Towing device and towed agricultural machine

Abstract

The present application provides a kind of traction device and traction type agricultural equipment, it relates to agricultural machinery technical field, when the traction device is used, the installation part of connecting frame is connected to operation machine, ball joint connects tractor, the rotation angle of ball joint along the first rotation plane detected by detection mechanism is the included angle α formed by tractor and operation machine, the rotation angle of ball joint along the second rotation plane detected by detection mechanism is the included angle β formed by tractor and operation machine, so as to be used to determine the real-time position of operation machine relative to tractor, then combined with automatic navigation system to achieve accurate navigation, realize the effect that tractor and operation machine are operated cooperatively to complete specific trajectory, more rich in function.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, and in particular to a traction device and a traction-type agricultural machinery equipment. Background Technology

[0002] In modern agriculture, the automatic navigation systems used in agricultural machinery are mainly visual navigation and satellite navigation. Automatic navigation systems can effectively improve the efficiency of field operations such as tillage, plant protection, sowing, and harvesting, and can effectively improve the operating accuracy of agricultural machinery.

[0003] Agricultural machinery used in field operations can generally be divided into two types based on whether it is equipped with a power unit: self-propelled and towed. Towed agricultural machinery generally consists of two parts: a tractor and a work machine. The two parts are usually connected by a towing device in an articulated manner, and other transmission devices may be added as needed.

[0004] The inventors discovered that when a tractor unit pulls a work platform, their relative positions shift depending on the terrain and driving mode. For example, when traveling in a straight line on uneven terrain, a vertical misalignment occurs between the tractor unit and the work platform, with the included angle being as follows: Figure 1 (Viewed from the rear) Angle α; when turning on flat terrain, the tractor and the work machine will be misaligned in the horizontal direction, and the included angle formed by this misalignment is as follows: Figure 2 (Viewed from above) Angle β; in some cases, such as when turning on uneven terrain, there may be both angle α and angle β. These angles α and β play a crucial role in determining the position of the work machine relative to the tractor, thus achieving accurate navigation. However, existing traction devices only connect the tractor and the work machine, offering limited functionality and failing to detect angles α and β. Consequently, they cannot contribute to the determination of angles α and β, affecting navigation accuracy. Summary of the Invention

[0005] The purpose of this invention is to provide a traction device and a towing agricultural machinery equipment, which can detect the included angles α and β to determine the real-time position of the working machine relative to the tractor. It has richer functions and contributes to the determination of included angles α and β, thereby improving navigation accuracy.

[0006] In a first aspect, the present invention provides a traction device, comprising:

[0007] The connecting frame is provided with spaced-apart mounting portions and ball cavities, wherein the mounting portions are used to connect the working machine;

[0008] A ball joint, rotatably disposed in the ball cavity, is used to connect to a tractor, and the ball joint has a first rotation plane and a second rotation plane that are perpendicular to each other;

[0009] a detection mechanism arranged on the connecting frame and configured to detect the rotation angle of the ball joint along the first rotation plane and the rotation angle of the ball joint along the second rotation plane.

[0010] In an optional embodiment, the detection mechanism comprises a first detection assembly, and the connecting frame is further provided with a first mounting cavity in communication with the ball cavity, and the first detection assembly is arranged in the first mounting cavity and configured to detect the rotation angle of the ball joint along the first rotation plane.

[0011] In an optional embodiment, the first detection assembly comprises:

[0012] a first angle sensor fixed in the first mounting cavity, wherein the rotation axis of the detection part of the first angle sensor is perpendicular to the first rotation plane;

[0013] a first rotating member connected with the detection part of the first angle sensor and connected with the ball joint, wherein, in the case that the ball joint rotates along the first rotation plane, the ball joint can drive the detection part of the first angle sensor to rotate through the first rotating member to detect the rotation angle of the ball joint along the first rotation plane.

[0014] In an optional embodiment, the spherical surface of the ball joint is provided with a first sliding groove corresponding to the first mounting cavity, the path extension curve of the first sliding groove is in the second rotation plane, and the first rotating member is fitted in the first sliding groove, wherein, in the case that the ball joint rotates along the second rotation plane, the first rotating member can slide along the path extension curve of the first sliding groove in the first sliding groove.

[0015] In an optional embodiment, the first rotating member is in sliding connection with the detection part of the first angle sensor.

[0016] In an optional embodiment, the first rotating member is provided with a waist-shaped hole penetrating in a direction at an included angle with the axial direction of the first rotating member, the detection part of the first angle sensor is in a columnar shape, the detection part of the first angle sensor is arranged in the waist-shaped hole, and the contact surface between the detection part of the first angle sensor and the waist-shaped hole is a plane.

[0017] In an optional embodiment, the first detection assembly further comprises an elastic member arranged between the first rotating member and the detection part of the first angle sensor and configured to apply an action force to the first rotating member against the ball joint.

[0018] In an optional embodiment, the first rotating member is provided with a mounting blind hole extending along the axial direction of the first rotating member, the mounting blind hole and the waist-shaped hole are in communication, and the elastic member is arranged between the bottom of the mounting blind hole and the detection part of the first angle sensor.

[0019] In an optional embodiment, the detection mechanism comprises a second detection assembly, and the connecting frame is further provided with a second mounting cavity, which is in communication with the ball cavity and is used for detecting the self-rotation angle of the ball joint along the second self-rotation plane.

[0020] In an optional embodiment, the second detection assembly comprises:

[0021] a second angle sensor fixed in the second mounting cavity, wherein the rotation axis of the detection part of the second angle sensor is perpendicular to the second self-rotation plane;

[0022] a second rotating member connected with the detection part of the second angle sensor and connected with the ball joint, wherein the ball joint can drive the detection part of the second angle sensor to rotate through the second rotating member when the ball joint rotates along the second self-rotation plane.

