Agricultural implement quick hitch structure and hitching method
By designing a multi-dimensional adjustable quick-connect structure for agricultural implements, the problems of time-consuming and difficult alignment in traditional connection methods have been solved, enabling rapid and precise connection between agricultural implements and tractors, and improving agricultural production efficiency.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- QINGDAO AGRI UNIV
- Filing Date
- 2025-05-22
- Publication Date
- 2026-07-14
Smart Images
Figure CN120167167B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of agricultural machinery and equipment technology, and in particular to a quick-attachment structure and method for agricultural implements. Background Technology
[0002] In agricultural production, the coupling of tractors with agricultural implements, such as seeders, harvesters, and rotary tillers, is a frequent and necessary operation.
[0003] Traditional attachment systems rely primarily on the tractor's forward and backward movement and manual adjustments to align the implement with the tractor. However, this method suffers from several technical problems: Since alignment can only be achieved through the tractor's forward and backward movement and steering, operators must repeatedly adjust the tractor's position and angle, resulting in a lengthy attachment process and reduced efficiency. Furthermore, traditional attachment systems lack multi-directional adjustment capabilities, making it difficult to quickly align the attachment points and leading to significant errors and attachment challenges. Therefore, a rapid attachment structure that simplifies the process and improves agricultural productivity is urgently needed. Summary of the Invention
[0004] To address the aforementioned technical problems, this application provides a quick-attachment structure and method for agricultural machinery.
[0005] A first aspect of this application provides a quick attachment structure for agricultural implements, including a frame, a first clamping assembly, a second clamping assembly, and a third clamping assembly;
[0006] The frame is connected to the power mechanism; the first clamping assembly, the second clamping assembly, and the third clamping assembly are all mounted on the frame.
[0007] The first clamping assembly includes a first gripper and a first adjusting assembly; the first adjusting assembly is used to adjust the angle and horizontal distance between the first gripper and the first connection point of the agricultural machinery.
[0008] The second clamping assembly includes a second gripper and a second adjusting assembly; the second adjusting assembly is used to adjust the angle and horizontal distance between the second gripper and the second connection point of the agricultural implement.
[0009] The third clamping assembly includes an upper hook and a third adjusting assembly; the third adjusting assembly is used to adjust the vertical and horizontal distances between the upper hook and the third connection point of the agricultural machinery.
[0010] The frame includes a frame body and a fourth adjustment component; the fourth adjustment component is used to adjust the vertical distance between the first clamping component, the second clamping component and the first connection point and the second connection point of the agricultural implement.
[0011] In some embodiments of this application, the first adjustment component includes a first rotating member, a first driving unit, a second driving unit, a first linkage assembly, and a first sliding member;
[0012] The first gripper is slidably mounted 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 drive 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 drive unit is rotatably connected to the frame body, and the other end is rotatably connected to the first gripper; the first sliding member is slidably mounted on the frame body; one end of the first connecting rod assembly is rotatably connected to the first sliding member, and the other end is rotatably connected to the first gripper.
[0013] In some embodiments of this application, the top of the first rotating member is provided with a first sliding groove; the lower part of the first gripper is provided with a first movable part; the first movable part is movably disposed within the first sliding groove.
[0014] In some embodiments of this application, the second adjustment component includes a second rotating member, a third driving unit, a fourth driving unit, a second linkage assembly, and a second sliding member;
[0015] The second gripper is slidably mounted 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 drive 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 drive unit is rotatably connected to the frame body, and the other end is rotatably connected to the second gripper; the second sliding member is slidably mounted on the frame body; one end of the second linkage assembly is rotatably connected to the second sliding member, and the other end is rotatably connected to the second gripper.
[0016] In some embodiments of this application, the top of the second rotating member is provided with a second sliding groove; the lower part of the second gripper is provided with a second movable part; the second movable part is movably disposed within the second sliding groove.
[0017] In some embodiments of this application, a fifth driving unit, a connecting rod, a first locking structure, and a second locking structure are also included;
[0018] One end of the fifth drive unit is mounted on the frame body, and the extended end is fixedly connected to the connecting rod.
[0019] 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;
[0020] 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.
[0021] In some embodiments of this 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; under the drive of the fifth driving unit, the first locking assembly can open and close to clamp and release the first rotating member.
[0022] In some embodiments of this application, the first locking assembly includes a second connecting part, a third connecting part, and a locking part; both ends of the third connecting part are rotatably connected to the second connecting part and the locking part, respectively; the third connecting part and the locking part are in four groups, with each two groups symmetrically arranged with respect to the second connecting part.
[0023] In some embodiments of this application, the fourth adjustment component includes lifting components symmetrically arranged on both sides of the frame body;
[0024] The lifting assembly includes a sixth drive unit, a first lifting arm, a second lifting arm, and a connecting arm; one end of the sixth drive unit is rotatably connected to a 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 rotatably connected to both one end of the connecting arm and the frame body; the other end of the connecting arm is rotatably connected to the power mechanism.
