WO2017201396A1 - Véhicule modulaire autopropulsé destiné à servir de support à un dispositif et le faire fonctionner - Google Patents

Véhicule modulaire autopropulsé destiné à servir de support à un dispositif et le faire fonctionner Download PDF

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Publication number
WO2017201396A1
WO2017201396A1 PCT/US2017/033524 US2017033524W WO2017201396A1 WO 2017201396 A1 WO2017201396 A1 WO 2017201396A1 US 2017033524 W US2017033524 W US 2017033524W WO 2017201396 A1 WO2017201396 A1 WO 2017201396A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
propelled vehicle
set forth
modular self
front caster
Prior art date
Application number
PCT/US2017/033524
Other languages
English (en)
Inventor
Nathan D. DOCKTER
Scott A. Rempe
Kent L. Thompson
Original Assignee
Vermeer Manufacturing Company
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 Vermeer Manufacturing Company filed Critical Vermeer Manufacturing Company
Publication of WO2017201396A1 publication Critical patent/WO2017201396A1/fr

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D57/00—Liquid-resistance brakes; Brakes using the internal friction of fluids or fluid-like media, e.g. powders
    • F16D57/06—Liquid-resistance brakes; Brakes using the internal friction of fluids or fluid-like media, e.g. powders comprising a pump circulating fluid, braking being effected by throttling of the circulation
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D42/00—Mowers convertible to apparatus for purposes other than mowing; Mowers capable of performing operations other than mowing
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01F—PROCESSING OF HARVESTED PRODUCE; HAY OR STRAW PRESSES; DEVICES FOR STORING AGRICULTURAL OR HORTICULTURAL PRODUCE
    • A01F15/00—Baling presses for straw, hay or the like
    • A01F15/08—Details
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B33/00—Castors in general; Anti-clogging castors
    • B60B33/0036—Castors in general; Anti-clogging castors characterised by type of wheels
    • B60B33/0039—Single wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T1/00—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles
    • B60T1/02—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels
    • B60T1/08—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels using fluid or powdered medium
    • B60T1/093—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels using fluid or powdered medium in hydrostatic, i.e. positive displacement, retarders
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T10/00—Control or regulation for continuous braking making use of fluid or powdered medium, e.g. for use when descending a long slope
    • B60T10/04—Control or regulation for continuous braking making use of fluid or powdered medium, e.g. for use when descending a long slope with hydrostatic brake
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T11/00—Transmitting braking action from initiating means to ultimate brake actuator without power assistance or drive or where such assistance or drive is irrelevant
    • B60T11/10—Transmitting braking action from initiating means to ultimate brake actuator without power assistance or drive or where such assistance or drive is irrelevant transmitting by fluid means, e.g. hydraulic
    • B60T11/16—Master control, e.g. master cylinders
    • B60T11/20—Tandem, side-by-side, or other multiple master cylinder units
    • B60T11/21—Tandem, side-by-side, or other multiple master cylinder units with two pedals operating on respective circuits, pressures therein being equalised when both pedals are operated together, e.g. for steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
    • B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
    • B62D11/04—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
    • B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
    • B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
    • B62D7/1509—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels with different steering modes, e.g. crab-steering, or steering specially adapted for reversing of the vehicle

