System for operating and aligning an agricultural implement by means of a hydraulic circuit

Abstract

The invention relates to an agricultural implement and a system for controlling said implement (100) for a towing vehicle (200), comprising a sensor (101) for detecting obstacles.According to the invention, the sensor (101) is connected to a cam (102), which is pivotally coupled to an arm (103) that supports the agricultural implement; wherein the arm (103) is pivotally coupled to a frame of a towing vehicle (200) and comprises a fluid dynamic cylinder (104) acting between the frame (200) and the arm (103); this cylinder (104) is controlled by a hydraulic circuit (110); the hydraulic circuit (110) is manually controlled by an operator (114) and by the sensor (101) by means of the cam (102); the cam (102) has a partially circular cross-section with a non-circular portion and a cam recess (102a); the cam (102) pushes an actuating element (106) of the hydraulic circuit (110), and the sensor (101) and the arm (103) rotate about the same axis.

Description

[0001] The present invention relates to a system for driving and aligning an agricultural implement by means of a hydraulic circuit according to the preamble of claim 1. scope

[0002] The system is used in agricultural machinery, particularly agricultural machinery with implements for soil cultivation and grass mowing, as well as similar applications in fruit and wine growing and in road construction. The system has a sensor that detects a plant and steers the implement so that it can avoid it. Examples include inter-row implements in orchards and vineyards such as grass cutters, harrows, peelers, brushes, etc., or in road maintenance, for example, lawnmowers that clean around signs or guardrails. State of the art

[0003] Since German patent DE 102005035634, a method for operating a tool, particularly a lawnmower, for road maintenance has been known. The described method autonomously mows the grass around an obstacle by detecting it, without requiring driver intervention. The device has a probe positioned in the user's direction of travel that sends signals upon impact with an obstacle. Additionally, sensors detect the tool's current position. All this data is fed into a central computer, which calculates the evasive maneuver based on the vehicle's speed and controls the hydraulic mechanism for executing the maneuver. This process requires numerous sensors and electronic components, which naturally incur additional costs and are also prone to damage, leading to downtime.

[0004] DD52568 also describes a sensing system for controlling tractors or agricultural equipment that have mechanical, electrical, hydraulic, or pneumatic controls. This sensing system controls movement using a universal joint and a chain.

[0005] US 6 591 592 and WO 03 059040 also describe devices with push-button elements for controlling agricultural equipment.

[0006] WO 03 / 084307 describes an automatic tracking device with a rotor supported by an arm articulated to a frame of a towing device, a fluid dynamic cylinder acting between the frame and the rotor, controlled by a distributor which in turn is controlled manually or by a probe (button) to detect the presence of an obstacle, and that the cylinder is articulated to the frame by means of a shock-absorbing rocker arm articulated to the frame, wherein one of the arms to which the cylinder is articulated and the other arm are articulated at one end by a spring and the other end is fixed to the frame, so that the rocker arm can be pressed onto the frame in contrast to the action of the cylinder on the rocker arm, thereby returning the device to its starting point.

[0007] US Patent 4936390 describes a three-point linkage that supports a mower head. The described system has a stop that slows the machine's working speed. Furthermore, the various components are connected to the frame at multiple points, which can lead to oscillations and vibrations within the system.

[0008] Other systems are known, for example, from the following documents: ITBA20130057A, FR1477586A and AU507369B2.

[0009] With all known hydraulically operated systems, the problem is that the automatic control interferes with the manual control, especially if both the operator and the system give the same command. This can lead to conflicting commands. Furthermore, the reaction to an obstacle detected by the probe head must not be linear: this means that it must be resistant to certain types of obstacles, i.e., it must prevent the tool from moving, otherwise there will be an area where the grass will not be cut, while on the other hand, it must prevent the tool from cutting, for example, young trees. Brief description of the invention

[0010] The object of the present invention is to realize a system for driving and aligning an agricultural device by means of a hydraulic circuit.

[0011] This problem is solved by a system according to claim 1.

[0012] The system for controlling an agricultural implement comprises a probe for detecting obstacles. This probe is connected to a cam pivotally mounted on an arm that carries the agricultural implement. The arm is pivotally mounted on a frame of a traction element and includes a fluid-dynamic cylinder acting between the frame and the arm. This cylinder is controlled by a hydraulic circuit, which is controlled either manually by an operator or by the probe via the cam. According to the invention, the cam has a non-circular cross-section and preferably a recess and / or projection that presses against an activation element of the hydraulic circuit.The cam has a partially circular cross-section with a non-circular section. The cam presses against an activation element of the hydraulic circuit, and the probe and arm rotate around the same axis. Due to the non-adjustable section, the cam pressure on the activation element, advantageously a piston, is non-linear. This allows the speed of movement of the arm carrying the agricultural implement to be adjusted. The activation element is supported by an elastic element, preferably a spring. This spring resists the pressure of the cam. When the cam no longer presses against the activation element, the spring returns the activation element to its initial position. In one embodiment, the initial position can be more easily reached by returning a rolling element, located between the cam and the hydraulic circuit, to its recess.