[0025] A second aspect of this application provides a method for quickly attaching agricultural implements, the method comprising the following steps:
[0026] S1, obtain the positional relationship between the first connection point and the first gripper of the agricultural machinery, and between the second connection point and the second gripper of the agricultural machinery;
[0027] S2, based on the positional relationship between the first connection point and the first gripper, and between the second connection point and the second gripper, determine whether there is a distance deviation in the vertical direction between the first gripper and the first connection point, and between the second gripper and the second connection point;
[0028] If there is a vertical distance deviation between the first gripper and the first connection point, or between the second gripper and the second connection point, then proceed to step S3.
[0029] If there is no vertical distance deviation between the first gripper and the first connection point, and between the second gripper and the second connection point, then proceed to step S4.
[0030] S3, adjust the first jaw and the second jaw so that the vertical distance deviation between the first jaw and the first connection point, and between the second jaw and the second connection point, is zero;
[0031] S4, based on the positional relationship between the first connection point and the first gripper, and between the second connection point and the second gripper, adjust the distance between the first connection point and the first gripper, and between the second connection point and the second gripper in the first horizontal direction to the distance that can be hooked.
[0032] S5. Based on the positional relationship between the first connection point and the first gripper, and between the second connection point and the second gripper, determine whether there is an angle between the first gripper and the first connection point, and between the second gripper and the second connection point;
[0033] If there is an angle between the first gripper and the first connection point and / or between the second gripper and the second connection point, then proceed to step S6.
[0034] If there is no deflection angle between the first gripper and the first connection point, and between the second gripper and the second connection point, then proceed to step S7.
[0035] S6, adjust the first gripper so that the angle between the first gripper and the first connection point is zero, and / or adjust the second gripper so that the angle between the second gripper and the second connection point is zero;
[0036] S7. Based on the positional relationship between the first connection point and the first gripper, and between the second connection point and the second gripper, determine whether there is a distance deviation in the second horizontal direction between the first gripper and the first connection point, and between the second gripper and the second connection point;
[0037] If there is a distance deviation in the second horizontal direction between the first gripper and the first connection point and / or between the second gripper and the second connection point, then proceed to step S8.
[0038] If there is no distance deviation between the first gripper and the first connection point, and between the second gripper and the second connection point in the second horizontal direction, then proceed to step S9.
[0039] S8, adjust the first gripper so that the distance deviation between the first gripper and the first connection point in the second horizontal direction is zero, and / or adjust the second gripper so that the distance deviation between the second gripper and the second connection point in the second horizontal direction is zero;
[0040] S9, the first gripper grips the first connection point; the second gripper grips the second connection point;
[0041] 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;
[0042] S11, Based on the positional relationship between the third connection point and the upper hook, determine whether there is a distance deviation between the upper hook and the third connection point;
[0043] If there is a distance deviation between the upper hook and the third connection point, then proceed to step S12.
[0044] If there is no distance deviation between the upper hook and the third connection point, then proceed to step S13.
[0045] S12, Adjust the upper hook so that the distance deviation between the upper hook and the third connection point is zero;
[0046] S13, the upper hook hooks onto the third connection point.
[0047] Compared with the prior art, the present invention has the following advantages and beneficial effects: The quick-attachment structure for agricultural implements of this application includes a frame, a first clamping assembly, a second clamping assembly, and a third clamping assembly. The first clamping assembly includes a first gripper and a first adjusting assembly; the first adjusting assembly is used to adjust the angle and horizontal distance between the first gripper and the first connection point of the agricultural implement. The second clamping assembly includes a second gripper and a second adjusting assembly; the second adjusting assembly is used to adjust the angle and horizontal distance between the second gripper and the second connection point of the agricultural implement. The third clamping assembly includes an upper hook and a third adjusting assembly; the third adjusting assembly... The component is used to adjust the vertical and horizontal distances between the upper hook and the third connection point of the agricultural implement; the frame includes the frame body and the fourth adjustment component; the fourth adjustment component is used to adjust the vertical distances between the first clamping component, the second clamping component and the first and second connection points of the agricultural implement; thus, when hooking with the agricultural implement, the hooking structure can achieve multi-dimensional adjustment in angle, horizontal direction and vertical direction, so that the first clamp can accurately align with the first connection point, the second clamp can accurately align with the second connection point, and the upper hook can accurately align with the third connection point, realizing fast and accurate hooking with the agricultural implement.