Definitions

  • the field of the disclosure relates to modular self-propelled vehicles for supporting and operating a device that is releasably connectable to the vehicle.
  • Agricultural operations involve a number of implements, some of which may be towed implements and others which may include dedicated propulsion systems (e.g., sprayers).
  • forage gathering involves a number of towed implements such as mowers and mower conditioners, rakes, hay mergers and balers.
  • Towed implements are typically towed behind a tractor which may limit the field of vision of the operator.
  • the tractor and implement assembly are relatively long which makes tuming such towed assemblies difficult.
  • the tractor and implement are pivotally attached and the implement limits the tuming radius of the tractor.
  • One aspect of the present disclosure is directed to a modular self- propelled vehicle for supporting and operating a detachable device.
  • the vehicle has a longitudinal axis and comprises a chassis and first and second rear drive wheels connected to the chassis.
  • the first and second rear drive wheels each have a rotational axis.
  • the vehicle includes drive systems for independently controlling a drive speed of each of the first and second rear drive wheels so that the speed of the first drive wheel is selectively controllable relative to a speed of the second drive wheel and so that differences in the first drive wheel speed and the second drive wheel speed enable vehicle steering.
  • a front caster wheel is connected to the chassis.
  • the vehicle includes a device mount for releasably attaching the device.
  • Figure 1 is a perspective view of a modular self-propelled vehicle
  • Figure 2 is a side view of the vehicle with a baling device mounted thereto;
  • FIG. 3 is a front view of the vehicle with a baling device mounted thereto;
  • FIG. 4 is a perspective view of the vehicle with a baling device mounted thereto;
  • Figure 5 is a schematic view of the self-propelled vehicle showing the drive systems
  • Figure 6 is a perspective view of a caster assembly of the vehicle
  • Figure 7 is cross-sectional side view of the vehicle showing a baling chamber
  • Figure 8 is cross-sectional side view of the vehicle showing a baler drive system
  • Figure 9 is perspective view of the vehicle showing the engine mounting brackets
  • Figure 10 is a perspective view of the vehicle with two wheel-rake tool bars mounted thereto;
  • Figure 1 1 is a perspective view of the vehicle with a mower conditioner mounted thereto;
  • Figure 12 is a perspective view of the vehicle with a hay merger mounted thereto.
  • Figure 13 is a perspective view of a device mount of the vehicle.
  • a modular self-propelled vehicle (which may be referred to herein as the "base vehicle") for supporting and operating various agricultural devices is generally referred to as "1" in Figure 1.
  • the vehicle 1 is a base vehicle to which various devices such as agricultural devices may be attached. While the description and Figures below may show and/or reference a baling device, it should be noted that baling device is shown as an exemplary device and the descriptions are applicable to the base vehicle itself and/or a base vehicle that includes one or more different devices attached thereto. While the device may, in some embodiments, be described as an agricultural device, in other embodiments the connectable device may be suitable for use in other fields.
  • the base vehicle 1 includes first and second rear drive wheels 17 that are driven by first and second motors disposed in the drive wheels.
  • the rear drive wheels 17 each have a rotational axis Rn about which the drive wheels 17 rotate.
  • the wheels 17 have a common rotational axis Rn.
  • the wheels 17 are offset from each other and have different axes of rotation.
  • the drive wheels 17 are attached to the chassis 9.
  • the rear wheels 17 are fixed to the chassis 9 such that the wheels 17 maintain parallel alignment with a longitudinal axis A (Fig. 4) of the vehicle 1 (i.e., do not pivot with respect to the chassis 9). In some embodiments, the rear drive wheels 17 are not suspended from the chassis 9.
  • the longitudinal axis A (Fig. 4) of the vehicle 1 extends from a front 55 (Fig. 2) to a rear 57 of the vehicle 1.
  • the "front” of the vehicle 1 refers to a leading portion or end of the vehicle 1 relative to the longitudinal axis during its conventional operation.
  • the “rear” refers to the trailing portion or end relative to the longitudinal axis A during its conventional operation.
  • the terms “front caster wheels” and “rear wheels” refer to the position of the wheels relative to the direction of travel of the vehicle 1 during its conventional operation.
  • the vehicle 1 also includes a lateral axis B (Fig. 4) that extends from a first side 58 to a second side 59 of the vehicle 1 and that is transverse to the longitudinal axis A.
  • the vehicle 1 also includes a vertical axis C (Fig. 3).
  • the first and second drive wheels 17 are each driven and controlled by separate drive systems 15.
  • the caster wheels 27 are freely pivotable (i.e., are not steered or otherwise controlled).
  • the first and second caster wheels 27 self-align with the direction of travel of the vehicle while it is steered by the difference in the speed of rotation of the drive wheels 17.
  • Each drive system 15 has a drive motor 23 for rotating the drive wheel 17 forward or backward.
  • the drive motors 23 may be hydraulic motors that are driven by a pump 20 that is powered by the engine 101.