[0023] In an optional embodiment, the spherical surface of the ball joint is provided with a second sliding groove corresponding to the second mounting cavity, the path extension curve of the second sliding groove is in the first self-rotation plane, and the first rotating member is matched with the second sliding groove, wherein the second rotating member can slide in the second sliding groove along the path extension curve of the second sliding groove when the ball joint rotates along the first self-rotation plane.

[0024] In an optional embodiment, the second detection assembly further comprises:

[0025] a gear fixedly connected with the detection part of the second angle sensor;

[0026] an arc-shaped rack, the central axis of which is perpendicular to the second self-rotation plane, the arc-shaped rack is externally meshed with the gear, and the second rotating member is fixed to the arc-shaped rack.

[0027] In an optional embodiment, the connecting frame comprises a main body part and a cover part, the main body part is provided with the mounting part and a recessed platform which are spaced apart, the cover part is mounted to the recessed platform, and the cover part and the recessed platform jointly form the ball cavity.

[0028] In an optional embodiment, the ball joint is provided with a connecting hole penetrating through the ball joint along a direction perpendicular to the second self-rotation plane, and the connecting hole is used for connecting with the towing vehicle.

[0029] In a second aspect, the present application provides a tractor-type agricultural equipment, comprising a tractor, a working machine and the traction device according to any one of the preceding embodiments, wherein the tractor is connected to the ball joint, and the working machine is connected to the mounting portion.

[0030] The present application has the following beneficial effects:

[0031] In use, the mounting portion of the connecting frame is connected to the working machine, and the ball joint is connected to the tractor. The self-rotation angle of the ball joint along the first self-rotation plane detected by the detection mechanism is the included angle α formed by the tractor and the working machine, and the self-rotation angle of the ball joint along the second self-rotation plane detected by the detection mechanism is the included angle β formed by the tractor and the working machine. Therefore, after the detection mechanism sends the detection results to the control center of the automatic navigation system, the control center can perform trajectory planning and calculation of the tractor-type agricultural equipment according to the detection results of the detection mechanism, for example, set the relevant parameters of the working machine in advance, such as the overall size, the maximum values of α and β allowed during travel, the position of the working machine and the field working component to the hinge, and the like, and combine the real-time detection results of the detection mechanism with the navigation system in the image acquisition link of visual navigation and the relative positioning link of satellite navigation, so as to make the navigation more accurate and realize the effect of the tractor and the working machine running cooperatively to complete a specific trajectory, and the function is more abundant.

[0032] The tractor-type agricultural equipment of the present application has the corresponding beneficial effects. BRIEF DESCRIPTION OF DRAWINGS

[0033] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings needed to be used in the specific embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0034] Figure 1 is a rear view of the field operation of the existing tractor-type agricultural equipment;

[0035] Figure 2 is a top view of the field operation of the existing tractor-type agricultural equipment;

[0036] Figure 3 is a turning trajectory schematic diagram of the existing tractor-type agricultural equipment when operating in parallel paths;

[0037] Figure 4 is a top view of the existing tractor-type agricultural equipment when avoiding obstacles;

[0038] Figure 5One of the path planning schematic diagram of the existing traction type agricultural machine equipment field work;

[0039] Figure 6 One of the path planning schematic diagram of the existing traction type agricultural machine equipment field work;

[0040] Figure 7 The schematic diagram of the existing traction device is shown in the figure;

[0041] Figure 8 The schematic diagram of the traction device of the embodiment of the present application is shown in the figure;

[0042] Figure 9 The partial sectional view of Figure 8 ;

[0043] Figure 10 The H-H sectional view of Figure 9 ;

[0044] Figure 11 The schematic diagram of the connecting frame in Figure 10 ;

[0045] Figure 12 The I-I sectional view in Figure 9 ;

[0046] Figure 13 One of the explosion view of the traction device of the embodiment of the present application is shown in the figure;

[0047] Figure 14 One of the explosion view of the traction device of the embodiment of the present application is shown in the figure;

[0048] Figure 15 The schematic diagram of the connecting frame after blanking in Figure 8 ;

[0049] Figure 16 The schematic diagram of the connecting frame after blanking in Figure 8 .

[0050] Icon: 1 - traction device; 10 - connecting frame; 101 - main body part; 1010 - mounting part; 1012 - concave table; 1014 - first half spherical cavity; 103 - cover body part; 1030 - second half spherical cavity; 105 - spherical cavity; 107 - first mounting cavity; 109 - second mounting cavity; 12 - spherical joint; 121 - connecting hole; 123 - key groove; 125 - key; 127 - first sliding slot; 129 - second sliding slot; 14 - first detection assembly; 141 - first angle sensor; 1410 - flat position; 143 - first spherical rod; 1430 - waist-shaped hole; 1432 - mounting blind hole; 145 - elastic piece; 147 - fixing plate; 16 - second detection assembly; 161 - second angle sensor; 163 - second spherical rod; 165 - arc-shaped rack; 167 - gear; 18 - traction seat; 19 - traction ring; 3 - traction vehicle; 5 - working machine; A - first rotation axis; B - second rotation axis. DETAILED DESCRIPTION

[0051] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the following will be combined with the accompanying drawings for the embodiments of the present application to make a clear and complete description of the technical solutions in the embodiments of the present application. Obviously, the described embodiments are a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the accompanying drawings can be arranged and designed in various different configurations.

[0052] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative labor are within the scope of protection of the present application.

[0053] It should be noted that: similar reference numerals and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0054] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship when the product of the present application is usually placed, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third" and the like are only used for differentiation in description, and cannot be understood as indicating or implying relative importance.