[0048] It should be understood that the above general description and the following detailed description are merely exemplary and explanatory, and do not limit this document. Attached Figure Description
[0049] The accompanying drawings, which form part of this document, are used to provide a further understanding of the document. The illustrative embodiments and descriptions herein are used to explain the document and do not constitute an undue limitation thereof. In the drawings:
[0050] Figure 1 This is a schematic diagram of the structure of the quick-attachment structure for agricultural implements provided in an exemplary embodiment of this application;
[0051] Figure 2This is a schematic diagram of the structure of the quick-attachment structure for agricultural implements provided in an exemplary embodiment of this application;
[0052] Figure 3 This is a front view of an exemplary embodiment of the agricultural machinery quick-attachment structure provided in this application;
[0053] Figure 4 This is a top view of an exemplary embodiment of the agricultural machinery quick-attachment structure provided in this application;
[0054] Figure 5 This is a schematic diagram of the structure of the first gripper provided in an exemplary embodiment of this application;
[0055] Figure 6 This is a schematic diagram of the first locking structure and the second locking structure provided in an exemplary embodiment of this application;
[0056] Figure 7 This is a flowchart of a hooking method provided in an exemplary embodiment of this application;
[0057] Figure 8 This is a schematic diagram of the attachment process provided in an exemplary embodiment of this application.
[0058] In the picture:
[0059] 11. Frame 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;
[0060] 20. First clamping assembly; 21. First gripper; 211. First movable part; 22. First adjusting assembly; 221. First rotating member; 222. First driving unit; 223. Second driving unit; 224. First connecting rod assembly; 225. First sliding member;
[0061] 30. Second clamping assembly; 31. Second gripper; 32. Second adjusting assembly; 321. Second rotating member; 322. Third drive unit; 323. Fourth drive unit; 324. Second linkage assembly; 325. Second sliding member;
[0062] 40. Third clamping assembly; 41. Upper hook; 42. Third adjusting assembly;
[0063] 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;
[0064] 60. Camera; 70. Power take-off unit. Detailed Implementation
[0065] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be arbitrarily combined with each other.
[0066] Traditional attachment systems rely primarily on the tractor's forward and backward movement and manual adjustments to align the implement with the tractor. However, this method suffers from several technical problems: Since alignment can only be achieved through the tractor's forward and backward movement and steering, operators must repeatedly adjust the tractor's position and angle, resulting in a lengthy attachment process and reduced efficiency. Furthermore, traditional attachment systems lack multi-directional adjustment capabilities, making it difficult to quickly align the attachment points and leading to significant errors and attachment challenges. Therefore, a rapid attachment structure that simplifies the process and improves agricultural productivity is urgently needed.
[0067] Based on this, an exemplary embodiment of this application provides a quick-attachment structure and method for agricultural machinery. The quick-attachment structure includes a frame, a first clamping assembly, a second clamping assembly, and a third clamping assembly. The first clamping assembly includes a first gripper and a first adjusting assembly; the first adjusting assembly is used to adjust the angle and horizontal distance between the first gripper and a first connection point of the agricultural machinery. The second clamping assembly includes a second gripper and a second adjusting assembly; the second adjusting assembly is used to adjust the angle and horizontal distance between the second gripper and a second connection point of the agricultural machinery. The third clamping assembly includes an upper hook and a third adjusting assembly. The adjustment component is used to adjust the vertical and horizontal distances between the upper hook and the third connection point of the agricultural implement; the frame includes the frame body and the fourth adjustment component; the fourth adjustment component is used to adjust the vertical distances between the first clamping component, the second clamping component and the first and second connection points of the agricultural implement; thus, when hooking with the agricultural implement, the hooking structure can achieve multi-dimensional adjustment in angle, horizontal direction and vertical direction, so that the first clamp can accurately align with the first connection point, the second clamp can accurately align with the second connection point, and the upper hook can accurately align with the third connection point, realizing fast and accurate hooking with the agricultural implement.
[0068] Example 1:
[0069] An exemplary embodiment of this application provides a quick-attachment structure for agricultural implements, such as... Figures 1 to 4 As shown, the mounting structure includes a frame, a first clamping assembly 20, a second clamping assembly 30, and a third clamping assembly 40; wherein, 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 mounted on the frame.
[0070] The rack includes a rack body 11 and a fourth adjustment assembly 12; such as Figure 4 As shown, the frame body 11 includes a first upright plate, a second upright plate, and a third upright plate. The first upright plate, the second upright plate, and the third upright plate together enclose a space for accommodating the power output section 70. One end of the power output section 70 is mounted on the third upright plate to connect with the input shaft of the agricultural implement and provide power to the agricultural implement. A first square steel 111 and a second square steel 112 are sequentially threaded through the first upright plate and the second upright plate. A first sliding member 225 and a second sliding member 325 are disposed on the first square steel 111 and are capable of sliding on the first square steel 111.
