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WO2023037259A1 - Système de levage pour un véhicule agricole pour l'agriculture de précision et véhicule agricole associé - Google Patents

Système de levage pour un véhicule agricole pour l'agriculture de précision et véhicule agricole associé Download PDF

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Publication number
WO2023037259A1
WO2023037259A1 PCT/IB2022/058413 IB2022058413W WO2023037259A1 WO 2023037259 A1 WO2023037259 A1 WO 2023037259A1 IB 2022058413 W IB2022058413 W IB 2022058413W WO 2023037259 A1 WO2023037259 A1 WO 2023037259A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
base body
processing device
lifting
lifting element
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/IB2022/058413
Other languages
English (en)
Inventor
Lorenzo Marconi
Dario Mengoli
Andrea SALA
Roberto TAZZARI
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Universita di Bologna
Original Assignee
Universita di Bologna
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Universita di Bologna filed Critical Universita di Bologna
Publication of WO2023037259A1 publication Critical patent/WO2023037259A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/0082—Undercarriages, frames, mountings, couplings, tanks
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
    • A01M7/0053—Mounting of the spraybooms
    • A01M7/0057—Mounting of the spraybooms with active regulation of the boom position

Definitions

  • the invention relates to a system for lifting a processing device for a precision agricultural vehicle and to a relative agricultural vehicle .
  • the invention finds advantageous , but not exclusive application in a tracked agricultural rover for row agricultural operations , to which the following description will make explicit reference without for this reason losing in generality .
  • Agricultural vehicles are known, which are led by a driver and suitable for carrying out various kinds of agricultural operations .
  • a normal orchard tractor for irrigation/ spraying of fruit plants
  • a wheeled trailer including a tank
  • a spraying fluid for example a plant protection product
  • a respective irrigation/ spraying system connected to the trai ler .
  • the total length of the articulated vehicle and its trailer (which is also equipped with a spraying system) is well over six meters long, even for smaller tractors .
  • Thi s length inevitably leads to complexity in the driving of the vehicle , especially in steering operations , for example during a row change ( in which the articulated machine must basically perform a U-turn) .
  • the above- mentioned articulated machine requires a motion transmission system ( from the tractor to the irrigation/ spraying system of the trailer ) that transmits power to the irrigation/ spraying system actuators .
  • These transmission systems are subj ect to wear and tear and expose moving mechanical components , with associated risks of work-related inj uries (pulling, crushing, etc . ) .
  • a normal orchard tractor weighs about 1300 kg, to which at least another 500 kg of the aforementioned trailer have to be added .
  • These masses determine a speci fic pressure on the ground greater than 5000 kg/m2 , which makes the processing in adverse weather conditions impossible or, in any case , extremely complex, as there is a high risk of getting stuck/ trapped in soft soil and/or subsequently damage field and vehicle because of the large holes in the ground that are generated by the passage of such a massive body on a soft ground .
  • some known solutions include a vehicle equipped with a removable proj ecting tank for the plant protection product , opposite , relative to the traction system, to the spraying tool .
  • the vehicle is driven by an operator, who empirically compensates , with his/her driving, for the shi ft in the vehicle centre of gravity due to the progressive displacement of the tank .
  • the shi ft in the centre of gravity in conditions of strong slope , for example often present in hilly rows , causes a signi ficant risk of vehicle overturning .
  • each track is rigidly attached to the chassis and touches the ground in three points that are unknown beforehand .
  • known devices usually adopt a system of articulation that allows each track to rotate around an axis parallel to the ground, which al lows the position of the supporting surface to be adapted to the shape of the ground below .
  • the rotation of the track with respect to the vehicle central body is also limited by a shock absorber that prevents the track from rotating too much .
  • the obj ect of this invention is to provide a system for li fting a processing device for a precision agricultural vehicle and a relative agricultural vehicle , which should be at least partially free from the drawbacks described above and, at the same time , both simple and economic in the reali zation .
  • Figure 1 is a front and schematic perspective view, with parts removed for clarity, of an agricultural vehicle according to an aspect of the present invention
  • FIG. 2 is a rear perspective and schematic view, with parts removed for clarity, of the vehicle in f igure 1 , in which a processing device also is schematically shown .
