EP3389352A1 - A system for damping oscillations between a tractor and an agricultural implement during transport thereof - Google Patents

A system for damping oscillations between a tractor and an agricultural implement during transport thereof

Info

Publication number
EP3389352A1
EP3389352A1 EP16822887.2A EP16822887A EP3389352A1 EP 3389352 A1 EP3389352 A1 EP 3389352A1 EP 16822887 A EP16822887 A EP 16822887A EP 3389352 A1 EP3389352 A1 EP 3389352A1
Authority
EP
European Patent Office
Prior art keywords
hydraulic actuator
hydraulic
coupling mechanism
tractor
top 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Withdrawn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
EP16822887.2A
Other languages
German (de)
French (fr)
Inventor
Ole Green
Søren Kirkegaard NIELSEN
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.)
Agro Intelligence ApS
Original Assignee
Agro Intelligence ApS
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 Agro Intelligence ApS filed Critical Agro Intelligence ApS
Publication of EP3389352A1 publication Critical patent/EP3389352A1/en
Withdrawn legal-status Critical Current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
    • 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
    • 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
    • A01B63/1006—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means the hydraulic or pneumatic means structurally belonging to the tractor
    • 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)

Definitions

  • the present invention relates to the field of agriculture. More specifically, the present invention relates in a first aspect to a coupling mechanism for damping oscillations between a tractor and an agricultural implement during transport thereof.
  • the present invention relates to a tractor comprising a coupling mechanism according to the first aspect of the present invention.
  • the present invention relates to a use of a coupling mechanism according to the first aspect or of a tractor according to the second aspect of the present invention for damping oscillations between a tractor and an agricultural implement during transport thereof.
  • the present invention relates to a kit for installation on a three point linkage for an agricultural implement for damping oscillations between a tractor and an agricultural implement during transport thereof.
  • Such conditioning may relate to ploughing, cultivation, harrowing etc.
  • the conditioning serves the purpose of aerating the soil, destroy the rooting of weed and to burry residues of last year's crops.
  • Conditionings like ploughing, cultivation and harrowing are typically performed by lift mounting an agricultural tool or implement behind a tractor.
  • the implements to be used with a tractor are in a working situation usually towed or pulled or carried behind the tractor.
  • the implement is connected to the tractor via the front end three point linkage of the implement.
  • This three point linkage is connected to a coupling mechanism in the form of a three point hitch on a rear end of the tractor.
  • a thee point hitch comprises two lower lift arms attached to the tractor' s hydraulic system enabling hydraulic lift for elevating and lowering of these two lift arm.
  • a three point hitch comprises normally an upper rigid top link, which length may be manually adjustable by turning a turnbuckle having two oppositely threaded inner threads connecting two oppositely threaded end bars.
  • the oscillations may be directed in a forward-rear-direction of may be directed in a transverse direction, in a vertical direction or may be directed in a combination of a forward-rear- direction and vertical direction in relation to the direction of movement of the tractor.
  • oscillations may pose a hazard in relation to traffic safety, because transportation by a tractor of an oscillating implement may have the effect of making it difficult to control the tractor. Furthermore, in case the oscillation take place in a forward-rear direction a pulsating altering weight distribution on the four wheels of the tractor may be encountered, which may lead to an insufficient and/or pulsating weight distribution on the steering front wheels of the tractor during intervals of this pulsation. Furthermore, carrying an oscillating implement in a tractor will impart great discomfort to the driver driving the tractor.
  • an oscillating implement may during transport thereof result in weakening and/or breaking of essential parts of the suspension system carrying the implement, thereby imparting further hazards in a transport situation on public roads.
  • the present invention relates in a first aspect to a coupling mechanism for damping oscillations between a tractor and an agricultural implement during transport thereof; said coupling mechanism comprising: a top link, said top link is having a front end configured to be pivotally mounted on a rear end of a tractor; and said top link is having an opposite rear end configured to be pivotally mounted on a three point linkage of an agricultural implement; wherein said top link is comprising a hydraulic actuator, said hydraulic actuator is having a front end and a rear end; said hydraulic actuator is being arranged between the front end and the rear end of said top link so as to allow altering the effective distance between the front end and the rear end of said top link; a first lift arm and a second lift arm; said first lift arm and said second lift arm each having a front end configured to be pivotally mounted on a rear side of a tractor and an opposite rear end configured to be pivotally mounted on a three point link
  • the present invention relates to a tractor comprising a coupling mechanism according to the first aspect of the present invention.
  • the present invention relates to a use of a coupling mechanism according to the first aspect of the present invention or of a tractor according to the second aspect of the present invention for damping oscillations between a tractor and an agricultural implement during transport thereof.
  • the present invention relates to a kit for installation on a three point linkage for an agricultural implement for damping oscillations between a tractor and that agricultural implement during transport thereof, said kit comprising: a top link, said top link configured to be mounted between a rear part of a tractor and a three point linkage of an agricultural implement; said top link is having a front end configured to be pivotally mounted on the rear end of said tractor; and said top link is having an opposite rear end configured to be pivotally mounted on an three point hitch of an agricultural implement; wherein said top link is comprising a hydraulic actuator, said hydraulic actuator is having a front end and a rear end; said hydraulic actuator is being arranged between the front end and the rear end of said top link so as to allow altering of the effective distance between the front end and the rear end of said top link; a transducer; said transducer being configured to sense the load exerted between the front end and the rear end of said hydraulic actuator; a hydraulic valve comprising one or more outlets and being configured to supply pressurized hydraulic fluid
  • the present invention in its various aspects provides for improved comfort and safety in a transport situation in which an agricultural implement is transported by a tractor.
  • the improved safety is due to improved damping and control of any oscillations between a tractor and an agricultural implement during transport thereof.
  • the present invention allows minimizing unnecessary stress and wear of the mechanical and hydraulic system, and thereby minimizing the risk of material breakage.
  • Fig.1 illustrates schematically a prior art three point hitch for connecting a tractor to an agricultural implement.
