• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    An agricultural machine (10) provided with cultivation devices (12), which are mounted on a vertically adjustable support arm (231) or support frame of a chassis (24), said devices (12), via the support arm (231), thereof being arranged to at least assume a working depth (19) at which said devices (12) process the ground at a preselected working depth, the agricultural machine (10) being provided with a force regulation device comprising a lateral force sensor (17, 31, 32) connected to a control system (15), which in turn is connected to a hydraulic system (16), which is connected to at least one lifting device (25), for instance a hydraulic cylinder, which is arranged to regulate the working depth of the cultivation device (12) depending on a control signal from the lateral force sensor (17, 31, 32), and a method and a force regulation device for such a one.
    公开号:SE1250484A1
    申请号:SE1250484
    申请日:2012-05-11
    公开日:2013-11-12
    发明作者:Johan Karlsson
    申请人:Vaederstad Verken Ab；
    IPC主号:
    专利说明:

    In addition, the object of the invention is to provide a method for controlling the cultivation depth of a soil cultivator in an agricultural machine.
    SUMMARY OF THE INVENTION The present invention, as set forth in the independent claims, fulfills the above objects, thereby eliminating said drawbacks. Suitable embodiments of the invention are set out in the dependent claims.
    According to the invention, a solution to the problems is that a control system is arranged to adjust the working depth of the tillage implements in the agricultural machine depending on how much the operator swings or how large the lateral load is on the implement. This means that the machine becomes more manoeuvrable and that the structure of the machine is spared, which in turn can lead to lower standard costs on the machine as it does not need to be dimensioned for unnecessarily high loads. With LS hydraulics, there are good opportunities for such a system.
    According to a first embodiment of the invention with a tractor-driven agricultural implement, the tractor driver sets the desired working depth on the implement and as long as he drives straight ahead, this depth will be maintained. If he turns the tractor, it is a sensor, which is either a position sensor or a distance meter, which senses the change in angle between the tractor and the traction on the machine.
    This change in angle is used as an in-depth value for how the control system is to adapt the machining depth to the implement.
    According to a second embodiment of the invention in a tractor-driven agricultural implement, the tractor driver sets the desired machining depth on the implement and as long as the voltage levels in e.g. towed or in one of the tillage implements at side loads, is within given levels so the tillage depth is maintained.
    The stress levels are measured by wire strain gauges that are placed in a suitable place, on / near the drawbar or on / near the implements. Should the voltage levels rise, the control system must adjust the machining depth so that the voltage levels are kept below a given level. The level of voltage can to some extent be adjustable, with a given maximum value, so that the tractor driver himself can regulate the sensitivity of the system, ie how quickly and how much the implement is raised with increased lateral load.
    The invention relates to an agricultural machine provided with soil cultivators which are mounted on a height-adjustable support arm or support frame for a chassis in the agricultural machine. Said device is arranged via its support arm to occupy at least one working depth at which said device cultivates the ground at a preselected working depth.
    The agricultural machine is further provided with a force control device comprising a lateral force sensor connected to a control system which in turn is connected to a hydraulic system which is connected to at least one lifting device, for example a hydraulic cylinder, which is arranged to control the working depth pre-soil cultivator depending on a control signal from the lateral force sensor. The regulation of the working depth can take place in several different ways, for example by changing the vertical position of the tiller in relation to the chassis of the agricultural machine. Alternatively, the vertical position of the support wheels or support wheels on the machine can be changed in order to thereby change the vertical position of the tiller in relation to the ground surface. Furthermore, the entire chassis of the agricultural machine can be changed in position by its suspension in a towing vehicle in order to thereby change the vertical position of the soil cultivator in relation to the ground surface. It is especially during turns of the agricultural machine, regardless of whether the agricultural machine is towed, carried or self-propelled, that these lateral forces occur. The invention is thus based on some form of sensor detecting either a turn or the forces directly. In the case of a towed agricultural machine, a sensor can also be arranged which registers the turn of the towing vehicle itself, such as the steering wheel angle or wheel adjustment, which sensor signal is then correlated to an adjusting signal for the hydraulics for adjusting the working depth. Even if a hydraulic system is indicated for this adjustment of the working depth, electrical or pneumatic systems for this adjustment can also be alternatives.