  • FIG. 3 is a lateral and schematic view, with parts removed for clarity, of the vehicle of Figure 1 ;
  • FIG. 4 is a ( sectional ) plan and schematic view, with parts removed for clarity, of the vehicle of Figure 1 ;
  • FIG. 5 is a rear and schematic perspective view, with parts removed for clarity, of the vehicle of Figure 1 showing an extraction mechanism of at least one battery pack;
  • FIGS. 6 and 7 are two lateral and schematic views , with parts removed for clarity, of part of the vehicle of Figure 1 detailing a li fting system in two configurations and fitted with a heat engine ;
  • FIGS 8 and 9 are two lateral and schematic views , with parts removed for clarity, of a part of the vehicle of Figure 1 detailing a li fting system in two configurations and fitted with an electric motor ;
  • FIG. 10 is a lateral and schematic view, with parts removed for clarity, of a part of a vehicle traction system of Figure 1 ;
  • FIG. 11 is a schematic view, with parts removed for clarity, of the part of Figure 10 ;
  • FIG. 12 is a rear and schematic perspective view, with parts removed for clarity, of an electric tracked vehicle according to an aspect of this invention.
  • FIG. 13 is a lateral and schematic view, with parts removed for clarity, of the vehicle of Figure 12 .
  • number 1 indicates, as a whole, a vehicle, preferably an agricultural vehicle, in particular for precision agriculture.
  • second component does not imply the presence of a “first” component. These terms are in fact used as labels to improve clarity and should not be understood in a restrictive way.
  • the vehicle 1 is an agricultural rover, preferably a tracked rover (advantageously, electrically driven) , and configured to move (preferably, in an autonomous manner) in a work area comprising open-field environments and/or confined environments with obstacles, such as orchards/rows with different geometries (both straight and curved, parallel and/or staggered) .
  • the vehicle 1 comprises a base body 2, which defines a main volume 3.
  • the base body 2 is a box-shaped body, namely provided with an internal volume of its own different from the outer volume.
  • the base body 2 substantially has the shape of a parallelepid .
  • the base body 2 includes at least two side walls 4, opposite each other; two front and rear walls 4', opposite each other; and two upper and lower walls 4 ' , opposite each other .
  • the walls 4 , 4 ' , 4 ' ' delimit the main volume 3 .
  • the lower wall 4 ' ' is located in the area of a bottom 5 of vehicle 1 and the front wall 4 ' is located in the area of a front or rear portion 6 of vehicle 1 .
  • the vehicle 1 includes a traction system 7 , which is configured to handle the base body 3 on an agricultural field FL .
  • the vehicle 1 shall preferably also include a processing unit 8 , arranged in the area of the front or rear portion 6 of the base body 3 and configured to carry out an agricultural operation during the movement of the vehicle 1 .
  • a processing unit 8 arranged in the area of the front or rear portion 6 of the base body 3 and configured to carry out an agricultural operation during the movement of the vehicle 1 .
  • the unit 8 includes ( or is associated with) a processing device 9 , which is removable and replaceable for carrying out agricultural operations such as chopping, spraying ( as shown in figure 2 ) pruning, etc .
  • a processing device 9 which is removable and replaceable for carrying out agricultural operations such as chopping, spraying ( as shown in figure 2 ) pruning, etc .
  • the processing device 9 is positioned at the front of the vehicle 1 (namely, the vehicle moves in the direction in which the processing device 9 is in relation to the base body 3 ) ; whereas , in the case of spraying/spraying, the processing device 9 is located at the back relative to a longitudinal direction D (namely, the vehicle moves in the opposite direction relative to that in which the processing device 9 is located in relation to the base body 3 ) .
  • the vehicle 1 also includes a control unit 10 , which i s configured to control the action of the traction system 7 and/or the machining unit 8 .
  • control unit 10 may consist of either a single device or several separate devices communicating through the local area network (known and not further detailed herein) of the vehicle 1 .
  • control unit 10 is of the type described in the Italian patent application filed by the Applicant together with this application and entitled “METHOD AND SYSTEM FOR THE AUTONOMOUS NAVIGATION OF AN AGRICULTURAL VEHICLE” .