[0071] Two adjustable rod assemblies 113 are symmetrically arranged on the second square steel 112, with the extension direction of the adjustable rod assembly 113 being a first horizontal direction. Each adjustable rod assembly 113 includes a first rod portion fixed to 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 sets of matching mounting holes are provided on both the first and second rod portions. By adjusting the position of the second rod portion relative to the first rod portion, the overall length of the attachment structure can be adjusted to accommodate different agricultural implements. The end of the second rod portion away from the first rod portion is rotatably connected to a power mechanism; the end of the first rod portion located on the upper part of the second square steel is rotatably connected to a fourth adjusting assembly 12.
[0072] The first clamping assembly 20 includes a first gripper 21 and a first adjusting assembly 22. The first adjusting assembly 22 includes a first rotating member 221, a first driving unit 222, a second driving unit 223, a first connecting rod assembly 224, and a first sliding member 225. The first gripper 21 is slidably disposed 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 gripper 21. The first sliding member 225 is slidably disposed on the frame body 11. One end of the first connecting rod assembly 224 is rotatably connected to the first sliding member 225, and the other end is rotatably connected to the first gripper 21. Preferably, the top of the first rotating member 221 is provided with a first sliding groove. The first sliding groove includes an upper sliding groove and a lower sliding groove that are interconnected, and the cross-sectional dimension of the lower sliding groove is larger than that of the upper sliding groove. The lower part of the first gripper 21 is provided with a first movable part 211; the first movable part 211 is movably disposed within the first slide groove. Preferably, as follows: Figure 5 As shown, the first movable part 211 includes a connecting shaft and a rolling part mounted on the connecting shaft. The rolling part is rotatable around the connecting shaft. The rolling part is housed in a lower sliding groove, and the connecting shaft is housed in an upper sliding groove. When the first gripper 21 moves on the first rotating member 221, the rolling part can slide and roll within the first sliding groove, ensuring that the gripping direction of the first gripper 21 remains unchanged. Figure 8 The first horizontal direction is shown.
[0073] like Figure 8 As shown, when there is an angle between the width direction of the attachment structure and the width direction of the agricultural implement, the first driving unit 222 and the second driving unit 223 work together to drive the first rotating member 221 to rotate, so that the extension 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 first gripper 21 can always maintain its gripping direction, thus achieving the adjustment of the angle between the first gripper 21 and the first connection point. When the first gripper 21 moves along the first rotating member 221, the horizontal distance between the first gripper 21 and the first connection point can be adjusted.
[0074] Preferably, the second clamping assembly 30 has a similar structure to the first clamping assembly 20, the difference being that the second rotating member 321 and the first rotating member 221 have different structures; for example, the end of the first rotating member 221 that is rotatably connected to the frame body 11 includes an upper rotating part and a lower rotating part, and a space is formed between the upper rotating part and the lower rotating part for mounting the second rotating member 321.
[0075] like Figures 1 to 4As shown, the second clamping assembly 30 includes a second gripper 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 connecting rod assembly 324, and a second sliding member 325; the second gripper 31 is slidably disposed 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 gripper 31; the second sliding member 325 is slidably disposed on the frame body 11; one end of the second connecting rod assembly 324 is rotatably connected to the second sliding member 325, and the other end is rotatably connected to the second gripper 31. A second sliding groove is provided at the top of the second rotating member 321; a second movable part is provided at the lower part of the second gripper 31; the second movable part is movably disposed within the second sliding groove.
[0076] When there is an angle between the width direction of the attachment structure and the width direction of the agricultural implement, the second rotating member 321 can be driven to rotate through the combined action of the third drive unit 322 and the fourth drive unit 323, so that the extension 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 gripper 31 can always maintain a constant gripping direction, thus realizing the adjustment of the angle between the second gripper 31 and the second connection point. When the second gripper 31 moves along the second rotating member 321, the horizontal distance between the second gripper 31 and the second connection point can be adjusted.
[0077] For example, the first drive unit 222, the second drive unit 223, the third drive unit 322, and the fourth drive unit 323 are all hydraulic cylinders.
[0078] The third clamping assembly 40 includes an upper hook 41 and a third adjusting assembly 42. The third adjusting assembly 42 includes a seventh drive unit and a third lifting arm. The seventh drive unit can be a hydraulic cylinder, with its fixed end hinged to the frame and its extended end hinged to the third lifting arm. The lower end of the third lifting arm is hinged to the frame, and its upper end is connected to the upper hook 41. Under the action of the seventh drive unit, the upper hook 41 can rotate within the plane defined by the seventh drive unit and the third lifting arm, with the lower hinge point of the third lifting arm as the pivot point, so as to adjust the vertical and horizontal distances between the upper hook 41 and the third connection point, so that the upper hook 41 clamps the third connection point.
[0079] like Figure 1As shown, a camera 60 is also installed on the frame body 11. The driver's cab of the power mechanism can obtain the image captured by the camera 60 in real time, so as to obtain the relative position between the first connection point of the agricultural implement and the first gripper 21, the relative position between the second connection point and the second gripper 31, and the relative position between the third connection point and the upper hook 41 in real time, so as to facilitate the adjustment of the position between the hooking structure and the agricultural implement for hooking.