  • Fig. 2 illustrates schematically coupling mechanism according to the present invention for damping oscillations between a tractor and an agricultural implement during transport thereof.
  • Fig. 3 illustrates schematically an embodiment of a control system for controlling the coupling mechanism of the present invention.
  • the present invention relates in a first aspect to a coupling mechanism for damping oscillations between a tractor and an agricultural implement during transport thereof; said coupling mechanism comprising: a top link, said top link is having a front end configured to be pivotally mounted on a rear end of a tractor; and said top link is having an opposite rear end configured to be pivotally mounted on a three point linkage of an agricultural implement; wherein said top link is comprising a hydraulic actuator, said hydraulic actuator is having a front end and a rear end; said hydraulic actuator is being arranged between the front end and the rear end of said top link so as to allow altering the effective distance between the front end and the rear end of said top link; a first lift arm and a second lift arm; said first lift arm and said second lift arm each having a front end configured to be pivotally mounted on a rear side of a tractor and an opposite rear end configured to be pivotally mounted on a three point linkage of an agricultural implement; said two rear ends of the first and second lift arm, at their points of mounting, are configured to
  • load shall be construed to mean physical parameters encountered by the hydraulic actuator, selected from the group comprising: force or pressure acting between the actuator's two ends, or displacement or stress taking place between the actuator's two ends.
  • the term "protocol” shall be construed to mean that specific algorithm or set of directions or instructions according to which the control unit translates the signal, received by it from the transducer, is translated and subsequently supplied to the hydraulic valve in order to suppress any oscillation encountered.
  • the coupling mechanism furthermore comprising one or more hydraulic hoses connecting the hydraulic valve to said hydraulic actuator.
  • the top link comprises length adjustment means, such as a turnbuckle for adjusting the effective length of said top link.
  • control unit comprising input means, such as an alphanumerical keyboard, for allowing a user to provide information of said predetermined protocol to said control unit.
  • control unit comprising display means, such as a monitor or a user interface (UI), for displaying to a user the settings and/or status of the coupling mechanism or parts thereof.
  • display means such as a monitor or a user interface (UI)
  • UI user interface
  • the input means and/or said display means is/are being in the form of a human machine interface (HMI).
  • HMI human machine interface
  • Such means allows for controlling and communicating with the control unit.
  • the hydraulic actuator is being a double acting hydraulic actuator.
  • the hydraulic actuator comprises a pair of single acting hydraulic actuators.
  • hydraulic actuator and said transducer are being an integral unit.
  • the hydraulic actuator and said transducer are being separate units.
  • the hydraulic actuator comprises a barrel, housing a hydraulic piston having a piston rod.
  • the coupling mechanism further comprising safety means for avoiding lowering of the coupling mechanism to more than a predefined extend in case of malfunction of the hydraulic system relating to the top link.
  • the safety means comprising wires, chains or the like for connecting a rear end of the top link to the tractor itself; or wherein said safety means comprising a maximum possible expansion of the hydraulic actuator of 300 mm or less, such as 250 mm or less, for example 200 mm or less, such as 150 mm or less, such as 100 mm or less or 50 mm or less; or said safety means comprising a hydraulic safety valve being integrated with said hydraulic actuator and being configured to block outlet of hydraulic liquid from said hydraulic actuator.
  • said protocol is configured to follow the algorithm: i) at time Ti, allow the transducer (44) to determine the degree of extension of the hydraulic actuator (38); ii) at later time ⁇ ,+ ⁇ allow the transducer (44) to determine the degree of extension of the hydraulic actuator (38); iia) optionally repeat the steps i) and ii) a number N times until time T 2 ; iii) in a case the degree of extension of the hydraulic actuator (38) from time Ti to ⁇ ,+ ⁇ , or from time Tito T 2 , as the case may be, represents an expansion of the hydraulic actuator, instruct the hydraulic valve (46) to retract the hydraulic actuator (38) a distance Di n ; iv) in a case the degree of extension of the hydraulic actuator (38) from time Ti to ⁇ ,+ ⁇ , or from time Tito T 2 , as the case may be, represents an retraction of the hydraulic actuator, instruct the hydraulic valve (46) to expand the hydraulic actuator (38) a distance D
  • This protocol allows control based on sensing of exact positions of the actuator.
  • said protocol is configured so as to follow the algorithm: i) at time T, allow the transducer (44) to determine the actual relative displacement between the front end (40) and the rear end (42) of the hydraulic actuator (38); ii) in case the actual movement determined in step i) represents an expansion of the hydraulic actuator (38), instruct the hydraulic valve (46) to retract the hydraulic actuator a distance Di n ; iii) in case the actual movement determined in step i) represents an retraction of the hydraulic actuator (38), instruct the hydraulic valve (46) to expand the hydraulic actuator a distance D ex ; iv) define a new time T; v) repeat steps i) - iv).
  • This protocol allows control based on sensing of exact movements of the actuator.
  • said protocol is configured to follow the algorithm: i) at time Ti, determine the direction and magnitude of the force or pressure sensed by the transducer (44); ii) at later time ⁇ ,+ ⁇ determine the direction and magnitude of the force or pressure sensed by the transducer (44); iia) optionally repeat the steps i) and ii) a number N times until time T 2 ; iii) in a case the sum of direction and magnitude of the force or pressure sensed by the transducer (44) from time Ti to ⁇ + ⁇ , or from time Tito T 2 , as the case may be, represents an expansion of the hydraulic actuator, instruct the hydraulic valve (46) to retract the hydraulic actuator (38) a distance Di n ; iv) in a case the sum of direction and magnitude of the force or pressure sensed by the transducer (44) from time Ti to ⁇ + ⁇ , or from time Tito T 2
  • the time interval between repetition of the steps i) - v) is independently being selected from the ranges 0.001 - 5 sec; such as 0.005 - 4 sec, such as 0.01 - 2 sec, e.g. 0.05 - 1 sec, such as 0.1 - 0.5 sec.
  • the distances Din and D ex independently being selected from the ranges 0.01 - 100 mm, such as 0.05 - 50 mm, for example 0.1 - 25 mm, such as 0.5 - 15 mm, for example 1.0 - 10 mm, such as 2 - 9 mm, for example 3 - 8 mm, such as 4 - 7 mm or 5 - 6 mm.
  • the period of time ⁇ is being selected from the ranges 0.001 - 5 sec; such as 0.005 - 1 sec, such as 0.01 - 0.5 sec, for example 0.05 - 0.1 sec.
  • the number N of repetition of steps of the algorithm is being selected from the range of 2 - 55, such as 5 - 50, for example 10 - 45, such as 15 - 40, e.g. 20 - 35 or 25 - 30.
  • the present invention relates in a second aspect to a tractor comprising a coupling mechanism according to the first aspect of the present invention.
  • the present invention relates in a third aspect to a use of a coupling mechanism according to the first aspect of the present invention or of a tractor according to the second aspect of the present invention for damping oscillations between a tractor and an agricultural implement during transport thereof.