    In an embodiment of the invention, the lifting device is connected between the support arm and a chassis of the agricultural machine and thus arranged to influence said working depth depending on an input control signal to the control system from the lateral force sensor which is in a selected relation to the lateral force acting on the cultivator.
    In one embodiment of the invention, the control signal of the lateral force sensor depends on the angle between a towing vehicle and a towing on the agricultural machine. Thus, a control signal is obtained from an angle sensor, which control signal is then correlated to an adjustment signal for the hydraulics for adjusting the working depth. This embodiment entails a simple and protected installation of the angle sensor at the connection between the towing vehicle and the agricultural machine, since the movements take place right there. In an embodiment of the invention, a position sensor or a distance meter is arranged to sense the angular change of said angle and create said control signal. The embodiment indicates different types of signal transducers.
    In an embodiment of the invention, the control signal of the lateral force sensor is created by a strain gauge placed on the agricultural machine. This embodiment uses sensors that directly react to a force effect on any part of the agricultural machine, the sensor signal being directly proportional to the magnitude of the lateral force.
    In one embodiment of the invention, the strain gauge is located on the drawbar of the agricultural machine. The location of the strain gauge is chosen so that its impact is large enough without the placement causing the sensor to be exposed to unauthorized mechanical impact through the use of the agricultural machine.
    In an embodiment of the invention, the strain gauge is located on or in close proximity to the soil cultivator. This location of the sensor gives maximum impact, but the location is still sufficiently protected from mechanical stress through the use of the agricultural machine.
    The invention also relates to a method for controlling the working depth of a soil cultivator in an agricultural machine. In this control, a force effect on a lateral force sensor of the soil cultivator contributes to producing an adjusting signal for actuating a lifting device, for example a hydraulic system. The lifting device in turn regulates the machining depth of the soil cultivator depending on the size of said adjusting signal. This method expresses the invention more generally to provide a lateral force adjustment of the working depth in an agricultural implement.
    In an embodiment of the invention, the adjusting signal is determined by comparing a control signal from a lateral force sensor in a control system with limit values for lateral forces, the adjusting signal representing these lateral forces.
    Furthermore, the invention also relates to a force control device comprising sensors connected to a control system cooperating with a hydraulic system. The sensors are mounted on an agricultural machine equipped with a cultivator in such a way that the control signals of the sensors depend on lateral forces on the cultivator of the agricultural machine and that the hydraulic system is controlled by the control signals to adjust the working depth of the agricultural machine. The sensors in such a power control device may be of the type described above. In one embodiment of the invention, the sensors are placed either on a drawbar on the agricultural machine or on the tillage equipment.
    Brief description of the drawings The invention will now be described in more detail with references in connection with the accompanying drawing figures. The drawing figures show only principle sketches intended to facilitate the understanding of the invention.
    Figure 1a schematically shows a top view of an agricultural machine according to a first embodiment of the invention.
    Figure 1b shows a partial view from the side of two implements of an agricultural machine according to figure 1a.
    Figure 2a schematically shows an embodiment according to figure 1a when turning the agricultural machine.
    Figure 2b shows a partial view from the side of two implements of an agricultural machine according to figure 2a.
    Figure 3 shows a side view of an agricultural machine according to a second embodiment of the invention.
    Description of the invention Figure 1a shows an agricultural machine 10 towed by a tractor 11. The agricultural machine is provided with a plurality of tillage implements 12 or tillage equipment such as sticks, plates, beetles etc. of which two implements are shown from the side in a partial view in fig. 1b. The agricultural machine 10 is provided with a traction 13 which is connected to a traction device 14 on the tractor 11. The figure also shows that the tractor or agricultural machine is provided with a control system 15 and a hydraulic system 16. A lateral force sensor 17 in the form of an angle sensor is connected to the control system 15. .
    This angle sensor senses the angle between the drawbar 13 and the tractor's direction of travel 18. In the figure, this angle oi = 0 ° by the tractor pulling the agricultural machine straight ahead. The front forces Ff by which the implements 12 are affected are mainly directed backwards straight towards the implements, which means that the deeper the implements work, the higher the influencing forces, Ff. When driving straight ahead, the work tools are set for work at their maximum working depth 19max according to figure 1b.