[0055] In addition, the terms "horizontal", "vertical", "overhang" and the like do not mean that the components must be absolutely horizontal or overhanging, but can be slightly inclined. As "horizontal" merely means that it is more horizontal than "vertical", it does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0056] In the description of the present application, it should also be noted that unless otherwise explicitly specified and limited, the terms "set", "install", "connect", "connect" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0057] Field operation agricultural machinery equipment can be divided into self-propelled and traction type according to whether equipped with power device. Traction type agricultural machinery equipment is generally divided into two parts of tractor and working machine, and the two are connected in articulated manner by using traction device, and other transmission devices are additionally provided according to needs.

[0058] In modern agriculture, the navigation technology of agricultural machinery equipment is mainly visual navigation and satellite navigation. The automatic navigation system can effectively improve the efficiency of field operation such as plowing, planting protection, seeding and harvesting, and can effectively improve the operation precision of agricultural machinery equipment. That is, the path planning of the field with known boundary information is obtained by computer to obtain the operation direction and operation trajectory, and the working machine travels along the theoretical operation trajectory with the tractor, and the visual navigation is additionally used in the field to make online real-time operation planning correction.

[0059] Visual navigation is mainly through the combination of camera and computer algorithm, mainly to provide route identification, mechanical position measurement, heading planning and obstacle avoidance for agricultural equipment. Through visual recognition, a large range of environmental monitoring can be achieved to collect sufficient information and ensure the normal driving of the machine. Due to the current agricultural production scale in China is not strong, the farmland environment is relatively complex, which leads to the decrease of accuracy in the process of visual navigation, and the visual navigation needs to be converted after obtaining information to guide the forward movement of the agricultural equipment, so the driving speed is slow and the work efficiency is low. Satellite navigation is mainly through a precise positioning system composed of multiple satellites orbiting the earth. This system can provide real-time information on the spatial position of agricultural equipment. The realization of satellite navigation function of agricultural equipment mainly relies on two sets of equipment, ground base station and mobile station. The ground base station is used as the reference of ground coordinate, when the agricultural equipment carries the mobile station for operation, the coordinates of satellite positioning are corrected by the ground base station, so as to improve the operation accuracy of the agricultural equipment. The position of agricultural equipment needs to be identified in the image acquisition link of visual navigation and the relative positioning link of satellite navigation. However, it is difficult to determine the position of the working machine relative to the tractor, or it needs a large cost to determine, so the navigation accuracy is insufficient.

[0060] Please refer to Figure 1 , Figure 1 The rear view of the field operation of the towed agricultural equipment, the rough line profile is the working machine 5, and the fine line profile is the tractor 3. When the tractor 3 pulls the working machine 5 to drive straight on the uneven terrain, the tractor 3 and the working machine 5 will be misaligned in the vertical direction due to the influence of stones and other terrain, and the misalignment between the tractor 3 and the working machine 5 forms an angle a.

[0061] Please refer to Figure 2 , Figure 2 The top view of the field operation of the towed agricultural equipment, the tail of the tractor 3 is hinged to the front of the working machine 5 through the traction device 1. If the tractor 3 drives the working machine 5 to turn and drive on the flat ground, the tractor 3 and the working machine 5 will be misaligned in the horizontal direction, and the misalignment forms an angle b.

[0062] In addition, in some cases, if the tractor 3 pulls the working machine 5 to turn and drive on the uneven terrain, there may be both angle a and angle b.

[0063] For different tractors 3, different working machines 5 and different working sites, the turning radius of the tractor 3 and the working machine 5 is different, and there are many influencing factors, so there will be differences between the theoretical planning path and the driving path. The angles a and b will directly affect the trajectory planning of the tractor 3 and the working machine 5 and the quality of field operation. Figure 3For the turning trajectory of the towed agricultural equipment when working in parallel path, wherein (a) and (b) represent two different parallel turning trajectories, R1 to R4 represent the real-time turning radius of the towed agricultural equipment, if the included angle β between the towing vehicle 3 and the working machine 5 is too large and the turning radius is too small, the towing vehicle 3 and the working machine 5 cannot turn smoothly, and the towing vehicle 3 may drag the working machine 5 to slide, or even the towing vehicle 3 and the working machine 5 may collide.

[0064] As shown in Figure 4 , if the towing vehicle 3 and the working machine 5 need to realize obstacle avoidance, in addition to accurately obtaining the position of the towing vehicle 3, the width L1 of the working machine 5, the distance L2 from the hinged position to the tail of the working machine 5, and the real-time angle of the included angle β when avoiding obstacles are also needed to accurately obtain the position of the working machine 5, so that the automatic navigation system plans the path according to the positions of the towing vehicle 3 and the working machine 5.

[0065] In the specific field operation, as shown in Figure 5 , for unmanned farms and small farms with complex shapes, the real-time position of the working machine 5 is needed to cooperate with the field with known boundary information. As shown in Figure 6 , for irregular complex paths and boundary limited paths, the real-time wheel radius of the towing vehicle 3 or the working machine 5 cannot be used alone, at this time, the relationship between the included angle β between the towing vehicle 3 and the working machine 5 and the boundary limit, and the difference between the towing vehicle 3 and the working machine 5 allowed to deviate from the theoretical planning path need to be judged, and the towing vehicle 3 and the working machine 5 complete the planning path in coordination.

[0066] In addition, when the towing vehicle 3 and the working machine 5 are driving in the field, if the included angle α between the towing vehicle 3 and the working machine 5 is too large, it means that the agricultural equipment is inclined too much, which may cause safety accidents such as tipping. Moreover, in the case of power transmission between the towing vehicle 3 and the working machine 5 through the transmission shaft, the maximum working angle of the non-wide-angle transmission shaft does not exceed 30 degrees, and the maximum working angle of the wide-angle transmission shaft does not exceed 80 degrees, if the included angle α and the included angle β are too large, the transmission shaft may be damaged.