  • the agricultural implement being a plough, a harrow, a cultivator, a seeder, an irrigator or a spreader.
  • the present invention relates in a fourth aspect to a kit for installation on a three point linkage for an agricultural implement for damping oscillations between a tractor and that agricultural implement during transport thereof, said kit comprising: a top link, said top link configured to be mounted between a rear part of a tractor and three point linkage of an agricultural implement; said top link is having a front end configured to be pivotally mounted on the rear end of said tractor; and said top link is having an opposite rear end configured to be pivotally mounted on an three point hitch of an agricultural implement; wherein said top link is comprising a hydraulic actuator, said hydraulic actuator is having a front end and a rear end; said hydraulic actuator is being arranged between the front end and the rear end of said top link so as to allow altering of the effective distance between the front end and the rear end of said top link; a transducer; said transducer being configured to sense the load exerted between the front end and the rear end of said hydraulic actuator; a hydraulic valve comprising one or more outlets and being configured to supply pressurized hydraulic fluid to
  • the kit further comprising one or more features as defined in respect of the first aspect.
  • FIG. 1 illustrates the principle of a conventional and traditional design of a lifting hitch on a tractor.
  • the lifting hitch is arranged on a rear part of the tractor and allows lifting and lowering agricultural tools or agricultural implements to be lift- mounted behind the tractor.
  • Fig. 1 is a plan view as seen sideways from between the rear wheels 26 of the tractor resting on the surface 32 of the soil 30.
  • Fig. 1 shows a traditional and conventional coupling mechanism 24 in the form three point hitch of the rear end of a tractor.
  • the hitch comprises a top link 2 having a front end 4 and a rear end 8.
  • the front end 4 of the top link 2 is pivotally mounted at a point on the tractor itself.
  • the opposite rear end 8 of the top link 2 is pivotally mounted on a three point linkage of an agricultural implement (not shown in fig. l).
  • the implement may be an implement for cultivating soil or crops of for fertilizing or for irrigating the soil or may be any other type of agricultural implement.
  • Below the top link are arranged first lift arm 12 and a second lift arm 14.
  • the front end 16 of the lift arm 12,14 is pivotally mounted on the tractor itself.
  • the rear end 18 of the lift arm 12, 14 is pivotally mounted on the three point hitch of the agricultural implement.
  • the lift arms 12,14 are connected to a hydraulic actuator 28.
  • the top link 2 comprises a turnbuckle 22 for adjustment of the effective length thereof.
  • the height of the coupling mechanism may be adjusted in height by activating the hydraulic actuator 28 either upward or downward.
  • the actuator of the hydraulic actuator 28 is brought about by using the hydraulic system of the tractor.
  • actuating the hydraulic actuator 28 affects movement of the lift arms 12,14. If an agricultural implement is connected to the three point hitch, the front end of the implement may be raised or lowered in this way.
  • Fig. 2 illustrates schematically a coupling mechanism according to the first aspect of the present invention for damping oscillations between a tractor and an agricultural implement during transport thereof.
  • Fig. 2 is a plan view as seen sideways from between the rear wheels of the tractor.
  • the coupling mechanism 100 of fig. 2 comprises a top link 2 having a front end 4 and a rear end 8.
  • the front end 4 of the top link 2 is pivotally mounted at a point on the tractor itself.
  • the opposite rear end 8 of the top link 2 is pivotally mounted on an three point linkage 10 of an agricultural implement (not shown in fig. 2).
  • first lift arm 12 Below the top link are arranged first lift arm 12 and a second lift arm 14.
  • the front end 16 of the lift arm 12,14 is pivotally mounted on the tractor itself.
  • the rear end 18 of the lift arm 12, 14 is pivotally mounted on the three point linkage 10 of an agricultural implement.
  • the lift arms 12,14 are connected to a hydraulic actuator 28
  • the coupling mechanism 100 illustrated in fig. 2 further comprises a hydraulic actuator 38 which is being part of the top link 2.
  • the hydraulic actuator 38 is having a first (front) end 40 and a second (rear) end 42.
  • the hydraulic actuator 38 is being coupled to a transducer 44 which is configured to sense physical parameters of the hydraulic actuator 38, such as force or pressure or load acting between the actuator's two ends, or such as displacement or stress taking place between the actuator's two ends.
  • the transducer 44 and the actuator 38 will be configured in a feed-back mode.
  • Fig. 3 schematically illustrates an embodiment of the means for controlling the coupling mechanism 100 of the coupling mechanism according to the present invention.
  • Fig. 3 shows the hydraulic valve 46 comprising an inlet 64 and outlet 64' for pressurized hydraulic fluid from a hydraulic pump or reservoir 62.
  • the hydraulic pump or reservoir may preferably be a hydraulic outlet of the hydraulic system of a tractor, i.e. the tractor's hydraulic supply system.
  • the hydraulic valve 46 comprises two outlets 48 for supplying pressurized hydraulic fluid to a hydraulic actuator 38 intended to be part of a top link for a coupling mechanism of the present invention for carrying an agricultural implement to be towed or pulled or carried by a tractor.
  • the hydraulic valve 46 in its interior comprises one or more individual valves for controlling the flow of hydraulic fluid from the inlet 64 for pressurized hydraulic fluid to the hydraulic actuator 38 via hoses 56.
  • valves are controlled by instructions 50 being send from the control unit 52.
  • the control unit in turn comprises means for receiving a signal 54 from a transducer 44.
  • the transducer is configured to be able to sense various parameters of the hydraulic actuator 38. Such parameters may relate to pressure or force acting between the actuator's two ends, or displacement or stress taking place between the actuator' s two ends.
  • the control unit 52 is connected to input means 58 in the form of an alphanumerical keyboard for allowing a user to provide instructions to the control unit with the view to control said hydraulic valve 46.
  • control unit 52 is connected to display means 60, such as a monitor or a user interface (UI), for displaying to a user the settings and/or status of the coupling mechanism or parts thereof.
  • display means 60 such as a monitor or a user interface (UI)
  • UI user interface
  • the input means 58 and/or the display means 60 may be in the form of an HMI (Human Machine Interface).
  • HMI Human Machine Interface
  • the keyboard 58 and the monitor 60 optionally in the form of an HMI, it will be possible to control the working mode of hydraulic valve and the hydraulic actuator 26 on the basis of the signal 54 provided by the transducer.
  • the controlling of the control unit 32 may relate to loading and activating one or more algorithms which a user wishes the control unit to follow in the control of the hydraulic actuator.
  • the control valve 46, the hydraulic actuator 38, the transducer 44 and also the control unit 52 are per se individually available at manufacturers and suppliers of hydraulic equipment and control units.
  • the present invention relates in a fifth aspect also to a kit. This kit will accordingly be well suited as an add-on to existing coupling mechanisms of tractors.