[0080] The fourth adjustment component 12 is used to adjust the vertical distance between the first clamping component 20, the second clamping component 30 and the first and second connection points of the agricultural machinery. The fourth adjustment component 12 includes lifting components symmetrically arranged on both sides of the frame body 11; the lifting components include a sixth drive unit 121, a first lifting arm 122, a second lifting arm 123 and a connecting arm 124; one end of the sixth drive 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.
[0081] When attached to agricultural machinery, the attachment structure can be adjusted in multiple dimensions, including angle, horizontal direction, and vertical direction, so that the first gripper 21 can accurately align with the first connection point, the second gripper 31 can accurately align with the second connection point, and the upper hook 41 can accurately align with the third connection point, thus achieving fast and accurate attachment to agricultural machinery.
[0082] Example 2:
[0083] Based on the above embodiment 1, the difference between this embodiment and embodiment 1 is that this embodiment also includes a fifth driving unit 53, a connecting rod 54, a first locking structure 51 and a second locking structure 52.
[0084] Among them, such as Figure 2 and 6 As shown, one end of the fifth drive unit 53 is hinged to the second square steel of the frame body 11. The connecting rod 54 is disposed inside the first square steel 111. The protruding end of the fifth drive 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 drive unit 53 is a hydraulic cylinder. Under the action of the fifth drive unit 53, the first locking structure 51 and the second locking structure 52 can be driven to move, thereby realizing the clamping and release of the first rotating member 221 and the second rotating member 321.
[0085] like Figure 6 As shown, the first locking structure 51 includes a first connecting part 511, a first mounting part 512, and a first locking assembly 513. Preferably, the first connecting part 511 is rod-shaped, with one end passing through the first square steel 111 and fixedly connected to one end of the connecting rod 54, and the other end passing through the first mounting part 512 and fixedly connected to the first locking assembly 513. The first locking assembly 513 is rotatably connected to the first mounting part 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.
[0086] The first locking assembly 513 includes a second connecting part 5131, a third connecting part 5132, and a locking part 5133. The second connecting part 5131 has a symmetrical structure with four hinged connection points. The third connecting part 5132 consists of four groups, and the two ends of each third connecting part 5132 are rotatably connected to the hinged connection points of the second connecting part 5131 and the locking part 5133, respectively. The locking part 5133 includes a first segment, a second segment, a third segment, and a fourth segment connected in sequence. The first segment is hinged to the first mounting part 512. The first segment and the second segment are set at an obtuse angle, the second segment and the third segment are also set at an obtuse angle, and the third segment and the fourth segment are set at an obtuse angle. There are four sets of locking parts 5133, with each pair of sets symmetrically arranged with the second connecting part 5131. The four sets of locking parts 5133 form a clamping space for clamping the first rotating member 221. After clamping the first rotating member 221, the second segment can fit against the upper and lower parts of the first rotating member 221, improving the stability of clamping.
[0087] The structure of the second locking structure 52 is the same as that of the first locking structure 51, and will not be described again here. 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 clamping and releasing, thereby improving the reliability and stability of clamping the first rotating member 221 and the second rotating member 321.
[0088] In this embodiment, after the first gripper 21 clamps the first connection point and the second gripper 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. This straightens the agricultural implement and keeps it parallel to the second horizontal direction, so as to keep the first adjusting component 22 and the second adjusting component 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 component 22 and the second adjusting component 32 can be ensured, preventing the first rotating member 221 and the second rotating member 321 from rotating during operation, thereby improving the overall stability of the attachment structure.
[0089] Example 3:
[0090] An exemplary embodiment of this application provides a method for quickly attaching agricultural implements, such as... Figure 7 As shown, this quick splicing method includes the following steps:
[0091] like Figure 8 As shown, before the connection begins, the connection structure is adjusted to its initial state. When the connection structure is in its 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.
[0092] S1, the positional relationship between the first connection point of the agricultural implement and the first gripper 21, and the second connection point of the agricultural implement and the second gripper 31 are obtained in real time through the camera 60.
[0093] S2, start the power mechanism, and determine whether there is a distance deviation in the vertical direction between the first clamping jaw 21 and the first clamping jaw 21, and between the second clamping jaw 31 and the second clamping jaw 31, based on the positional relationship between the first connecting point and the first clamping jaw 21 and the first connecting point, and between the second clamping jaw 31 and the second connecting point. Normally, the first clamping jaw 21 and the second clamping jaw 31 are in the same position in the vertical direction; the first connecting point and the second connecting point are in the same position in the vertical direction. Therefore, the distance deviation in the vertical direction between the first clamping jaw 21 and the first connecting point, and between the second clamping jaw 31 and the second connecting point can be uniformly adjusted by the fourth adjustment component 12.