    Figure 2a shows the same constellation of agricultural machine 10 and tractor 11 as in figure 1a. In this figure, on the other hand, the tractor pivots so that its direction of travel 18 deviates from the pulling direction 21 of the pull 13 of the agricultural machine. In the figure shown, this angle is about 40 ° and this is to be regarded as a maximum angle when turning. of a tractor. By partially turning the agricultural machine and its implement 12 through such a turn relative to the ground, this rotation produces lateral forces Fs on the implement 12. These lateral forces Fs affect both the implement 12 and the suspension 23 of the implement and its support arm 231, see Figure 2b, and the attachment of the suspension 23 to the chassis 24 of the agricultural machine 10. Since the number of implements 12 in such an agricultural machine is considerable, in the present case 12 but can be up to 50 or more, these lateral forces will be significant. In such a turn with the crew, the lateral force sensor / angle sensor will continuously or intermittently send control signals to the control system 15, which control signals are interpreted to correspond to certain levels of the magnitude of the lateral forces F. The magnitude of the lateral forces F is compared with values stored in the control system 15 either according to continuous tables or according to tables of interval type.
    In continuous tables, each degree of angular change corresponds to a certain lateral force which is represented by a control signal which is compared with stored signal levels which give rise to an adjusting signal which is sent to the hydraulic system 16. The hydraulic system will thereby reduce the working depth 19 of the implement to an adjustable adjusted working depth 19just depending on the size of the adjusting signal. Thus, each angle corresponds to a specific adjusting signal which corresponds to a certain working depth on the tool 12.
    In interval-type tables, the adjustment signal will assume a certain value when the angle exceeds a certain predetermined value, for example 10 °, and an adjustment signal is sent to the hydraulic system which adjusts the working depth to the "10 ° depth", after which this working depth is maintained. a new adjusting signal is sent to the hydraulic system which adjusts the working depth to the “20 ° depth” and so on.The intervals for the angles can be determined to other values are 10 °, 20 °, 30 °, 40 °, for example 15 °, 25 °, 35 °.
    The hydraulic system 16 actuates hydraulic cylinders 25 to lift and lower the gear 12, respectively, by hydraulics through hydraulic lines 26 to and from the hydraulic cylinders 25. As further shown in Figures 1a and 2a, the control system 15, the hydraulic system 16 and the lateral force sensor 17, in the embodiment now shown. 20 25 30 7 the shape of an angle sensor, connected to the tractor via supply lines for their respective power supply.
    Figure 3 shows a second embodiment of an agricultural machine 10 shown from the side and arranged to be connected to a drawbar on a tractor in a manner similar to that shown in previous figures. Connected to the agricultural machine 10 is a control system 15, a hydraulic system 16 for actuating hydraulic cylinders 25 via hydraulic lines 26 to lift and lower implements 12 connected to the agricultural machine. In the corresponding manner described above, the agricultural machine is equipped with lateral force sensors 31, 32 in the form of wire strain gauges to calculate through the control system which lateral forces act on the implements when the agricultural machine is pivoted.
    An embodiment of the use of wire strain gauges as lateral force sensors 31 is that they are located somewhere on the drawbar 13, preferably when the drawbar is attached to the agricultural machine chassis 24, to register strains in the drawbar when it is subjected to a bending moment when the agricultural machine turns.
    The control signal generated by the wire strain gauge 31 is sent to the control unit 15 via a first signal line 33.
    An alternative embodiment of the use of a lateral force sensor 32 in the form of a wire strain gauge is that this / these are placed on the working member, i.e. the tool 12, preferably at its upper part where the bending moment is greatest, to register strains in the tool when it is exposed. for a bending moment the local agricultural machine turns. The control signal generated by the wire strain gauge is sent to the control unit 15 via a second signal line 34. This is shown in the separate figure in figure 3 where a work tool has been moved out of its holder according to the arrow.
    The control signals generated from the lateral force sensors 31, 32, i.e. the wire strain gauges, are processed in the control unit 15 to represent an adjusting signal proportional to the lateral forces and with respect to these send this adjusting signal to the hydraulic system 16 to lower or lower the hydraulic cylinders 25. raise the gear 12 to the level corresponding to the adjustment signal according to the double arrow shown.
    The control system 15 and the hydraulic system 16 are driven via supply lines 35, 36 from a towing vehicle / tractor.
    This second embodiment is also suitable for self-propelled agricultural machinery, ie which are not towed by a tractor or the like. As side force sensor / sensors, devices other than those shown in the exemplary embodiments may also be applicable.