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Soil Sciences (AREA)
  • Environmental Sciences (AREA)
  • Zoology (AREA)
  • Lifting Devices For Agricultural Implements (AREA)
  • Agricultural Machines (AREA)

Abstract

The invention relates to a coupling mechanism (100) for damping oscillations between a tractor (300) and an agricultural implement during transport thereof; said coupling mechanism comprising: a top link, said top link is having a front end (4) configured to be pivotally mounted on a rear end (6) of a tractor; and said top link is having an opposite rear end (8) configured to be pivotally mounted on three point linkage (10) of an agricultural implement; wherein said top link is comprising a hydraulic actuator (38), said hydraulic actuator is having a front end (40) and a rear end (42); said hydraulic actuator is being arranged between the front end and the rear end of said top link so as to allow altering the effective distance between the front end and the rear end of said top link; a first lift arm (12) and a second lift arm (14); said first lift arm and said second lift arm (12, 14) each having a front end (16) configured to be pivotally mounted on a rear side of a tractor and an opposite rear end (18) configured to be pivotally mounted on a three point linkage of an agricultural implement; said two rear ends of the first and second lift arm, at their points of mounting, are configured to share a common pivot axis (20); wherein said first and second lift arms (12,14) being adapted to be arranged below the top link (2); a transducer (44); said transducer being configured to sense the load exerted between the front end (40) and the rear end (42) of said hydraulic actuator; a hydraulic valve (46) comprising one or more outlets and being configured to supply pressurized hydraulic fluid to said hydraulic actuator in response to instructions (50) received by said hydraulic valve; a control unit (52) configured to receive a signal (54) provided by said transducer, and being configured to translate this signal into instructions (50) to be supplied to said hydraulic valve according to a predetermined protocol in order to suppress any oscillations encountered between a tractor and an agricultural implement during transport thereof.

