EP4646090A1 - Agricultural implement carrier - Google Patents

Agricultural implement carrier

Info

Publication number
EP4646090A1
EP4646090A1 EP23833225.8A EP23833225A EP4646090A1 EP 4646090 A1 EP4646090 A1 EP 4646090A1 EP 23833225 A EP23833225 A EP 23833225A EP 4646090 A1 EP4646090 A1 EP 4646090A1
Authority
EP
European Patent Office
Prior art keywords
agricultural implement
steering
implement carrier
hinge
wheel assemblies
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.)
Pending
Application number
EP23833225.8A
Other languages
German (de)
French (fr)
Inventor
Onno GRAAFSTRA
Guido MANGNUS
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.)
Grazo Holding BV
Original Assignee
Grazo Holding BV
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 Grazo Holding BV filed Critical Grazo Holding BV
Publication of EP4646090A1 publication Critical patent/EP4646090A1/en
Pending 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
    • A01B51/00—Undercarriages specially adapted for mounting on various kinds of agricultural tools or apparatus
    • A01B51/02—Undercarriages specially adapted for mounting on various kinds of agricultural tools or apparatus propelled by a motor
    • A01B51/026—Undercarriages specially adapted for mounting on various kinds of agricultural tools or apparatus propelled by a motor of the automotive vehicle type, e.g. including driver accommodation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D49/00—Tractors
    • B62D49/06—Tractors adapted for multi-purpose use
    • B62D49/0607—Straddle tractors, used for instance above vine stocks, rows of bushes, or the like
    • 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
    • A01B63/102—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means characterised by the location of the mounting on the tractor, e.g. on the rear part
    • A01B63/104—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means characterised by the location of the mounting on the tractor, e.g. on the rear part on the middle part, i.e. between front and rear wheels

