Method for controlling and commanding at least one additional working device fitted to a reversible plow and such a reversible plow

Abstract

Method of controlling and commanding at least one additional working device equipping a reversible plow and such a reversible plow. Method of controlling and commanding at least one additional working device (2) equipping a reversible plow suitable for being hitched to a tractor vehicle and comprising a longitudinal frame (3), at least one such additional working device (2) connected to the frame (3) by means of at least two connecting arms (4) each forming a deformable parallelogram (P), the frame (3) being suitable for being lifted relative to the ground (S) and pivoting around a pivoting axis (X), preferably of the order of 180°, to effect the reversal of the plow.During the plow's reversal, the method involves detecting the pivot angle of the frame (3) and comparing it with a preselected setpoint angle (β1) between 5° and 60°. When the detected pivot angle matches the preselected setpoint angle (β1), each deformable parallelogram link (P) is moved into a specific configuration and maintained according to a predetermined holding sequence. The present invention also relates to a reversible plow for implementing the method. Figure to be published with the abstract: Fig. 2.

Description

Title of the invention: Method for controlling and operating at least one additional working device equipping a reversible plough and such a reversible plough

[0001] The present invention relates to the field of agricultural machinery, more particularly to agricultural implements, such as ploughs, used for plowing fields and attached to tractor-type vehicles. Its subject is a method for controlling and operating at least one additional working device fitted to a reversible plough. It also relates to such a reversible plough. The latter allows the implementation of the control and operating method.

[0002] Ploughs are generally attached to the front or to the barrier of a tractor and are used for working the soil before sowing. More particularly, they comprise a frame carrying ploughing bodies which, in the working position of the plough, enable the surface layer of the soil (topsoil) to be ploughed, which has the highest concentration of organic matter and micro-organisms, in particular to: loosen it in order to improve the penetration of air and heat, bury crop residues in the soil, destroy vegetation and certain parasites by burying them and facilitate the preparation of the seedbed.

[0003] Reversible ploughs are also known whose frame is pivotally mounted around a pivot axis and carries two groups of ploughing bodies. One of the groups of ploughing bodies allows ploughing to the right in a first working position and the other group of ploughing bodies allows ploughing to the left in a second working position, depending on the direction of travel (or movement) of the tractor. In each working position the two groups of ploughing bodies are arranged one above the other, being inverted with respect to each other, the lower one being oriented positively to be in operational contact with the ground.

[0004] The pivoting of the plough frame makes it possible to reverse the position of the groups of ploughing bodies relative to each other to place them alternately in the first or second working position of the plough. The transition from the first working position to the second working position, or vice versa, is usually called turning the plough.

[0005] Thus, when turning the plough from one of the working positions, firstly, the frame is raised above the ground and then, secondly, is pivoted about the pivot axis to reverse the position of the two groups of ploughing bodies relative to each other and allow ploughing to the left or right, and then, thirdly, is lowered to the ground to put the plough in the other working position.

[0006] These operations of turning a reversible plough are generally carried out when the direction of travel of the tractor changes in relation to the field to be ploughed, generally when the tractor reaches the end of the field and sets off in the opposite direction.

[0007] To prevent the ploughed soil from drying out, these reversible ploughs also include a roller (or press roller) forming an additional device or equipment mounted on the plough and intended to accompany the work of the groups of ploughing bodies. The roller is designed so that, in the working position, it can press the soil back by rolling over the earth that has been turned over by the ploughing bodies during the previous pass, which has the effect of crushing the clods of earth and perfecting the crumbling. This additional action of working the soil by this roller subsequently ensures better contact between the seeds and the earth during sowing.

[0008] The roller comprises a beam-shaped frame extending substantially parallel to the frame of the plough and on which beam are fixed pairs of rings or wheels which constitute the part of the roller intended to be in contact with the ground. The frame of the roller is connected to the frame of the plough by means of two controlled connecting arms. Each connecting arm comprises, on the one hand, two branches mounted articulated and arranged so as to constitute a deformable parallelogram and, on the other hand, an actuator designed and arranged to be able to actuate the movement of the articulated branches so as to control the deformable parallelogram in various configurations. These configurations, which correspond to respective positions of the roller, make it possible to control the pressure of the additional working device on the ground.

[0009] A plough equipped with such a roller is known from the document WO-A-2013091608. However, with this type of plough, each time the ploughing depth is changed, the user must adjust the roller setting and check whether the compaction is correct.

[0010] Document FR 3104375 also discloses a plough equipped with such a roller and which remedies this problem by guaranteeing constant support pressure regardless of the ploughing depth and automatic adaptation in the presence of undulations or unevenness of the ground allowing the preservation of the soil structure. To this end, each actuator forming a tamping cylinder consists of a double-acting, double-rod cylinder. Each cylinder (of a double-acting, double-rod cylinder) has two chambers with equivalent working sections.