[0094] If there is a vertical distance deviation between the first gripper 21 and the first connection point, and between the second gripper 31 and the second connection point, then step S3 is executed; the sixth drive unit 121 drives the first lifting arm 122 to rotate and the second lifting arm 123 to move, so as to adjust the height of the frame body 11 in the vertical direction, and thereby adjust the first gripper 21 and the second gripper 31, so that the vertical distance deviation between the first gripper 21 and the first connection point, and between the second gripper 31 and the second connection point, is zero.
[0095] If there is no vertical distance deviation between the first gripper 21 and the first connection point, and between the second gripper 31 and the second connection point, then proceed to step S4; S4, based on the positional relationship between the first connection point and the first gripper 21, and between the second connection point and the second gripper 31, adjust the distance in the first horizontal direction between the first connection point and the first gripper 21, and between the second connection point and the second gripper 31, to a distance that can be hooked; the hookable distance is the distance that the first gripper 21 and the second gripper 31 can clamp the first connection point and the second connection point when they extend along the first horizontal direction, that is, the distance between the first gripper 21 and the first connection point, and the distance between the second gripper 31 and the second connection point in the first horizontal direction are within the clamping range of the first gripper 21 and the second gripper 31.
[0096] S5, based on the positional relationship between the first connection point and the first gripper 21, and between the second connection point and the second gripper 31, determine whether there is an angle between the first gripper 21 and the first connection point, and between the second gripper 31 and the second connection point; if Figure 8 As shown, when adjusting the distance between the first connection point and the first gripper 21, and between the second connection point and the second gripper 31 in the first horizontal direction, the movement of the power mechanism may cause an angle between the width direction of the attachment structure and the width direction of the agricultural machinery. This results in an angle between the first gripper 21 and the first connection point, and between the second gripper 31 and the second connection point. In other words, the clamping direction of the first gripper 21 is not on the same straight line as the first connection point, and the clamping direction of the second gripper 31 is not on the same straight line as the second connection point. This will cause a clamping deviation between the first gripper 21 and the first connection point, and between the second gripper 31 and the second connection point, making it impossible to accurately clamp the first connection point and the second connection point.
[0097] If there is an angle between the first gripper 21 and the first connection point, then step S6 is executed, the first drive unit 222 drives the first rotating member 221 to rotate relative to the frame body 11, and adjusts the first gripper 21 so that the angle between the first gripper 21 and the first connection point is zero.
[0098] If there is an angle between the second gripper 31 and the second connection point, the third drive unit 322 drives the second rotating member 321 to rotate relative to the frame body 11, and adjusts the second gripper 31 so that the angle between the second gripper 31 and the second connection point is zero.
[0099] If there are angles between the first gripper 21 and the first connection point, and between the second gripper 31 and the second connection point, then the first gripper 21 and the second gripper 31 can be adjusted simultaneously to make the angle between the first gripper 21 and the first connection point zero, and the angle between the second gripper 31 and the second connection point zero. Alternatively, the first gripper 21 can be adjusted separately to make the angle between the first gripper 21 and the first connection point zero, and the second gripper 31 can be adjusted separately to make the angle between the second gripper 31 and the second connection point zero.
[0100] 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 gripper 21 to move, so that the gripping direction of the first gripper 21 is always maintained 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 gripper 31 to move, so that the gripping direction of the second gripper 31 is always maintained in the first horizontal direction.
[0101] If there is no angle between the first gripper 21 and the first connection point, and between the second gripper 31 and the second connection point, then proceed to step S7.
[0102] S7. Based on the positional relationship between the first connection point and the first gripper 21, and between the second connection point and the second gripper 31, 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;
[0103] If there is a distance deviation between the first gripper 21 and the first connection point in the second horizontal direction, then step S8 is executed, and the second drive unit 223 drives the first gripper 21 to move along the first rotating member 221, and adjusts the first gripper 21 so that the distance deviation between the first gripper 21 and the first connection point in the second horizontal direction is zero.
[0104] If there is a distance deviation between the second gripper 31 and the second connection point in the second horizontal direction, the fourth drive unit 323 drives the second gripper 31 to move along the second rotating member 321, and adjusts the second gripper 31 so that the distance deviation between the second gripper 31 and the second connection point in the second horizontal direction is zero.
[0105] If there is a distance deviation between the first gripper 21 and the first connection point, and between the second gripper 31 and the second connection point in the second horizontal direction, then adjust the first gripper 21 so that the distance deviation between the first gripper 21 and the first connection point in the second horizontal direction is zero, and adjust the second gripper 31 so that the distance deviation between the second gripper 31 and the second connection point in the second horizontal direction is zero.
[0106] If there is no distance deviation between the first gripper 21 and the first connection point, and between the second gripper 31 and the second connection point in the second horizontal direction, then proceed to step S9.
