Steerable Toolbar Actuation for Path Fidelity
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Solution Overview
Problem
Current agricultural toolbar systems struggle to maintain alignment with the tractor's path, leading to inaccuracies and increased stress on ground-engaging tools due to side load and terrain-related issues like corner turns and hill drafts.
Innovation Solution
A steerable toolbar system with a centrally located hinge pin and actuators that adjust the toolbar's angle relative to the hitch, using guidance information and position sensors to steer the implement and counteract side loads, ensuring the toolbar follows the tractor's path by maintaining a perpendicular pull line.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If traditional toolbar designs are used without steerable functionality, then the structure is simpler and easier to manufacture, but the implement cannot accurately follow the tractor's path and experiences increased stress on ground engaging tools
Solution Approach 1:
The toolbar is designed with dynamic steerable functionality, allowing it to change its orientation relative to the hitch during operation. The toolbar can pivot about a centrally located hinge pin and is equipped with actuators that enable it to adjust its angle dynamically, transforming it from a static to a dynamic structure that can adapt to steering requirements while maintaining structural integrity
Solution Approach 2:
The toolbar structure is divided into separable components including the hitch section, the toolbar section, and the ground engaging tools. This segmentation allows the toolbar to pivot and steer independently while maintaining connection to the tractor, enabling path following accuracy without requiring a completely redesign of the entire implement structure
2Manufacturing precision
If attachments are added to force the implement in one direction or the other, then path following improves, but the device complexity increases and stress on tools increases
Solution Approach 1:
A centrally located hinge pin acts as an intermediary element between the hitch and the toolbar. This hinge pin allows the toolbar to pivot and steer smoothly, distributing forces evenly and eliminating the need for additional attachments that would create concentrated side loads on the ground engaging tools
Solution Approach 2:
The system changes the operational parameters of the toolbar by allowing it to rotate and adjust its angle relative to the hitch. This parameter change enables the toolbar to maintain proper alignment with the desired path without subjecting the ground engaging tools to excessive side loads, as the steering is achieved through controlled rotation rather than forced directional changes
3Manufacturing precision
If the tractor drawbar is shifted to one side or the other to compensate for off path tracking, then path following improves, but the ease of operation decreases and stress on the toolbar increases
Solution Approach 1:
The toolbar is equipped with self-steering capability through integrated actuators and position sensing systems. The toolbar can automatically adjust its orientation to follow the desired path without requiring the operator to manually shift the drawbar or make compensatory steering adjustments, making the system easier to operate while maintaining high path following accuracy
Solution Approach 2:
The system incorporates position sensing that provides feedback on the toolbar's location and orientation relative to the desired path. This feedback enables automatic control systems to adjust the toolbar's steering in real-time, eliminating the need for manual drawbar shifting and reducing operator workload while maintaining precise path following
Data Source
AI summary
The disclosed apparatus, systems and methods relate to a steerable toolbar. The toolbar is able to rotate relative to the tractor or other driving vehicle to reduce misalignment and/or cross-track error. Actuators can be utilized with draft links to pivot the toolbar around a central pivot point and improve the following path of the toolbar implement.