[0011] However, with these reversible ploughs of the prior art, when turning the plough to bring it into the other ploughing position to the right or left, no longer Particularly in certain terrain configurations, it may happen that the roller inversion is not done correctly, in particular due to a lack of inertia of the roller. If the roller is not in the correct position, i.e. oriented (or tilted) the right way towards the ground to be in positive (operational) contact with it, the operation of reconsolidating the previously plowed soil will not be carried out. Thus, it often happens that the operator is forced to pivot the plow frame a complete turn, i.e. two successive turns of around 180°, so that the on-board equipment can reverse and tilt into the correct position while being positively oriented towards the ground. Sometimes, the operator even has to move the tractor forward and / or backward to position the plow on a more or less horizontal plane. These additional maneuvers waste time.Furthermore, the operator must be attentive to each turn at the end of the field and always check that the roller has been reversed and is in the correct position / orientation to be able to set off again and continue plowing.

[0012] Thus, even with gravity, the inversion of the roller is not always carried out correctly, that is to say on the right side, following the turning of the plough from one working position to another.

[0013] Other on-board equipment such as a gauge wheel is known and affected by such a reversal problem, but the risk of the roller not tipping or reversing to the correct side is greater than for this other equipment, due to the nature of the roller and its connection to the frame (not enough inertia to reverse the roller).

[0014] The present invention aims to overcome these drawbacks of inversion by proposing a method for controlling and operating at least one additional working device equipping a mounted or semi-mounted reversible plough and such a reversible plough equipped with such an additional working device, making it possible to ensure with certainty, following each reversal of the plough, the inversion of the correct side of the or at least one of the additional working devices, more particularly of the or at least one additional working device of the press roller type, regardless of the plane (or the horizontality of the ground) on which the plough and the tractor vehicle are located.

[0015] To this end, the present invention, which relates to a method for monitoring and controlling at least one additional working device equipping a reversible plough, said plough being capable of being coupled to a tractor vehicle and comprising a longitudinal frame, at least one main soil working device mounted on the frame and at least one additional working device connected to the frame by means of at least two connecting arms, the frame being capable of being lifted relative to the ground and pivoting around a pivot axis, preferably of the order of 180°, to carry out the turning of the plough from a first working position to a second working position and vice versa, each connecting arm comprising two articulated branches arranged so as to constitute a deformable connecting parallelogram and at least one actuator for actuating the movement of the branches, is characterized in that it consists, during the turning of the plough, with in addition a pivot angle detector of the frame and an electronic control and command unit functionally connected to the detector and to the actuators, considering a positive pivoting direction of the frame around the pivot axis from one of the working positions of zero pivot angle to the other working position:

[0016] - to detect the pivot angle of the frame and to compare it with an angle value of preselected setting between 5° and 60°,

[0017] - when the pivot angle thus detected corresponds to the angle value of preselected instruction, to control each deformable link parallelogram in a particular configuration and to maintain the latter according to a predetermined holding sequence.

[0018] The present invention also relates to a reversible plough suitable and intended to be coupled to a tractor vehicle and comprising a longitudinal frame, at least one main soil working device mounted on the frame and at least one additional working device connected to the frame by means of at least two connecting arms, the frame being suitable for being lifted relative to the ground and pivoting about a pivot axis, preferably of the order of 180°, to turn the plough from a first working position to a second working position and vice versa, each connecting arm comprising two articulated branches arranged so as to constitute a deformable connecting parallelogram and at least one actuator making it possible to actuate the movement of the branches so as to be able to control the deformable connecting parallelogram in various configurations,characterized in that it further comprises a frame pivot angle detector and an electronic control and command unit connected to the detector and to the actuators, the control and command unit being configured, considering a positive pivot direction of the frame around the pivot axis from one of the zero pivot angle working positions to the other working position, to compare the detected pivot angle with respect to a preselected setpoint angle value between 5° and 60 and, when the pivot angle thus detected corresponds to the setpoint angle value, to control each deformable link parallelogram in a particular configuration and to maintain the latter according to a predetermined holding sequence.

