

13. Wheel of 1 1 42. Angle profile

14. arrow 43. mounting arm

15. Crossbar 44. Adjusting cylinder

16. Eyelet 45. Fastening device

17. Inclinometer 46. Double Arrow

18. Lifting strut 47. Screw connection

19. Joint

20. Guide element

21. guide rail

22nd sliding part

23rd part

24. Holder

25th holding approach

26. Clamp

27. Towing device

28. Turning device

29. Mounting flange

Claims

claims

1 . Traction vehicle with a hydraulic system (5) and two lower links (9) and at least one upper link (10) for attaching an attachment (1 1), characterized in that at least one of the lower links (9) is associated with an aligned in the direction of the vehicle longitudinal axis adjusting device, which comprises at least one hydraulic cylinder (8) or an electromotive adjusting device.

2. towing vehicle according to claim 1, characterized in that at least one double-acting hydraulic cylinder (8) or two simply counteracting hydraulic cylinder associated with the adjusting device, wherein each of the hydraulic cylinder (8) with the hydraulic system (5) is connected, and / or the electromotive adjusting device comprises an effective in the direction of the vehicle longitudinal axis nut-spindle assembly.

3. towing vehicle according to claim 1 or 2, characterized in that at least one of the lower link (9) in its longitudinal axis by means of the double-acting hydraulic cylinder (8) or the electromotive adjusting device in or against the direction of travel (arrow 14) is adjustable such that the Distance of a free end of the lower link (9) to a rear axle (3) of the towing vehicle (1) is increased or decreased.

4. towing vehicle according to one of claims 1 to 3, characterized in that each of the lower link (9) is assigned a hydraulic cylinder (8) for adjustment in the longitudinal axis.

5. towing vehicle according to one of claims 1 to 4, characterized in that the lower link (9) at its the towing vehicle (1) assigned Neten end comprises a hinge (19) which is fixed to a in a zugfahrzeug- side guide rail (21) mounted guide member (20) on which the hydraulic cylinder (8) for pushing the lower link (9) engages.

6. Traction vehicle according to claim 1, characterized in that the lower links (9) via a cross-beam (15) are interconnected, wherein the cross-beam (15) approximately centrally by means of a bolt on an eye (16) of the towing vehicle (1) pivotally is fixed.

7. towing vehicle according to claim 6, characterized in that the lower links (9) are pivotally connected to the cross-beam (15).

8. towing vehicle according to one of claims 1 to 7, characterized in that the lower links (9) is associated with a top link (10) which is adjustable by means of a double-acting Hydraulikzinders (8) or an electromotive adjusting device in position.

9. Towing vehicle according to one of claims 1 to 8, characterized in that the lower links (9) and the at least one upper link (10) are mounted on the rear side and / or front side.

10. Traction vehicle according to one of claims 1 to 9, characterized in that each hydraulic cylinder (8) with a valve control (7) of a regulated hydraulic system (5) is in communication, which is coupled to a computer-aided control unit (6), wherein the control unit (6) processed tilt and / or position data processed and the valve control (7) controls such that the hydraulic cylinder (8) is adjusted from a preset zero position in a leveling position to the attachment (1 1) in a desired position to the towing vehicle (1) and / or the terrain.

1 1. Traction vehicle according to claim 10, characterized in that the control device (6) data of at least one inclination sensor, the movement of the towing vehicle (1) and / or attached to the lower links (9) attached attachment (1 1) detected and processed to control the valve control (7) or the electromotive nut-spindle assembly.

12. towing vehicle according to claim 10 or 1 1, characterized in that the control unit (6) data detected at least one of the lower link (9) associated force measuring sensor and processed for controlling the valve control (7).

13. Towing vehicle according to one of claims 10 to 12, characterized in that the control unit (6) detects data of a satellite navigation system and processed for controlling the valve control (7), wherein both the towing vehicle (1) and to the attachment (1 1 ) Satellite antennas (41) of the satellite navigation system are arranged.

14. towing vehicle according to one of claims 10 to 13, characterized in that the control device (6) with an image capture device for receiving images of the attachment (1 1) or the terrain in front of or behind the towing vehicle (1) is connected and the control unit ( 6) comprises a hardware or software image evaluation device, which determines data for adjusting the hydraulic cylinder (8).

15. Traction vehicle according to one of claims 1 to 14, characterized in that sowing and planting relatively precisely in predetermined longitudinal and transverse lines seed and plants in the ground and controlled tillage and harvesting machines in predetermined longitudinal and transverse lines the sowing and Planting devices are arranged downstream.

16. Hitch device for an attachment for coupling to a towing vehicle according to the preamble of claim 1, characterized in that on a holding frame (36) mounting arms (43) by means of hydraulic adjusting cylinder (44) or an electromotive Verstelleinrich- are pivotally mounted, wherein the fastening arms (43) with the lower links (9) or the attachment and between the mounting arms (43) arranged fastening device (45) with the upper link (10) are coupled.

17. A towing device according to claim 16, characterized in that the holding frame (36) supports a mounting frame (37) which is displaceable by means of a setting cylinder (38) or an electromotive nut threaded spindle assembly perpendicular to the vehicle longitudinal axis and transversely to a direction of travel.

18. Towing device according to claim 16 or 17, characterized in that the adjusting cylinder (44) and / or the adjusting cylinder (38) and / or the electromotive adjusting device by means of data of the computer-aided control device (6) are adjustable.