  • control unit 10 is configured to allow the vehicle 1 to be driven via remote control and/or immersive driving system ( in particular in real-time ) .
  • vehicle 1 includes a tank 11 configured to accommodate a liquid to perform at least part of an agricultural operation .
  • the liquid can be a solution to be sprayed through the processing unit 8 ( or through the processing device ) containing water and/or pesticides and/or a plant protection product .
  • the liquid may be a fuel ( to power the traction system 7 and/or the processing device 9 , i f they are not electrically powered) .
  • the tank 11 defines , on the inside , a chamber 12 , which is at least partially, in particular totally, arranged inside the main volume 3 .
  • the vehicle 1 can be signi ficantly lightened compared to known articulated vehicles , since a weight capable of exerting suf ficient driving force to tow a full tank in tow will no longer be necessary .
  • the higher the level of l iquid in the tank 11 the greater the weight and, therefore , the potential driving force exercisable by vehicle 1 upon the agricultural field FL .
  • vehicle 1 includes a sensor system 13 configured to interact with the control unit 10 to control the traction system 7 and the processing unit independently, namely without any operator on board the agricultural vehicle 1 .
  • the sensor system 13 includes at least one optical sensor 14 , for example a (mono or stereo ) video camera . More speci fically, the sensor system 13 also includes a tracking device 15 (preferably a satellite tracking device ) and/or a laser device , such as a LIDAR 16 and/or a radio wave device , such as a radar or sonar .
  • the sensor system 13 is preferably mounted on board the vehicle 1 ( i . e .
  • the camera can be a frontfacing camera ( in particular, a wide-angle camera ) or even a so-called 360-inch camera, which is configured to detect almost all around the vehicle 1 .
  • tank 11 is arranged in such a way that a vertical axis VA going through the centre o f gravity CM ( or the centre of mass ) of the vehicle 1 ( arranged flat ) goes through the tank 11 itsel f , in particular in order to cross it from side to side .
  • the emptying of the tank 11 results in an irrelevant displacement of the centre of gravity CM or, anyway, in a displacement of the centre of gravity which can ef ficiently be compensated for by the control unit 10 in the autonomous driving of the vehicle 1 .
  • the tank 11 is manufactured as one single piece together with the base body 2 piece .
  • both the tank 11 and the base body 2 have their respective metal support structures , which are integral (for example welded) to them .
  • At least 50% , preferably at least 70% , in particular at least 80% of the mass of the vehicle 1 is less than one metre from the centre of gravity CM of the vehicle 1 .
  • at least 50% , preferably at least 70% , in particular at least 80% of the mass of the vehicle 1 is less than hal f a metre from the CM centre of gravity of the vehicle 1 .
  • the vehicle 1 is configured so that the centre of gravity CM is at a height from the agricultural field FL of less than 50 cm, preferably less than 40 cm .
  • the tank 11 when the tank 11 is full of said liquid, the tank 11 itsel f is located ( is placed) in the area of the centre of gravity CM of the vehicle 1 , where the moment of inertia of the surface of the tank 11 filled with liquid, is less than 100 kg-m 4 , in particular less than 50 kg-m 4 , more in particular less than 30 kg-m 4 , preferably less than 20 kg-m 4 .
  • the total length L (namely, the dimension along the longitudinal or driving direction D) of the vehicle 1 including the tank 11 is less than 2 . 5 m .
  • the total length of the vehicle 1 including the tank 11 shall preferably be less than 2 m .
  • the total width W (namely, the dimension along the direction T perpendicular to the direction D) of the vehicle 1 , in particular between the traction system 7 , is less than 1 . 8 m .
  • the total width of the vehicle 1 is less than 1 . 5 m, in detail less than 1 . 25 m, for example about 1 . 18 m .
  • the base body 3 is less than 65 cm wide , in particular less than 60 cm .
  • tank 11 namely the chamber 12 , is configured to hold more than 180 litres of liquid, in particular more than 200 litres , for example 220 litres .
  • the vehicle 1 has a total mass of less than 1000 kg, in particular equal to or less than 800 kg .
  • This mass much lower than a normal orchard tractor (that is about 1300 kg to which 500 kg of towed barrel have to be added) , al lows the pressure exerted by the vehicle 1 upon the agricultural field FL to be signi ficantly reduced and, therefore , allows the vehicle 1 to be used in adverse weather conditions ( in which the field FL is more yielding) .