Description

A system for damping oscillations between a tractor and an agricultural implement during transport thereof
Field of the invention The present invention relates to the field of agriculture. More specifically, the present invention relates in a first aspect to a coupling mechanism for damping oscillations between a tractor and an agricultural implement during transport thereof.
In a second aspect the present invention relates to a tractor comprising a coupling mechanism according to the first aspect of the present invention. In a third aspect the present invention relates to a use of a coupling mechanism according to the first aspect or of a tractor according to the second aspect of the present invention for damping oscillations between a tractor and an agricultural implement during transport thereof.
In a fourth aspect the present invention relates to a kit for installation on a three point linkage for an agricultural implement for damping oscillations between a tractor and an agricultural implement during transport thereof.
Background of the invention
In the field of agriculture it has for centuries been acknowledged that in order to obtain a good yield of crops in terms of quantity and quality it will be necessary at regular intervals to provide a conditioning of the soil in which the crops are to be grown.
Such conditioning may relate to ploughing, cultivation, harrowing etc. The conditioning serves the purpose of aerating the soil, destroy the rooting of weed and to burry residues of last year's crops.
Conditionings like ploughing, cultivation and harrowing are typically performed by lift mounting an agricultural tool or implement behind a tractor.
With an ever increasing focus on optimizing efficiency of modern farming such agricultural implements tend to be designed in ever increasing sizes. The implements to be used with a tractor are in a working situation usually towed or pulled or carried behind the tractor. The implement is connected to the tractor via the front end three point linkage of the implement. This three point linkage is connected to a coupling mechanism in the form of a three point hitch on a rear end of the tractor. A thee point hitch comprises two lower lift arms attached to the tractor' s hydraulic system enabling hydraulic lift for elevating and lowering of these two lift arm. Additionally a three point hitch comprises normally an upper rigid top link, which length may be manually adjustable by turning a turnbuckle having two oppositely threaded inner threads connecting two oppositely threaded end bars. In a non-working, transport situation, for example during transportation of the tractor the implement is usually lifted by the three point hitch in such a way that no part of the implement itself touches the ground. Accordingly, during transportation of an agricultural implement it is inevitably that oscillations of the implement being suspended on the three point hitch of the tractor will result. These oscillations will be induced by accelerations and decelerations of the tractor, by uneven road surfaces, by wind effects, by small or larger turns of the tractor and by the resilient nature of the inflated tires of the tractor, all of which may result in oscillations of the tractor in a downward/upward direction.
As most agricultural implements are having a significant weight, the lifting of an agricultural implement during a transport situation on public or private road may occasionally lead to vigorous oscillations which may be prone to positive feedback leading to oscillations with increasing amplitude during certain periods of time. The most extreme situation being in situations in which natural oscillations are obtained.
The oscillations may be directed in a forward-rear-direction of may be directed in a transverse direction, in a vertical direction or may be directed in a combination of a forward-rear- direction and vertical direction in relation to the direction of movement of the tractor.
It is self-evident that oscillations may pose a hazard in relation to traffic safety, because transportation by a tractor of an oscillating implement may have the effect of making it difficult to control the tractor. Furthermore, in case the oscillation take place in a forward-rear direction a pulsating altering weight distribution on the four wheels of the tractor may be encountered, which may lead to an insufficient and/or pulsating weight distribution on the steering front wheels of the tractor during intervals of this pulsation. Furthermore, carrying an oscillating implement in a tractor will impart great discomfort to the driver driving the tractor.
Finally, an oscillating implement may during transport thereof result in weakening and/or breaking of essential parts of the suspension system carrying the implement, thereby imparting further hazards in a transport situation on public roads.
Accordingly, there exists a need for improving transportation safety during transport of an agricultural implement.
It is an objective of the present invention to provide a solution to the above stated problem in order to reduce oscillations between a tractor and an implement being carried thereby in a transport situation.
Brief description of the invention
This objective is attained with the present invention in its first, second, third, fourth, and fifth aspect, respectively. Accordingly, the present invention relates in a first aspect to a coupling mechanism for damping oscillations between a tractor and an agricultural implement during transport thereof; said coupling mechanism comprising: a top link, said top link is having a front end configured to be pivotally mounted on a rear end of a tractor; and said top link is having an opposite rear end configured to be pivotally mounted on a three point linkage of an agricultural implement; wherein said top link is comprising a hydraulic actuator, said hydraulic actuator is having a front end and a rear end; said hydraulic actuator is being arranged between the front end and the rear end of said top link so as to allow altering the effective distance between the front end and the rear end of said top link; a first lift arm and a second lift arm; said first lift arm and said second lift arm each having a front end configured to be pivotally mounted on a rear side of a tractor and an opposite rear end configured to be pivotally mounted on a three point linkage of an agricultural implement; said two rear ends of the first and second lift arm, at their points of mounting, are configured to share a common pivot axis; wherein said first and second lift arms being adapted to be arranged below the top link; a transducer; said transducer being configured to sense the load exerted between the front end and the rear end of said hydraulic actuator; a hydraulic valve comprising one or more outlets and being configured to supply pressurized hydraulic fluid to said hydraulic actuator in response to instructions received by said hydraulic valve; a control unit configured to receive a signal provided by said transducer, and being configured to translate this signal into instructions to be supplied to said hydraulic valve according to a predetermined protocol in order to suppress any oscillations encountered between a tractor and an agricultural implement during transport thereof.
In a second aspect the present invention relates to a tractor comprising a coupling mechanism according to the first aspect of the present invention.
In a third aspect the present invention relates to a use of a coupling mechanism according to the first aspect of the present invention or of a tractor according to the second aspect of the present invention for damping oscillations between a tractor and an agricultural implement during transport thereof.
In a fourth aspect the present invention relates to a kit for installation on a three point linkage for an agricultural implement for damping oscillations between a tractor and that agricultural implement during transport thereof, said kit comprising: a top link, said top link configured to be mounted between a rear part of a tractor and a three point linkage of an agricultural implement; said top link is having a front end configured to be pivotally mounted on the rear end of said tractor; and said top link is having an opposite rear end configured to be pivotally mounted on an three point hitch of an agricultural implement; wherein said top link is comprising a hydraulic actuator, said hydraulic actuator is having a front end and a rear end; said hydraulic actuator is being arranged between the front end and the rear end of said top link so as to allow altering of the effective distance between the front end and the rear end of said top link; a transducer; said transducer being configured to sense the load exerted between the front end and the rear end of said hydraulic actuator; a hydraulic valve comprising one or more outlets and being configured to supply pressurized hydraulic fluid to said hydraulic actuator in response to instructions received by said hydraulic valve; a control unit configured to receive a signal provided by said transducer, and being configured to translate this signal into instructions to be supplied to said hydraulic valve according to a predetermined protocol in order to suppress any oscillations encountered between a tractor and an agricultural implement during transport thereof.
The present invention in its various aspects provides for improved comfort and safety in a transport situation in which an agricultural implement is transported by a tractor. The improved safety is due to improved damping and control of any oscillations between a tractor and an agricultural implement during transport thereof.
Furthermore, the present invention allows minimizing unnecessary stress and wear of the mechanical and hydraulic system, and thereby minimizing the risk of material breakage.
Brief description of the figures
Fig.1 illustrates schematically a prior art three point hitch for connecting a tractor to an agricultural implement.