[0019] The invention will be better understood, thanks to the following description, which relates to a preferred embodiment, given by way of non-limiting example, and explained with reference to the attached schematic drawings, in which:

[0020] [Fig.l] represents a top view of a plough according to the present invention coupled to a tractor vehicle, in a first working position, with an additional working device controlled,

[0021] [Fig.2] is a front view of the front part of the plow shown in [Fig. 1] and showing, in continuous lines, the plough in the first working position of [Fig.l] and, in broken lines, the position of said plough when it is turned over with a pivot angle of the frame corresponding to the first preselected set angle value,

[0022] [Fig.3] shows the plough shown in [Fig.2], in continuous lines, in a intermediate pivoting position between the first and second positions and, in broken lines, in the second working position following the turning of the plough from the first working position shown in [Fig.l] via the intermediate position,

[0023] [Fig.4] is a front view of a connecting arm connecting the additional working device to the frame of the plough shown in [Fig.2] or [Fig.3] in the particular configuration of the deformable connecting parallelogram,

[0024] [Fig.5] represents the hydraulic circuit for controlling the actuators allowing control the configuration of the deformable parallelograms in the particular configuration shown in [Fig.4].

[0025] The attached figures show a reversible plough C, according to the present invention, capable of being coupled to a tractor vehicle V and comprising a longitudinal frame 3, at least one main soil working device 1 S mounted on the frame 3 and at least one additional working device 2 connected to the frame 3 by means of at least two connecting arms 4. [Fig. 1] represents a carried plough C intended to be coupled to the three-point hitch of a tractor vehicle V. The frame 3 is capable of being lifted relative to the ground and of pivoting around a pivot axis X, preferably of the order of 180°, to turn the plough C from a first working position to a second working position and vice versa (depending on the direction of advance A of the plough C).Each connecting arm 4 comprises two branches 4a, 4b articulated and arranged so as to constitute a deformable connecting parallelogram P and at least one actuator 4c making it possible to actuate the movement of the branches 4a, 4b so as to be able to control the deformable connecting parallelogram in various configurations.

[0026] The additional working device 2 can work alternately in the first position or the second position following the pivoting of the frame 3, preferably by approximately 180°.

[0027] In the present description, the first working position corresponds for example to a working position in right-hand plowing (Figures 1 and 2) and the second working position corresponds, for example, to a working position in left-hand plowing ([Fig. 3] in broken lines). In the first working position, the frame 3 is in a first position corresponding to a zero pivot angle. A zero pivot angle means an angle close to the value zero degrees (0°). In the second working position, preferably, the frame 3 has pivoted 180° around the X-axis in a clockwise direction. This second working position therefore corresponds to a flat pivot angle (180°).

[0028] It is understood that, in each working position, each deformable connection parallelogram P is controlled in a specific configuration, called the working configuration, to be able to perform its working function, for example, where appropriate, of repressing the plowed soil. Preferably, in the working position of the plow C, each deformable connection parallelogram P is arranged in a vertical or substantially vertical plane (see in particular Figures 2 and 3).

[0029] As can be seen in Figures 1 to 3, the main working device 1 of the soil S of such a reversible plough C preferably comprises, in a known manner, two groups of ploughing bodies 1a, 1b, namely a first group of ploughing bodies 1a and a second group of ploughing bodies 1b, oriented differently, that is to say inverted with respect to each other. In the working position of the plough C, in the first or second working position, the two groups of ploughing bodies 1a, 1b are arranged one above the other, the lower one being oriented positively so as to be in contact with the soil S in an operational manner. Each group of ploughing bodies 1a, 1b comprises mouldboards 10a, 10b which are thus oriented in opposition with respect to the mouldboards 10a, 10b of the other group of ploughing bodies 1a, 1b. Each group of plough bodies 1a, 1b also includes ploughshares and points.These ploughing parts in a plough are well known and are therefore not described in further detail in this application.

[0030] In the first working position, as can be seen in Figures 1 and 2 (in solid lines), the first group of ploughing bodies 1a is at the bottom being positively oriented so as to be in operative contact with the ground S and the second group of ploughing bodies 1b is at the top (above) in an inverted and non-operative orientation.

[0031] Referring to [Fig. 3], it can be seen that, in the second working position, following the turning, by pivoting the frame 3 around the pivot axis of the order of 180°, of the plough C from the first working position, the two groups of ploughing bodies 1a, 1b (shown in broken lines) are reversed with respect to each other so that the first group of ploughing bodies 1a is at the top and the second group of ploughing bodies 1b is at the bottom (below) being positively oriented so as to be in operational contact with the ground S. In an intermediate position of the plough C, i.e. a position located between the two working positions, as can also be seen in [Fig. 3], the two groups of plough bodies 1a, 1b (this time represented in continuous lines) are next to each other at approximately the same height and the deformable connecting parallelograms P are oriented (in the direction of their length) vertically.