Definitions

  • the invention relates to an agricultural implement carrier .
  • Tractors In agriculture, traditionally the fields are worked by hand and by using tractors . Tractors are used for heavy duty work such as ploughing . Tractors may also be deployed for lighter field work where the heavy tractors may unnecessarily compact the soil which in the longer term may result in reduced crop yields .
  • Agricultural implement carriers are usually elongated vehicles that are able to switch over between a road driving direction and an agricultural implement operating direction transverse thereto . In this manner the length of the implement carrier converts into a large track width that is spanned by the agricultural implement .
  • the agricultural implement carrier needs much less tracks in the field, leaving a larger part of the field unaf fected .
  • the invention provides an agricultural implement carrier for moving an agricultural implement along a field
  • the agricultural implement carrier comprises a base frame , an implement connector on the base frame for connecting the agricultural implement to the agricultural implement carrier, and multiple wheel assemblies that support the base frame above the field for driving the agricultural implement carrier along the field in a driving direction
  • the wheel assemblies comprise a pivot arm, a pivot mechanism, a steering mechanism and a wheel base
  • the pivot arm is on a proximal side hingeably connected to the base frame by a first hinge of the pivot mechanism for hinging the pivot arm with respect to the base frame around a first hinge axis that is substantially transverse to the driving direction
  • the first hinge axes of the wheel assemblies extend substantially parallel to each other
  • the pivot mechanism comprises a hinge motor for driving the hinging around the first hinge axis
  • the steering mechanism comprises a steering cylinder on a distal side of the pivot arm that comprises a circumferential wall that bounds a straight internal cylinder chamber with a circular
  • the agricultural implement carrier comprises multiple wheel assemblies with a pivot arm of which the hinging around the first hinge axis is powered by the hinge motor while the hinging of the steering rod around the second hinge axis is guided by the top seal and bottom seal and powered by the steering motor .
  • the steering rod that extends through the top seal and the bottom seal allows dynamic height adj ustment of the base frame with respect to the driven wheel .
  • the steering rod provides the steering, the load transfer and the height adj ustment of the agricultural implement carrier and the connected agricultural implement with respect to the field .
  • the combined powered hinging of the pivot arms around the first hinge axes , the steering of the wheels around the second hinge axes , the rotation of the wheels and the height adj ustment may prevent high torques onto the steering rods .
  • the wheel assemblies can be implemented light weight, and therefore the entire agricultural implement carrier, whereby compacting of the soil in the tracks may be reduced, and a subtle drive along the tracks may be performed to minimise disruption of the soil in the tracks .
  • the hinge motor is an electronic servo motor for high accurate control of the hinging around the first hinge axis .
  • the steering motor is an electronic servo motor for high accurate control of the hinging around the second hinge axis .
  • the steering mechanism is configured to sense the position of the steering rod with respect to the steering cylinder parallel to the second hinge axis for high accurate height adj ustment .
  • the agricultural implement carrier comprises four wheel assemblies , wherein the first hinge axes extend substantially parallel to each other and in a rectangular configuration .
  • the agricultural implement carrier comprises an electronic controller that is connected to the hinge motors , the steering motors , the drive motors and the hydraulic drive units , wherein the electronic controller is configured to power these motors and drive units so as to move the agricultural implement along the field over a defined path and at a defined height .
  • the electronic controller may be partly human operated, or provide autonomous drive like a robot, for example guided by a global positioning system (GPS ) .
  • GPS global positioning system
  • the agricultural implement carrier comprises an electric power source for powering the hinge motors , the steering motors , the drive motors and the hydraulic drive units .
  • the implement connector comprises a suspension frame that proj ects downwards from the base frame , two hoisting arms and an hydraulic tiling cylinder above the hoisting arms , wherein the hoisting arms are at a proximal side hingeably connected to the hoisting frame and at a distal side merge into hoisting hooks for receiving the agricultural implement, and wherein the hydraulic tilting cylinder is at a proximal side hingeably connected to the suspension frame and at a distal side merges into a connector for the agricultural implement .
  • the implement connector is located downwards from the main frame and is therefore surrounded by the wheel assemblies . In this manner the weight of the agricultural implement may evenly be distributed over the wheel assemblies for accurate control of its path along the field and height adj ustment with respect to the field .
  • the hydraulic top chamber of the internal cylinder chamber of one of the multiple wheel assemblies is in fluid communication with the hydraulic top chamber of an adj acent one of the multiple wheel assemblies .
  • the hydraulic bottom chamber of the internal cylinder chamber of one of the multiple wheel assemblies is in fluid communication with the hydraulic bottom chamber of the adj acent one of the multiple wheel assemblies , preferably of the pair of wheel assemblies formed by that one and that adj acent one of the wheel assemblies .
  • the internal cylinder chambers are connected to each other in a cross wise manner .
  • the crosswise connection causes the one wheel assembly to move upwards , when the adj acent wheel assembly moves downwards because of an unevenness in the field .
  • the crosswise connection between the wheel assemblies advantageously fulfils the function of a swing axle .
  • the base frame is configured to be moved with respect to the multiple wheel assemblies .
  • the electronic controller that is connected to the hinge motors and the steering motors is configured for controlling the hinge motors and steering motors such that the base frame is moved with respect to the multiple wheel assemblies .
  • the agricultural implement carrier is configured for moving an agricultural implement in a back-forward direction or for moving the agricultural implement in a left-right direction transverse to the back-forward direction .