Fig. 2 illustrates schematically coupling mechanism according to the present invention for damping oscillations between a tractor and an agricultural implement during transport thereof. Fig. 3 illustrates schematically an embodiment of a control system for controlling the coupling mechanism of the present invention.
Detailed description of the invention
The present invention relates in a first aspect to a coupling mechanism for damping oscillations between a tractor and an agricultural implement during transport thereof; said coupling mechanism comprising: a top link, said top link is having a front end configured to be pivotally mounted on a rear end of a tractor; and said top link is having an opposite rear end configured to be pivotally mounted on a three point linkage of an agricultural implement; wherein said top link is comprising a hydraulic actuator, said hydraulic actuator is having a front end and a rear end; said hydraulic actuator is being arranged between the front end and the rear end of said top link so as to allow altering the effective distance between the front end and the rear end of said top link; a first lift arm and a second lift arm; said first lift arm and said second lift arm each having a front end configured to be pivotally mounted on a rear side of a tractor and an opposite rear end configured to be pivotally mounted on a three point linkage of an agricultural implement; said two rear ends of the first and second lift arm, at their points of mounting, are configured to share a common pivot axis; wherein said first and second lift arms being adapted to be arranged below the top link; a transducer; said transducer being configured to sense the load exerted between the front end and the rear end of said hydraulic actuator; a hydraulic valve comprising one or more outlets and being configured to supply pressurized hydraulic fluid to said hydraulic actuator in response to instructions received by said hydraulic valve; a control unit configured to receive a signal provided by said transducer, and being configured to translate this signal into instructions to be supplied to said hydraulic valve according to a predetermined protocol in order to suppress any oscillations encountered between a tractor and an agricultural implement during transport thereof.
In the present description the term "load" shall be construed to mean physical parameters encountered by the hydraulic actuator, selected from the group comprising: force or pressure acting between the actuator's two ends, or displacement or stress taking place between the actuator's two ends.
In the present description and in the appended claims the term "protocol" shall be construed to mean that specific algorithm or set of directions or instructions according to which the control unit translates the signal, received by it from the transducer, is translated and subsequently supplied to the hydraulic valve in order to suppress any oscillation encountered. In one embodiment of the first aspect of the present invention, the coupling mechanism furthermore comprising one or more hydraulic hoses connecting the hydraulic valve to said hydraulic actuator.
In one embodiment of the first aspect of the present invention, the top link comprises length adjustment means, such as a turnbuckle for adjusting the effective length of said top link.
Such means allows for fine tuning the settings of the coupling mechanism.
In one embodiment of the first aspect of the present invention, the control unit comprising input means, such as an alphanumerical keyboard, for allowing a user to provide information of said predetermined protocol to said control unit.
In one embodiment of the first aspect of the present invention the control unit comprising display means, such as a monitor or a user interface (UI), for displaying to a user the settings and/or status of the coupling mechanism or parts thereof.
In one embodiment of the first aspect of the present invention the input means and/or said display means is/are being in the form of a human machine interface (HMI).
Such means allows for controlling and communicating with the control unit.
In one embodiment of the first aspect of the present invention the hydraulic actuator is being a double acting hydraulic actuator.
In one embodiment of the first aspect of the present invention the hydraulic actuator comprises a pair of single acting hydraulic actuators.
In one embodiment of the first aspect of the present invention hydraulic actuator and said transducer are being an integral unit.
In one embodiment of the first aspect of the present invention the hydraulic actuator and said transducer are being separate units. In one embodiment of the first aspect of the present invention the hydraulic actuator comprises a barrel, housing a hydraulic piston having a piston rod. In one embodiment of the first aspect of the present invention the coupling mechanism further comprising safety means for avoiding lowering of the coupling mechanism to more than a predefined extend in case of malfunction of the hydraulic system relating to the top link.
In one embodiment of this embodiment the safety means comprising wires, chains or the like for connecting a rear end of the top link to the tractor itself; or wherein said safety means comprising a maximum possible expansion of the hydraulic actuator of 300 mm or less, such as 250 mm or less, for example 200 mm or less, such as 150 mm or less, such as 100 mm or less or 50 mm or less; or said safety means comprising a hydraulic safety valve being integrated with said hydraulic actuator and being configured to block outlet of hydraulic liquid from said hydraulic actuator.
Such means add additional safety in a transport situation.
In one embodiment of the first aspect of the present invention, said protocol is configured to follow the algorithm: i) at time Ti, allow the transducer (44) to determine the degree of extension of the hydraulic actuator (38); ii) at later time Τι,+ δΤ allow the transducer (44) to determine the degree of extension of the hydraulic actuator (38); iia) optionally repeat the steps i) and ii) a number N times until time T2; iii) in a case the degree of extension of the hydraulic actuator (38) from time Ti to Τι,+ δΤ, or from time Tito T2, as the case may be, represents an expansion of the hydraulic actuator, instruct the hydraulic valve (46) to retract the hydraulic actuator (38) a distance Din; iv) in a case the degree of extension of the hydraulic actuator (38) from time Ti to Τι,+ δΤ, or from time Tito T2, as the case may be, represents an retraction of the hydraulic actuator, instruct the hydraulic valve (46) to expand the hydraulic actuator (38) a distance Dex; v) define a new time Ti and repeat steps i) - iv).
This protocol allows control based on sensing of exact positions of the actuator.
In one embodiment of the first aspect of the present invention, said protocol is configured so as to follow the algorithm: i) at time T, allow the transducer (44) to determine the actual relative displacement between the front end (40) and the rear end (42) of the hydraulic actuator (38); ii) in case the actual movement determined in step i) represents an expansion of the hydraulic actuator (38), instruct the hydraulic valve (46) to retract the hydraulic actuator a distance Din; iii) in case the actual movement determined in step i) represents an retraction of the hydraulic actuator (38), instruct the hydraulic valve (46) to expand the hydraulic actuator a distance Dex; iv) define a new time T; v) repeat steps i) - iv).
This protocol allows control based on sensing of exact movements of the actuator. In one embodiment of the first aspect of the present invention, said protocol is configured to follow the algorithm: i) at time Ti, determine the direction and magnitude of the force or pressure sensed by the transducer (44); ii) at later time Τι,+ δΤ determine the direction and magnitude of the force or pressure sensed by the transducer (44); iia) optionally repeat the steps i) and ii) a number N times until time T2; iii) in a case the sum of direction and magnitude of the force or pressure sensed by the transducer (44) from time Ti to Τι+ δΤ, or from time Tito T2, as the case may be, represents an expansion of the hydraulic actuator, instruct the hydraulic valve (46) to retract the hydraulic actuator (38) a distance Din; iv) in a case the sum of direction and magnitude of the force or pressure sensed by the transducer (44) from time Ti to Τι+ δΤ, or from time Tito T2, as the case may be, represents a retraction of the hydraulic actuator, instruct the hydraulic valve (46) to expand the hydraulic actuator (38) a distance Dex; v) define a new time Ti and repeat steps i) - iv).
This protocol allows control based on sensing of force or pressure by the transducer. In one embodiment of the first aspect of the present invention, the time interval between repetition of the steps i) - v) is independently being selected from the ranges 0.001 - 5 sec; such as 0.005 - 4 sec, such as 0.01 - 2 sec, e.g. 0.05 - 1 sec, such as 0.1 - 0.5 sec.
In one embodiment of the first aspect of the present invention the distances Din and Dex independently being selected from the ranges 0.01 - 100 mm, such as 0.05 - 50 mm, for example 0.1 - 25 mm, such as 0.5 - 15 mm, for example 1.0 - 10 mm, such as 2 - 9 mm, for example 3 - 8 mm, such as 4 - 7 mm or 5 - 6 mm.
In one embodiment of the first aspect of the present invention the period of time δΤ, is being selected from the ranges 0.001 - 5 sec; such as 0.005 - 1 sec, such as 0.01 - 0.5 sec, for example 0.05 - 0.1 sec.
In one embodiment of the first aspect of the present invention the number N of repetition of steps of the algorithm is being selected from the range of 2 - 55, such as 5 - 50, for example 10 - 45, such as 15 - 40, e.g. 20 - 35 or 25 - 30.
The present invention relates in a second aspect to a tractor comprising a coupling mechanism according to the first aspect of the present invention.