[0032] In a known manner, in order to be able to turn the plough C, the frame 3 is first raised above the ground S from the first or second working position to move the groups of ploughing bodies 1a, 1b away from the ground, then is pivoted about the pivot axis X to reverse the position of the groups of ploughing bodies 1a, 1b relative to each other. Finally, the frame 3 is lowered towards the ground S to continue ploughing with the other group of ploughing bodies 1b, 1a. This turning operation can be carried out more particularly on the occasion of a reversal of the progress of the tractor vehicle V relative to the field to be ploughed (following a half-turn of the tractor at the end of the field).

[0033] If we refer to Figures 1 to 3, we can further see that the plough C comprises a coupling head 7 equipped with coupling means, for example to a three-point hitch of the towing vehicle V, and means for pivoting the frame 3 (or for turning the plough C) to pivot the frame 3 around the pivot axis X. These coupling and turning means are well known and are therefore not described here in more detail.

[0034] Controlling the rotation / pivoting of the frame 3 around the pivot axis X, which therefore allows the plough C to move from the first working position ([Fig.2]) to the second working position ([Fig.3]) or vice versa to perform its turning, thus causes the control of the reversal movement of the main working device 1 and also that of the additional working device 2. It is then understood that the additional working device 2 reverses / tilts when the plough C turns over so that it can be oriented in the right direction.

[0035] In a known manner, preferably, the or at least one of the additional working devices 2 may comprise, on the one hand, rolling or rolling means forming a roller 2a of the press roller type and, on the other hand, a support beam 2b on which the roller is mounted. In addition, the support beam 2b is connected to the frame 3 by means of the connecting arms 4 (Figures 1 to 3). As shown in [Fig.l], the roller 2a is connected to the frame 3 by means of two connecting arms 4, one located rather at the front and the other located rather at the rear of the support beam 2b. The plough C is equipped with five ploughing bodies. The front connecting arm is located in the vicinity of the first ploughing body and the rear connecting arm is located in the vicinity of the penultimate ploughing body of the plough C. In this example of a realization plough C, the penultimate body corresponds to the fourth ploughing body. The support beam 2b of the additional working device 2 extends parallel to the frame 3 of the plough C.

[0036] The additional working device 2 thus forms equipment mounted on the plough C which is intended to accompany the work of the main working device 1 of the soil S, in particular the work of the groups of ploughing bodies 1a, 1b. This on-board equipment is connected to the frame 3 so that it is put into working position spontaneously following the turning of the groups of ploughing bodies 1a, 1b. Together the ploughing bodies 1a, 1b and the roller 2a create an optimal seedbed with a well-crumbled surface and soil pressed down in depth to retain maximum moisture. The roller 2a will act on the strip of earth turned over by the ploughing bodies 1a, 1b during the previous pass.

[0037] Preferably, each actuator 4c may consist, in a known manner, for example from document FR 3104375, of at least one double-acting, double-rod cylinder (Figures 2, 3, 4 and 5). It can be seen, in particular in [Fig. 5], that each cylinder comprises two rods 40c, 41c, namely a first rod 40c and a second rod 41c, actuated in retraction or extension at one of the ends of the cylinder under the effect of hydraulic pressure inside the corresponding outlet chamber 400c, 410c or retraction chamber 401c, 41c. As can be seen in particular in [Fig.4], each branch 4a, 4b can be articulated, on the one hand, via an articulation 4e, on the support beam 2b (not shown in [Fig.4]) of the additional working device 2 and, on the other hand, via an articulation 4d, on the frame 3 of the plough C.Furthermore, the or each double-acting, double-rod cylinder of each connecting arm 4 can be articulated, on the one hand, by the end of its first rod 40c, to one of the branches 4a, 4b of the connecting arm 4, preferably on the side or close to the support beam 2b (or the roller) and, by the end of its second rod 41c, to one of the articulations 4d located on the side of the frame 3 of the plough C (see in particular [Fig.4]).

[0038] According to the present invention, such a plough C further comprises a detector 5 of the pivot angle of the frame 1 and an electronic control and command unit 6 connected to the detector 5 and to the actuators 4c.

[0039] Still in accordance with the present invention, the control and command unit 6 is configured, considering a positive direction of pivoting of the frame 1 around the pivot axis X from one of the working positions (first or second working position), of zero pivot angle, to the other working position (second or first working position):

[0040] - to compare (when pivoting the frame) the pivot angle detected (by the pivot angle detector 5) relative to a preselected set angle value [31 between 5° and 60°, preferably between 15° and 30°, more preferably between 20° and 25°,

[0041] - and, when the pivot angle thus detected corresponds to the angle value of instruction [31, to control each deformable link parallelogram P in a particular configuration and to maintain the latter according to a predetermined holding sequence. Thanks to the angle detector 5 and the electronic control and command unit 6, the positioning of the additional working device 2 and the triggering of its positioning, under the effect of the deformation of the deformable parallelograms P, are done automatically. The risk of non-inversion of the additional working device 2 no longer exists when turning the plough C. Thanks to the detector 5 of the invention, the additional working device 2 is always well positioned to repress the ploughed soil.

