Quick hooking structure and hooking method for agricultural implement

Abstract

The invention provides a quick hooking structure and method for an agricultural implement. A first adjusting assembly of the hooking structure can adjust the angle and the horizontal distance between a first clamping jaw and a first connecting point of the agricultural implement; the second adjusting assembly can adjust the angle between the second clamping jaw and the second connecting point of the agricultural implement and the horizontal distance. The third adjusting assembly can adjust the vertical direction distance and the horizontal direction distance between the upper hanging hook and a third connecting point of the agricultural implement; the fourth adjusting assembly can adjust the vertical distance between the first clamping assembly and the first connecting point and the vertical distance between the second clamping assembly and the second connecting point of the agricultural implement. Thus, during hooking, the hooking structure can achieve multi-dimensional adjustment in the angle, the horizontal direction and the vertical direction, so that the first clamping jaw can be accurately in butt joint with the first connecting point, the second clamping jaw can be accurately in butt joint with the second connecting point, the upper hooking hook can be accurately in butt joint with the third connecting point, and rapid and accurate hooking with the agricultural implement is achieved.

Description

Technical Field

[0001] The present application relates to the technical field of agricultural machinery and equipment, and particularly relates to a quick hitch structure for agricultural implements and a hitch method. Background Art

[0002] In agricultural production, the hitch between a tractor and agricultural implements such as a seeder, a harvester, a rotary tiller, etc. is a frequent and necessary operation.

[0003] Traditional hitch devices mainly rely on the forward and backward movement of the tractor and manual adjustment of the direction during hitch to achieve the alignment connection between the agricultural implement and the tractor. However, this hitch method has the following technical problems: Since the alignment between the tractor and the agricultural implement can only be achieved through the forward and backward movement and steering adjustment of the tractor, the operator needs to repeatedly adjust the position and angle of the tractor, resulting in a long hitch process and affecting the operation efficiency; The traditional hitch device lacks multi-directional adjustment function, and it is difficult to quickly align the connection points between the agricultural implement and the tractor, with a large hitch error, resulting in difficult hitch. Therefore, there is an urgent need for a quick hitch structure that can simplify the hitch process and improve agricultural production efficiency. Summary of the Invention

[0004] To solve the above technical problems, the present application provides a quick hitch structure for agricultural implements and a hitch method.

[0005] In the first aspect of the present application, a quick hitch structure for agricultural implements is provided, including a frame, a first clamping assembly, a second clamping assembly, and an upper hitch hook third clamping assembly; The frame is connected to a power mechanism; the first clamping assembly, the second clamping assembly, and the upper hitch hook third clamping assembly are all arranged on the frame; The first clamping assembly includes a first jaw and a first adjustment assembly; the first adjustment assembly is used to adjust the angle and horizontal distance between the first jaw and the first connection point of the agricultural implement; The second clamping assembly includes a second jaw and a second adjustment assembly; the second adjustment assembly is used to adjust the angle and horizontal distance between the second jaw and the second connection point of the agricultural implement; The upper hitch hook third clamping assembly includes an upper hitch hook and a third adjustment assembly; the third adjustment assembly is used to adjust the vertical distance and horizontal distance between the upper hitch hook and the third connection point of the agricultural implement; The frame includes a frame body and a fourth adjustment assembly; the fourth adjustment assembly is used to adjust the vertical distance between the first clamping assembly, the second clamping assembly and the first connection point, the second connection point of the agricultural implement.

[0006] In some embodiments of the present application, the first adjustment assembly includes a first rotating member, a first driving unit, a second driving unit, a first link assembly, and a first sliding member; The first jaw is slidably disposed on the first rotating member; one end of the first rotating member is rotatably connected to the frame body, and the other end is a free end; one end of the first driving unit is rotatably connected to the frame body, and the other end is rotatably connected to the first rotating member; one end of the second driving unit is rotatably connected to the frame body, and the other end is rotatably connected to the first jaw; the first sliding member is slidably disposed on the frame body; one end of the first link assembly is rotatably connected to the first sliding member, and the other end is rotatably connected to the first jaw.

[0007] In some embodiments of the present application, a first chute is provided at the top of the first rotating member; a first movable portion is provided at the lower part of the first jaw; the first movable portion is movably disposed in the first chute.

[0008] In some embodiments of the present application, the second adjustment assembly includes a second rotating member, a third driving unit, a fourth driving unit, a second link assembly, and a second sliding member; The second jaw is slidably disposed on the second rotating member; one end of the second rotating member is rotatably connected to the frame body, and the other end is a free end; one end of the third driving unit is rotatably connected to the frame body, and the other end is rotatably connected to the second rotating member; one end of the fourth driving unit is rotatably connected to the frame body, and the other end is rotatably connected to the second jaw; the second sliding member is slidably disposed on the frame body; one end of the second link assembly is rotatably connected to the second sliding member, and the other end is rotatably connected to the second jaw.

[0009] In some embodiments of the present application, a second chute is provided at the top of the second rotating member; a second movable portion is provided at the lower part of the second jaw; the second movable portion is movably disposed in the second chute.

[0010] In some embodiments of the present application, a fifth driving unit, a connecting rod, a first locking structure, and a second locking structure are further included; One end of the fifth driving unit is disposed on the frame body, and the extending end is fixedly connected to the connecting rod; The first locking structure is fixedly connected to one end of the connecting rod and is used to lock the free end of the first rotating member; The second locking structure is fixedly connected to the other end of the connecting rod and is used to lock the free end of the second rotating member.

[0011] In some embodiments of the present application, the first locking structure includes a first connecting portion, a first mounting portion, and a first locking assembly; one end of the first connecting portion is fixedly connected to one end of the connecting rod, and the other end passes through the first mounting portion and is fixedly connected to the first locking assembly; the first locking assembly is rotatably connected to the first mounting portion; driven by the fifth driving unit, the first locking assembly can be opened and closed to clamp and release the first rotating member.