[0067] Based on the above reasons, the included angle α and the included angle β between the towing vehicle 3 and the working machine 5 are very important for determining the position of the working machine 5 relative to the towing vehicle 3 during driving and operation, and then using the automatic navigation system to accurately plan the driving path of the agricultural equipment.

[0068] However, the existing towing device 1 as shown in Figure 7As shown, two ends of the traction device 1 are traction seat 18 and traction ring 19 respectively, the traction seat 18 is connected with the working machine 5, the traction ring 19 is hinged with the traction vehicle 3 through a pin shaft, therefore, the existing traction device 1 can only play a role of hinging the traction vehicle 3 and the working machine 5, the function is relatively single, the included angle α and the included angle β cannot be detected, the contribution for determining the included angle α and the included angle β cannot be made, therefore, the navigation precision is affected.

[0069] Therefore, the inventor has proposed the traction device 1 of the following embodiments through research, through which the real-time angle of the included angle β and the real-time angle of the included angle α of the traction vehicle 3 and the working machine 5 can be determined, therefore, after the automatic navigation system obtains the two real-time angles, the relative position of the traction vehicle 3 and the working machine 5 can be determined, the path planning of the traction type agricultural machinery equipment by the automatic navigation system is facilitated, the effect of accurate navigation is achieved, and the function is more abundant. Some embodiments of the present application will be described in detail below. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0070] Please refer to Figures 8 to 11 The embodiment of the present application provides a traction device 1, which comprises a connecting frame 10, a ball joint 12 and a detection mechanism. The connecting frame 10 is provided with spaced apart mounting portions 1010 and a ball cavity 105, and the mounting portions 1010 are used to connect the working machine 5. The ball joint 12 is rotatably arranged in the ball cavity 105 and is used to connect the traction vehicle 3, and the ball joint 12 has a first self-rotation plane and a second self-rotation plane which are perpendicular to each other. The detection mechanism is arranged between the connecting frame 10 and the ball joint 12 and is used to detect the self-rotation angle of the ball joint 12 along the first self-rotation plane and the self-rotation angle along the second self-rotation plane.

[0071] For the convenience of understanding, it can be considered that in an ideal state (for example Figure 1 and Figure 2 As shown, the working machine 5 is a wheeled vehicle structure, the traction vehicle 3 pulls the working machine 5 to travel straight or be stationary on a flat terrain, at this time, the central axes of the traction vehicle 3 and the working machine 5 are coaxial and are in a horizontal state) the ball joint 12 always maintains an initial state, at this time, the second self-rotation plane is equivalent to a horizontal plane, and the first self-rotation plane is equivalent to a vertical plane.

[0072] In general, the traction device 1 is in use, the mounting portion 1010 of the connecting frame 10 is connected to the working machine 5, the ball joint 12 is connected to the tractor 3, and the self-rotation angle of the ball joint 12 along the first self-rotation plane detected by the detection mechanism is the included angle α formed by the tractor 3 and the working machine 5, and the self-rotation angle of the ball joint 12 along the second self-rotation plane detected by the detection mechanism is the included angle β formed by the tractor 3 and the working machine 5. Therefore, after the detection mechanism sends its detection results to the control center of the automatic navigation system, the control center can perform trajectory planning calculation of the traction type agricultural equipment according to the detection results of the detection mechanism, for example, the related parameters of the working machine 5 are set in advance, such as the overall size, the maximum values of α and β allowed during travel, the position of the working machine 5 and the field working part to the hinge, and other parameters, and combined with the real-time detection results of the detection mechanism, the agricultural machine state parameters are combined with the navigation system in the image acquisition link of visual navigation and the relative positioning link of satellite navigation, so that the navigation is more accurate, and the effect of the tractor 3 and the working machine 5 cooperating to complete a specific trajectory is realized, and the function is more rich.

[0073] It should be noted that the first self-rotation plane and the second self-rotation plane both pass through the ball center of the ball joint 12, and the self-rotation of the ball joint 12 along the first self-rotation plane and the second self-rotation plane can be understood as: the ball joint has a first self-rotation axis A and a second self-rotation axis B perpendicular to each other, both the first self-rotation axis A and the second self-rotation axis B pass through the ball center of the ball joint 12, so that the rotation of the ball joint 12 around the first self-rotation axis A is the rotation along the first self-rotation plane, and the first self-rotation axis A is a normal line of the first self-rotation plane. The rotation of the ball joint 12 around the second self-rotation axis B is the rotation along the second self-rotation plane, and the second self-rotation axis B is a normal line of the second self-rotation plane.

[0074] The ball joint 12 is usually connected with the traction pin at the tail of the tractor 3, so the ball cavity 105 penetrates the connecting frame to facilitate the connection of the traction pin and the ball joint 12.

[0075] Specifically, in combination with Figure 12 , the ball joint 12 is provided with a connecting hole 121 penetrating the ball joint 12 along a direction perpendicular to the second self-rotation plane, and the connecting hole 121 is used for connecting with the traction pin of the tractor 3, so that when the working machine 5 has a relative position change with respect to the tractor 3, the traction pin can drive the ball joint 12 to rotate in the ball cavity 105. The inner periphery of the connecting hole 121 is provided with a key groove 123, so that the connecting hole 121 and the traction pin are connected through a key 125, so as to ensure the relative static state of the traction pin and the ball joint 12.