[0042] In a preferred embodiment, the control and command unit 6 is configured, in the predetermined maintenance sequence of the particular configuration, to, on the one hand, compare the detected pivot angle with a second setpoint value [32 preselected between 90° and 180°, preferably between 120° and 160°, more preferably between 145° and 150° and, on the other hand, when the pivot angle thus detected corresponds to the second setpoint angle value [32, to control each deformable link parallelogram P in another configuration. This other configuration corresponds to the aforementioned working configuration.

[0043] In another embodiment of the predetermined sequence for maintaining the particular configuration of each deformable connection parallelogram P, the present invention may provide for the use of a time delay. This time delay may be triggered by the detection of the pivot angle [31 or another pivot angle detected by the detector 5 such as the pivot angle of 90°. The duration of this time delay may be, for example, determined so that, once this duration has elapsed, the pivot angle of the frame 3 corresponds to a pivot angle equal to the second setpoint angle value [32. The time delay may be managed by the control and command unit 6, i.e. its triggering and its duration. Once the duration has elapsed, the control and command unit 6 is adapted to control the working configuration of each deformable connection parallelogram P.The duration can be stored in a memory, for example of the control and command unit 6. .

[0044] Preferably, as can be seen in Figures 2, 3 and 4, each deformable connecting parallelogram P can have a rectangular shape in the particular configuration. It can be seen more particularly that the branches 4a and 4b form the long sides of the rectangle and that the connecting parts to the frame 3 and to the support beam 2b form the short sides. In the first or second working position, that is to say in the right or left ploughing position, the parallelograms P deformable connecting elements each have another parallelogram shape, for example a diamond shape, that is to say a non-rectangular parallelogram shape, as can be seen in [Fig.2] in solid lines and in [Fig.3] in broken lines. The present invention does not, however, exclude that each deformable connecting parallelogram P can be controlled in the first or second working position to have a rectangular shape if the working conditions require it, for example depending on the plane or surface on which the plough C is moving or the support (or re-pressing) pressure to be exerted.

[0045] Each deformable connecting parallelogram P is preferably maintained in the particular configuration, preferably in the rectangular shape, beyond a pivot angle of 90°, corresponding to a right pivot angle. It is then understood that the plough C, when it is turned over, passes the position corresponding to a right pivot angle with each deformable connecting parallelogram P maintained in the particular configuration, preferably in a rectangular shape. [Fig. 3] illustrates in solid lines, the additional working device 2 and the frame 3 when the plough C is turned over in a middle position. This middle position corresponds to a right pivot angle (90°) of the frame 3. For better understanding, the folding cylinder at the front of the connecting arm 4 has been hidden in Figures 2, 3 and 4.For the transport configuration, the additional working device 2 is brought closer to the frame 3 of the plough C to reduce the height of the plough assembly C with the additional working device 2.

[0046] In the first or second working position, that is to say in the right or left ploughing position, the roller 2a is more or less offset depending on the working depth and the deformable connecting parallelograms P each have a parallelogram shape. The further the branches 4a and 4b are from each other, the greater the ploughing depth or the closer the branches 4a and 4b are to each other, the shallower the ploughing depth. The particular configuration of the deformable connecting parallelograms P maintained according to the predetermined holding sequence makes it possible to reduce the offset. Indeed, when the connecting parallelogram P is rectangular in shape, the roller 2a, in particular its centre of gravity G at the level of the support beam 2b ([Fig.2] in broken lines and [Fig.3] in solid lines), is aligned or substantially aligned with the centre of the frame 3 of the plough C.This particular configuration, in particular in the form of a rectangle, simplifies and above all guarantees the transfer of the additional working device 2 to the correct side and in the correct orientation. This particular configuration of the parallelograms P during the turning cycle of the plough C, provides a guarantee as to a correct inversion of the additional working device 2 and without interference with the main working device 1 of the plough C. The support beam 2b of the roller then extends between the . two planes passing through branches 4a and 4b of each connecting arm 4.