  • Each drive wheel 17 may be controlled by a separate circuit (i.e., separate hydraulic pumps 20 with fluid lines 22 connected to the drive wheel motors 23).
  • the first and second pumps 20 may be hydrostatic, variable displacement pumps. In some embodiments, fixed displacement or variable displacement motor(s) may be used.
  • the wheels 17 are powered and rotated independently by the drive systems 15. Accordingly, the wheels 17 can be rotated at different speeds by driving the motors at different speeds.
  • the motors 23 may receive different amounts of fluid from the respective pumps 20 to differentiate the speed of the wheels 17.
  • Separate fluid lines 22 extend between each pump 20 and drive motor 23 to independently rotate the wheels 17.
  • the direction of fluid flow may be forward or reverse to independently rotate the wheels forward or reverse to propel the vehicle forward, reverse, or through an arc (e.g., as during steering).
  • the vehicle 1 may also be steered in more aggressive manners in which one wheel remains stationary while the other wheel is rotated, or a zero-turn-radius mode where the drive wheels are rotated in opposite directions.
  • the first and second drive wheels 17 are powered equally (e.g., with a differential system linking the drive systems) and a caster wheel steering system (not shown) may be used to steer the vehicle.
  • Suitable steering systems may include adjustable length tie-rods (e.g., three position cylinders) connected to a steering mechanism such as a steering wheel.
  • the tie-rods may be fixed in length in a caster-wheel steering mode and variable in length in non-caster wheel steering modes (e.g., by use of three-position cylinders which float in non-caster wheel steering modes and are locked in caster wheel steering modes). Any steering system which enables caster wheel steering in a caster wheel steering mode may be used unless stated otherwise.
  • the vehicle 1 includes a control system to control the drive wheels 17 and front caster wheels 27 based on input(s) from an operator.
  • the control system includes a control unit 80, speed and direction control device 78, a mode selector 79 and steering mechanism which is shown as a steering wheel 67.
  • the speed and direction control device 78, mode selector 79 and steering wheel 67 may be controlled from the operator station 13.
  • the control unit 80 includes a processor and a memory.
  • the processor processes the signals received from various sensors, selectors and control devices of the system.
  • the memory stores instructions that are executed by the processor.
  • the mode selector 79 allows the operator to select a desired mode of operation (i.e., drive wheel steering mode or caster wheel steering mode).
  • the control unit 80 receives the signal from the mode selector 79 and controls the mode of the steering system in response to the signal.
  • the mode selector 79 may be, for example, part of a touch screen, a soft key, toggle switch, selection button or any other suitable interface for selecting the steering mode.
  • the speed and direction control device 78 is typically hand- operated and may be a sliding lever that that causes an increase in forward speed as the lever is slid forward of a neutral position and an increase in reverse direction as the lever is slid rearward of the neutral position.
  • the direction and speed control device 78 produces a signal in response to its position and the signal is transmitted to the control unit 80.
  • the control unit 80 produces an output signal transmitted to the hydraulic pumps 20 that drive the rear wheels 17.
  • the speed may also be controlled by a throttle that controls the engine speed.
  • the vehicle 1 may be stopped by moving the direction and speed control device 78 to a zero-speed setting and/or by operating foot brake levers.
  • steering may be performed by a steering mechanism shown as a steering wheel 67 which regulates the steering system.
  • a sensor 81 measures the direction and angle of the steering wheel 67 and sends signals to the control unit 80.
  • the control unit 80 produces a signal that is transmitted to the hydraulic pumps 20 to independently regulate the rotational speeds of the first and second drive wheels 17 (i.e., the rotation speed and direction of rotation of each drive wheel 17).
  • speed and/or steering may be controlled by different operator controls such as wheel levers, digital inputs, joysticks, dual sticks, and headsets.
  • the self-propelled vehicle 1 is configured to operate autonomously.
  • the vehicle 1 may include sensors (e.g., cameras, GPS sensors and the like) that sense the position of the windrow and/or that may sense the position of the vehicle in the field.
  • the vehicle 1 may also include a controller that sends signals to the first and second rear wheel pumps or to various actuators to independently control the first and second rear drive wheels.
  • the field in which the vehicle is propelled is mapped and the field map is used to autonomously control the operation of the vehicle in the field.
  • the vehicle may include a riding station to carry an operator or the operator station may be eliminated.
  • the self-propelled vehicle 1 includes first and second front caster wheels 27 that are pivotally connected to the chassis 9 about a vertical pivot axis (which may be offset from the vertical axis, i.e., may have a caster angle).