[0076] In the embodiment, the connecting frame 10 comprises a main body part 101 and a cover part 103, the main body part 101 is provided with spaced apart mounting part 1010 and recess 1012, the cover part 103 is mounted on the recess 1012, the cover part 103 and the recess 1012 jointly form a ball cavity 105, for example, the recess 1012 is provided with a first half ball cavity 1014, the first half ball cavity 1014 penetrates the main body part 101, the cover part 103 is provided with a second half ball cavity 1030, which is mounted on the recess 1012, so that the first half ball cavity 1014 and the second half ball cavity 1030 jointly form the ball cavity 105.

[0077] In combination Figures 13 to 16 In the embodiment, the detection mechanism comprises a first detection assembly 14 and a second detection assembly 16, the first detection assembly 14 is used for detecting the rotation angle of the ball joint 12 along the first rotation plane, the second detection assembly 16 is used for detecting the rotation angle of the ball joint 12 along the second rotation plane, the included angle α and the included angle β are respectively detected by the first detection assembly 14 and the second detection assembly 16 arranged separately, so as to avoid mutual interference and reduce the failure rate.

[0078] In the embodiment, the connecting frame 10 is further provided with a first mounting cavity 107 and a second mounting cavity 109, that is, the first mounting cavity 107 and the second mounting cavity 109 are further formed between the cover part 103 and the recess 1012, the first mounting cavity 107 and the second mounting cavity 109 are respectively communicated with two sides of the ball cavity 105, the first detection assembly 14 is arranged in the first mounting cavity 107, so as to realize the mounting of the first detection assembly 14, and the second detection assembly 16 is arranged in the second mounting cavity 109, so as to realize the mounting of the second detection assembly 16.

[0079] In the embodiment, the first detection assembly 14 comprises a first angle sensor 141 and a first rotating part, the first angle sensor 141 is fixed in the first mounting cavity 107, and the rotation axis of the detection part of the first angle sensor 141 is perpendicular to the first rotation plane. The first rotating part is connected with the detection part of the first angle sensor 141 and connected with the ball joint 12, wherein, in the case that the ball joint 12 rotates along the first rotation plane, the ball joint 12 can drive the detection part of the first angle sensor 141 to rotate through the first rotating part, so as to drive the first angle sensor 141 to count and convert data, and further detect the rotation angle of the ball joint 12 along the first rotation plane.

[0080] Specifically, the first angle sensor 141 is fixed in the first mounting cavity 107 through a fixed plate 147. Wherein, the first angle sensor 141 can be shaft type, and the detection part thereof is columnar and penetrates the fixed plate 147; of course, in some embodiments, the first angle sensor 141 can also be rotary disc type, and the detection part thereof is annular, sectorial or the like.

[0081] In the embodiment, the spherical surface of the ball joint 12 is provided with a first sliding groove 127 corresponding to the first mounting cavity 107, the path extension curve of the first sliding groove 127 extends in the second self-rotation plane, i.e. the first sliding groove 127 extends around the circumference of the ball joint 12, surrounds the outer periphery of the connecting hole 121, and the distance between the two ends of the first sliding groove 127 in the direction along the second self-rotation axis B is zero. The first rotating member cooperates with the first sliding groove 127, wherein, in the case that the ball joint 12 rotates along the second self-rotation plane, the first rotating member can slide along the path extension curve of the first sliding groove 127 in the first sliding groove 127.

[0082] Therefore, in the case that the ball joint 12 rotates along the first self-rotation plane, the first rotating member drives the detection part of the first angle sensor 141 to rotate, so that the first angle sensor 141 is driven to count and convert data, so that the first angle sensor 141 can detect the rotation angle of the ball joint 12 along the first self-rotation plane, and further obtain the real-time size of the included angle α. In the case that the ball joint 12 rotates along the second self-rotation plane, the first rotating member slides along the path extension curve of the first sliding groove 127, so it will not drive the detection part of the first angle sensor 141 to rotate, so the first angle sensor 141 cannot be driven to count.

[0083] More specifically, the first rotating member can be a first ball rod 143, the first end of the first ball rod 143 cooperates with the first sliding groove 127, and the first ball rod 143 is provided with a waist-shaped hole 1430 between one end and the other end of the first ball rod 143, the waist-shaped hole 1430 penetrates the first ball rod 143 in a direction that forms an included angle with the axial direction of the first ball rod 143, the detection part of the first angle sensor 141 slides through the waist-shaped hole 1430, and the contact surface between them is a plane, i.e. they are in plane sliding contact.

[0084] The first detection assembly 14 further comprises a resilient member 145 arranged between the first ball rod 143 and the detection part of the first angle sensor 141, for applying an action force to the first ball rod 143 to make the first end of the first ball rod 143 abut against the ball joint 12, so that the first end of the first ball rod 143 is always in the first sliding groove 127, to ensure the cooperation reliability of the first end of the first ball rod 143 and the first sliding groove 127.

[0085] The circumferential surface of the detection part of the first angle sensor 141 is provided with a flat portion 1410, so that the flat portion 1410 and the waist-shaped hole 1430 realize plane sliding contact.

[0086] The first ball rod 143 is slidably connected with the first angle sensor 141 through the waist-shaped hole 1430 and the detection part of the first angle sensor 141, and the elastic member 145 is arranged between the first ball rod 143 and the detection part of the first angle sensor 141, so that the first ball rod 143 is forced to the ball joint 12 by the elastic force of the elastic member 145, and the first end of the first ball rod 143 is always slidably connected with the first sliding groove 127, so that the first ball rod 143 drives the detection part of the first angle sensor 141 to rotate through the planar sliding connection between the waist-shaped hole 1430 and the detection part of the first angle sensor 141, and drives the first angle sensor 141 to work when the ball joint 12 rotates around the first axis. The elastic member 145 always slidably connects the first ball rod 143 with the first sliding groove 127, so as to avoid disconnection between the first ball rod 143 and the first sliding groove 127.