[0047] In a preferred embodiment of the pivot angle detector 5, the latter may consist of at least one angular position sensor. Such a sensor may be a gyroscope, an electronic gyroscope, or a frequency or angular speed sensor. Such a sensor measures the pivot / rotation angle of the plough C (and therefore of its frame 3) during its rotation around the pivot axis X. The electrical signal representative of this measurement is interpreted by the control and command unit 6 to deduce therefrom a pivot angle value which will be compared to the preselected and stored setpoint angle value(s) [31,

[32] . In an exemplary embodiment, the plough C has a single angular position sensor.Advantageously, several angular detection thresholds (set angles), for example two preselected set angles [31, [32, can be provided for at least one sensor, preferably a single sensor. Preferably, the detector 5, i.e. in this case the or each angular position sensor, measures the pivot angle continuously (or, in other words, at each instant). The detector 5 makes it possible to continuously monitor the side on which the roller 2a is located and to control the correct direction of pressing. In another exemplary embodiment, the pivot angle detector 5 can consist of the use of two angular position sensors, preferably of the gyroscope type.

[0048] Furthermore, preferably, as can be seen in Figures 1 to 3, the pivot angle detector 5 and / or the electronic control and command unit 6 can each be mounted on the frame 3, preferably as close as possible to the coupling with the towing vehicle V (or the coupling head 7), or on at least one of the connecting arms 4, preferably on one of the branches 4a, 4b of the latter(s). The detector 5, for example the or each angular position sensor constituting the latter, can be fixed / attached / mounted on one of the parts, elements, organs or constituent parts of the plough C moved in rotation / pivoting around the pivot axis X, for example on the frame 3. By being installed, for example, on the front part of the frame 3, as close as possible to the coupling device of the towing vehicle, the reliability of the detection by the detector 5 will be better.In the example shown, the pivot angle detector 5 is mounted on a part of the frame 3 connected to the front connecting arm 4 (figures 1 and 2).

[0049] Preferably, the pivot angle detector 5 can be (functionally) connected to the electronic control and command unit 6 either by being integrated into the electronic control and command unit 6 or by being separate from the electronic control and command unit 6. The electronic control and command unit 6 can preferably be mounted in a housing, preferably sealed. The pivot angle detector 5 can be mounted in a housing, preferably sealed. Preferably, the pivot angle detector 5 either integrated into the electronic control and command unit 6 or separated from the latter, the present invention may provide, as can be seen in Figures 1 to 3, a housing, preferably a common (single) waterproof housing. In the preferred embodiment, the detector 5 is integrated into the electronic control and command unit 6. These two elements are integrated into a common, waterproof housing. The integration avoids wiring, connectors between the two elements and a specific fixing of the detector 5. The absence of wiring avoids the problem of exposure to the ground and increases reliability. The housing is, for example, fixed by bolts on the plow C, more particularly on the frame 3 of the plow C.When the detector 5 is integrated into the electronic control and command unit 6, the solution is economical and above all without physical connection with the mechanical environment (no support, no detection cam, no electrical wiring to install). With this integrated solution, the user cannot intervene by moving the elements or modifying the settings. There is no risk of damaging the plough C or the roller. Preferably, the user does not have access to the adjustment of the set angles.

[0050] If we now refer to [Fig. 5], we can see the hydraulic circuit H of the actuators 4c, more particularly each formed by a double-acting, double-rod cylinder. This hydraulic circuit H can for example be mounted on the plow C and be supplied with pressurized hydraulic fluid by the hydraulic circuit of the towing vehicle V. This hydraulic circuit H is configured to ensure the control of the cylinders controlling the configuration of the deformable connecting parallelograms P. The hydraulic circuit H notably comprises solenoid valves, for example two solenoid valves H1, H2, controlling the state of the cylinders. The first solenoid valve H1 makes it possible to control the actuation of the retraction / extension of the first rod 40c of each cylinder and the second solenoid valve H2 makes it possible to control the retraction / extension of the second rod 41c of each cylinder. The solenoid valve H1 or H2 selects the chamber of the cylinder to be supplied.The hydraulic circuit H also includes a third solenoid valve H3 which controls the inversion of the positioning of the roller (in relation to the turning of the plough C).

[0051] Still in [Fig. 5], it can be seen that, in a preferred embodiment of the control of the hydraulic circuit H allowing the sequence of maintaining in the particular configuration to be carried out, the first solenoid valve H1 can be controlled so as to fill the outlet chamber 400c of the first rod 40c with pressurized hydraulic fluid to put the latter in the extended position. It can also be seen that the second solenoid valve H2 can be controlled so as to block the hydraulic pressure of the retraction chamber 41c of the second rod 41c to maintain the latter in its retracted position. To change each deformable connection parallelogram P from its particular configuration to the configuration of work, the first solenoid valve H1 can be controlled so as to fill the retraction chamber 401c of the first rod 40c with pressurized hydraulic fluid to put the latter in the retracted position (this control is not shown in [Fig.5]).