  • the electronic controller is configured for moving the base frame in a side direction transverse to the back-forward direction when the agricultural implement carrier is moving the agricultural implement in the back- forward direction, or for moving the base frame in a side direction transverse to the left-right direction when the agricultural implement carrier is moving the agricultural implement in the left-right direction .
  • the electronic controller is configured for controlling the hinge motors and steering motors such that a distance between two adj acent wheel assemblies of the multiple wheel assemblies and extending in a direction transverse to the direction in which the agricultural implement carrier is moving is maintained, wherein the distance is defining a track width .
  • Figure 1 is an isometric view of an agricultural implement carrier according to an embodiment of the invention, carrying an agricultural implement ;
  • Figures 2A, 2B and 2C are a side view, a front view and a rear view of the agricultural implement carrier of figure 1 without the agricultural implement ;
  • Figure 3 is a detail of the agricultural implement carrier of figure 1 .
  • Figure 1 shows an agricultural implement carrier 1 according to an embodiment of the invention, that carries an agricultural implement 100 .
  • the agricultural implement carrier 1 can move or carry the agricultural implement 100 along a field 110 to perform agricultural work in a forward-backward driving direction F, in a transverse leftright driving direction T and any direction there between to move the agricultural implement carrier 1 and the connected agricultural implement 100 along the field in any desired moving direction and under any desired orientation with respect to the actual moving direction .
  • the agricultural implement 100 may be any kind of implement such as , but not limited to, soil cultivation implements , planting implements , harvesting implements , irrigation implements or weed control implements such as a hoeing machine as schematically shown in figure 1 .
  • the agricultural implement carrier 1 comprises a steel rectangular base frame 10 , a implement connector 30 on the base frame 10 to connect the agricultural implement 100 , and four identical wheel assemblies 41 , 42 , 43 , 44 on the corners of the base frame 10 to move the agricultural implement carrier 1 in the desired moving direction under the desired orientation and at a desired track width, and to adj ust the height of the base frame 10 with respect to the field 110 during driving .
  • FIGS 2A-2C show the agricultural implement carrier 1 without the agricultural implement 2 .
  • the implement connector 30 comprises a steel suspension frame 31 below and rigidly connected to the base frame 10 , a steel hoisting frame 33 that is connected to a bottom side of the suspension frame 31 by means of two hinges 32 , and two hydraulic hoisting cylinders 34 between the suspension frame 31 and the hoisting frame 33 to hinge the hoisting frame 33 in a vertical hoisting direction H .
  • the implement connector 30 comprises two steel hoisting arms 35 that are at their proximal side connected to the hoisting frame 33 by means of two hinges 36, and that at their distal side merge into hoisting hooks 37 .
  • the implement connector 30 comprises an hydraulic swing cylinder 38 between the hoisting frame 33 and one of the hoisting arms 35 to hinge the hoisting hooks 37 that carry the agricultural implement 100 with respect to the suspension frame 31 in a horizontal swinging direction J .
  • the implement connector 30 comprises an hydraulic tiling cylinder 39 that is at is proximal end connected to the suspension frame 31 and that comprises at its distal end a ball connector 40 to be connected to the agricultural implement 100 to maintain or adj ust its tilting position with respect to the suspension frame 31 .
  • the set of the two hoisting hooks 37 and the ball connector 40 there above are known per se to connect compatible agricultural implements to the hoisting device of a tractor for example .
  • the wheel assemblies 41 , 42 , 43 , 44 each comprise a steel pivot arm 50 that is at its proximal end connected to its corner of the base frame 10 via a not shown hinge to hinge with respect to the base frame 10 in direction C around parallel first hinge axes A for each and all the wheel assemblies 41 , 42 , 43 , 44 , which is for each wheel assembly 41 , 42 , 43 , 44 individually powered and controlled by a not shown electric first servo motor that forms a hinge motor .
  • the first hinge axes A extend substantially vertical , or substantially perpendicular to the field 110 .
  • the hinging around the first hinge axis A can be used to adj ust the track width of the agricultural implement carrier 1 in the applied forward-backward driving direction F or the transverse left-right driving direction T .
  • the wheel assemblies 41 , 42 , 43 , 44 are hereafter elucidated by refence to figure 3 that shows details and inner parts of the wheel assembly 41 at the left front corner of the base frame 10 .
  • the wheel assembly 41 comprises a steering mechanism 45 that comprises a steel steering cylinder 52 that is mounted to the distal end of the pivot arm 50 .
  • the steering cylinder 52 is protected by a cover 46 that is shown in figure 1 and that has been removed from the wheel assembly 41 in figure 3 for illustrative purposes only .
  • the steering cylinder 52 has a circumferential wall 53 with a circular cross section that bounds a straight internal cylinder chamber 54 .
  • the steering mechanism 45 comprises a straight steel steering rod 55 with a circular cross section that extends through the cylinder chamber 54 .
  • the steering rod 55 proj ects downwardly from the steering cylinder 52 , and the bottom end is rigidly connected to a steel wheel strut 65.
  • the steering rod 55 proj ects upwardly from the steering cylinder 52 and the upper end is connected to an electric second servo motor 70 that forms a steering motor .
  • the second servo motor 70 is connected to the pivot arm 50 via a scissor mechanism 71 .
  • the steering mechanism 45 comprises a top seal 56 between the steering cylinder 52 and the steering rod 55 that slidably seals of f against the steering cylinder 52 and that is kept in place by a top cover 57 .
  • the steering mechanism 45 comprises a bottom seal 58 between the steering cylinder 52 and the steering rod 55 that slidably seals of f against the steering cylinder 52 and that is kept in place by a bottom cover 59.
  • the steering mechanism 45 comprises an hydraulic piston 60 on the steering rod 55 that slidably seals off against the circumferential wall 53 and that divides the internal cylinder chamber 54 into an hydraulic top chamber 61 towards the top seal 56 and an hydraulic bottom chamber 62 towards the bottom seal 58 .
  • the hydraulic top chamber 61 and the hydraulic bottom chamber 62 are both filled with hydraulic oil and are via not shown high pressure hoses inside the pivot arm 50 connected to a not shown electrically driven and electronically controlled hydraulic drive unit .