    The described lateral force measurement on the implements in an agricultural machine can also be combined with longitudinal force measurement on the implements to correct the working depth of the implements.
    The signal processing takes place as previously described, ie an electrical control signal representing the lateral forces is transmitted to an adjusting signal for correcting the working depth of the tools / work organs according to previously described and predetermined tables.
    Furthermore, several strain gauges with different locations on the parts of the agricultural machine can be combined to represent an adjusting signal for correcting the working depth.
    权利要求:
    Claims (10)
    [1]
    Agricultural machine (10) provided with tillage devices (12) which are mounted on a height-adjustable support arm (231) or support frame of a chassis (24), said device (12) being arranged via its support arm (231) to at least assume a working depth (19) at which said device (12) cultivates the soil at a preselected working depth, characterized in that the agricultural machine (10) is provided with a force control device comprising a lateral force sensor (17, 31, 32) connected to a control system (15) which in turn is connected to a hydraulic system (16) which is connected to at least one lifting device (25), for example a hydraulic cylinder, which is arranged to regulate the working depth of the pre-soil cultivator (12) depending on a control signal from the lateral force sensor (17, 31, 32).
    [2]
    Agricultural machine according to claim 1, characterized in that the lifting device (25) is connected between the support arm (231) and a chassis (24) in the agricultural machine (10) and thereby arranged to influence said working depth (19) depending on an input control signal. to the control system (15) from the lateral force sensor (17, 31, 32) which is in a selected relation to the lateral force (Fs) acting on the tillage device (12).
    [3]
    Agricultural machine according to one of Claims 1 to 2, characterized in that the control signal of the lateral force sensor (17) depends on the angle (oi) between a towing vehicle (11) and a towing (13) of the agricultural machine (10).
    [4]
    Agricultural machine according to claim 3, characterized in that a position sensor or a distance meter is arranged to sense the angular change for said angle (d) and create said control signal.
    [5]
    Agricultural machine according to one of Claims 1 to 4, characterized in that the control signal of the lateral force sensor (31, 32) is created by a strain gauge located on the agricultural machine (10).
    [6]
    Agricultural machine according to Claim 5, characterized in that the strain gauge is located on the drawbar (13) of the agricultural machine (10). 20 25 10
    [7]
    Agricultural machine according to one of Claims 5 to 6, characterized in that the strain gauge is located on or in close proximity to the soil cultivator (12).
    [8]
    Method for controlling the working depth of a soil cultivator in an agricultural machine, characterized in that a force effect on a lateral force sensor (17, 31, 32) of the soil cultivator (12) produces an adjusting signal for influencing a lifting device, for example a hydraulic system (16 ), which in turn regulates the cultivation depth (19) of the soil cultivator (12) depending on the magnitude of said adjusting signal.
    [9]
    Method according to claim 8, characterized in that the adjusting signal is determined by comparing a control signal from a lateral force sensor (17, 31, 32) in a control system (15) with limit values for lateral forces (Fs), the adjusting signal representing these lateral forces.
    [10]
    Power control device comprising sensors (17, 31, 32) connected to a control system (15) cooperating with a hydraulic system (16), characterized in that the sensors are mounted on an agricultural machine (10) provided with soil cultivators (12) on such means that the control signals of the sensors depend on lateral forces (Fs) on the tillage (12) of the agricultural machine (10) and that the hydraulic system (16) is controlled by the control signals to adjust the working depth of the tillage (12) of the agricultural machinery (10) via hydraulic cylinders (25). . Power control device according to claim 10, characterized in that the sensors (17, 31, 32) are located either on a drawbar (13) on the agricultural machine or on the tillage means (12).
    类似技术:
    公开号 | 公开日 | 专利标题
    EP2546627B1|2021-04-28|System and method for determining drawbar force magnitude and direction.