The present invention relates in a third aspect to a use of a coupling mechanism according to the first aspect of the present invention or of a tractor according to the second aspect of the present invention for damping oscillations between a tractor and an agricultural implement during transport thereof. In one embodiment of the third aspect of the present invention the agricultural implement being a plough, a harrow, a cultivator, a seeder, an irrigator or a spreader.
The present invention relates in a fourth aspect to a kit for installation on a three point linkage for an agricultural implement for damping oscillations between a tractor and that agricultural implement during transport thereof, said kit comprising: a top link, said top link configured to be mounted between a rear part of a tractor and three point linkage of an agricultural implement; said top link is having a front end configured to be pivotally mounted on the rear end of said tractor; and said top link is having an opposite rear end configured to be pivotally mounted on an three point hitch of an agricultural implement; wherein said top link is comprising a hydraulic actuator, said hydraulic actuator is having a front end and a rear end; said hydraulic actuator is being arranged between the front end and the rear end of said top link so as to allow altering of the effective distance between the front end and the rear end of said top link; a transducer; said transducer being configured to sense the load exerted between the front end and the rear end of said hydraulic actuator; a hydraulic valve comprising one or more outlets and being configured to supply pressurized hydraulic fluid to said hydraulic actuator in response to instructions received by said hydraulic valve; a control unit configured to receive a signal provided by said transducer, and being configured to translate this signal into instructions to be supplied to said hydraulic valve according to a predetermined protocol in order to suppress any oscillations encountered between a tractor and an agricultural implement during transport thereof.
In one embodiment of the fourth aspect of the present invention, the kit further comprising one or more features as defined in respect of the first aspect.
Referring now in details to the drawings for the purpose of illustrating preferred embodiments of the present invention, Fig. 1 illustrates the principle of a conventional and traditional design of a lifting hitch on a tractor. The lifting hitch is arranged on a rear part of the tractor and allows lifting and lowering agricultural tools or agricultural implements to be lift- mounted behind the tractor.
Fig. 1 is a plan view as seen sideways from between the rear wheels 26 of the tractor resting on the surface 32 of the soil 30. Fig. 1 shows a traditional and conventional coupling mechanism 24 in the form three point hitch of the rear end of a tractor. The hitch comprises a top link 2 having a front end 4 and a rear end 8. The front end 4 of the top link 2 is pivotally mounted at a point on the tractor itself. The opposite rear end 8 of the top link 2 is pivotally mounted on a three point linkage of an agricultural implement (not shown in fig. l).The implement may be an implement for cultivating soil or crops of for fertilizing or for irrigating the soil or may be any other type of agricultural implement. Below the top link are arranged first lift arm 12 and a second lift arm 14. The front end 16 of the lift arm 12,14 is pivotally mounted on the tractor itself. The rear end 18 of the lift arm 12, 14 is pivotally mounted on the three point hitch of the agricultural implement.
The lift arms 12,14 are connected to a hydraulic actuator 28. The top link 2 comprises a turnbuckle 22 for adjustment of the effective length thereof.
The height of the coupling mechanism may be adjusted in height by activating the hydraulic actuator 28 either upward or downward. The actuator of the hydraulic actuator 28 is brought about by using the hydraulic system of the tractor.
Hence, actuating the hydraulic actuator 28 affects movement of the lift arms 12,14. If an agricultural implement is connected to the three point hitch, the front end of the implement may be raised or lowered in this way.
As the prior art three point hitch provides a rather rigid suspension of an agricultural implement, the weight of such an implement during transport thereof, which takes place in a lifted configuration where no part of the implement touches the ground, will easily result in oscillation of the implement. Such an oscillation implies hazards in terms of traffic safety.
Fig. 2 illustrates schematically a coupling mechanism according to the first aspect of the present invention for damping oscillations between a tractor and an agricultural implement during transport thereof.
Fig. 2 is a plan view as seen sideways from between the rear wheels of the tractor. The coupling mechanism 100 of fig. 2 comprises a top link 2 having a front end 4 and a rear end 8. The front end 4 of the top link 2 is pivotally mounted at a point on the tractor itself. The opposite rear end 8 of the top link 2 is pivotally mounted on an three point linkage 10 of an agricultural implement (not shown in fig. 2).
Below the top link are arranged first lift arm 12 and a second lift arm 14. The front end 16 of the lift arm 12,14 is pivotally mounted on the tractor itself. The rear end 18 of the lift arm 12, 14 is pivotally mounted on the three point linkage 10 of an agricultural implement.
The lift arms 12,14 are connected to a hydraulic actuator 28 In addition to the prior art three point hitch illustrated in fig. 1, the coupling mechanism 100 illustrated in fig. 2 further comprises a hydraulic actuator 38 which is being part of the top link 2. The hydraulic actuator 38 is having a first (front) end 40 and a second (rear) end 42.
The hydraulic actuator 38 is being coupled to a transducer 44 which is configured to sense physical parameters of the hydraulic actuator 38, such as force or pressure or load acting between the actuator's two ends, or such as displacement or stress taking place between the actuator's two ends.
By sensing such physical parameters by the transducer 44, it will be possible to use the hydraulic actuator 38 for counteracting any oscillations taking part between the tractor and an implement being lift-mounted by said tractor in a transport situation thereof.
Accordingly, in the coupling mechanism according to the first aspect of the present invention, the transducer 44 and the actuator 38 will be configured in a feed-back mode.
This is further illustrated in fig. 3.
Fig. 3 schematically illustrates an embodiment of the means for controlling the coupling mechanism 100 of the coupling mechanism according to the present invention.
Fig. 3 shows the hydraulic valve 46 comprising an inlet 64 and outlet 64' for pressurized hydraulic fluid from a hydraulic pump or reservoir 62. The hydraulic pump or reservoir may preferably be a hydraulic outlet of the hydraulic system of a tractor, i.e. the tractor's hydraulic supply system. The hydraulic valve 46 comprises two outlets 48 for supplying pressurized hydraulic fluid to a hydraulic actuator 38 intended to be part of a top link for a coupling mechanism of the present invention for carrying an agricultural implement to be towed or pulled or carried by a tractor.
The hydraulic valve 46 in its interior comprises one or more individual valves for controlling the flow of hydraulic fluid from the inlet 64 for pressurized hydraulic fluid to the hydraulic actuator 38 via hoses 56.
These valves are controlled by instructions 50 being send from the control unit 52.
The control unit in turn comprises means for receiving a signal 54 from a transducer 44. The transducer is configured to be able to sense various parameters of the hydraulic actuator 38. Such parameters may relate to pressure or force acting between the actuator's two ends, or displacement or stress taking place between the actuator' s two ends.
The control unit 52 is connected to input means 58 in the form of an alphanumerical keyboard for allowing a user to provide instructions to the control unit with the view to control said hydraulic valve 46.
Furthermore, the control unit 52 is connected to display means 60, such as a monitor or a user interface (UI), for displaying to a user the settings and/or status of the coupling mechanism or parts thereof.
The input means 58 and/or the display means 60 may be in the form of an HMI (Human Machine Interface).
Hence, using the keyboard 58 and the monitor 60, optionally in the form of an HMI, it will be possible to control the working mode of hydraulic valve and the hydraulic actuator 26 on the basis of the signal 54 provided by the transducer.
The controlling of the control unit 32 may relate to loading and activating one or more algorithms which a user wishes the control unit to follow in the control of the hydraulic actuator.
The control valve 46, the hydraulic actuator 38, the transducer 44 and also the control unit 52 are per se individually available at manufacturers and suppliers of hydraulic equipment and control units. The present invention relates in a fifth aspect also to a kit. This kit will accordingly be well suited as an add-on to existing coupling mechanisms of tractors.
List of reference numerals
2 Top link
4 Front end of top link
6 Rear end of tractor
8 Rear end of top link
10 Three point linkage of agricultural implement
12 First lift arm
14 Second lift arm
16 Front end of lift arm
18 Rear end of lift arm
20 Common pivot axis of two lift arms
22 Turnbuckle
24 Three point hitch of tractor
26 Rear wheel of tractor
28 Hydraulic lifting cylinder
30 Soil
32 Surface of soil
38 Hydraulic actuator
40 Front end of hydraulic actuator
42 Rear end of hydraulic actuator
44 Transducer
46 Hydraulic valve
48 Outlet for pressurized hydraulic fluid 50 Instruction to hydraulic valve
52 Control unit
54 Signal
56 Hydraulic hose
58 Input means
60 Display means
62 Hydraulic pump or reservoir for pressurized hydraulic fluid
64 Inlet for pressurized hydraulic fluid
64' Outlet for pressurized hydraulic fluid
100 Coupling mechanism