[0013] For example, it may be necessary for the arm to not move or to move only slightly in a first phase of the rotation of the sensing system and then to move quickly in a second phase.

[0014] This may be necessary due to different applications and requirements.

[0015] Advantageously, the hydraulic circuit according to the invention has at least one distribution valve for the sensing system, one distribution valve for control by the operator (operator distribution valve) and four one-way valves which form a circuit with the distribution valve of the sensing system, so that when the operator distribution valve (operator distribution valve) is actuated, the distribution valve of the sensing system can no longer control the hydraulic cylinder. Character description

[0016] Further purposes, features, advantages, and applications will become apparent from the following description of some exemplary embodiments and the accompanying drawings. All features described and / or illustrated in the figures constitute the subject matter disclosed herein, regardless of their grouping in the claims or their dependencies. In the drawing: Figure 1 shows a perspective view of a system according to the invention, Figure 2 shows a horizontal section through the system according to the invention in a first position, Figure 3 shows the excerpt from Figure 2 in second position, Figure 4 shows a rear view of a system according to the invention, Figure 5 shows a bottom view of the system according to the invention, and Figure 6 shows a hydraulic circuit for controlling the fluid dynamic cylinder. Detailed description

[0017] Reference numeral 100 designates a system for controlling an agricultural implement 109 with a hydraulic circuit. The agricultural implement 109 is not limited to the implement shown, but can be any implement, including automated ones, for soil cultivation and / or grass cutting. The system 100 according to the invention comprises a probe 101 for detecting obstacles. The sensing system 101 can be a simple metal rod.

[0018] This probe 101 is rotatably connected to a cam 102, which is pivotally articulated to a frame 108 that can be connected to a towing device, e.g., a tractor, which pivots an arm 103 to which the agricultural implement 109 is attached. The axis of rotation of the probe 101 and the axis of rotation of the arm 103, which carries the agricultural implement 109, are advantageously coincident.

[0019] Between the frame 108 and the arm 103 there is a fluid dynamic cylinder 104.

[0020] Cylinder 104 is controlled by a hydraulic circuit 110.

[0021] The hydraulic circuit 110 is controlled either manually by an operator and / or by the probe 101 via the cam.

[0022] The cam 102 has a partially circular cross-section with a non-circular section, a cam recess 102a. The cam 102 has an activation element of the hydraulic circuit 110, and the probe 101 and the arm 103 rotate about the same axis.

[0023] This allows for a higher operating speed without causing the entire system to vibrate or resonate.

[0024] Due to the partially circular cross-section of the cam 102 and a non-circular section, a cam recess 102a, the cam and thus the probe do not require a stop.

[0025] According to the invention, the cam 102 has a non-circular cross-section which preferably has a recess and / or a relief 102a which presses on an activation element of the hydraulic circuit.

[0026] Advantageously, a rolling element 105 is arranged between an activation element / piston 106 of the hydraulic circuit and the cam 102. Due to its irregular (non-circular) cross-section, the pressure exerted by the cam 102 on the activation element 106, advantageously a directional control valve, is non-linear. This allows the speed of movement of the arm carrying the agricultural implement to be adjusted. For example, it may be necessary for the arm to remain stationary or move only slightly during the first phase of rotation of the probing system and then move rapidly during a second phase.

[0027] The activation element 106 is elastically mounted by an elastic element 106a. This spring element 106a counteracts the pressure of the cam 102 via the rolling element 105. When the measuring probe is no longer subjected to an obstruction, the spring element 106a moves the activation element into a forward position, thereby returning the measuring probe 101 and the cam 102 to their extended working position.

[0028] The adjustment can be made via holes 102b in the cam 102 to regulate in which position of the cam 102 the rolling element enters or exits, for example, the recess 102b and generates a non-linear pressure.

[0029] This may be necessary due to different uses and requirements.

[0030] A return spring / return element 107 can be provided to return the system from the retracted / not extended position of the arm 103 to the operating / extended position, although the agricultural implement can also function when the arm 103 is not extended or only partially extended in the retracted position.

[0031] Advantageously, the hydraulic circuit 110 according to the invention comprises at least one distribution valve for the touch system 106b and a distribution valve for control by the operator 113 (operator distribution valve). Advantageously, at least four one-way valves 115 form a secondary circuit which is connected to the distribution valve of the touch system 112.