  • the wheel assembly 41 comprises a wheel 66 having a steel rim 67 and an air tyre 68 around the rim 67 , and an electric drive motor 69 between the wheel strut 65 and the rim 67 that is powered via electric wires 73 .
  • the electric drive motor 69 may be embodied as a servo motor .
  • the top seal 56, the bottom seal 58 and the piston 60 enable a rotation of the steering rod 55 and thereby hinging of the wheel 66 in direction D with respect to the pivot arm 50 around a second hinge axis B that extends parallel to the first hinge axis B of that pivot arm 50 .
  • the second hinge axes B extend substantially vertical , or substantially perpendicular to the field 110 .
  • the top seal 56, the bottom seal 58 and the piston 60 enable a combined sliding movement of the steering rod 55 and thereby the wheel 66 in a direction E parallel to the second hinge axis B with respect to the pivot arm 50 over a height adj ustment stroke .
  • the steering hinging rotation of the steering rod 55 is powered by the second servo motor 70 , wherein the orientation of the second servo motor 70 with respect to the pivot arm 51 is kept constant by the scissors mechanism 71 .
  • the agricultural implement carrier 1 comprises a not shown electric power source, preferably a battery pack, to drive the agricultural implement carrier 1 and to power the agricultural implement 100 when required .
  • the agricultural implement carrier 1 comprises an electronic controller 80 with a human interface 81 that is connected with the electric power source and with the first servo motors , the second servo motors 70 , the drive motors 69 and the hydraulic drive units for the steering mechanisms 45 of the wheel assemblies 41 , 42 , 43 , 44 .
  • the agricultural implement carrier 1 comprises multiple sensors for sensing and for feedback to the electronic controller 80 the angles of rotation of the pivot arms 50 in direction C around the first hinge axes A, the angles of rotation or steering angles of the wheels 66 in direction D around the second hinge axes B, and the longitudinal position of the steering rods 55 in direction E with respect to the steering cylinders 52 .
  • the agricultural implement carrier 1 comprises a cabin 85 for a human operator when so required .
  • the electronic controller 80 is programmed to control the first servo motors , the second servo motors 70 , the drive motors 69 and the hydraulic drive units for the steering mechanisms 45 of the wheel assemblies 41 , 42 , 43 , 44 in response to operator instructions or autonomously, for example guided by a global positioning system (GPS ) .
  • GPS global positioning system
  • the steering mechanism 45 uses the steering rod 55 for load transfer to the wheel 66 , and for steering the wheel 66 in direction D, and for dynamic height adj ustment of the implement connector 30 and thereby the agricultural implement 100 during driving over the field 110 .
  • each first servo motor, second servo motor 70 , drive motor 69 and hydraulic drive unit for the steering mechanism 45 is controlled individually for each wheel assembly 41 , 42 , 43 , 44 , it can be controlled that the steering rod 55 remains vertical , and that high torques acting on the steering rod 55 can actively be prevented .
  • the top seal 56 and the bottom seal 58 suffice in the trans fer of remaining torques between the steering rod 55 and the steering cylinder 52 .
  • the hydraulically actuated piston 60 ensures rapid responses in the height adj ustments in direction E . Therefore no additional hardware is necessary between the pivot arm 41 and the wheel strut 65 , keeping the wheel assemblies 41 , 42 , 43 , 44 light weight .
  • the agricultural implement carrier 1 allows the steel rectangular base frame 10 , and thereby the agricultural implement 100 arranged at the steel rectangular base frame 10 , to be shifted in a side direction S , as exemplarily indicated in figure 1 , while the track width determined by the wheel assemblies 41 , 42 , 43 , 44 remains substantially the same .
  • Shi fting of the steel rectangular base frame 10 in the side direction S while maintaining the track width determined by the wheel assemblies 41 , 42 , 43 , 44 may be accomplished by rotating each of the steel pivot arms 50 in direction C around the first hinge axis A and steering the wheels 66 in direction D around the second hinge axis B .
  • Shifting the steel rectangular base frame 10 in the side direction S may be done for moving the agricultural implement 100 , for example, with respect to a row of crops in order to compensate for deviations in the row of crops when seen in the longitudinal direction thereof .
  • shi fting of the steel rectangular base frame 10 in the side direction S while maintaining track width may be understood as moving the steel rectangular base frame 10 with respect to the wheel assemblies 41 , 42 , 43 , 44 .
  • Shi fting of the steel rectangular base frame 10 in the side direction S may be done by an operator of the agricultural implement carrier 1 , for example, by means of a controlling system, such as a j oystick operatively connected to the electronic controller 80 .
  • a controlling system such as a j oystick operatively connected to the electronic controller 80 .
  • the agricultural implement carrier 1 may be provided with a camera operatively connected to the electronic controller 80 and configured for providing image data, for example, of the row of crops to be handled by the agricultural implement 80 .
  • the image data may be provided to the electronic controller 80 , which electronic controller 80 is configured for processing the image data and for shifting the steel rectangular base frame 10 in the side direction S while maintaining the track width determined by the wheel assemblies 41 , 42 , 43 , 44 based on the image data generated by the camera .
  • wheel assemblies 41 , 42 form front wheel assemblies 41 , 42 and wheel assemblies 43 , 44 form rear wheel assemblies when the agricultural implement carrier 1 is driving in the forward-backward driving direction F .
  • Each of the front wheel assemblies 41 , 42 has a steering mechanism 45 as described above .
  • each of the front wheel assemblies 41 , 42 may be connected to the hydraulic top chamber 61 of the other one of the front wheel assemblies 41 , 42 , and alternatively or in addition thereto , the hydraulic bottom chamber 62 of each of these front wheel assemblies 41 , 42 may be connected to the hydraulic bottom chamber 62 of the other one of these front wheel assemblies 41 , 42 , such that a crosswise hydraulic connection is present between the straight internal cylinder chambers 45 of the front wheel assemblies 41 , 42 that form a pair .
  • one of the front wheel assemblies 41 , 42 may be moved upwards by an unevenness in the field .
  • a corresponding crosswise hydraulic connection is provided between the rear wheel assemblies 43 , 44 as well .
  • a corresponding crosswise hydraulic connection may also be provided between each pair of one of the front wheel assemblies 41 , 42 and the adj acent rear wheel assembly 43 , 44 .