[0012] In some embodiments of the present application, the first locking assembly includes a second connecting portion, a third connecting portion, and a locking portion; both ends of the third connecting portion are rotatably connected to the second connecting portion and the locking portion respectively; there are four groups of the third connecting portion and the locking portion, and every two groups are symmetrically arranged with respect to the second connecting portion.

[0013] In some embodiments of the present application, the fourth adjusting assembly includes lifting assemblies symmetrically arranged on both sides of the frame body; The lifting assembly includes a sixth driving unit, a first lifting arm, a second lifting arm, and a connecting arm; one end of the sixth driving unit is rotatably connected to the power mechanism, and the other end is rotatably connected to the middle of the first lifting arm; one end of the first lifting arm is rotatably connected to the power mechanism, and the other end is rotatably connected to the second lifting arm; the other end of the second lifting arm is simultaneously rotatably connected to one end of the connecting arm and the frame body; the other end of the connecting arm is rotatably connected to the power mechanism.

[0014] In the second aspect of the present application, a method for quickly connecting an agricultural implement is provided, and the method includes the following steps: S1, obtaining the positional relationship between the first connection point of the agricultural implement and the first jaw, and the second connection point of the agricultural implement and the second jaw; S2, judging whether there is a distance deviation in the vertical direction between the first jaw and the first connection point, and between the second jaw and the second connection point according to the positional relationship between the first connection point of the agricultural implement and the first jaw, and the second connection point of the agricultural implement and the second jaw; If there is a distance deviation in the vertical direction between the first jaw and the first connection point, and between the second jaw and the second connection point; then step S3 is executed; If there is no distance deviation in the vertical direction between the first jaw and the first connection point, and between the second jaw and the second connection point; then step S4 is executed; S3, adjusting the first jaw and the second jaw so that the distance deviation in the vertical direction between the first jaw and the first connection point, and between the second jaw and the second connection point is zero; S4, adjusting the distance between the first connection point of the agricultural implement and the first jaw, and between the second connection point of the agricultural implement and the second jaw in the first horizontal direction to a connectable distance according to the positional relationship between the first connection point of the agricultural implement and the first jaw, and the second connection point of the agricultural implement and the second jaw; S5. Determine whether there is an angular deviation between the first jaw and the first connection point and between the second jaw and the second connection point according to the positional relationship between the first connection point and the first jaw and between the second connection point and the second jaw. If there is an angular deviation between the first jaw and the first connection point and / or between the second jaw and the second connection point, then execute step S6. If there is no angular deviation between the first jaw and the first connection point and between the second jaw and the second connection point, then execute step S7. S6. Adjust the first jaw so that the angular deviation between the first jaw and the first connection point is zero, and / or adjust the second jaw so that the angular deviation between the second jaw and the second connection point is zero. S7. Determine whether there is a distance deviation between the first jaw and the first connection point and between the second jaw and the second connection point in the second horizontal direction according to the positional relationship between the first connection point and the first jaw and between the second connection point and the second jaw. If there is a distance deviation between the first jaw and the first connection point and / or between the second jaw and the second connection point in the second horizontal direction, then execute step S8. If there is no distance deviation between the first jaw and the first connection point and between the second jaw and the second connection point in the second horizontal direction, then execute step S9. S8. Adjust the first jaw so that the distance deviation between the first jaw and the first connection point in the second horizontal direction is zero, and / or adjust the second jaw so that the distance deviation between the second jaw and the second connection point in the second horizontal direction is zero. S9. The first jaw clamps the first connection point; the second jaw clamps the second connection point. S10. Adjust the first rotating member and the second rotating member so that both the first rotating member and the second rotating member extend along the second horizontal direction. S11. Determine whether there is a distance deviation between the upper hanging hook and the third connection point according to the positional relationship between the third connection point and the upper hanging hook. If there is a distance deviation between the upper hanging hook and the third connection point, then execute step S12. If there is no distance deviation between the upper hanging hook and the third connection point, then execute step S13. S12. Adjust the upper hanging hook so that the distance deviation between the upper hanging hook and the third connection point is zero. S13. The upper hanging hook hooks the third connection point.

[0015] Compared with the prior art, the present invention has the following advantages and beneficial effects: The quick hitch structure of the agricultural implement of the present application includes a frame, a first clamping assembly, a second clamping assembly, and a third clamping assembly. The first clamping assembly includes a first jaw and a first adjusting assembly; the first adjusting assembly is used to adjust the angle and the horizontal distance between the first jaw and the first connection point of the agricultural implement; the second clamping assembly includes a second jaw and a second adjusting assembly; the second adjusting assembly is used to adjust the angle and the horizontal distance between the second jaw and the second connection point of the agricultural implement; the third clamping assembly includes an upper hitch hook and a third adjusting assembly; the third adjusting assembly is used to adjust the vertical distance and the horizontal distance between the upper hitch hook and the third connection point of the agricultural implement; the frame includes a frame body and a fourth adjusting assembly; the fourth adjusting assembly is used to adjust the vertical distance between the first clamping assembly, the second clamping assembly and the first connection point, the second connection point of the agricultural implement; thus, when hitching with the agricultural implement, the hitch structure can achieve multi-dimensional adjustment in terms of angle, horizontal direction, and vertical direction, so that the first jaw can accurately dock with the first connection point, the second jaw can accurately dock with the second connection point, and the upper hitch hook can accurately dock with the third connection point, realizing quick and accurate hitching with the agricultural implement.