[0052] It is understood that the control of the components of the hydraulic circuit, such as the solenoid valves H1, H2, H3 is carried out by the electronic control and command circuit 6 functionally connected to the hydraulic circuit H.

[0053] The present invention also relates to a method for controlling at least one additional working device 2 equipping a mounted or semi-mounted reversible plough C. Such a plough C may be a plough C according to the present invention as described previously and allowing or suitable for implementing the method.

[0054] According to the present invention, such a method consists, when turning the plough C, considering a positive pivoting direction (or, in other words, clockwise) of the frame 1 around the pivoting axis X from one of the working positions of zero pivoting angle to the other working position:

[0055] - to detect the pivot angle of the frame 3 and to compare it with an angle value setpoint [31 preselected between 5° and 60°,

[0056] - when the pivot angle thus detected corresponds to the angle value of [31 preselected instruction, to control each deformable link parallelogram P in a particular configuration and to maintain the latter according to a predetermined holding sequence.

[0057] In a preferred embodiment, the method may consist, in the predetermined holding sequence, of detecting the pivot angle of the frame 3 and comparing it to a second setpoint value [32 preselected between 90° and 180° and when the pivot angle thus detected corresponds to the second preselected setpoint angle value [32, controlling each deformable connection parallelogram P in another configuration. This other configuration may be the working configuration described above and allowing the operational work of the or each additional working device 2 in the first or second working position of the plough C.

[0058] In a variant of the predetermined holding sequence, the method may consist of controlling each deformable link parallelogram P into the working configuration after a predetermined duration. This duration may be determined so as to elapse from the detection of the pivot angle [31 or another pivot angle detected by the detector 5 such as the pivot angle of 90°. This duration may be determined so as to elapse until the pivot angle corresponds to a pivot angle equal to the second setpoint angle value [32.

[0059] Preferably, the first setpoint value [31 can be preselected between 15° and 30°, more preferably between 20° and 25°, and / or the second set value [32 can be preselected between 120° and 160°, more preferably between 145° and 150°.

[0060] In a preferred embodiment of the control of each deformable connection parallelogram P in the particular configuration, the method may consist of controlling the actuators 4c so as to move the articulated branches 4a, 4b so that each deformable connection parallelogram P has a rectangular shape ([Fig.3] in continuous lines and [Fig.4]).

[0061] In the preferred embodiment of each actuator 4c consisting of at least one double-acting, double-rod cylinder, the method may preferably consist, in order to control each deformable connecting parallelogram P in the particular configuration, in controlling the actuator so that one of the two rods 40c is in the extended state and the other rod 41c in the retracted state ([Fig.4]).

[0062] Such a plough C or method according to the present invention makes it possible to solve the problem of positioning the additional working device 2 on the correct side when turning the plough C, and more particularly the roller when the additional working device 2 is formed by such a roller.

[0063] The reversible plough C may consist either of a mounted plough attached to the front or rear of the tractor vehicle V or of a semi-mounted plough. In the case of a semi-mounted plough, the number of ploughing bodies 10a is large, in particular a number greater than six, and the frame 3 of the plough C may rest on the ground S by means of a carriage comprising, for example, two wheels. The ploughing bodies 10a may be distributed over the front part and the rear part of the frame 3. Thus, the semi-mounted plough C may have an additional front working device 2 and an additional rear working device 2. Such a semi-mounted plough is not shown in the figures.

[0064] Of course, the invention is not limited to the embodiment described and shown in the attached drawings. Modifications remain possible, in particular from the point of view of the constitution of the various elements or by substitution of technical equivalents, without departing from the scope of protection of the invention.

Claims

Claims

1. Method for controlling and operating at least one additional working device (2) equipping a mounted or semi-mounted reversible plough (C), said plough (C) being capable of being coupled to a tractor vehicle (V) and comprising a longitudinal frame (3), at least one main working device (1) for working the soil (S) mounted on the frame (3) and at least one additional working device (2) connected to the frame (3) by means of at least two connecting arms (4), the frame (3) being capable of being lifted relative to the ground (S) and of pivoting about a pivot axis (X), preferably of the order of 180°, to turn the plough (C) from a first working position to a second working position and vice versa, each connecting arm (4) comprising two branches (4a,4b) articulated and arranged so as to constitute a deformable connecting parallelogram (P) and at least one actuator (4c) for actuating the movement of the branches (4a, 4b), the control method consisting, when turning the plough (C), with in addition a detector (5) of the pivot angle of the frame (1) and an electronic control and command unit (6) functionally connected to the detector (5) and to the actuators (4c), considering a positive pivoting direction of the frame (1) around the pivot axis (X) from one of the working positions, of zero pivot angle, to the other working position to detect the pivot angle of the frame (3), characterized in that it further consists:, - comparing the pivot angle of the frame (3) with a preselected set angle value ([31) between 15° and 30°, preferably between 20° and 25°, - when the pivot angle thus detected corresponds to the preselected setpoint angle value ([31), to control each deformable link parallelogram (P) in a particular configuration and to maintain the latter according to a predetermined holding sequence.