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Soil Sciences (AREA)
  • Environmental Sciences (AREA)
  • Guiding Agricultural Machines (AREA)

Abstract

The invention relates to an agricultural implement carrier (1) for moving an agricultural implement (100, 2, 80) along a field (110), wherein the agricultural implement carrier (1) comprises a base frame (10), an implement connector (30) on the base frame (10) for connecting the agricultural implement (100, 2, 80) to the agricultural implement carrier (1), and multiple wheel assemblies (41, 43) that support the base frame (10) above the field (110) for driving the agricultural implement carrier (1) along the field (110) in a driving direction, wherein the wheel assemblies (41, 43) comprise a pivot arm (41, 50, 51), steering cylinder (52) on the pivot arm (41, 50, 51) that comprises a circumferential wall (53) that bounds a straight internal cylinder chamber (54) with a circular cross section, a steering rod (55) that extends through the internal cylinder chamber (54), a top seal (56) and a bottom seal (58) spaced apart from each other on the circumferential wall (53) that seal off against the steering rod (55), and a piston (60) on the steering rod (55) that seals off against the circumferential wall (53) for height adjustment.

Description

Agricultural implement carrier
BACKGROUND
The invention relates to an agricultural implement carrier .
In agriculture, traditionally the fields are worked by hand and by using tractors . Tractors are used for heavy duty work such as ploughing . Tractors may also be deployed for lighter field work where the heavy tractors may unnecessarily compact the soil which in the longer term may result in reduced crop yields .
Due to the drawbacks of utili zing heavy tractors , more and more agricultural implement carriers are used to work the fields . Agricultural implement carriers are usually elongated vehicles that are able to switch over between a road driving direction and an agricultural implement operating direction transverse thereto . In this manner the length of the implement carrier converts into a large track width that is spanned by the agricultural implement . When compared with a tractor, the agricultural implement carrier needs much less tracks in the field, leaving a larger part of the field unaf fected .
SUMMARY OF THE INVENTION
Also for agricultural implement carriers there is a need for reduction of compacting the soil in the tracks , and even for reduction of disruption of the soil in the tracks .
According to a first aspect , the invention provides an agricultural implement carrier for moving an agricultural implement along a field, wherein the agricultural implement carrier comprises a base frame , an implement connector on the base frame for connecting the agricultural implement to the agricultural implement carrier, and multiple wheel assemblies that support the base frame above the field for driving the agricultural implement carrier along the field in a driving direction, wherein the wheel assemblies comprise a pivot arm, a pivot mechanism, a steering mechanism and a wheel base, wherein the pivot arm is on a proximal side hingeably connected to the base frame by a first hinge of the pivot mechanism for hinging the pivot arm with respect to the base frame around a first hinge axis that is substantially transverse to the driving direction, wherein the first hinge axes of the wheel assemblies extend substantially parallel to each other, wherein the pivot mechanism comprises a hinge motor for driving the hinging around the first hinge axis , wherein the steering mechanism comprises a steering cylinder on a distal side of the pivot arm that comprises a circumferential wall that bounds a straight internal cylinder chamber with a circular cross section, a steering rod that extends through the internal cylinder chamber, and a top seal and a bottom seal spaced apart from each other on the circumferential wall that slidably seal off against the steering rod, wherein the steering mechanism forms a second hinge for hinging the steering rod around a second hinge axis that is substantially parallel to the first hinge axis , and wherein the steering mechanism comprises a piston on the steering rod that slidably seals off against the circumferential wall and that divides the internal cylinder chamber into an hydraulic top chamber towards the top seal and an hydraulic bottom chamber towards the bottom seal , and wherein the steering mechanism comprises steering motor for driving the hinging of the steering rod around the second hinge axis , and wherein the wheel base comprises a wheel strut on the steering rod, a wheel on the wheel strut and a drive motor for rotation of the wheel with respect to the wheel strut, and wherein the hydraulic top chamber and the hydraulic bottom chamber are fluidly connected to an hydraulic drive unit for hydraulically moving the piston between the top seal and the bottom seal parallel to the second hinge axis .
The agricultural implement carrier according to the invention comprises multiple wheel assemblies with a pivot arm of which the hinging around the first hinge axis is powered by the hinge motor while the hinging of the steering rod around the second hinge axis is guided by the top seal and bottom seal and powered by the steering motor . The steering rod that extends through the top seal and the bottom seal allows dynamic height adj ustment of the base frame with respect to the driven wheel . The steering rod provides the steering, the load transfer and the height adj ustment of the agricultural implement carrier and the connected agricultural implement with respect to the field . The combined powered hinging of the pivot arms around the first hinge axes , the steering of the wheels around the second hinge axes , the rotation of the wheels and the height adj ustment may prevent high torques onto the steering rods . In this manner the wheel assemblies can be implemented light weight, and therefore the entire agricultural implement carrier, whereby compacting of the soil in the tracks may be reduced, and a subtle drive along the tracks may be performed to minimise disruption of the soil in the tracks .
In an embodiment the hinge motor is an electronic servo motor for high accurate control of the hinging around the first hinge axis .
In an embodiment the steering motor is an electronic servo motor for high accurate control of the hinging around the second hinge axis . In an embodiment the steering mechanism is configured to sense the position of the steering rod with respect to the steering cylinder parallel to the second hinge axis for high accurate height adj ustment .
In an embodiment the agricultural implement carrier comprises four wheel assemblies , wherein the first hinge axes extend substantially parallel to each other and in a rectangular configuration .
In an embodiment the agricultural implement carrier comprises an electronic controller that is connected to the hinge motors , the steering motors , the drive motors and the hydraulic drive units , wherein the electronic controller is configured to power these motors and drive units so as to move the agricultural implement along the field over a defined path and at a defined height . The electronic controller may be partly human operated, or provide autonomous drive like a robot, for example guided by a global positioning system (GPS ) .
In an embodiment the agricultural implement carrier comprises an electric power source for powering the hinge motors , the steering motors , the drive motors and the hydraulic drive units .
In an embodiment the implement connector comprises a suspension frame that proj ects downwards from the base frame , two hoisting arms and an hydraulic tiling cylinder above the hoisting arms , wherein the hoisting arms are at a proximal side hingeably connected to the hoisting frame and at a distal side merge into hoisting hooks for receiving the agricultural implement, and wherein the hydraulic tilting cylinder is at a proximal side hingeably connected to the suspension frame and at a distal side merges into a connector for the agricultural implement . The implement connector is located downwards from the main frame and is therefore surrounded by the wheel assemblies . In this manner the weight of the agricultural implement may evenly be distributed over the wheel assemblies for accurate control of its path along the field and height adj ustment with respect to the field .