[0016] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit this document. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings forming a part of this document are used to provide a further understanding of this document. The schematic embodiments and descriptions thereof of this document are used to explain this document and do not constitute an improper limitation of this document. In the drawings: Figure 1 is a schematic structural diagram of the quick hitch structure of the agricultural implement provided by an exemplary embodiment of the present application; Figure 2 is a schematic structural diagram of the quick hitch structure of the agricultural implement provided by an exemplary embodiment of the present application; Figure 3 is a front view of the quick hitch structure of the agricultural implement provided by an exemplary embodiment of the present application; Figure 4 is a top view of the quick hitch structure of the agricultural implement provided by an exemplary embodiment of the present application; Figure 5 is a schematic structural diagram of the first jaw provided by an exemplary embodiment of the present application; Figure 6 is a schematic structural diagram of the first locking structure and the second locking structure provided by an exemplary embodiment of the present application; Figure 7 is a flowchart of the hitching method provided by an exemplary embodiment of the present application; Figure 8It is a schematic diagram of the hanging process provided by an exemplary embodiment of the present application.

[0018] In the figure: 11. Rack body; 111. First square steel; 112. Second square steel; 113. Adjustable rod assembly; 12. Fourth adjustment assembly; 121. Sixth drive unit; 122. First lifting arm; 123. Second lifting arm; 124. Connecting arm; 20. First clamping assembly; 21. First jaw; 211. First movable part; 22. First adjustment assembly; 221. First rotating part; 222. First drive unit; 223. Second drive unit; 224. First link assembly; 225. First sliding part; 30. Second clamping assembly; 31. Second jaw; 32. Second adjustment assembly; 321. Second rotating part; 322. Third drive unit; 323. Fourth drive unit; 324. Second link assembly; 325. Second sliding part; 40. Third clamping assembly; 41. Upper hanging hook; 42. Third adjustment assembly; 51. First locking structure; 511. First connecting part; 512. First mounting part; 513. First locking assembly; 5131. Second connecting part; 5132. Third connecting part; 5133. Locking part; 52. Second locking structure; 53. Fifth drive unit; 54. Connecting rod; 60. Camera; 70. Power output part. Detailed implementation manners

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Apparently, the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application. It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments may be arbitrarily combined with each other.

[0020] Traditional hitch devices mainly rely on the forward and backward movement of the tractor and manual adjustment of the direction during hitch-up to achieve the alignment connection between the agricultural implement and the tractor. However, there are the following technical problems with this hitch-up method: Since the alignment between the tractor and the agricultural implement can only be achieved through the forward and backward movement and steering adjustment of the tractor, the operator needs to repeatedly adjust the position and angle of the tractor, resulting in a relatively long hitch-up process and affecting the operation efficiency; The traditional hitch device lacks multi-directional adjustment functions, and it is difficult to quickly align the connection points between the agricultural implement and the tractor, with a large hitch-up error, leading to difficult hitch-up. Therefore, there is an urgent need for a quick hitch-up structure that can simplify the hitch-up process and improve agricultural production efficiency.

[0021] Based on this, an exemplary embodiment of the present application provides a quick hitch-up structure and a hitch-up method for an agricultural implement. The quick hitch-up structure for the agricultural implement includes a frame, a first clamping assembly, a second clamping assembly, and a third clamping assembly. The first clamping assembly includes a first jaw and a first adjustment assembly; The first adjustment assembly is used to adjust the angle and the horizontal distance between the first jaw and the first connection point of the agricultural implement; The second clamping assembly includes a second jaw and a second adjustment assembly; The second adjustment assembly is used to adjust the angle and the horizontal distance between the second jaw and the second connection point of the agricultural implement; The third clamping assembly includes an upper hitch hook and a third adjustment assembly; The third adjustment assembly is used to adjust the vertical distance and the horizontal distance between the upper hitch hook and the third connection point of the agricultural implement; The frame includes a frame body and a fourth adjustment assembly; The fourth adjustment assembly is used to adjust the vertical distance between the first clamping assembly, the second clamping assembly and the first connection point, the second connection point of the agricultural implement; In this way, when hitching up with the agricultural implement, the hitch-up structure can achieve multi-dimensional adjustment in terms of angle, horizontal direction, and vertical direction, enabling the first jaw to accurately dock with the first connection point, the second jaw to accurately dock with the second connection point, and the upper hitch hook to accurately dock with the third connection point, realizing quick and accurate hitch-up with the agricultural implement.

[0022] Embodiment 1: An exemplary embodiment of the present application provides a quick hitch-up structure for an agricultural implement, as Figures 1 to 4 shown. The hitch-up structure includes a frame, a first clamping assembly 20, a second clamping assembly 30, and a third clamping assembly 40; Among them, the frame is connected to a power mechanism; The power mechanism can be a tractor; The first clamping assembly 20, the second clamping assembly 30, and the third clamping assembly 40 are all arranged on the frame.

[0023] The frame includes a frame body 11 and a fourth adjustment assembly 12; As Figure 4As shown in the figure, the frame body 11 includes a first vertical plate, a second vertical plate, and a third vertical plate. The first vertical plate, the second vertical plate, and the third vertical plate jointly enclose a receiving space for accommodating the power output part 70. One end of the power output part 70 is installed on the third vertical plate to be docked with the input shaft of the agricultural machinery and provide power for the agricultural machinery. On the first vertical plate and the second vertical plate, a first square steel 111 and a second square steel 112 are sequentially penetrated. The first sliding member 225 and the second sliding member 325 are arranged on the first square steel 111 and can slide on the first square steel 111.

[0024] Two adjustable rod assemblies 113 are symmetrically arranged on the second square steel 112. The extending direction of the adjustable rod assembly 113 is the first horizontal direction. The adjustable rod assembly 113 includes a first rod portion fixed on the second square steel 112 and a second rod portion detachably connected to the first rod portion. The first rod portion can be a hollow steel pipe. Multiple groups of adapted mounting holes are arranged on the first rod portion and the second rod portion. By adjusting the position of the second rod portion relative to the first rod portion, the overall length of the hanging structure can be adjusted to adapt to different agricultural machinery. One end of the second rod portion away from the first rod portion is rotatably connected to the power mechanism. One end of the first rod portion located above the second square steel is rotatably connected to the fourth adjustment assembly 12.