Claims

Claims
1. A coupling mechanism (100) for damping oscillations between a tractor and an agricultural implement during transport thereof; said coupling mechanism comprising: a top link (2), said top link is having a front end (4) configured to be pivotally mounted on a rear end (6) of a tractor; and said top link is having an opposite rear end (8) configured to be pivotally mounted on three point linkage (10) of an agricultural implement; wherein said top link is comprising a hydraulic actuator (38), said hydraulic actuator is having a front end (40) and a rear end (42); said hydraulic actuator is being arranged between the front end and the rear end of said top link so as to allow altering the effective distance between the front end and the rear end of said top link; a first lift arm (12) and a second lift arm (14); said first lift arm and said second lift arm (12,14) each having a front end (16) configured to be pivotally mounted on a rear side of a tractor and an opposite rear end (18) configured to be pivotally mounted on a three point linkage of an agricultural implement; said two rear ends of the first and second lift arm, at their points of mounting, are configured to share a common pivot axis (20); wherein said first and second lift arms (12,14) being adapted to be arranged below the top link (2); a transducer (44); said transducer being configured to sense the load exerted between the front end (40) and the rear end (42) of said hydraulic actuator; a hydraulic valve (46) comprising one or more outlets and being configured to supply pressurized hydraulic fluid to said hydraulic actuator in response to instructions (50) received by said hydraulic valve; a control unit (52) configured to receive a signal (54) provided by said transducer, and being configured to translate this signal into instructions (50) to be supplied to said hydraulic valve according to a predetermined protocol in order to suppress any oscillations encountered between a tractor and an agricultural implement during transport thereof.
2. A coupling mechanism (100) according to claim 1 furthermore comprising one or more hydraulic hoses (56) connecting the hydraulic valve (46) to said hydraulic actuator (38).
3. A coupling mechanism (100) according to claim 1 or 2, wherein said top link comprises length adjustment means (22), such as a turnbuckle for adjusting the effective length of said top link.
4. A coupling mechanism (100) according to any of the claims 1 - 3, wherein said control unit (52) comprising input means (58), such as an alphanumerical keyboard, for allowing a user to provide information of said predetermined protocol to said control unit (52).
5. A coupling mechanism (100) according to any of the claims 1 - 4, wherein said control unit (52) comprising display means (60), such as a monitor or a user interface (UI), for displaying to a user the settings and/or status of the coupling mechanism or parts thereof.
6. A coupling mechanism (100) according to claim 4 or 5, wherein said input means (58) and/or said display means (60) is/are being in the form of a human machine interface (HMI).
7. A coupling mechanism (100) according to any of the claims 1 - 6 wherein said hydraulic actuator (38) is being a double acting hydraulic actuator.
8. A coupling mechanism (100) according to any of the claims 1 - 6 wherein said hydraulic actuator (38) comprises a pair of single acting hydraulic actuators.
9. A coupling mechanism (100) according to any of the claims 1 - 8 wherein said hydraulic actuator (38) and said transducer (44) are being an integral unit.
10. A coupling mechanism (100) according to any of the claims 1 - 8 wherein said hydraulic actuator (38) and said transducer (44) are being separate units.
11. A coupling mechanism (100) according to any of the claims 1 - 10 wherein the hydraulic actuator (38) comprises a barrel, housing a hydraulic piston having a piston rod.
12. A coupling mechanism (100) according to any of the claims 1 - 11 further comprising safety means for avoiding lowering of the coupling mechanism to more than a predefined extend in case of malfunction of the hydraulic system relating to the top link.
13. A coupling mechanism (100) according to claim 12, wherein said safety means comprising wires, chains or the like for connecting a rear end of the top link to the tractor itself; or wherein said safety means comprising a maximum possible expansion of the hydraulic actuator of 300 mm or less, such as 250 mm or less, for example 200 mm or less, such as 150 mm or less, such as 100 mm or less or 50 mm or less; or wherein said safety means comprising a hydraulic safety valve being integrated with said hydraulic actuator and being configured to block outlet of hydraulic liquid from said hydraulic actuator.
14. A coupling mechanism (100) according to any of the claims 1 - 13 wherein said protocol is configured to follow the algorithm: i) at time Ti, allow the transducer (44) to determine the degree of extension of the hydraulic actuator (38); ii) at later time Τι,+ δΤ allow the transducer (44) to determine the degree of extension of the hydraulic actuator (38); iia) optionally repeat the steps i) and ii) a number N times until time T2; iii) in a case the degree of extension of the hydraulic actuator (38) from time Ti to Τι,+ δΤ, or from time Tito T2, as the case may be, represents an expansion of the hydraulic actuator, instruct the hydraulic valve (46) to retract the hydraulic actuator (38) a distance Din; iv) in a case the degree of extension of the hydraulic actuator (38) from time Ti to Τι,+ δΤ, or from time Tito T2, as the case may be, represents an retraction of the hydraulic actuator, instruct the hydraulic valve (46) to expand the hydraulic actuator (38) a distance Dex; v) define a new time Ti and repeat steps i) - iv).
15. A coupling mechanism (100) according to any of the claims 1 - 13 wherein said protocol is configured so as to follow the algorithm: i) at time T, allow the transducer (44) to determine the actual relative displacement between the front end (40) and the rear end (42) of the hydraulic actuator (38); ii) in case the actual movement determined in step i) represents an expansion of the hydraulic actuator (38), instruct the hydraulic valve (46) to retract the hydraulic actuator a distance Din; iii) in case the actual movement determined in step i) represents an retraction of the hydraulic actuator (38), instruct the hydraulic valve (46) to expand the hydraulic actuator a distance Dex; iv) define a new time T; v) repeat steps i) - iv).
16. A coupling mechanism (100) according to any of the claims 1 - 13 wherein said protocol is configured to follow the algorithm: i) at time Ti, determine the direction and magnitude of the force or pressure sensed by the transducer (44); ii) at later time Τι,+ δΤ determine the direction and magnitude of the force or pressure sensed by the transducer (44); iia) optionally repeat the steps i) and ii) a number N times until time T2; iii) in a case the sum of direction and magnitude of the force or pressure sensed by the transducer (44) from time Ti to Τι+ δΤ, or from time Tito T2, as the case may be, represents an expansion of the hydraulic actuator, instruct the hydraulic valve (46) to retract the hydraulic actuator (38) a distance Din; iv) in a case the sum of direction and magnitude of the force or pressure sensed by the transducer (44) from time Ti to Τι+ δΤ, or from time Tito T2, as the case may be, represents a retraction of the hydraulic actuator, instruct the hydraulic valve (46) to expand the hydraulic actuator (38) a distance Dex; v) define a new time Ti and repeat steps i) - iv).
17. A coupling mechanism (100) according to any of the claims 14 - 16, wherein the time interval between repeating steps i) - v) independently being selected from the ranges 0.001 - 5 sec; such as 0.005 - 4 sec, such as 0.01 - 2 sec, e.g. 0.05 - 1 sec, such as 0.1 - 0.5 sec. .
18. A coupling mechanism (100) according to any of the claims 14 - 17, wherein the distances Din and Dex independently being selected from the ranges 0.01 - 100 mm, such as 0.05 - 50 mm, for example 0.1 - 25 mm, such as 0.5 - 15 mm, for example 1.0 - 10 mm, such as 2 - 9 mm, for example 3 - 8 mm, such as 4 - 7 mm or 5 - 6 mm.
19. A coupling mechanism (100) according to claim 14 or 16, wherein the period of time δΤ, is being selected from the ranges 0.001 - 5 sec; such as 0.005 - 1 sec, such as 0.01 - 0.5 sec, for example 0.05 - 0.1 sec.
20. A coupling mechanism (100) according to claim 14 or 16, wherein N is being selected from the range of 2 - 55, such as 5 - 50, for example 10 - 45, such as 15 - 40, e.g. 20 - 35 or 25 - 30.
21. A tractor (300) comprising a coupling mechanism (100) according to any of the claims 1 - 13.
22. Use of a coupling mechanism (100) according to any of the claims 1 - 20 or of a tractor (300) according to claim 21 for damping oscillations between a tractor and an agricultural implement during transport thereof.
23. Use according to claim 22, wherein the agricultural implement being a plough, a harrow, a cultivator, a seeder, an irrigator or a spreader.
24. A kit for installation on a three point linkage for an agricultural implement (300) for damping oscillations between a tractor and an agricultural implement during transport thereof, said kit comprising: a top link (2), said top link configured to be mounted between a rear part (6) of a tractor and an three point linkage (10) of an agricultural implement; said top link is having a front end (4) configured to be pivotally mounted on the rear end of said tractor; and said top link is having an opposite rear end (8) configured to be pivotally mounted on an three point linkage (10) of an agricultural implement; wherein said top link (2) is comprising a hydraulic actuator (38), said hydraulic actuator is having a front end (40) and a rear end (42); said hydraulic actuator is being arranged between the front end (4) and the rear end (8) of said top link so as to allow altering of the effective distance between the front end and the rear end of said top link; a transducer (44); said transducer being configured to sense the loads exerted between the front end (40) and the rear end (42) of said hydraulic actuator (38); a hydraulic valve (46) comprising one or more outlets (48) and being configured to supply pressurized hydraulic fluid to said hydraulic actuator (38) in response to instructions (50) received by said hydraulic valve; a control unit (52) configured to receive a signal (54) provided by said transducer (44), and being configured to translate this signal into instructions (50) to be supplied to said hydraulic valve (46) according to a predetermined protocol in order to suppress any oscillations encountered between a tractor and an agricultural implement during transport thereof.
25. A kit according to claim 24 further comprising one or more features as defined in any of the claims 1 - 25.
EP16822887.2A 2015-12-17 2016-12-16 A system for damping oscillations between a tractor and an agricultural implement during transport thereof Withdrawn EP3389352A1 (en)

Applications Claiming Priority (2)

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DKPA201500814A DK179447B1 (en) 2015-12-17 2015-12-17 A coupling mechanism and use of a coupling mechanism for damping oscillations between a tractor and an agricultural implement during transport thereof
PCT/DK2016/050438 WO2017101952A1 (en) 2015-12-17 2016-12-16 A system for damping oscillations between a tractor and an agricultural implement during transport thereof

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EP3709785B1 (en) * 2017-11-15 2022-09-14 Mita Oleodinamica S.P.A. Device for damping the inertial stresses
CN114793515A (en) * 2022-02-18 2022-07-29 潍柴雷沃重工股份有限公司 Vibration reduction method, device, system, equipment and medium of tractor and tractor

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DE2856583C2 (en) * 1978-12-22 1985-02-07 Alfred Dipl.-Ing. 1000 Berlin Ulrich Three-point hitch for a tractor with a rear and / or front attachment
DE3446811A1 (en) * 1984-12-21 1986-07-03 Robert Bosch Gmbh, 7000 Stuttgart Traction machine which can be used in agriculture and which has a coupled working appliance
DE3942057A1 (en) * 1989-12-20 1991-06-27 Bosch Gmbh Robert AGRICULTURAL TRACTOR WITH A SYSTEM FOR DYNAMIC STABILIZATION OF ITS MOVEMENTS
FR2659906A1 (en) * 1990-03-26 1991-09-27 Barrieu Christian Oleopnuematic system (replacing the upper link of a "three-point" hitch) which can be used on agricultural tractors
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WO2017101952A1 (en) 2017-06-22
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CA3008044A1 (en) 2017-06-22

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