In an embodiment, the hydraulic top chamber of the internal cylinder chamber of one of the multiple wheel assemblies is in fluid communication with the hydraulic top chamber of an adj acent one of the multiple wheel assemblies . Alternatively or in addition thereto , the hydraulic bottom chamber of the internal cylinder chamber of one of the multiple wheel assemblies is in fluid communication with the hydraulic bottom chamber of the adj acent one of the multiple wheel assemblies , preferably of the pair of wheel assemblies formed by that one and that adj acent one of the wheel assemblies . According to these embodiments , the internal cylinder chambers are connected to each other in a cross wise manner . The crosswise connection, for example , causes the one wheel assembly to move upwards , when the adj acent wheel assembly moves downwards because of an unevenness in the field . Thus , the crosswise connection between the wheel assemblies advantageously fulfils the function of a swing axle .
In an embodiment , the base frame is configured to be moved with respect to the multiple wheel assemblies .
In an embodiment, the electronic controller that is connected to the hinge motors and the steering motors is configured for controlling the hinge motors and steering motors such that the base frame is moved with respect to the multiple wheel assemblies . In an embodiment thereof , the agricultural implement carrier is configured for moving an agricultural implement in a back-forward direction or for moving the agricultural implement in a left-right direction transverse to the back-forward direction . In a further embodiment thereof , the electronic controller is configured for moving the base frame in a side direction transverse to the back-forward direction when the agricultural implement carrier is moving the agricultural implement in the back- forward direction, or for moving the base frame in a side direction transverse to the left-right direction when the agricultural implement carrier is moving the agricultural implement in the left-right direction .
In an embodiment , the electronic controller is configured for controlling the hinge motors and steering motors such that a distance between two adj acent wheel assemblies of the multiple wheel assemblies and extending in a direction transverse to the direction in which the agricultural implement carrier is moving is maintained, wherein the distance is defining a track width .
The various aspects and features described and shown in the specification can be applied, individually, wherever possible . These individual aspects , in particular the aspects and features described in the attached dependent claims , can be made subj ect of divisional patent applications .
BRIEF DESCRIPTION OF THE DRAWINGS
The invention will be elucidated on the basis of an exemplary embodiment shown in the attached drawings , in which :
Figure 1 is an isometric view of an agricultural implement carrier according to an embodiment of the invention, carrying an agricultural implement ;
Figures 2A, 2B and 2C are a side view, a front view and a rear view of the agricultural implement carrier of figure 1 without the agricultural implement ; and
Figure 3 is a detail of the agricultural implement carrier of figure 1 .
DETAILED DESCRIPTION OF THE INVENTION
Figure 1 shows an agricultural implement carrier 1 according to an embodiment of the invention, that carries an agricultural implement 100 . The agricultural implement carrier 1 can move or carry the agricultural implement 100 along a field 110 to perform agricultural work in a forward-backward driving direction F, in a transverse leftright driving direction T and any direction there between to move the agricultural implement carrier 1 and the connected agricultural implement 100 along the field in any desired moving direction and under any desired orientation with respect to the actual moving direction . The agricultural implement 100 may be any kind of implement such as , but not limited to, soil cultivation implements , planting implements , harvesting implements , irrigation implements or weed control implements such as a hoeing machine as schematically shown in figure 1 .
The agricultural implement carrier 1 comprises a steel rectangular base frame 10 , a implement connector 30 on the base frame 10 to connect the agricultural implement 100 , and four identical wheel assemblies 41 , 42 , 43 , 44 on the corners of the base frame 10 to move the agricultural implement carrier 1 in the desired moving direction under the desired orientation and at a desired track width, and to adj ust the height of the base frame 10 with respect to the field 110 during driving .
Figures 2A-2C show the agricultural implement carrier 1 without the agricultural implement 2 . The implement connector 30 comprises a steel suspension frame 31 below and rigidly connected to the base frame 10 , a steel hoisting frame 33 that is connected to a bottom side of the suspension frame 31 by means of two hinges 32 , and two hydraulic hoisting cylinders 34 between the suspension frame 31 and the hoisting frame 33 to hinge the hoisting frame 33 in a vertical hoisting direction H . The implement connector 30 comprises two steel hoisting arms 35 that are at their proximal side connected to the hoisting frame 33 by means of two hinges 36, and that at their distal side merge into hoisting hooks 37 . The implement connector 30 comprises an hydraulic swing cylinder 38 between the hoisting frame 33 and one of the hoisting arms 35 to hinge the hoisting hooks 37 that carry the agricultural implement 100 with respect to the suspension frame 31 in a horizontal swinging direction J . The implement connector 30 comprises an hydraulic tiling cylinder 39 that is at is proximal end connected to the suspension frame 31 and that comprises at its distal end a ball connector 40 to be connected to the agricultural implement 100 to maintain or adj ust its tilting position with respect to the suspension frame 31 . The set of the two hoisting hooks 37 and the ball connector 40 there above are known per se to connect compatible agricultural implements to the hoisting device of a tractor for example .
The wheel assemblies 41 , 42 , 43 , 44 each comprise a steel pivot arm 50 that is at its proximal end connected to its corner of the base frame 10 via a not shown hinge to hinge with respect to the base frame 10 in direction C around parallel first hinge axes A for each and all the wheel assemblies 41 , 42 , 43 , 44 , which is for each wheel assembly 41 , 42 , 43 , 44 individually powered and controlled by a not shown electric first servo motor that forms a hinge motor . The first hinge axes A extend substantially vertical , or substantially perpendicular to the field 110 . The hinging around the first hinge axis A can be used to adj ust the track width of the agricultural implement carrier 1 in the applied forward-backward driving direction F or the transverse left-right driving direction T . The wheel assemblies 41 , 42 , 43 , 44 are hereafter elucidated by refence to figure 3 that shows details and inner parts of the wheel assembly 41 at the left front corner of the base frame 10 .
As shown in figure 3 , the wheel assembly 41 comprises a steering mechanism 45 that comprises a steel steering cylinder 52 that is mounted to the distal end of the pivot arm 50 . The steering cylinder 52 is protected by a cover 46 that is shown in figure 1 and that has been removed from the wheel assembly 41 in figure 3 for illustrative purposes only . The steering cylinder 52 has a circumferential wall 53 with a circular cross section that bounds a straight internal cylinder chamber 54 . The steering mechanism 45 comprises a straight steel steering rod 55 with a circular cross section that extends through the cylinder chamber 54 . The steering rod 55 proj ects downwardly from the steering cylinder 52 , and the bottom end is rigidly connected to a steel wheel strut 65. The steering rod 55 proj ects upwardly from the steering cylinder 52 and the upper end is connected to an electric second servo motor 70 that forms a steering motor . The second servo motor 70 is connected to the pivot arm 50 via a scissor mechanism 71 . The steering mechanism 45 comprises a top seal 56 between the steering cylinder 52 and the steering rod 55 that slidably seals of f against the steering cylinder 52 and that is kept in place by a top cover 57 . The steering mechanism 45 comprises a bottom seal 58 between the steering cylinder 52 and the steering rod 55 that slidably seals of f against the steering cylinder 52 and that is kept in place by a bottom cover 59. The steering mechanism 45 comprises an hydraulic piston 60 on the steering rod 55 that slidably seals off against the circumferential wall 53 and that divides the internal cylinder chamber 54 into an hydraulic top chamber 61 towards the top seal 56 and an hydraulic bottom chamber 62 towards the bottom seal 58 . The hydraulic top chamber 61 and the hydraulic bottom chamber 62 are both filled with hydraulic oil and are via not shown high pressure hoses inside the pivot arm 50 connected to a not shown electrically driven and electronically controlled hydraulic drive unit .