[0025] The first clamping assembly 20 includes a first jaw 21 and a first adjustment assembly 22. The first adjustment assembly 22 includes a first rotating member 221, a first driving unit 222, a second driving unit 223, a first link assembly 224, and a first sliding member 225. The first jaw 21 is slidably arranged on the first rotating member 221. One end of the first rotating member 221 is rotatably connected to the frame body 11, and the other end is a free end. One end of the first driving unit 222 is rotatably connected to the frame body 11, and the other end is rotatably connected to the first rotating member 221. One end of the second driving unit 223 is rotatably connected to the frame body 11, and the other end is rotatably connected to the first jaw 21. The first sliding member 225 is slidably arranged on the frame body 11. One end of the first link assembly 224 is rotatably connected to the first sliding member 225, and the other end is rotatably connected to the first jaw 21. Preferably, a first chute is arranged on the top of the first rotating member 221. The first chute includes an upper chute and a lower chute that are interconnected. The cross-sectional dimension of the lower chute is larger than that of the upper chute. A first movable portion 211 is arranged at the lower part of the first jaw 21. The first movable portion 211 is movably arranged in the first chute. Preferably, as Figure 5 shown, the first movable portion 211 includes a connecting shaft and a rolling portion installed on the connecting shaft. The rolling portion can rotate around the connecting shaft. The rolling portion is accommodated in the lower chute, and the connecting shaft is accommodated in the upper chute. When the first jaw 21 moves on the first rotating member 221, the rolling portion can slide and roll in the first chute, so that the clamping direction of the first jaw 21 always remains unchanged, that is, the clamping direction of the first jaw 21 always remains in such asFigure 8 The first horizontal direction shown.

[0026] As Figure 8 As shown, when there is an angle between the width direction of the hanging structure and the width direction of the agricultural implement, through the combined action of the first driving unit 222 and the second driving unit 223, the first rotating member 221 can be driven to rotate so that the extending direction of the first rotating member 221 is parallel to the width direction of the agricultural implement. During the rotation of the first rotating member 221, the clamping direction of the first clamping jaw 21 can always remain unchanged. In this way, the adjustment of the angle between the first clamping jaw 21 and the first connection point is realized. When the first clamping jaw 21 moves along the first rotating member 221, the adjustment of the horizontal distance between the first clamping jaw 21 and the first connection point can be realized.

[0027] Preferably, the second clamping assembly 30 has a similar structure to the first clamping assembly 20, and the difference lies in that the structure of the second rotating member 321 is different from that of the first rotating member 221; Exemplarily, the end of the first rotating member 221 rotatably connected to the frame body 11 includes an upper rotating portion and a lower rotating portion, and a space for installing the second rotating member 321 is formed between the upper rotating portion and the lower rotating portion.

[0028] As Figures 1 to 4 As shown, the second clamping assembly 30 includes a second clamping jaw 31 and a second adjusting assembly 32; The second adjusting assembly 32 includes a second rotating member 321, a third driving unit 322, a fourth driving unit 323, a second link assembly 324 and a second sliding member 325; The second clamping jaw 31 is slidably arranged on the second rotating member 321; One end of the second rotating member 321 is rotatably connected to the frame body 11, and the other end is a free end; One end of the third driving unit 322 is rotatably connected to the frame body 11, and the other end is rotatably connected to the second rotating member 321; One end of the fourth driving unit 323 is rotatably connected to the frame body 11, and the other end is rotatably connected to the second clamping jaw 31; The second sliding member 325 is slidably arranged on the frame body 11; One end of the second link assembly 324 is rotatably connected to the second sliding member 325, and the other end is rotatably connected to the second clamping jaw 31. A second chute is provided at the top of the second rotating member 321; A second movable portion is provided at the lower part of the second clamping jaw 31; The second movable portion is movably arranged in the second chute.

[0029] When there is an angle between the width direction of the hanging structure and the width direction of the agricultural implement, through the combined action of the third driving unit 322 and the fourth driving unit 323, the second rotating member 321 can be driven to rotate so that the extending direction of the second rotating member 321 is parallel to the width direction of the agricultural implement. During the rotation of the second rotating member 321, the second clamping jaw 31 can always maintain the clamping direction unchanged. In this way, the adjustment of the angle between the second clamping jaw 31 and the second connection point is realized. When the second clamping jaw 31 moves along the second rotating member 321, the adjustment of the horizontal distance between the second clamping jaw 31 and the second connection point can be realized.

[0030] Exemplarily, the first driving unit 222, the second driving unit 223, the third driving unit 322, and the fourth driving unit 323 are all hydraulic cylinders.

[0031] The third clamping assembly 40 includes an upper hanging hook 41 and a third adjusting assembly 42; the third adjusting assembly 42 includes a seventh driving unit and a third lifting arm; the seventh driving unit can be a hydraulic cylinder, its fixed end is hinged to the frame, and the extending end is hinged to the third lifting arm; the lower end of the third lifting arm is hinged to the frame, and the upper end is connected with the upper hanging hook 41. Under the action of the seventh driving unit, the upper hanging hook 41 can rotate in the plane defined by the seventh driving unit and the third lifting arm with the lower hinge point of the third lifting arm as the rotation center, so as to adjust the vertical distance and the horizontal distance between the upper hanging hook 41 and the third connection point, so that the upper hanging hook 41 clamps the third connection point.

[0032] As Figure 1 shown, a camera 60 is further provided on the frame body 11, and the cab of the power mechanism can obtain the picture captured by the camera 60 in real time, so as to obtain the relative positions between the first connection point of the agricultural implement and the first clamping jaw 21, the relative position between the second connection point and the second clamping jaw 31, and the relative position between the third connection point and the upper hanging hook 41 in real time, which is convenient for adjusting the position between the hanging structure and the agricultural implement for hanging.