[0032] In this way, if the operator gives the command to retract the arm 103 by means of the fluid dynamic cylinder 104, although it comes from the measuring probe 101 by means of the activation element 106, the same command which in known circuits led to a cancellation of the operator command and therefore the arm 103 did not move by means of the secondary circuit 111, no fluid is sent to the fluid dynamic piston 104 and therefore the operator command is executed.

[0033] In this way, the circuit 111 is designed so that when the operator's distributor valve 113 (operator distributor valve) is actuated, the distributor valve of the touch system 106b can no longer control the hydraulic cylinder 104.

[0034] The previously described variants of the mechanism serve only to better understand the structure, function, and properties of the presented solution; they do not limit the disclosure by the exemplary embodiments. The figures are schematic, with essential properties and effects sometimes significantly enlarged to highlight functions, operating principles, configurations, and technical features. Accordingly, any function, principle, technical configuration, and feature disclosed in the figures or in the text may be freely and arbitrarily combined with any claims, feature in the text and in the other figures, other functions, principles, configurations, and technical features contained in or resulting from this disclosure, so that all conceivable combinations can be attributed to the described solution.This includes combinations of all individual representations in the text, i.e., on every page of the text, in the claims, and also combinations of different variants in the text, in the dimensions, and in the figures. The previously presented details of the device and process are shown in the links; however, it should be noted that they can also be combined independently and freely. The relationships of the individual parts and sections to one another, as well as their dimensions and proportions, shown in the figures are not to be understood as restrictive. Individual dimensions and proportions may, however, deviate from those shown. The claims also do not restrict the disclosure and thus the possible combinations of all presented features. All presented features are disclosed here individually and in combination with all other features. List of reference numbers

[0035] 100 System for controlling an agricultural implement 101 Probe 102 Cam 102a Cam recess 102b Adjustment holes 103 Arm 104 Fluid dynamic piston 105 Rolling element 106 Activation element / piston of the hydraulic circuit 106a Spring element 106b Distributor valve of the activation element 107 Return element / spring 108 Frame 110 Hydraulic circuit 113 Operator distributor valve / Operator distributor valve 115 One-way valves 200 Drive unit

Claims

1. Agricultural implement and a system for controlling this agricultural implement (100) for a towing vehicle (200), comprising a probe (101) for detecting obstacles, characterised in that the probe (101) is connected to a cam (102) that is pivotably articulated to an arm (103) that carries the agricultural implement, and wherein the arm (103) is pivotably articulated to a frame of a tractor (200) and has a fluid dynamic cylinder (104) that acts between the frame (200) and the arm (103), and wherein this cylinder (104) is controlled by a hydraulic circuit (110), either manually by an operator or by the probe by means of the cam, wherein the hydraulic circuit (110) being controlled either manually by an operator or by the probe by means of the cam, wherein the cam (102) has a partially circular cross-section with a non-circular section and a cam recess (102a), wherein the cam (102) presses on an activation element (106) of the hydraulic circuit (110), and the probe (101) and the arm (103) rotate about the same axis, the hydraulic circuit comprising at least four one-way valves (115) forming a secondary circuit connected to a distributor valve of the probe (106b), and wherein the hydraulic circuit (110) comprises at least one distribution valve for the probe system (106b) and one distribution valve for control by the operator (113), and at least four one-way valves (115) form a secondary circuit connected to the distribution valve of the probe system (112).

2. Agricultural implement and a system for controlling this agricultural implement (100) according to claim 1, characterised in that the activation element (106) is firmly connected to the arm (103).

3. Agricultural implement and a system for controlling this agricultural implement (100) according to claim 1 or 2, characterised in that the cam (102) has a projection.

4. Agricultural implement and a system for controlling this agricultural implement (100) according to one of the preceding claims, characterised in that the activation element (106) is elastically supported relative to the arm (103) by an elastic element (106a).

5. Agricultural implement and a system for controlling this agricultural implement (100) according to claim 4, characterised in that the elastic element opposes the comb pressure forces (102) generated by the probe (101).

6. Agricultural implement and a system for controlling this agricultural implement (100) according to one of the preceding claims, characterised in that a rolling element (105) is arranged between the cam and the activation element (106) of the hydraulic circuit (110).

7. Agricultural implement and a system for controlling this agricultural implement (100) according to one of the preceding claims, characterised in that the cam (102) has holes (102b) for adjusting the movement of the arm (103).

8. Agricultural implement and a system for controlling this agricultural implement (100) according to one of the preceding claims, characterised in that a return element, in particular a spring (107) for returning the arm to the extended position, is interposed between the frame (108) and the arm (103).

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