The wheel assembly 41 comprises a wheel 66 having a steel rim 67 and an air tyre 68 around the rim 67 , and an electric drive motor 69 between the wheel strut 65 and the rim 67 that is powered via electric wires 73 . The electric drive motor 69 may be embodied as a servo motor . The top seal 56, the bottom seal 58 and the piston 60 enable a rotation of the steering rod 55 and thereby hinging of the wheel 66 in direction D with respect to the pivot arm 50 around a second hinge axis B that extends parallel to the first hinge axis B of that pivot arm 50 . The second hinge axes B extend substantially vertical , or substantially perpendicular to the field 110 . The top seal 56, the bottom seal 58 and the piston 60 enable a combined sliding movement of the steering rod 55 and thereby the wheel 66 in a direction E parallel to the second hinge axis B with respect to the pivot arm 50 over a height adj ustment stroke . The steering hinging rotation of the steering rod 55 is powered by the second servo motor 70 , wherein the orientation of the second servo motor 70 with respect to the pivot arm 51 is kept constant by the scissors mechanism 71 .
The agricultural implement carrier 1 comprises a not shown electric power source, preferably a battery pack, to drive the agricultural implement carrier 1 and to power the agricultural implement 100 when required . The agricultural implement carrier 1 comprises an electronic controller 80 with a human interface 81 that is connected with the electric power source and with the first servo motors , the second servo motors 70 , the drive motors 69 and the hydraulic drive units for the steering mechanisms 45 of the wheel assemblies 41 , 42 , 43 , 44 . The agricultural implement carrier 1 comprises multiple sensors for sensing and for feedback to the electronic controller 80 the angles of rotation of the pivot arms 50 in direction C around the first hinge axes A, the angles of rotation or steering angles of the wheels 66 in direction D around the second hinge axes B, and the longitudinal position of the steering rods 55 in direction E with respect to the steering cylinders 52 . The agricultural implement carrier 1 comprises a cabin 85 for a human operator when so required . The electronic controller 80 is programmed to control the first servo motors , the second servo motors 70 , the drive motors 69 and the hydraulic drive units for the steering mechanisms 45 of the wheel assemblies 41 , 42 , 43 , 44 in response to operator instructions or autonomously, for example guided by a global positioning system (GPS ) .
The steering mechanism 45 uses the steering rod 55 for load transfer to the wheel 66 , and for steering the wheel 66 in direction D, and for dynamic height adj ustment of the implement connector 30 and thereby the agricultural implement 100 during driving over the field 110 . As each first servo motor, second servo motor 70 , drive motor 69 and hydraulic drive unit for the steering mechanism 45 is controlled individually for each wheel assembly 41 , 42 , 43 , 44 , it can be controlled that the steering rod 55 remains vertical , and that high torques acting on the steering rod 55 can actively be prevented . The top seal 56 and the bottom seal 58 suffice in the trans fer of remaining torques between the steering rod 55 and the steering cylinder 52 . The hydraulically actuated piston 60 ensures rapid responses in the height adj ustments in direction E . Therefore no additional hardware is necessary between the pivot arm 41 and the wheel strut 65 , keeping the wheel assemblies 41 , 42 , 43 , 44 light weight .
In the context of the present patent application, it is noted that the agricultural implement carrier 1 allows the steel rectangular base frame 10 , and thereby the agricultural implement 100 arranged at the steel rectangular base frame 10 , to be shifted in a side direction S , as exemplarily indicated in figure 1 , while the track width determined by the wheel assemblies 41 , 42 , 43 , 44 remains substantially the same . Shi fting of the steel rectangular base frame 10 in the side direction S while maintaining the track width determined by the wheel assemblies 41 , 42 , 43 , 44 , may be accomplished by rotating each of the steel pivot arms 50 in direction C around the first hinge axis A and steering the wheels 66 in direction D around the second hinge axis B . Shifting the steel rectangular base frame 10 in the side direction S may be done for moving the agricultural implement 100 , for example, with respect to a row of crops in order to compensate for deviations in the row of crops when seen in the longitudinal direction thereof .
In the context of the present patent application, shi fting of the steel rectangular base frame 10 in the side direction S while maintaining track width may be understood as moving the steel rectangular base frame 10 with respect to the wheel assemblies 41 , 42 , 43 , 44 .
Shi fting of the steel rectangular base frame 10 in the side direction S may be done by an operator of the agricultural implement carrier 1 , for example, by means of a controlling system, such as a j oystick operatively connected to the electronic controller 80 .
Additionally or alternatively, although not shown, the agricultural implement carrier 1 may be provided with a camera operatively connected to the electronic controller 80 and configured for providing image data, for example, of the row of crops to be handled by the agricultural implement 80 . The image data may be provided to the electronic controller 80 , which electronic controller 80 is configured for processing the image data and for shifting the steel rectangular base frame 10 in the side direction S while maintaining the track width determined by the wheel assemblies 41 , 42 , 43 , 44 based on the image data generated by the camera .
Furthermore , as schematically indicated in figure 1 , wheel assemblies 41 , 42 form front wheel assemblies 41 , 42 and wheel assemblies 43 , 44 form rear wheel assemblies when the agricultural implement carrier 1 is driving in the forward-backward driving direction F . Each of the front wheel assemblies 41 , 42 has a steering mechanism 45 as described above . Although not shown, the hydraulic top chamber 61 of each of the front wheel assemblies 41 , 42 may be connected to the hydraulic top chamber 61 of the other one of the front wheel assemblies 41 , 42 , and alternatively or in addition thereto , the hydraulic bottom chamber 62 of each of these front wheel assemblies 41 , 42 may be connected to the hydraulic bottom chamber 62 of the other one of these front wheel assemblies 41 , 42 , such that a crosswise hydraulic connection is present between the straight internal cylinder chambers 45 of the front wheel assemblies 41 , 42 that form a pair . During use, when the agricultural implement carrier 1 is driving over a field, one of the front wheel assemblies 41 , 42 , for example, may be moved upwards by an unevenness in the field . Due to the crosswise hydraulic connection between the front wheel assemblies , the other one of the front wheel assemblies 41 , 42 is moved downwards . As a result , the wheels 66 of both front wheel assemblies 41 , 42 stay in touch with the field . This crosswise hydraulic connection may be established directly or via the hydraulic drive unit . Thus , the crosswise hydraulic connection between the front wheel assemblies 41 , 42 fulfils the function of a swing axle .
Optionally and additionally, a corresponding crosswise hydraulic connection is provided between the rear wheel assemblies 43 , 44 as well .
As the agricultural implement carrier 1 is enabled to drive in the left-right direction T as well , a corresponding crosswise hydraulic connection may also be provided between each pair of one of the front wheel assemblies 41 , 42 and the adj acent rear wheel assembly 43 , 44 .
It is to be understood that the above description is included to illustrate the operation of the preferred embodiments and is not meant to limit the scope of the invention . From the above discussion, many variations will be apparent to one skilled in the art that would yet be encompassed by the scope of the present invention .