[0033] The fourth adjusting assembly 12 is used to adjust the vertical distances between the first clamping assembly 20, the second clamping assembly 30 and the first connection point and the second connection point of the agricultural implement. The fourth adjusting assembly 12 includes lifting assemblies symmetrically arranged on both sides of the frame body 11; the lifting assembly includes a sixth driving unit 121, a first lifting arm 122, a second lifting arm 123 and a connecting arm 124; one end of the sixth driving unit 121 is rotatably connected to the power mechanism, and the other end is rotatably connected to the middle of the first lifting arm 122; one end of the first lifting arm 122 is rotatably connected to the power mechanism, and the other end is rotatably connected to the second lifting arm 123; the other end of the second lifting arm 123 is simultaneously rotatably connected to one end of the connecting arm 124 and the frame body 11; the other end of the connecting arm 124 is rotatably connected to the power mechanism.

[0034] When connected to agricultural machinery, the connection structure can achieve multi-dimensional adjustment in terms of angle, horizontal direction, and vertical direction, enabling the first jaw 21 to accurately dock with the first connection point, the second jaw 31 to accurately dock with the second connection point, and the upper hitch hook 41 to accurately dock with the third connection point, realizing rapid and accurate connection with agricultural machinery.

[0035] Embodiment 2: Based on the above Embodiment 1, the difference between this embodiment and Embodiment 1 is that this embodiment further includes a fifth driving unit 53, a connecting rod 54, a first locking structure 51, and a second locking structure 52.

[0036] Among them, as Figure 2 and 6 shown, one end of the fifth driving unit 53 is hinged to the second square steel of the frame body 11, the connecting rod 54 is arranged inside the first square steel 111, and the extending end of the fifth driving unit 53 passes through the first square steel 111 and is fixedly connected to the connecting rod 54; the first locking structure 51 is fixedly connected to one end of the connecting rod 54 and is used to lock the free end of the first rotating member 221; the second locking structure 52 is fixedly connected to the other end of the connecting rod 54 and is used to lock the free end of the second rotating member 321. Preferably, the fifth driving unit 53 is a hydraulic cylinder. Under the action of the fifth driving unit 53, it can drive the first locking structure 51 and the second locking structure 52 to act, realizing the clamping and releasing of the first rotating member 221 and the second rotating member 321.

[0037] As Figure 6 shown, the first locking structure 51 includes a first connecting portion 511, a first mounting portion 512, and a first locking assembly 513; preferably, the first connecting portion 511 is rod-shaped, one end of the first connecting portion 511 passes through the first square steel 111 and is fixedly connected to one end of the connecting rod 54, and the other end passes through the first mounting portion 512 and is fixedly connected to the first locking assembly 513; the first locking assembly 513 is rotatably connected to the first mounting portion 512; under the drive of the fifth driving unit 53, the first locking assembly 513 can open and close to clamp and release the first rotating member 221.

[0038] The first locking assembly 513 includes a second connecting portion 5131, a third connecting portion 5132, and a locking portion 5133; the second connecting portion 5131 has a symmetrical structure with four hinge connection points, the third connecting portion 5132 has four groups, and both ends of each third connecting portion 5132 are rotatably connected to the hinge connection points of the second connecting portion 5131 and the locking portion 5133 respectively. The locking portion 5133 includes a first section, a second section, a third section, and a fourth section connected in sequence, wherein the first section is hinged to the first mounting portion 512, an obtuse angle is formed between the first section and the second section, an obtuse angle is also formed between the second section and the third section, and an obtuse angle is formed between the third section and the fourth section; the locking portion 5133 has four groups, and every two groups are symmetrically arranged with respect to the second connecting portion 5131. A clamping space for clamping the first rotating member 221 is formed between the four groups of locking portions 5133. After clamping the first rotating member 221, the second section can fit against the upper and lower portions of the first rotating member 221, improving the stability of the clamping.

[0039] The structure of the second locking structure 52 is the same as that of the first locking structure 51 and will not be described herein again. The fifth driving unit 53 simultaneously drives the first locking structure 51 and the second locking structure 52 to clamp and release the first rotating member 221 and the second rotating member 321, ensuring that the first locking structure 51 and the second locking structure 52 are highly synchronized during the clamping and releasing processes, improving the reliability and stability of clamping the first rotating member 221 and the second rotating member 321.

[0040] In this embodiment, after the first jaw 21 clamps the first connection point and the second jaw 31 clamps the second connection point, the first rotating member 221 and the second rotating member 321 move to a position parallel to the second horizontal direction. Then, the first locking structure 51 clamps and locks the first rotating member 221, and the second locking structure 52 clamps and locks the second rotating member 321. In this way, the agricultural implement is rectified and also kept parallel to the second horizontal direction, so as to keep the first adjusting assembly 22 and the second adjusting assembly 32 stable and facilitate clamping the third connection point; at the same time, during the operation of the agricultural implement, the stability of the first adjusting assembly 22 and the second adjusting assembly 32 can be ensured, preventing the first rotating member 221 and the second rotating member 321 from rotating during the operation, and improving the overall stability of the hanging structure.

[0041] Embodiment 3: An exemplary embodiment of the present application provides a method for quickly hanging an agricultural implement, as Figure 7 shown. The quick hanging method includes the following steps: As Figure 8As shown, before the hanging connection starts, the hanging connection structure is adjusted to the initial state. When the hanging connection structure is in the initial state, the first rotating member 221 and the second rotating member 321 are on a straight line, that is, the included angle between the first rotating member 221 and the second rotating member 321 is 180°, and both are parallel to the first square steel 111.

[0042] S1. Obtain the positional relationship between the first connection point of the agricultural implement and the first jaw 21, and between the second connection point of the agricultural implement and the second jaw 31 in real time through the camera 60.