[0087] The second end of the first ball rod 143 is provided with a mounting blind hole 1432 extending along the axial direction of the first ball rod 143, and the mounting blind hole 1432 and the waist-shaped hole 1430 are in communication. The elastic member 145 can be a spring, which is arranged between the bottom of the mounting blind hole 1432 and the detection part of the first angle sensor 141. Of course, the spring can also be directly sleeved on the first ball rod 143, so as to be arranged between the first end of the first ball rod 143 and the detection part of the first angle sensor 141.

[0088] In the embodiment, the opposite two side surfaces of the first ball rod 143 in the direction perpendicular to the first rotation plane are respectively slidably connected with the fixed plate 147 and the inner wall of the first mounting cavity 107, so as to prevent the first ball rod 143 from moving in the direction perpendicular to the first rotation plane.

[0089] It should be noted that in some embodiments, the first sliding groove 127 can also not be arranged on the ball joint 12, and the first rotating member can be rotatably connected with the ball joint 12 (for example, a spherical recess is arranged on the spherical surface of the ball joint 12, and the first end of the first ball rod 143 is arranged in the spherical recess), and the second rotating member is slidably connected with the detection part of the first angle sensor 141. In this way, the detection part of the first angle sensor 141 can be driven to rotate by the first rotating member when the ball joint 12 rotates around the first rotation plane, so as to detect the included angle α.

[0090] In addition, in some embodiments, the first detection assembly 14 can also be used to detect the included angle α by visual recognition and comparison.

[0091] In the embodiment, the second detection assembly 16 comprises a second angle sensor 161 fixed in the second mounting cavity 109, wherein the detection part of the second angle sensor 161 is perpendicular to the second rotation plane. The second detection assembly 16 further comprises a second rotating member connected with the detection part of the second angle sensor 161 and the ball joint 12. When the ball joint 12 rotates along the first rotation plane, the ball joint 12 drives the second rotating member to rotate the detection part of the second angle sensor 161, so as to drive the second angle sensor 161 to count and convert data, and further detect the rotation angle of the ball joint 12 along the second rotation plane.

[0092] In some embodiments, the first angle sensor 141 can also be a rotary disc type, and the detection part of the first angle sensor 141 can be ring-shaped or fan-shaped.

[0093] In the embodiment, the spherical surface of the ball joint 12 is provided with a second sliding groove 129 corresponding to the second mounting cavity 109, the path extension curve of the second sliding groove 129 is in the first rotation plane, i.e. the second sliding groove 129 extends around the circumference of the ball joint 12, and the distance between the two ends of the second sliding groove 129 in the direction along the first rotation axis A is zero. The second rotating member is in sliding fit with the second sliding groove 129, wherein when the ball joint 12 rotates along the first rotation plane, the second rotating member can slide along the path extension curve of the second sliding groove 129 in the second sliding groove 129.

[0094] Therefore, when the ball joint 12 rotates along the second rotation plane, the second rotating member drives the detection part of the second angle sensor 161 to rotate, so that the second angle sensor 161 is driven to count and convert data, so that the second angle sensor 161 can detect the rotation angle of the ball joint 12 around the second axis, and further obtain the real-time size of the included angle β. When the ball joint 12 rotates along the first rotation plane, the second rotating member slides relative to the second sliding groove 129 along the path extension curve of the second sliding groove 129, so it does not drive the detection part of the second angle sensor 161 to rotate, so the second angle sensor 161 cannot be driven to count.

[0095] More specifically, the second rotating member can be a second ball rod 163, and the second detection assembly further comprises a gear 167 and an arc-shaped rack 165. The gear 167 is fixedly sleeved on the detection part of the second angle sensor 161. The center axis of the arc-shaped rack 165 coincides with the second axis, and the arc-shaped rack 165 is in external meshing with the gear 167. The first end of the second ball rod 163 is fitted in the second sliding groove 129, and the second end is fixed to the arc-shaped rack 165.

[0096] In the embodiment, the first end of the second connecting rod 163 is always in sliding fit with the second sliding slot 129, and the second end is fixed to the arc-shaped rack 165, which is in mesh with the gear 167 fixed to the detection part of the second angle sensor 161, so that when the ball joint 12 rotates around the second axis, the second connecting rod 163 can drive the arc-shaped rack 165 to rotate around the second axis, so as to drive the detection part of the second angle sensor 161 to rotate, thereby driving the second angle sensor 161.

[0097] In the embodiment, the two end faces of the arc-shaped rack 165 and the two end faces of the gear 167 are respectively in sliding contact with the opposite two side faces of the second mounting cavity 109 on the second axis, so as to prevent the arc-shaped rack 165 and the gear 167 from moving in the direction perpendicular to the second rotation plane.

[0098] It should be noted that in some embodiments, the second sliding slot 129 can also not be arranged on the ball joint 12, and only the first rotating member needs to be rotatably connected with the ball joint 12 (for example, a spherical recess is arranged on the spherical surface of the ball joint 12, and the first end of the second connecting rod 163 is fitted into the spherical recess), and correspondingly, the second rotating member and the detection part of the second angle sensor 161 are in sliding connection (for example, the sliding connection between the first connecting rod 143 and the detection part of the first angle sensor 141), so that when the ball joint 12 rotates along the second rotation plane, the detection part of the second angle sensor 161 can be driven to rotate by the second rotating member, so as to achieve the purpose of detecting the included angle β.

[0099] In addition, in some embodiments, the first detection assembly 14 can also be in the form of visual recognition and comparison to detect the included angle β.