  • the term "caster wheel” includes a wheel mounted to a frame or chassis at a generally vertically oriented caster pivot so that the caster wheel is able to swivel about the caster pivot.
  • the first and second caster wheels 27 swing below a portion of the chassis 9.
  • the front caster wheels 27 are spaced to allow the windrow of crop or forage material to pass between the front caster wheels 27 and engage the pickup device 1 1.
  • teeth 29 of the pick-up device 1 1 are positioned between the front caster wheels 27 relative to a lateral axis B (Fig. 4) of the vehicle 1.
  • the front caster wheels 27 are separated by at least five feet or at least about seven feet.
  • the rear wheels 17 are spaced to allow the baling device 5 (Fig. 2) to be positioned between the rear wheels.
  • the vehicle 1 includes a single front caster wheel (e.g., one front caster wheel centered relative to the lateral axis of the vehicle).
  • the front caster wheels 27 are independently suspended from the chassis to absorb forces transmitted during travel over uneven terrain.
  • the front caster wheels 27 pivot with respect to the chassis 9 about their pivot axis to allow the wheels 27 to be aligned with the direction of travel of the vehicle 1 and as a response to the differential speed of the first and second drive wheels 17.
  • the front caster wheels 27 are freely pivotal and turn only as a response to the differential speed of the rear drive wheels 17.
  • the front caster wheels 27 are steered (e.g., controlled to coordinate turning with rear drive wheels or steered independently of the rear drive wheels 17).
  • Each front caster wheel 27 has a rotational axis R27 (Fig. 4) about which the front caster wheels 27 rotate.
  • the wheels 27 have a common rotational axis R27.
  • the front caster wheels 27 may be part of first and second swivel caster assemblies 31.
  • first and second swivel caster assemblies 31 and subframes 41 described below are symmetric and description herein of an assembly or subframe also applies to the second assembly or subframe (e.g., description of a hub of the assembly indicates that the first assembly has a first hub and that the second assembly has a second hub).
  • Each assembly 31 includes a hub 35 (Fig. 6) and a caster shaft 37 (which may be referred to as a "kingpin") that rotates within the hub 35.
  • the swivel caster assemblies 31 may include bushings or bearings within the hub 35 that allow for rotation of the shaft 37 within the hub 35.
  • Each caster shaft 37 is connected to a leg assembly 42 that connects to the front caster wheel axle.
  • the leg assembly 42 includes a single leg that attaches to an inner side of the wheel axle.
  • the leg assembly includes two legs that connect to the axle of the front caster wheel on each side of the wheel (as with a caster fork).
  • the hub 35 and shaft 37 form a swivel joint 43.
  • the first and second front caster wheels 27 of the caster assemblies 31 are each connected to a subframe 41 by a swivel joint 43.
  • the subframes 41 are suspended from the chassis 9 by a mechanism having a suspension element 49, shown as a hydraulic cylinder in the illustrated embodiment. The cylinder may be connected to an accumulator in the suspension system.
  • Each subframe 41 is also pivotally attached to the chassis 9 at an outer pivot point Pi and an inner pivot point P 2 . In this arrangement, the chassis 9 is supported by the subframes 41 and the chassis 9 and components carried by the chassis (e.g., operator station) may move up and down relative to the subframes 41 as the vehicle 1 travels over uneven terrain.
  • the subframe 41 has two arms 45, 47 that extend from the chassis 9.
  • the swivel joint 43 is at the point at which the arms 45, 47 meet and is forward of the inner and outer pivot points Pi, P2 relative to a longitudinal axis A (Fig. 4) of the vehicle 1.
  • the swivel joint 43 is also outward to both the inner and outer pivot points Pi, P2 relative to the lateral axis B (Fig. 4) of the apparatus 1 (i.e., the outer pivot point Pi of each subframe 41 is positioned between the inner pivot point P2 and the point of attachment of the suspension element 49 relative to the lateral axis B).
  • the first and second front caster wheels 27 are offset from the swivel joint 43 relative to the longitudinal axis A (Fig. 4) of the vehicle.
  • the offset allows the first and second front caster wheels 27 to self-align with the direction of travel of the vehicle 1 as the vehicle is steered by differences between the speeds of the rear wheels 17.
  • the offset of the caster wheels i.e., distance between the axis of rotation R 2 7 of the wheel and the swivel joint 43 relative to the longitudinal axis A
  • the front caster wheels 27 are steered (e.g., travel/highway modes). In such embodiments, the offset may be eliminated.
  • the caster assemblies 31 allow the first and second front caster wheels 27 to self-align with the direction of travel of the vehicle while it is steered by the difference in the speed of rotation of the rear wheels 17.
  • the first and second front caster wheels 27 pivot independently from each other.
  • the first and second front caster wheels 27 are connected through linkages (e.g., as in an Ackerman steering arrangement).
  • the rear wheels 17 have a diameter larger than the front caster wheels 27.
  • the ratio of the diameter of the rear wheels 17 to the diameter of the front caster wheels is at least about 1.25: 1 or at least about 1.5: 1 or even at least about 3 : 1.