[0043] S2. Start the power mechanism. According to the positional relationship between the first connection point and the first jaw 21, and between the second connection point and the second jaw 31, determine whether there is a distance deviation in the vertical direction between the first jaw 21 and the first connection point, and between the second jaw 31 and the second connection point; usually, the first jaw 21 and the second jaw 31 are at the same position in the vertical direction; the first connection point and the second connection point are at the same position in the vertical direction. Therefore, the fourth adjustment assembly 12 can be used to uniformly adjust the distance deviation in the vertical direction between the first jaw 21 and the first connection point, and between the second jaw 31 and the second connection point.

[0044] If there is a distance deviation in the vertical direction between the first jaw 21 and the first connection point, and between the second jaw 31 and the second connection point; then execute step S3; the sixth driving unit 121 drives the first lifting arm 122 to rotate, and the second lifting arm 123 moves to adjust the height of the frame body 11 in the vertical direction, thereby adjusting the first jaw 21 and the second jaw 31 so that the distance deviation in the vertical direction between the first jaw 21 and the first connection point, and between the second jaw 31 and the second connection point is zero.

[0045] If there is no distance deviation in the vertical direction between the first jaw 21 and the first connection point, and between the second jaw 31 and the second connection point; then execute step S4; S4. According to the positional relationship between the first connection point and the first jaw 21, and between the second connection point and the second jaw 31, adjust the distance between the first connection point of the agricultural implement and the first jaw 21, and between the second connection point of the agricultural implement and the second jaw 31 in the first horizontal direction to a distance that can be hung; the distance that can be hung is the distance at which the first jaw 21 and the second jaw 31 can clamp the first connection point and the second connection point when they extend along the first horizontal direction, that is, in the first horizontal direction, the distance between the first jaw 21 and the first connection point, and the distance between the second jaw 31 and the second connection point are within the clamping range of the first jaw 21 and the second jaw 31.

[0046] S5. According to the positional relationship between the first connection point and the first jaw 21, and between the second connection point and the second jaw 31, determine whether there is an angular deviation between the first jaw 21 and the first connection point, and between the second jaw 31 and the second connection point; such asFigure 8 As shown, when adjusting the distance between the first connection point of the agricultural implement and the first jaw 21, and the distance between the second connection point of the agricultural implement and the second jaw 31 in the first horizontal direction, the movement of the power mechanism may cause an angle between the width direction of the hitch structure and the width direction of the agricultural implement, resulting in a deviation angle between the first jaw 21 and the first connection point, and between the second jaw 31 and the second connection point. That is, the clamping direction of the first jaw 21 is not in the same straight line as the first connection point, and the clamping direction of the second jaw 31 is not in the same straight line as the second connection point. At this time, it will cause a clamping deviation between the first jaw 21 and the first connection point, and a clamping deviation between the second jaw 31 and the second connection point, resulting in the inability to accurately clamp the first connection point and the second connection point.

[0047] If there is a deviation angle between the first jaw 21 and the first connection point; then step S6 is executed, and the first driving unit 222 drives the first rotating member 221 to rotate the first rotating member 221 relative to the frame body 11, and adjusts the first jaw 21 so that the deviation angle between the first jaw 21 and the first connection point is zero; If there is a deviation angle between the second jaw 31 and the second connection point; then the third driving unit 322 drives the second rotating member 321 to rotate the second rotating member 321 relative to the frame body 11, and adjusts the second jaw 31 so that the deviation angle between the second jaw 31 and the second connection point is zero; If there are deviation angles between the first jaw 21 and the first connection point, and between the second jaw 31 and the second connection point, the first jaw 21 and the second jaw 31 can be adjusted simultaneously so that the deviation angle between the first jaw 21 and the first connection point is zero, and the deviation angle between the second jaw 31 and the second connection point is zero. It is also possible to adjust the first jaw 21 separately so that the deviation angle between the first jaw 21 and the first connection point is zero, and adjust the second jaw 31 so that the deviation angle between the second jaw 31 and the second connection point is zero.

[0048] It should be noted that during the process of the first driving unit 222 driving the first rotating member 221 to rotate, the second driving unit 223 simultaneously drives the first jaw 21 to move so that the clamping direction of the first jaw 21 always remains in the first horizontal direction; during the process of the third driving unit 322 driving the second rotating member 321 to rotate, the second driving unit 223 simultaneously drives the second jaw 31 to move so that the clamping direction of the second jaw 31 always remains in the first horizontal direction.

[0049] If there are no deviation angles between the first jaw 21 and the first connection point, and between the second jaw 31 and the second connection point; then step S7 is executed; S7. Determine whether there is a distance deviation in the second horizontal direction between the first gripper 21 and the first connection point and between the second gripper 31 and the second connection point according to the positional relationship between the first connection point and the first gripper 21 and between the second connection point and the second gripper 31; If there is a distance deviation in the second horizontal direction between the first gripper 21 and the first connection point, then execute step S8, and the second driving unit 223 drives the first gripper 21 to move along the first rotating member 221 to adjust the first gripper 21 so that the distance deviation in the second horizontal direction between the first gripper 21 and the first connection point is zero; If there is a distance deviation in the second horizontal direction between the second gripper 31 and the second connection point, then the fourth driving unit 323 drives the second gripper 31 to move along the second rotating member 321 to adjust the second gripper 31 so that the distance deviation in the second horizontal direction between the second gripper 31 and the second connection point is zero; If there are distance deviations in the second horizontal direction between both the first gripper 21 and the first connection point and the second gripper 31 and the second connection point, then adjust the first gripper 21 so that the distance deviation in the second horizontal direction between the first gripper 21 and the first connection point is zero, and adjust the second gripper 31 so that the distance deviation in the second horizontal direction between the second gripper 31 and the second connection point is zero.

