EP3193575A1 - Véhicule tracteur et dispositif d'attelage pour équipement rapporté - Google Patents

Véhicule tracteur et dispositif d'attelage pour équipement rapporté

Info

Publication number
EP3193575A1
EP3193575A1 EP15784273.3A EP15784273A EP3193575A1 EP 3193575 A1 EP3193575 A1 EP 3193575A1 EP 15784273 A EP15784273 A EP 15784273A EP 3193575 A1 EP3193575 A1 EP 3193575A1
Authority
EP
European Patent Office
Prior art keywords
towing vehicle
attachment
hydraulic cylinder
vehicle according
lower link
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP15784273.3A
Other languages
German (de)
English (en)
Inventor
Jürgen Wagner
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Publication of EP3193575A1 publication Critical patent/EP3193575A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B59/00—Devices specially adapted for connection between animals or tractors and agricultural machines or implements
    • A01B59/06—Devices specially adapted for connection between animals or tractors and agricultural machines or implements for machines mounted on tractors
    • A01B59/066—Devices specially adapted for connection between animals or tractors and agricultural machines or implements for machines mounted on tractors of the type comprising at least two lower arms and one upper arm generally arranged in a triangle (e.g. three-point hitches)
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B59/00—Devices specially adapted for connection between animals or tractors and agricultural machines or implements
    • A01B59/002—Details, component parts
    • A01B59/004—Length-adjustable links
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B59/00—Devices specially adapted for connection between animals or tractors and agricultural machines or implements
    • A01B59/04—Devices specially adapted for connection between animals or tractors and agricultural machines or implements for machines pulled or pushed by a tractor
    • A01B59/041—Devices specially adapted for connection between animals or tractors and agricultural machines or implements for machines pulled or pushed by a tractor preventing or limiting side-play of implements
    • A01B59/0415—Devices specially adapted for connection between animals or tractors and agricultural machines or implements for machines pulled or pushed by a tractor preventing or limiting side-play of implements by hydraulic or pneumatic means acting on the lower draft links
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
    • A01B63/02—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors
    • A01B63/10—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means

Definitions

  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the towing vehicle 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 lower links are hinged to the cross-beam.
  • 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.
  • 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.
  • correction data can be entered, which are to be determined empirically, for example, or by appropriate zugschberge or attachment-specific sensors are available.
  • 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.
  • 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.
  • 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.
  • 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.
  • double satellite antennas 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.
  • 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.
  • 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 Profauswak pain can be designed, for example, in the form of a Field Programmable Gate Array (FPGA).
  • FPGA Field Programmable Gate Array
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • control unit 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.
  • 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.
  • 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.
  • the invention allows a simplification in the attachment.
  • 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.
  • FIG. 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
  • FIG. 3 is a schematic representation of a rear of the tractor of FIG. 1 with lower links in a first embodiment
  • FIG. 4 is a schematic representation of the rear of the tractor of FIG. 1 with lower links in a second embodiment
  • FIG. 5 is a schematic representation of the rear of the tractor of FIG. 1 with lower links in a third embodiment
  • FIG. 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
  • FIG. 8 is a schematic representation of a hitch at the rear of the tractor of FIG. 1 with lower links in a sixth embodiment
  • FIG. 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
  • Fig. 13 is a schematic plan view of the towing vehicle with the
  • a towing vehicle 1 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the installation of a double satellite antenna is also possible.
  • 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.
  • the change in position of the attachment 1 1 is described by a change in length of the lower link 9.
  • 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.
  • 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.
  • 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.
  • Hubstreben 18 are provided for lifting the lower link 9 Hubstreben 18 are provided.
  • 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.
  • 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 zugGermanfesten part 23 of the lower link 9, wherein the lifting rod 18 on the zugGermanfesten part 23 of the pivotally mounted on the Towing vehicle arranged lower link 9 is arranged.
  • 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 zugGermanfesten part 23 of the lower link 9.
  • 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.
  • the direction of the attachment 1 1 facing sliding part 22 and the zugGermanfeste 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.
  • the direction of the attachment 1 1 facing sliding part 22 and the zugGermanfeste 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 ,
  • 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.
  • 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.
  • 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.
  • 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.
  • the angle sections 42 can also be replaced by tubular profiles or the like.
  • the towing device is assigned a satellite antenna 41.
  • 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.
  • the adjusting arms 44 are connected to the hydraulic system 5 or a separate hydraulic system.
  • 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.
  • the change in position of the attachment 1 1 is described by a change in length or position of the lower link 9.
  • 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.
  • 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.