  • the vehicle 1 includes an engine 101 (e.g., gas or diesel powered engine) that drives one or more hydraulic pumps which in turn power the various hydraulic motors and cylinders (e.g., first and second drive wheel motors, baling chamber motor, pick-up device motor, pick-up device lift cylinder, tailgate cylinder and/or ramp cylinder).
  • the engine 101 also provides power for the electrical systems of the vehicle 1.
  • the engine 101 is between the rotational axes Rn of the rear drive wheels 17 and the rotational axes R-27 of the front caster wheels 27.
  • the engine 101 is arranged transverse to the longitudinal axis A of the vehicle 1.
  • the engine 101 is supported by engine isolators and mounting brackets 11 1 (Fig. 9) that are attached to the chassis 9.
  • the engine 101 includes a radiator 105 (Fig. 2) and a cooling fan 109 (Fig. 7) that forces air across the radiator 105.
  • the fan 109 directs air in a direction transverse to the longitudinal axis A.
  • the engine 101 is disposed between the baling chamber 62 mounting position and the operator station 13.
  • the "operator station” refers to the seat and controls for steering and controlling the speed of the vehicle 1 and/or for controlling the device.
  • the operator station 13 is enclosed in a cab 121 (Fig. 2).
  • the operator station 13 is forward of the rotational axis Rn of the rear drive wheels 17 and is also forward to the engine 101.
  • the operator station 13 is partially aligned with the rotational axis R27 of the front caster wheels 27 (the steering wheel is aligned with the rotational axis R27 while the other controls and operator seat are rearward to the rotational axis R 27 ).
  • a distance Di (Fig. 2) separates the rotational axis Rn of the rear drive wheels and the rotation axis R27 of the front caster wheels 27.
  • the distance D 2 between the rear wheel rotational axis Rn and the operator station 13 is at least about 0.4*Di (i.e., the operator station is at least about 40% forward of the distance between the axis Rn, R 27 ), or at least about 0.5*Di or even at least about 0.6*D 1 .
  • the cab 121 may also be least about 0.4*Di or at least about 0.5*Di forward of the rotational axis Rn of the rear drive wheels 17.
  • the modular self-propelled vehicle 1 includes one or more device mounts for releasably attaching one or more devices.
  • the device may be an agricultural device such as a mower and mower conditioner, merger, baler, rake, sprayer, broadcast spreader, fruit or nut harvester, or the like.
  • Other devices include salt and aggregate spreaders, shipping containers (e.g., trash, commodities, household items or other goods), construction devices, trenchers, concrete cutters, and the like.
  • the device mounts of the base vehicle may include plates 92 (Fig. 13) having bolt holes 93 for attaching corresponding mounting plates of the device or other methods of mounting may be used (e.g., mounting pins, ball and sockets, hitch receivers and the like).
  • the device may include hydraulic couplers for attachment to a hydraulic system of the vehicle 1. In some embodiments, the device is attached directly to a hydraulic cylinder of the base vehicle 1.
  • the device mounts may be positioned on the vehicle 1 at any position in which the device is operable (e.g., toward the rear, front, or anywhere between the rear and front of the vehicle).
  • the term "modular" as used herein should not be viewed to imply that the vehicle 1 is compatible with different types of devices.
  • the modular self-propelled vehicle 1 may include one or more device mounts to allow the device to be pivoted off of the vehicle chassis 9 (Fig. 2) to provide access to the device for maintenance or to replace the device with a new device (e.g., upon wear or failure of an agricultural device) or to install a larger-sized device (e.g., larger baler) or a different model of device.
  • the modular self-propelled vehicle 1 comprises first and second device mounts for mounting two different devices.
  • the vehicle may include additional mounts (e.g., third, fourth, fifth or more device mounts).
  • the vehicle includes a device mount for attaching a baler device and a second mount for connecting to a second agricultural implement selected from a rake, a mower, hay merger and sprayer.
  • a baling device 5 including an expandable baling chamber 62 may be mounted to the vehicle 1 to form a bale.
  • the baling device 5 is cylindrical to form cylindrical bales (i.e., round bales).
  • the baling device 5 operates by utilizing a series of bale forming belts 64 (Fig. 7) routed around a series of rollers 66a-l. Alternatively, a single bale forming belt may be utilized.
  • the baling device 5 includes a drive gear 65 (Fig. 8) that is driven by a baler motor.
  • the drive gear 65 is connected to several rollers 66 to rotate the belts 64 during bale formation and during bale wrapping sequences.
  • the baling device 5 also includes a plurality of belt tighteners 72 (Fig. 7). It should be noted that any of the known round baler device arrangements may be used as baler device 5 including, variable chamber balers (as shown) and fixed chamber balers.
  • the baler device may include a single drive motor as shown or may include two or more drive motors.
  • the baler device 5 includes a pick-up device 11 (Fig. 3) to pick-up crop or forage material.
  • the pick-up device 11 is shown in a raised position.
  • the pick-up device 11 is in a lowered position in which the rotating teeth 29 of the device 11 contact the crop or forage material and direct it toward the baling chamber 62.
  • the material is compressed by the plurality of bale forming belts 64.