[0050] If there are no distance deviations in the second horizontal direction between both the first gripper 21 and the first connection point and the second gripper 31 and the second connection point, then execute step S9; S9. Drive the first gripper 21 to grip the first connection point; drive the second gripper 31 to grip the second connection point; S10. After the first gripper 21 grips the first connection point and the second gripper 31 grips the second connection point, the angle between the first rotating member 221 and the second rotating member 321 may not be equal to 180°, and both the first rotating member 221 and the second rotating member 321 form an angle with the second horizontal direction; at this time, adjust the first rotating member 221 through the first driving unit 222 and adjust the second rotating member 321 through the third driving unit 322 so that both the first rotating member 221 and the second rotating member 321 extend along the second horizontal direction; this process is the rectification process of the agricultural implement. During the rectification process of the agricultural implement, the first gripper 21 and the second gripper 31 can perform dynamic adjustments in the vertical up and down, horizontal left and right, and front and back directions within the space range to adapt to the positions of the first connection point and the second connection point for precise grasping of the first connection point and the second connection point.

[0051] After the agricultural implement is rectified, then grasp the third connection point.

[0052] S11. Determine whether there is a distance deviation between the upper hanging hook 41 and the third connection point according to the positional relationship between the third connection point and the upper hanging hook 41. If there is a distance deviation between the upper hanging hook 41 and the third connection point, then execute step S12; the third adjustment assembly 42 drives the upper hanging hook 41 to move, adjusts the upper hanging hook 41, so that the distance deviation between the upper hanging hook 41 and the third connection point is zero.

[0053] If there is no distance deviation between the upper hanging hook 41 and the third connection point, then execute step S13; S13. The upper hanging hook 41 hooks the third connection point.

[0054] Preferably, when the agricultural implement needs power input, after the upper hanging hook 41 hooks the third connection point, the power output part 70 is docked with the input shaft of the agricultural implement to complete the hanging process.

[0055] During the process that the upper hanging hook 41 hooks the third connection point, the movement of the upper hanging hook 41 only moves within the plane defined by the upper hanging hook 41 and the third adjustment assembly 42. By first clamping the first connection point and the second connection point, after completing the clamping of the first connection point and the second connection point, the agricultural implement is rectified, and the multi-degree-of-freedom space grasping in the three-dimensional space is transformed into a single-point grasping in the plane, effectively restricting the degree of freedom of the upper hanging hook 41, improving the stability and positioning accuracy of the clamping process; reducing the process of continuously adjusting the distance and angle between the power mechanism and the agricultural implement in the traditional hanging process, improving the hanging efficiency; the step-by-step clamping strategy can adapt to agricultural implements with different structures, sizes and center-of-gravity distributions, improving the versatility and expandability of the hanging structure, and can be used to hang a variety of agricultural implements.

[0056] Embodiment 4: Based on Embodiment 3, the difference between this embodiment and Embodiment 3 is that in this embodiment, in step S10, the following steps are further included: When both the first rotating member 221 and the second rotating member 321 extend along the second horizontal direction, that is, after the agricultural implement is rectified, the first locking structure 51 and the second locking structure 52 respectively clamp and lock the free ends of the first rotating member 221 and the second rotating member 321. In this way, while preventing the first rotating member 221 and the second rotating member 321 from rotating, the stability of the agricultural implement during the field operation process can be improved.

[0057] In this application, the terms "comprises", "comprising" or any other variations thereof are intended to cover non-exclusive inclusion, so that an article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such article or device. In the absence of more restrictions, the elements defined by the sentence "comprising..." do not exclude the presence of other identical elements in the article or device comprising the elements.

[0058] Although the preferred embodiments of the present application have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0059] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the intention of the present application also includes these modifications and variations.

Claims

1. A quick hitch structure for agricultural machinery, characterized in that, It includes a frame, a first clamping assembly, a second clamping assembly, and an upper hanging hook third clamping assembly; The frame is connected to a power mechanism; the first clamping assembly, the second clamping assembly, and the upper hanging hook third clamping assembly are all arranged on the frame; The first clamping assembly includes a first jaw and a first adjusting assembly; the first adjusting assembly is used to adjust the angle and the horizontal distance between the first jaw and the first connection point of the agricultural implement; The second clamping assembly includes a second jaw and a second adjusting assembly; the second adjusting assembly is used to adjust the angle and the horizontal distance between the second jaw and the second connection point of the agricultural implement; The upper hanging hook third clamping assembly includes an upper hanging hook and a third adjusting assembly; the third adjusting assembly is used to adjust the vertical distance and the horizontal distance between the upper hanging hook and the third connection point of the agricultural implement; The frame includes a frame body and a fourth adjusting assembly; the fourth adjusting assembly is used to adjust the vertical distances between the first clamping assembly, the second clamping assembly and the first connection point, the second connection point of the agricultural implement.

2. The quick hitch structure for agricultural machinery according to claim 1, characterized in that, The first adjusting assembly includes a first rotating member, a first driving unit, a second driving unit, a first link assembly, and a first sliding member; The first jaw is slidably arranged on the first rotating member; one end of the first rotating member is rotatably connected to the frame body, and the other end is a free end; one end of the first driving unit is rotatably connected to the frame body, and the other end is rotatably connected to the first rotating member; one end of the second driving unit is rotatably connected to the frame body, and the other end is rotatably connected to the first jaw; the first sliding member is slidably arranged on the frame body; one end of the first link assembly is rotatably connected to the first sliding member, and the other end is rotatably connected to the first jaw.

3. The quick hitch structure for agricultural machinery according to claim 2, characterized in that, A first chute is arranged at the top of the first rotating member; a first movable part is arranged at the lower part of the first jaw; the first movable part is movably arranged in the first chute.