[0100] In summary, the embodiment of the present application provides a traction device 1, which is applied to connect the towing vehicle 3 and the working machine 5, and through the detection mechanism, the self-rotation angle of the ball joint 12 along the first rotation plane and the self-rotation angle along the second rotation plane can be obtained, so as to obtain the included angle α and the included angle β formed by the towing vehicle 3 and the working machine 5, thereby determining the real-time position of the working machine 5 relative to the towing vehicle 3, and then combining the automatic navigation system to achieve accurate navigation, so as to realize the effect that the towing vehicle 3 and the working machine 5 cooperatively operate to complete a specific track, and the function is more abundant.

[0101] The embodiment of the present application also provides a traction type farm implement, which comprises the towing vehicle 3, the working machine 5, and the traction device 1 of the above-mentioned embodiment connected between the towing vehicle 3 and the working machine 5, that is, the towing vehicle 3 is connected with the ball joint 12, and the working machine 5 is connected with the mounting part 1010, so that the traction type farm implement also has corresponding structures and beneficial effects, which will not be described here.

[0102] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and are not intended to limit the present application; although the present application has been described in detail with reference to the above embodiments, those skilled in the art should understand that the technical solutions recorded in the above embodiments can be modified, or some or all of the technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A traction device, characterized in that, The utility model relates to a connecting frame, be equipped with the installation department and ball cavity that are spaced, the installation department is used for connecting operation machine, wherein, the connecting frame is also equipped with the first installation cavity and the second installation cavity with ball cavity all intercommunication, The utility model relates to a connecting frame, be equipped with the installation department and ball cavity that are spaced, the installation department is used for connecting operation machine, wherein, the connecting frame is also equipped with the first installation cavity and the second installation cavity with ball cavity all intercommunication, The utility model relates to a connecting frame, be equipped with the installation department and ball cavity that are spaced, the installation department is used for connecting operation machine, wherein, the connecting frame is also equipped with the first installation cavity and the second installation cavity with ball cavity all intercommunication, The utility model relates to a connecting frame, be equipped with the installation department and ball cavity that are spaced, the installation department is used for connecting operation machine, wherein, the connecting frame is also equipped with the first installation cavity and the second installation cavity with ball cavity all intercommunication, The utility model relates to a connecting frame, be equipped with the installation department and ball cavity that are spaced, the installation department is used for connecting operation machine, wherein, the connecting frame is also equipped with the first installation cavity and the second installation cavity with ball cavity all intercommunication, The utility model relates to a connecting frame, be equipped with the installation department and ball cavity that are spaced, the installation department is used for connecting operation machine, wherein, the connecting frame is also equipped with the first installation cavity and the second installation cavity with ball cavity all intercommunication, The utility model relates to a connecting frame, be equipped with the installation department and ball cavity that are spaced, the installation department is used for connecting operation machine, wherein, the connecting frame is also equipped with the first installation cavity and the second installation cavity with ball cavity all intercommunication, The utility model relates to a connecting frame, be equipped with the installation department and ball cavity that are spaced, the installation department is used for connecting operation machine, wherein, the connecting frame is also equipped with the first installation cavity and the second installation cavity with ball cavity all intercommunication, The utility model relates to a connecting frame, be equipped with the installation department and ball cavity that are spaced, the installation department is used for connecting operation machine, wherein, the connecting frame is also equipped with the first installation cavity and the second installation cavity with ball cavity all intercommunication, The utility model relates to a connecting frame, be equipped with the installation department and ball cavity that are spaced, the installation department is used for connecting operation machine, wherein, the connecting frame is also equipped with the first installation cavity and the second installation cavity with ball cavity all intercommunication, The utility model relates to a connecting frame, be equipped with the installation department and ball cavity that are spaced, the installation department is used for connecting operation machine, wherein, the connecting frame is also equipped with the first installation cavity and the second installation cavity with ball cavity all intercommunication, 2. The traction device of claim 1, wherein, The utility model relates to a connecting frame, be equipped with the installation department and ball cavity that are spaced, the installation department is used for connecting operation machine, wherein, the connecting frame is also equipped with the first installation cavity and the second installation cavity with ball cavity all intercommunication, 3. The traction device according to claim 1 or 2, characterized in that The utility model relates to a connecting frame, be equipped with the installation department and ball cavity that are spaced, the installation department is used for connecting operation machine, wherein, the connecting frame is also equipped with the first installation cavity and the second installation cavity with ball cavity all intercommunication, 4. The traction device of claim 3, wherein, The utility model relates to a connecting frame, be equipped with the installation department and ball cavity that are spaced, the installation department is used for connecting operation machine, wherein, the connecting frame is also equipped with the first installation cavity and the second installation cavity with ball cavity all intercommunication, 5. The traction device of claim 4, wherein, The utility model relates to a connecting frame, be equipped with the installation department and ball cavity that are spaced, the installation department is used for connecting operation machine, wherein, the connecting frame is also equipped with the first installation cavity and the second installation cavity with ball cavity all intercommunication, 6. The traction device of claim 5, wherein, The utility model relates to a connecting frame, be equipped with the installation department and ball cavity that are spaced, the installation department is used for connecting operation machine, wherein, the connecting frame is also equipped with the first installation cavity and the second installation cavity with ball cavity all intercommunication, The utility model relates to a connecting frame, be equipped with the installation department and ball cavity that are spaced, the installation department is used for connecting operation machine, wherein, the connecting frame is also equipped with the first installation cavity and the second installation cavity with ball cavity all intercommunication, The utility model relates to a connecting frame, be equipped with the installation department and ball cavity that are spaced, the installation department is used for connecting operation machine, wherein, the