  • Rotation of the pickup device 11 is driven by separate motor (e.g., hydraulic motor).
  • Tension is maintained in the bale forming belts 64 by one or more belt tighteners 72 to ensure a properly compressed bale.
  • a wrapping mechanism 82 is configured to apply one or more layer of wrap material to the outer circumference of the completed bale.
  • the wrap material is spooled on a roll.
  • a linear actuator directs wrap material into contact with the outer perimeter of the completed bale.
  • the bale device drive motor powers the belts to cause the bale to continue to rotate to pull the wrap material from the supply roll and onto the circumference of the bale. After the wrap sequence is complete, the wrap material is cut.
  • the wrap material can include a variety of materials suitable for retaining the shape of the bale, protecting the bale and for limiting exposure of the bale to moisture.
  • Rope-like twine, sheet-type netwrap, plastic or fabric sheets, or film-type sheets are just some examples of commonly used wrap material.
  • the baling chamber 62 has a central axis C that is transvers to the longitudinal axis A of the vehicle and that intersects the center of mass of a completed bale (i.e., the rotational axis of the bale as in round bales) after the bale is formed in the chamber 62.
  • the central axis C of the baling chamber 62 may be separated from the rotational axis Rn of the rear drive wheels 17 relative to the longitudinal axis A of the vehicle 1 by a distance.
  • the central axis C of the baling chamber 62 may be positioned on the vehicle such that at least about 60% or even at least about 70% (e.g., 75% to about 80%) of the weight of the vehicle is supported by the rear wheels 17. In various embodiments, this may be achieved by positioning the center axis C of the baling chamber 62 at or behind or at or behind the rotational axis Rn of the rear drive wheels 17 relative to the longitudinal axis A of the vehicle 1 (i.e., is between the rotational axis Rn and the rear end 57 of the vehicle 1).
  • the center axis C of the baling chamber 62 may be forward to the rotational axis Rn of the rear drive wheels 17 with the distance D 3 between the central axis C of the baling chamber 62 and the rotational axis Rn being less than about 0.25*Di even less than about 0.15*Di or even less than about 0.10*Di.
  • the central axis of a completed bale may be determined by any suitable manner. In some embodiments, the central axis is determined by determining the outer circumference of the bale as defined by the position of the baler rollers 66 and/or belts 64.
  • the modular self-propelled vehicle is shown mounted to two wheel-rake tool bars 95a, 95b.
  • the tool bars 95a, 95b extend laterally from the front of the apparatus to allow the formed windrow to pass between the rear tires of the apparatus.
  • the tool bars 95a, 95b are mounted to the chassis between the front and rear wheels. In other embodiments, the tool bars 95a, 95b are mounted forward of the front wheels.
  • a mower conditioner 97 is mounted to the chassis towards the front of the modular self-propelled vehicle. The mower conditioner may discharge a windrow of cut forage material such that the material passes through the front and rear wheels of the apparatus.
  • a hay or forage merger 99 may be mounted to the modular self- propelled vehicle as shown in Figure 12.
  • the hay merger is mounted to the chassis between the front and rear wheels.
  • the merger may be mounted forward to the front wheels or behind the rear wheels.
  • sprayer components may be mounted to the chassis of the modular self-propelled vehicle.
  • the sprayer may have a sprayer tank mounted to the chassis where the baler device 5 shown in Figure 2 is positioned.
  • Spray booms that extend laterally outward from the vehicle may be mounted to the chassis.
  • baler device and wheel rake may be mounted at any one time unless stated otherwise (e.g., (1) baler device and wheel rake or (2) mower conditions and merger or any other suitable combination).
  • the modular self-propelled vehicles of embodiments of the present disclosure have several advantages.
  • the vehicle is modular and may mount to a variety of devices such as agricultural devices.
  • the vehicle is highly maneuverable and is able to turn within its own footprint (i.e., in a counter-steer arrangement or zero-turn radius).
  • This allows the vehicle to be turned quickly such as for reversing direction upon the vehicle reaching the end of row in the field or, when a bale device is mounted, for repositioning prior to bale discharge to prevent bales from rolling down an incline during bale discharge.
  • the wheelbase may be shortened and chaff to be blown cross way.
  • the operator station By positioning the operator station relatively forward and near the front caster wheels (e.g., by overlapping the operator station and/or cab with the rotational axes of the front caster wheels), the operator has a clear field of vision of the approaching crop or forage material.
  • the operator station is near the suspension system (e.g., with the cab and/or operator station being disposed above the suspension system) which improves the operator ride and reduces operator fatigue.
  • the operator may also have a clear field of view of the mounted device (e.g., wheel rake) and/or the turning profile of the vehicle and device may be reduced.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • General Engineering & Computer Science (AREA)
  • Harvester Elements (AREA)