Claims

C L A I M S
1 . Agricultural implement carrier for moving an agricultural implement along a field, wherein the agricultural implement carrier comprises a base frame , an implement connector on the base frame for connecting the agricultural implement to the agricultural implement carrier, and multiple wheel assemblies that support the base frame above the field for driving the agricultural implement carrier along the field in a driving direction, wherein the wheel assemblies comprise a pivot arm, a pivot mechanism, a steering mechanism and a wheel base, wherein the pivot arm is on a proximal side hingeably connected to the base frame by a first hinge of the pivot mechanism for hinging the pivot arm with respect to the base frame around a first hinge axis that is substantially transverse to the driving direction, wherein the first hinge axes of the wheel assemblies extend substantially parallel to each other, wherein the pivot mechanism comprises a hinge motor for driving the hinging around the first hinge axis , wherein the steering mechanism comprises a steering cylinder on a distal side of the pivot arm that comprises a circumferential wall that bounds a straight internal cylinder chamber with a circular cross section, a steering rod that extends through the internal cylinder chamber, and a top seal and a bottom seal spaced apart from each other on the circumferential wall that slidably seal off against the steering rod, wherein the steering mechanism forms a second hinge for hinging the steering rod around a second hinge axis that is substantially parallel to the first hinge axis , and wherein the steering mechanism comprises a piston on the steering rod that slidably seals off against the circumferential wall and that divides the internal cylinder chamber into an hydraulic top chamber towards the top seal and an hydraulic bottom chamber towards the bottom seal , and wherein the steering mechanism comprises steering motor for driving the hinging of the steering rod around the second hinge axis , and wherein the wheel base comprises a wheel strut on the steering rod, a wheel on the wheel strut and a drive motor for rotation of the wheel with respect to the wheel strut, and wherein the hydraulic top chamber and the hydraulic bottom chamber are fluidly connected to an hydraulic drive unit for hydraulically moving the piston between the top seal and the bottom seal parallel to the second hinge axis .
2 . Agricultural implement carrier according to claim 1 , wherein the hinge motor is an electronic servo motor .
3 . Agricultural implement carrier according to any one of the preceding claims , wherein the steering motor is an electronic servo motor .
4 . Agricultural implement carrier according to any one of the preceding claims , wherein the steering mechanism is configured to sense the position of the steering rod with respect to the steering cylinder parallel to the second hinge axis .
5. Agricultural implement carrier according to any one of the preceding claims , comprising four wheel assemblies , wherein the first hinge axes extend substantially parallel to each other and in a rectangular configuration .
6. Agricultural implement carrier according to any one of the preceding claims , comprising an electronic controller that is connected to the hinge motors , the steering motors , the drive motors and the hydraulic drive units , wherein the electronic controller is configured to power these motors and drive units so as to move the agricultural implement along the field over a defined path and at a defined height .
7 . Agricultural implement carrier according to any one of the preceding claims , comprising an electric power source for powering the hinge motors , the steering motors , the drive motors and the hydraulic drive units .
8 . Agricultural implement carrier according to any one of the preceding claims , wherein the implement connector comprises a suspension frame that proj ects downwards from the base frame , two hoisting arms and an hydraulic tiling cylinder above the hoisting arms , wherein the hoisting arms are at a proximal side hingeably connected to the hoisting frame and at a distal side merge into hoisting hooks for receiving the agricultural implement, and wherein the hydraulic tilting cylinder is at a proximal side hingeably connected to the suspension frame and at a distal side merges into a connector for the agricultural implement .
9. Agricultural implement carrier according to any one of the preceding claims , wherein the hydraulic top chamber of the internal cylinder chamber of one of the multiple wheel assemblies is in fluid communication with the hydraulic top chamber of an adj acent one of the multiple wheel assemblies .
10 . Agricultural implement carrier according to any one of the preceding claims , wherein the hydraulic bottom chamber of the internal cylinder chamber of one of the multiple wheel assemblies is in fluid communication with the hydraulic bottom chamber of the adj acent one of the multiple wheel assemblies .
11 . Agricultural implement carrier according to any one of the preceding claims , wherein the base frame is configured to be moved with respect to the multiple wheel assemblies .
12 . Agricultural implement carrier according to claims 6 and 11 , wherein the electronic controller that is connected to the hinge motors and the steering motors is configured for controlling the hinge motors and steering motors such that the base frame is moved with respect to the multiple wheel assemblies .
13 . Agricultural implement carrier according to any one of the preceding claims , configured for moving an agricultural implement in a back- forward direction or for moving the agricultural implement in a left-right direction transverse to the back-forward direction .
14 . Agricultural implement carrier according to claims 12 and 13 , wherein the electronic controller is configured for moving the base frame in a side direction transverse to the back-forward direction when the agricultural implement carrier is moving the agricultural implement in the back- forward direction, or for moving the base frame in a side direction transverse to the left-right direction when the agricultural implement carrier is moving the agricultural implement in the left-right direction .
15. Agricultural implement carrier according to claim 14 , wherein the electronic controller is configured for controlling the hinge motors and steering motors such that a distance between two adj acent wheel assemblies of the multiple wheel assemblies and extending in a direction transverse to the direction in which the agricultural implement carrier is moving is maintained, wherein the distance is defining a track width .
EP23833225.8A 2023-01-05 2023-12-27 Agricultural implement carrier Pending EP4646090A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NL2033912A NL2033912B1 (en) 2023-01-05 2023-01-05 Agricultural implement carrier
PCT/NL2023/050689 WO2024147735A1 (en) 2023-01-05 2023-12-27 Agricultural implement carrier

Publications (1)

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EP4646090A1 true EP4646090A1 (en) 2025-11-12

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EP23833225.8A Pending EP4646090A1 (en) 2023-01-05 2023-12-27 Agricultural implement carrier

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WO (1) WO2024147735A1 (en)

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS617Y2 (en) * 1979-12-06 1986-01-06
US4611683A (en) * 1981-07-23 1986-09-16 Hilmer Elwyn P Farm tractor
CN111645478B (en) * 2020-05-27 2021-07-20 农业农村部南京农业机械化研究所 Wheeled farmland management robot with flexible profiling chassis and profiling control method
FI131469B1 (en) * 2020-06-10 2025-05-08 Mahindra & Mahindra Ltd An all-terrain utility vehicle and methods thereof

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