[0107] S9, drive the first gripper 21 to grip the first connection point; the second gripper 31 grips the second connection point;
[0108] S10, after the first gripper 21 grips the first connection point and the second gripper 31 grips the second connection point, the included 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, the first rotating member 221 is adjusted by the first drive unit 222, and the second rotating member 321 is adjusted by the third drive 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 alignment process of the agricultural implement. During the alignment process of the agricultural implement, the first gripper 21 and the second gripper 31 can perform dynamic adjustments in the vertical direction (up and down), the horizontal direction (left and right), and the front and back directions within the spatial range to adapt to the positions of the first connection point and the second connection point, and to accurately grasp the first connection point and the second connection point.
[0109] After the agricultural machinery is aligned, the third connection point is then grasped.
[0110] S11, Based on the positional relationship between the third connection point and the upper hook 41, determine whether there is a distance deviation between the upper hook 41 and the third connection point;
[0111] If there is a distance deviation between the upper hook 41 and the third connection point, then step S12 is executed; the third adjustment component 42 drives the upper hook 41 to move, and adjusts the upper hook 41 so that the distance deviation between the upper hook 41 and the third connection point is zero.
[0112] If there is no distance deviation between the upper hook 41 and the third connection point, then proceed to step S13.
[0113] S13, hook 41 hooks the third connection point.
[0114] Preferably, when the agricultural implement needs power input, after the upper hook 41 hooks the third connection point, the power output unit 70 is connected to the input shaft of the agricultural implement to complete the hooking process.
[0115] During the process of the upper hook 41 hooking the third connection point, the movement of the upper hook 41 is limited to the plane defined by the upper hook 41 and the third adjustment component 42. By first clamping the first connection point and the second connection point, and after completing the clamping of the first connection point and the second connection point, the agricultural implement is straightened. The multi-degree-of-freedom spatial grasping in three-dimensional space is transformed into single-point grasping in a plane, which effectively restricts the degree of freedom of the upper hook 41 and improves the stability and positioning accuracy of the clamping process. It reduces the process of constantly adjusting the distance and angle between the power mechanism and the agricultural implement in the traditional attachment process, and improves the attachment efficiency. The step-by-step clamping strategy can adapt to agricultural implements with different structures, sizes and center of gravity distributions, which improves the versatility and scalability of the attachment structure and can be used to attach a variety of agricultural implements.
[0116] Example 4:
[0117] Based on Example 3, this example differs from Example 3 in that, in this example, step S10 further includes the following step:
[0118] When the first rotating member 221 and the second rotating member 321 both extend along the second horizontal direction, that is, after the agricultural machinery is straightened, the first locking structure 51 and the second locking structure 52 respectively clamp and lock the free end of the first rotating member 221 and the free end of 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 machinery during field work can be improved.
[0119] In this application, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that an article or device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such an article or device. Without further limitation, an element defined by the phrase "comprising..." does not exclude the presence of other identical elements in the article or device that includes said element.
[0120] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.
[0121] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if these modifications and variations fall within the scope of the claims of this application and their equivalents, the intent of this application also includes these modifications and variations.
Claims
1. A quick-attachment structure for agricultural implements, characterized in that, Includes a frame, a first clamping assembly, a second clamping assembly, and a third clamping assembly; The frame is connected to the power mechanism; the first clamping assembly, the second clamping assembly, and the third clamping assembly are all mounted on the frame. The first clamping assembly includes a first gripper and a first adjusting assembly; the first adjusting assembly is used to adjust the angle and horizontal distance between the first gripper and the first connection point of the agricultural machinery. The second clamping assembly includes a second gripper and a second adjusting assembly; the second adjusting assembly is used to adjust the angle and horizontal distance between the second gripper and the second connection point of the agricultural implement. The third clamping assembly includes an upper hook and a third adjusting assembly; the third adjusting assembly is used to adjust the vertical and horizontal distances between the upper hook and the third connection point of the agricultural machinery. The frame includes a frame body and a fourth adjustment component; the fourth adjustment component is used to adjust the vertical distance between the first clamping component, the second clamping component and the first connection point and the second connection point of the agricultural implement; The first adjustment component includes a first rotating member, a first driving unit, a second driving unit, a first connecting rod assembly, and a first sliding member; The first gripper is slidably mounted 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 drive 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 drive unit is rotatably connected to the frame body, and the other end is rotatably connected to the first gripper; the first sliding member is slidably mounted on the frame body; one end of the first connecting rod assembly is rotatably connected to the first sliding member, and the other end is rotatably connected to the first gripper. The top of the first rotating component is provided with a first sliding groove; the lower part of the first gripper is provided with a first movable part; the first movable part is movably disposed within the first sliding groove; The second adjustment assembly includes a second rotating member, a third driving unit, a fourth driving unit, a second linkage assembly, and a second sliding member; The second gripper is slidably mounted 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 drive 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 drive unit is rotatably connected to the frame body, and the other end is rotatably connected to the second gripper; the second sliding member is slidably mounted on the frame body; one end of the second linkage assembly is rotatably connected to the second sliding member, and the other end is rotatably connected to the second gripper. The top of the second rotating member is provided with a second sliding groove; the lower part of the second gripper is provided with a second movable part; the second movable part is movably disposed within the second sliding groove.