Abstract

Véhicules modulaires autopropulsés destinés à servir de support à un dispositif et le faire fonctionner, ledit dispositif pouvant être relié amovible au véhicule. Les dispositifs d'exemple comprennent des dispositifs agricoles. Le véhicule peut comprendre un support de dispositif pour fixer le dispositif de manière amovible. Dans certains modes de réalisation, le véhicule comprend des roues motrices arrière et des roulettes pivotantes avant.
PCT/US2017/033524 2016-05-19 2017-05-19 Véhicule modulaire autopropulsé destiné à servir de support à un dispositif et le faire fonctionner WO2017201396A1 (fr)

Applications Claiming Priority (2)

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US201662338724P 2016-05-19 2016-05-19
US62/338,724 2016-05-19

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WO2017201396A1 true WO2017201396A1 (fr) 2017-11-23

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108466275A (zh) * 2018-06-13 2018-08-31 广州市盘古机器人科技有限公司 高温工作agv耙渣机器人

Citations (4)

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Publication number Priority date Publication date Assignee Title
US3698523A (en) * 1969-10-20 1972-10-17 Mowbot Inc Self-propelled random motion lawnmower
US6059055A (en) * 1994-12-16 2000-05-09 Wright Manufacturing, Inc. Power mower with riding platform for supporting standing operator
US6192666B1 (en) * 1999-03-10 2001-02-27 Scag Power Equipment, Inc. Lawn mower
US20100011733A1 (en) * 2007-10-18 2010-01-21 Beeline Mowers And Equipment, Llc Riding Mower

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3698523A (en) * 1969-10-20 1972-10-17 Mowbot Inc Self-propelled random motion lawnmower
US6059055A (en) * 1994-12-16 2000-05-09 Wright Manufacturing, Inc. Power mower with riding platform for supporting standing operator
US6192666B1 (en) * 1999-03-10 2001-02-27 Scag Power Equipment, Inc. Lawn mower
US20100011733A1 (en) * 2007-10-18 2010-01-21 Beeline Mowers And Equipment, Llc Riding Mower

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108466275A (zh) * 2018-06-13 2018-08-31 广州市盘古机器人科技有限公司 高温工作agv耙渣机器人

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