4. The quick hitch structure for agricultural machinery according to claim 2, characterized in that, The second adjusting assembly includes a second rotating member, a third driving unit, a fourth driving unit, a second link assembly, and a second sliding member; The second jaw is slidably arranged on the second rotating member; one end of the second rotating member is rotatably connected to the frame body, and the other end is a free end; one end of the third driving unit is rotatably connected to the frame body, and the other end is rotatably connected to the second rotating member; one end of the fourth driving unit is rotatably connected to the frame body, and the other end is rotatably connected to the second jaw; the second sliding member is slidably arranged on the frame body; one end of the second link assembly is rotatably connected to the second sliding member, and the other end is rotatably connected to the second jaw.

5. The quick hitch structure for agricultural machinery according to claim 4, characterized in that, A second chute is arranged at the top of the second rotating member; a second movable part is arranged at the lower part of the second jaw; the second movable part is movably arranged in the second chute.

6. The quick hitch structure for agricultural machinery according to claim 5, characterized in that, It further includes a fifth driving unit, a connecting rod, a first locking structure, and a second locking structure; One end of the fifth driving unit is arranged on the frame body, and the extending end is fixedly connected to the connecting rod; The first locking structure is fixedly connected to one end of the connecting rod and is used to lock the free end of the first rotating member; The second locking structure is fixedly connected to the other end of the connecting rod and is used to lock the free end of the second rotating member.

7. The quick hitch structure for agricultural machinery according to claim 6, characterized in that, The first locking structure includes a first connecting portion, a first mounting portion, and a first locking assembly; one end of the first connecting portion is fixedly connected to one end of the connecting rod, and the other end passes through the first mounting portion and is fixedly connected to the first locking assembly; the first locking assembly is rotatably connected to the first mounting portion; under the drive of the fifth driving unit, the first locking assembly can be opened and closed to clamp and release the first rotating member.

8. The quick hitch structure for agricultural machinery according to claim 7, characterized in that, The first locking assembly includes a second connecting portion, a third connecting portion, and a locking portion; both ends of the third connecting portion are rotatably connected to the second connecting portion and the locking portion respectively; the third connecting portion and the locking portion are both in four groups, and every two groups are symmetrically arranged with respect to the second connecting portion.

9. The quick hitch structure for agricultural machinery according to claim 1, characterized in that, The fourth adjusting assembly includes lifting assemblies symmetrically arranged on both sides of the frame body; The lifting assembly includes a sixth driving unit, a first lifting arm, a second lifting arm, and a connecting arm; one end of the sixth driving unit is rotatably connected to the power mechanism, and the other end is rotatably connected to the middle of the first lifting arm; One end of the first lifting arm is rotatably connected to the power mechanism, and the other end is rotatably connected to the second lifting arm; the other end of the second lifting arm is simultaneously rotatably connected to one end of the connecting arm and the frame body; the other end of the connecting arm is rotatably connected to the power mechanism.

10. A quick hitch method for agricultural machinery, characterized in that, The method includes the following steps: S1, obtaining the positional relationship between the first connection point of the agricultural implement and the first jaw, and between the second connection point of the agricultural implement and the second jaw; S2, judging whether there is a distance deviation in the vertical direction between the first jaw and the first connection point, and between the second jaw and the second connection point according to the positional relationship between the first connection point of the agricultural implement and the first jaw, and between the second connection point of the agricultural implement and the second jaw; If there is a distance deviation in the vertical direction between the first jaw and the first connection point, and between the second jaw and the second connection point; then step S3 is executed; If there is no distance deviation in the vertical direction between the first jaw and the first connection point, and between the second jaw and the second connection point; then step S4 is executed; S3, adjusting the first jaw and the second jaw so that the distance deviation in the vertical direction between the first jaw and the first connection point, and between the second jaw and the second connection point is zero; S4, adjusting the distance between the first connection point of the agricultural implement and the first jaw, and between the second connection point of the agricultural implement and the second jaw in the first horizontal direction to a hookable distance according to the positional relationship between the first connection point of the agricultural implement and the first jaw, and between the second connection point of the agricultural implement and the second jaw; S5, judging whether there is an angular deviation between the first jaw and the first connection point, and between the second jaw and the second connection point according to the positional relationship between the first connection point of the agricultural implement and the first jaw, and between the second connection point of the agricultural implement and the second jaw; If there is an angular deviation between the first jaw and the first connection point and / or between the second jaw and the second connection point; then step S6 is executed; If there is no angular deviation between the first jaw and the first connection point and between the second jaw and the second connection point, then step S7 is executed; S6, adjust the first jaw so that the angular deviation between the first jaw and the first connection point is zero, and / or adjust the second jaw so that the angular deviation between the second jaw and the second connection point is zero; S7, according to the positional relationship between the first connection point and the first jaw and between the second connection point and the second jaw, determine whether there is a distance deviation between the first jaw and the first connection point and between the second jaw and the second connection point in the second horizontal direction; If there is a distance deviation between the first jaw and the first connection point and / or between the second jaw and the second connection point in the second horizontal direction, then step S8 is executed; If there is no distance deviation between the first jaw and the first connection point and between the second jaw and the second connection point in the second horizontal direction, then step S9 is executed; S8, adjust the first jaw so that the distance deviation between the first jaw and the first connection point in the second horizontal direction is zero, and / or adjust the second jaw so that the distance deviation between the second jaw and the second connection point in the second horizontal direction is zero; S9, the first jaw clamps the first connection point; the second jaw clamps the second connection point; S10, adjust the first rotating member and the second rotating member so that both the first rotating member and the second rotating member extend along the second horizontal direction; S11, according to the positional relationship between the third connection point and the upper hanging hook, determine whether there is a distance deviation between the upper hanging hook and the third connection point; If there is a distance deviation between the upper hanging hook and the third connection point, then step S12 is executed; If there is no distance deviation between the upper hanging hook and the third connection point, then step S13 is executed; S12, adjust the upper hanging hook so that the distance deviation between the upper hanging hook and the third connection point is zero; S13, the upper hanging hook hooks the third connection point.

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