2. The quick-attachment structure for agricultural implements according to claim 1, characterized in that, It also includes a fifth drive unit, a connecting rod, a first locking structure, and a second locking structure; One end of the fifth drive unit is mounted on the frame body, and the extended 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.
3. The quick-attachment structure for agricultural implements according to claim 2, characterized in that, The first locking structure includes a first connecting part, a first mounting part, and a first locking assembly; one end of the first connecting part is fixedly connected to one end of the connecting rod, and the other end passes through the first mounting part and is fixedly connected to the first locking assembly; the first locking assembly is rotatably connected to the first mounting part; under the drive of the fifth driving unit, the first locking assembly can open and close in order to clamp and release the first rotating member.
4. The quick-attachment structure for agricultural implements according to claim 3, characterized in that, The first locking assembly includes a second connecting part, a third connecting part, and a locking part; both ends of the third connecting part are rotatably connected to the second connecting part and the locking part, respectively; there are four sets of the third connecting part and the locking part, and each pair of sets is symmetrically arranged with respect to the second connecting part.
5. The quick-attachment structure for agricultural implements according to claim 1, characterized in that, The fourth adjustment component includes lifting components symmetrically arranged on both sides of the frame body; The lifting assembly includes a sixth drive unit, a first lifting arm, a second lifting arm, and a connecting arm; one end of the sixth drive 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 rotatably connected to both one end of the connecting arm and the frame body; the other end of the connecting arm is rotatably connected to the power mechanism.
6. A method for attaching a quick-attachment structure for agricultural implements as described in any one of claims 1 to 5, characterized in that, The method includes the following steps: S1, obtain the positional relationship between the first connection point and the first gripper of the agricultural machinery, and between the second connection point and the second gripper of the agricultural machinery; S2, based on the positional relationship between the first connection point and the first gripper, and between the second connection point and the second gripper, determine whether there is a distance deviation in the vertical direction between the first gripper and the first connection point, and between the second gripper and the second connection point; If there is a vertical distance deviation between the first gripper and the first connection point, or between the second gripper and the second connection point, then proceed to step S3. If there is no vertical distance deviation between the first gripper and the first connection point, and between the second gripper and the second connection point, then proceed to step S4. S3, adjust the first jaw and the second jaw so that the vertical distance deviation between the first jaw and the first connection point, and between the second jaw and the second connection point, is zero; S4, based on the positional relationship between the first connection point and the first gripper, and between the second connection point and the second gripper, adjust the distance between the first connection point and the first gripper, and between the second connection point and the second gripper in the first horizontal direction to the distance that can be hooked. S5. Based on the positional relationship between the first connection point and the first gripper, and between the second connection point and the second gripper, determine whether there is an angle between the first gripper and the first connection point, and between the second gripper and the second connection point; If there is an angle between the first gripper and the first connection point and / or between the second gripper and the second connection point, then proceed to step S6. If there is no deflection angle between the first gripper and the first connection point, and between the second gripper and the second connection point, then proceed to step S7. S6, adjust the first gripper so that the angle between the first gripper and the first connection point is zero, and / or adjust the second gripper so that the angle between the second gripper and the second connection point is zero; S7. Based on the positional relationship between the first connection point and the first gripper, and between the second connection point and the second gripper, determine whether there is a distance deviation in the second horizontal direction between the first gripper and the first connection point, and between the second gripper and the second connection point; If there is a distance deviation in the second horizontal direction between the first gripper and the first connection point and / or between the second gripper and the second connection point, then proceed to step S8. If there is no distance deviation between the first gripper and the first connection point, and between the second gripper and the second connection point in the second horizontal direction, then proceed to step S9. S8, adjust the first gripper so that the distance deviation between the first gripper and the first connection point in the second horizontal direction is zero, and / or adjust the second gripper so that the distance deviation between the second gripper and the second connection point in the second horizontal direction is zero; S9, the first gripper grips the first connection point; the second gripper grips 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, Based on the positional relationship between the third connection point and the upper hook, determine whether there is a distance deviation between the upper hook and the third connection point; If there is a distance deviation between the upper hook and the third connection point, then proceed to step S12. If there is no distance deviation between the upper hook and the third connection point, then proceed to step S13. S12, Adjust the upper hook so that the distance deviation between the upper hook and the third connection point is zero; S13, the upper hook hooks onto the third connection point.