2. Control and command method according to claim 1, characterized in that it consists, in the predetermined holding sequence, in detecting the pivot angle of the frame (3) and in comparing it with a second setpoint value ([32) preselected between 90° and 180° and when the pivot angle thus detected corresponds to the second preselected setpoint angle value ([32), to control each deformable link parallelogram (P) in another configuration.

3. Control method according to claim 2, characterized in that the second setpoint value ([32) is preselected between 120° and 160°, preferably between 145° and 150°.

4. Control method according to any one of claims 1 to 3, characterized in that the control of each deformable connection parallelogram (P) in the particular configuration consists of controlling the actuators (4c) so as to move the articulated branches (4a, 4b) so that each deformable connection parallelogram (P) has a rectangular shape.

5. Control method according to any one of claims 1 to 4, characterized in that each actuator (4c) consists of at least one double-acting, double-rod cylinder and in that it consists, to control each deformable connecting parallelogram (P) in the particular configuration, in controlling the actuator so that one of the two rods (40c, 50c) is in the extended state and the other rod (41c, 51c) in the retracted state.

6. Reversible plough (C) suitable and intended to be coupled to a tractor vehicle (V) and comprising a longitudinal frame (3), at least one main working device (1) for working the soil (S) mounted on the frame (3) and at least one additional working device (2) connected to the frame (3) by means of at least two connecting arms (4), the frame (3) being suitable for being lifted relative to the ground (S) and for pivoting about a pivot axis (X), preferably of the order of 180°, to turn the plough (C) from a first working position to a second working position and vice versa, each connecting arm (4) comprising two branches (4a, 4b) articulated and arranged so as to constitute a deformable connecting parallelogram (P) and at least one actuator (4c) making it possible to actuate the movement of the branches (4a, 4b) of so as to be able to control the deformable connecting parallelogram (P) in various configurations,the reversible plough (C) further comprising a detector (5) of the pivot angle of the frame (1) and an electronic control and command unit (6) connected to the detector (5) and to the actuators (4c), characterized in that the control and command unit (6) is configured, considering a positive pivoting direction of the frame (1) around the pivoting axis (X) from, one of the working positions, of zero pivot angle, to the other working position, to compare the detected pivot angle with respect to a preselected set angle value ([31]) between 15° and 30°, more preferably between 20° and 25° and, when the pivot angle thus detected corresponds to the set angle value ([31], to control each deformable link parallelogram (P) in a particular configuration and to maintain the latter according to a predetermined holding sequence.

7. Reversible plough (C) according to claim 6, characterized in that the control and command unit (6) is configured, in the predetermined holding sequence, to compare the detected pivot angle with a second setpoint value ([32) preselected between 90° and 180° and when the pivot angle thus detected corresponds to the second setpoint angle value ([32), to control each deformable connection parallelogram (P) in another configuration.

8. Reversible plough (C) according to claim 6 or claim 7, characterized in that each deformable connecting parallelogram (P) has a rectangular shape in the particular configuration.

9. Reversible plough (C) according to any one of claims 6 to 8, characterised in that the additional working device (2) comprises rolling means (2a) or rolling means forming a roller and a support beam (2b) on which the roller is mounted and in that the support beam (2b) is connected to the frame (3) via the connecting arms (4).

10. Reversible plough (C) according to any one of claims 6 to 9, characterized in that the pivot angle detector (6) consists of at least one angular position sensor.

11. Reversible plough (C) according to any one of claims 6 to 10, characterised in that the pivot angle detector (5) and / or the electronic control and operating unit (6) is / are each mounted on the frame (3), preferably as close as possible to the coupling with the towing vehicle (V), or on at least one of the connecting arms (4), preferably on one of the branches (4a, 4b).

12. Reversible plough (C) according to any one of claims 6 to 11, characterized in that the pivot angle detector (5) is connected to the electronic control and command unit (6) either by being integrated into the electronic control and command unit (6) or being separate from the electronic control and command unit (6), the electronic control and command unit (6) preferably being mounted in a housing, preferably a waterproof housing.

13. Reversible plough (C) according to any one of claims 6 to 12, characterized in that each actuator (4c) consists of at least one double-acting, double-rod cylinder.

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