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Soil Sciences (AREA)
  • Environmental Sciences (AREA)
  • Zoology (AREA)
  • Agricultural Machines (AREA)
  • Guiding Agricultural Machines (AREA)

Abstract

L'invention concerne un véhicule tracteur comprenant une installation hydraulique (5) et deux bielles supérieures (9) et au moins une bielle inférieure (10) pour atteler un équipement rapporté (11). Un dispositif de réglage qui est orienté en direction de l'axe longitudinal du véhicule et comprend au moins un vérin hydraulique (8) ou un dispositif de réglage à moteur électrique est associé à au moins une des bielles inférieures (9). L'invention concerne une commande et un mécanisme permettant un guidage linéaire, perpendiculaire, parallèle, précis d'équipements rapportés ou de machines attelés à des véhicules tracteurs ou à des tracteurs, même en terrain accidenté ou au niveau d'un talus ainsi que dans des champs droits ou en courbe. Ladite invention sert de base à l'automatisation dans l'ensemble de l'agriculture.
EP15784273.3A 2014-09-17 2015-08-27 Véhicule tracteur et dispositif d'attelage pour équipement rapporté Withdrawn EP3193575A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102014113448.6A DE102014113448A1 (de) 2014-09-17 2014-09-17 Zugfahrzeug und Anhängevorrichtung für ein Anbaugerät
PCT/DE2015/100355 WO2016041547A1 (fr) 2014-09-17 2015-08-27 Véhicule tracteur et dispositif d'attelage pour équipement rapporté

Publications (1)

Publication Number Publication Date
EP3193575A1 true EP3193575A1 (fr) 2017-07-26

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ID=54345405

Family Applications (1)

Application Number Title Priority Date Filing Date
EP15784273.3A Withdrawn EP3193575A1 (fr) 2014-09-17 2015-08-27 Véhicule tracteur et dispositif d'attelage pour équipement rapporté

Country Status (3)

Country Link
EP (1) EP3193575A1 (fr)
DE (2) DE102014113448A1 (fr)
WO (1) WO2016041547A1 (fr)

Families Citing this family (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102016104641A1 (de) 2016-03-14 2017-09-14 Jürgen Wagner Verfahren zur Bewirtschaftung von Nutzflächen
DE102016117237A1 (de) 2016-09-13 2018-03-15 Jürgen Wagner Verfahren zum mechanischen Koppeln eines Anbaugerätes mit einem Zugfahrzeug oder einer Anhängevorrichtung
AT519488B1 (de) * 2016-12-19 2018-09-15 Ana U Gmbh Bodenbearbeitungssystem
FR3064152B1 (fr) 2017-03-24 2019-04-19 Hubert Defrancq Dispositif d'attelage pour engin agricole
DE102017110653B3 (de) 2017-05-16 2018-08-09 Jürgen Wagner Anbauvorrichtung zur Kopplung eines landwirtschaftlichen Arbeitsgerätes an ein Zugfahrzeug
DE102017212047A1 (de) * 2017-07-13 2019-01-17 Deere & Company Anhängevorrichtung
CN107750502A (zh) * 2017-12-12 2018-03-06 安徽农业大学 一种可调节式拖拉机悬挂装置
DE102017222653A1 (de) * 2017-12-13 2019-06-13 Deere & Company Verfahren zur Bewegungssteuerung eines Dreipunkt-Krafthebers eines Traktors
DE102017011747A1 (de) 2017-12-19 2019-06-19 Ana-U Gmbh Bodenbearbeitungssystem
AT519979B1 (de) 2018-01-29 2018-12-15 Dipl Ing Michael Lamprecht Dreipunktkupplung
CN108450070B (zh) * 2018-05-22 2024-02-06 农业部南京农业机械化研究所 一种自走式农用机具的机架
FR3098082B1 (fr) 2019-07-05 2021-09-03 Hubert Defrancq Dispositif d’attelage pour engin agricole
EP4068938A4 (fr) * 2019-12-05 2024-01-03 Mollick, Peter J. Attelage en trois points avec actionneurs d'outil à fixer
FR3118394B1 (fr) 2020-12-29 2023-06-09 Hubert Defrancq Procede et dispositif d’attelage pour engin agricole
DE102021122412A1 (de) 2021-08-30 2023-03-02 Lemken Gmbh & Co. Kg Bodenbearbeitungsgerät für Ackerböden
DE102023110900A1 (de) * 2023-04-27 2024-10-31 Pöttinger Landtechnik Gmbh Frontanbaubare Erntemaschine

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DE4301029A1 (en) * 1992-01-16 1993-07-22 Reinhard Ebert Crop row alignment control for tractor attachment - has attachment moved laterally by servo to follow crop row and with correction control for tractor steering
DE10036188C1 (de) * 2000-07-24 2001-09-27 Christian Evesque Vorrichtung zur hydraulischen Steuerung der Unterlenker eines Schleppers
DE10114091A1 (de) * 2001-03-22 2002-09-26 Deere & Co Steuervorrichtung für eine Fahrzeuganbauschnittstelle
DE102009028409A1 (de) * 2009-08-10 2011-02-17 Deere & Company, Moline Anordnung zur seitlich verstellbaren Anbringung eines landwirtschaftlichen Arbeitsgeräts an einem Fahrzeug

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See also references of WO2016041547A1 *

Also Published As

Publication number Publication date
DE112015004234A5 (de) 2017-06-14
WO2016041547A1 (fr) 2016-03-24
DE102014113448A1 (de) 2016-03-17
WO2016041547A4 (fr) 2016-05-19

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