    US20080257569A1|2008-10-23|Electronic draft control for trailed implements
    CA3017315A1|2017-09-21|Ultrasonic sensors for field roughness measurement
    SE535908C2|2013-02-12|Agricultural implements and procedure for controlling an agricultural implement
    US20190174667A1|2019-06-13|Method and Apparatus for Mapping Foreign Objects in a Field
    SE1451558A1|2016-06-17|Procedure for control of agricultural implements and agricultural implements
    SE518524C2|2002-10-22|Control device for an agricultural machine
    Bauer et al.2017|Observation of load transfer from fully mounted plough to tractor wheels by analysis of three point hitch forces during ploughing
    SE1250484A1|2013-11-12|Agricultural machine equipped with a power control device, a method for controlling a working depth and a power control device
    RU2694676C2|2019-07-16|Agricultural working machine and method of controlling load distribution along axes of agricultural working machine
    EP3202244B1|2020-10-28|Draft force detection on a vehicle having a linkage
    US20200324594A1|2020-10-15|Method for controlling the operation of an attachment
    EP3456163B1|2022-01-12|Implement optimization by automated adjustments
    Dzyuba et al.2019|Studying the influence of structural-mode parameters on energy efficiency of the plough PLN-3-35
    EP3202243B1|2018-08-29|Vehicle implement control
    EP3172953A1|2017-05-31|System and method for improved ride control for a work vehicle when transporting a drawn implement
    DE102006046329A1|2008-07-03|Work vehicle i.e. hauler, for agriculture and forestry, has drive motor driving four wheels of vehicle, and clutches with support wheel for supporting on underground, where wheels of vehicle are designed as drive wheels
    KR102290042B1|2021-08-17|Rotavator for automatic horizontal control mobile passenger management system
    DE2910180A1|1980-10-09|Tractor tractive effort control mechanism - regulates effort dependent on amount transmitted by front and rear wheels
    RU2497336C1|2013-11-10|Pneumatic position controller of angle of penetration of working element of agricultural tool, aggregated by universal front hydraulic hinged device for wheel tractor of class 1,4
    SE1551101A1|2017-02-27|Procedures for controlling agricultural implements, as well as agricultural implements
    JP2712445B2|1998-02-10|Working depth control device for tractor working machine
    EP2885959B1|2016-10-05|Implement detection arrangement for a tractor
    Keen et al.2009|Force Measurement between a Tractor and a Three Point Linkage Mounted Cultivation Implement
    WO2016169829A1|2016-10-27|System for hydraulically controlling a lifting mechanism, a method for such a system and a tractive unit
    同族专利:
    公开号 | 公开日
    EP2846619A1|2015-03-18|
    EP2846619B1|2017-11-29|
    WO2013169188A1|2013-11-14|
    EP2846619A4|2016-05-11|
    SE536461C2|2013-11-19|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US2469622A|1945-12-22|1949-05-10|Russel D Acton|Tractor-drawn implement turn responsive lifting and adjusting mechanism|
    US2755722A|1952-12-03|1956-07-24|Case Co J I|Tractor mounted rear tool bar|
    US2919754A|1955-07-11|1960-01-05|Allis Chalmers Mfg Co|Tractor implement connection|
    US3732932A|1971-05-17|1973-05-15|Deere & Co|Side draft control system for a tractor and earth-working implement|
    DE10241994A1|2002-09-11|2004-03-18|Man Nutzfahrzeuge Ag|Commercial vehicle with an unguided, liftable leading or trailing axle associated with its rear axle|
    US7860628B2|2005-06-09|2010-12-28|Trimble Navigation Limited|System for guiding a farm implement between swaths|
    CA2549371A1|2006-05-23|2007-11-23|William R. Ritchie|A ground opening device|
    DE102010041885A1|2010-10-01|2012-04-05|Deere & Company|Combination of a towing vehicle and a device|DE102016218825A1|2016-09-29|2018-03-29|Robert Bosch Gmbh|Apparatus and method for controlling the operation of a hydraulically actuated attachment on a vehicle|
    SE544118C2|2020-02-05|2021-12-28|Vaederstad Holding Ab|Agricultural machine comprising sensors, and method for arranging sensors on an agricultural machine|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    SE1250484A|SE536461C2|2012-05-11|2012-05-11|Agricultural machine equipped with a power control device, a method for controlling a working depth and a power control device|SE1250484A| SE536461C2|2012-05-11|2012-05-11|Agricultural machine equipped with a power control device, a method for controlling a working depth and a power control device|
    EP13788329.4A| EP2846619B1|2012-05-11|2013-05-06|An agricultural machine provided with a force regulation device, a method for controlling a processing depth and a force regulation device|
    PCT/SE2013/050502| WO2013169188A1|2012-05-11|2013-05-06|An agricultural machine provided with a force regulation device, a method for controlling a processing depth and a force regulation device|
    [返回顶部]