connecting frame is also equipped with the first installation cavity and the second installation cavity with ball cavity all intercommunication, The utility model relates to a connecting frame, be equipped with the installation department and ball cavity that are spaced, the installation department is used for connecting operation machine, wherein, the connecting frame is also equipped with the first installation cavity and the second installation cavity with ball cavity all intercommunication, The utility model relates to a connecting frame, be equipped with the installation department and ball cavity that are spaced, the installation department is used for connecting operation machine, wherein, the connecting frame is also equipped with the first installation cavity and the second installation cavity with ball cavity all intercommunication, The utility model relates to a connecting frame, be equipped with the installation department and ball cavity that are spaced, the installation department is used for connecting operation machine, wherein, the connecting frame is also equipped with the first installation cavity and the second installation cavity with ball cavity all intercommunication, The utility model relates to a connecting frame, be equipped with the installation department and ball cavity that are spaced, the installation department is used for connecting operation machine, wherein, the connecting frame is also equipped with the first installation cavity and the second installation cavity with ball cavity all intercommunication, The utility model relates to a connecting frame, be equipped with the installation department and ball cavity that are spaced, the installation department is used for connecting operation machine, wherein, the connecting frame is also equipped with the first installation cavity and the second installation cavity with ball cavity all intercommunication, The utility model relates to a connecting frame, be equipped with the installation department and ball cavity that are spaced, the installation department is used for connecting operation machine, wherein, the connecting frame is also equipped with the first installation cavity and the second installation cavity with ball cavity all intercommunication, The utility model relates to a connecting frame, be equipped with the installation department and ball cavity that are spaced, the installation department is used for connecting operation machine, wherein, the connecting frame is also equipped with the first installation cavity and the second installation cavity with ball cavity all intercommunication, The utility model relates to a connecting frame, be equipped with the installation department and ball cavity that are spaced, the installation department is used for connecting operation machine, wherein, the connecting frame is also equipped with the first installation cavity and the second installation cavity with ball cavity all intercommunication, The utility model relates to a connecting frame, be equipped with the installation department and ball cavity that are spaced, the installation department is used for connecting operation machine, wherein, the connecting frame is also equipped with the first installation cavity and the second installation cavity with ball cavity all intercommunication, The utility model relates to a connecting frame, be equipped with the installation department and ball cavity that are spaced, the installation department is used for connecting operation machine, wherein, the connecting frame is also equipped with the first installation cavity and the second installation cavity with ball cavity all intercommunication, The utility model relates to a connecting frame, be equipped with the installation department and ball cavity that are spaced, the installation department is used for connecting operation machine, wherein, the connecting frame is also equipped with the first installation cavity and the second installation cavity with ball cavity all intercommunication, The utility model relates to a connecting frame, be equipped with the installation department and ball cavity that are spaced, the installation department is used for connecting operation machine, wherein, the connecting frame is also equipped with the first installation cavity and the second installation cavity with ball cavity all intercommunication, The utility model relates to a connecting frame, be equipped with the installation department and ball cavity that are spaced, the installation department is used for connecting operation machine, wherein, the connecting frame is also equipped with the first installation cavity and the second installation cavity with ball cavity all intercommunication, The utility model relates to a connecting frame, be equipped with the installation department and ball cavity that are spaced, the installation department is used for connecting operation machine, wherein, the connecting frame is also equipped with the first installation cavity and the second installation cavity with ball cavity all intercommunication, The utility model relates to a connecting frame, be equipped with the installation department and ball cavity that are spaced, the installation department is used for connecting operation machine, wherein, the connecting frame is also equipped with the first installation cavity and the second installation cavity with ball cavity all intercommunication, The utility model relates to a connecting frame, be equipped with the installation department and ball cavity that are spaced, the installation department is used for connecting operation machine, wherein, the connecting frame is also equipped with the first installation cavity and the second installation cavity with ball cavity all intercommunication, The utility model relates to a connecting frame, be equipped with the installation department and ball cavity that are spaced, the installation department is used for connecting operation machine, wherein, the connecting frame is also equipped with the first installation cavity and the second installation cavity with ball cavity all intercommunication, The utility model relates to a connecting frame, be equipped with the installation department and ball cavity that are spaced, the installation department is used for connecting operation machine, wherein, the connecting frame is also equipped with the first installation cavity and the second installation cavity with ball cavity 7. The traction device of claim 1, wherein, A second sliding slot corresponding to the second mounting cavity is arranged on the spherical surface of the ball joint, a path extension curve of the second sliding slot is in the first rotation plane, and the second rotating member is matched with the second sliding slot, wherein the second rotating member can slide in the second sliding slot along the path extension curve of the second sliding slot when the ball joint rotates along the first rotation plane.

8. The traction device of claim 7, wherein, The second detection assembly further comprises: A gear fixedly connected to a detection part of the second angle sensor; An arc-shaped rack with a central axis perpendicular to the second rotation plane, the arc-shaped rack is externally meshed with the gear, and the second rotating member is fixed to the arc-shaped rack.

9. The traction device of claim 1, wherein, The connecting frame comprises a main body part and a cover part, the main body part is provided with recessed platforms spaced apart from each other and the mounting part, the cover part is mounted to the recessed platforms, and the cover part and the recessed platforms jointly form the ball cavity.

10. The traction device of claim 1, wherein, The ball joint is provided with a connecting hole penetrating through the ball joint in a direction perpendicular to the second rotation plane, and the connecting hole is used to connect with the towing vehicle.

11. An agricultural implement, comprising: The traction device comprises a towing vehicle, a working machine, and the traction device according to any one of claims 1-10, wherein the towing vehicle is connected with the ball joint, and the working machine is connected with the mounting part.

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