  • the maximum pressure exerted by vehicle 1 upon agricultural field FL, in particular exerted by the traction system 7 upon the agricultural field FL is less than 5000 kg/m 2 , in particular less than 3000 kg/m 2 , preferably less than 2000 kg/m 2 , for example about 1800 kg/m 2 .
  • the lower pressure exerted by the vehicle 1 has many advantages .
  • the root systems of the plants of the agricultural field FL are not crushed and, therefore , damaged by the passage of the vehicle 1 .
  • the centre of gravity CM of the vehicle 1 substantially lies within a footprint of the traction system 7 , in particular wherein the centre of gravity CM substantially is at the centre of a volume delimited by the traction system 7 . This ensures that the angles of slope above which the vehicle 1 is at risk of tipping are the same in roll or pitch .
  • the centre of gravity CM of the vehicle 1 does not change position during the agricultural operations of the vehicle 1 . This ensures predictable and constant behaviour of the vehicle 1 when making a turn, namely during the steering phases , for example for a row change .
  • the traction system 7 comprises at least one rotary system 17 arranged in the area of a right portion 18 of base body 2 and a rotary system 19 arranged in the area of a left portion 20 of base body 2 .
  • the rotary system 17 and the rotary system 19 are controllable (by the control unit 8 ) so that they can rotate at di f ferent speeds so as to allow the vehicle 1 to make a turn .
  • the rotary system 17 and the rotary system 19 are a pair of tracked systems 21 , 21 ' ( right and left , respectively) arranged parallel to each other and configured to move the vehicle 1 on the field FL .
  • the rotary systems 17 and 19 include one or more ( in particular, two) wheels.
  • the tracked systems 21, 21' include a first track 22 and a second track 22' respectively (right and left, respectively) .
  • the first track 22 and the second track 22' are respectively connected to the base body 2 by means of respective suspensions 23, which entirely make the base body 2 a sprung mass of the vehicle 1.
  • the respective suspensions 23 are Christie suspensions .
  • each suspension 23 comprises a series of arms 24, each of which has an end pivoted on the base body 2 (or, in any case, a supporting structure that is integral to it) and a second end, opposite the first, to which an idle wheel 25 is fitted, which is configured to press and slide along a portion 26 of the 22, track 22' representing the only unsprung mass of the vehicle 1.
  • the suspensions 23 include a respective shock absorber 27 (comprising a damper 28 placed within an elastic element, for example a spring 29) equipped with a first end pivoted on the body base 2 (or, in any case, a support structure that is integral to it) and a second end pivoted on intermediate point of the arm 24.
  • this embodiment potentially allows, when it is preferable, an uneven profile of distribution of the weight of the vehicle 1 to be imposed by acting upon the preload of springs 29 of the shock absorbers 27.
  • the portion 26 of the track 22, 22' is centrally arranged in contact with the field FL and is delimited by two oblique portions 26 ' of the track 22 , 22 ' .
  • the vehicle 1 is raised ( relative to the condition in which the portions 26 and 26 ' lie on the same line , for example in the absence of suspensions 23 ) by at least 4 cm, in particular at least 5 cm, preferably about 6 cm .
  • each tracked system 21 , 21 ' (namely, each rotary system 17 , 19 ) is caused to rotate by a respective electric actuator 30 , 30 ' .
  • the electric actuators 30 , 30 ' are powered by at least one battery pack 31 placed at the bottom 5 of the base body 2 .
  • the battery pack 31 is at least partially, in particular totally, included within the main volume 3 .
  • the battery pack 31 is removable , in particular with a drawer-like movement that allows it to be extracted along a direction parallel to the longitudinal direction D . In this way, an exhausted battery pack 31 can quickly be replaced with a charged battery pack 31 , thus continuing with the farming operations while the exhausted battery pack 31 is recharged .
  • the battery pack 31 is removable , in particular with a drawer-like movement that allows it to be extracted along a direction T perpendicular to the longitudinal direction D and substantially parallel to the field FL (for example , at a height immediately above the tracked system 21 , 21 ' ) .
  • a drawer-like movement that allows it to be extracted along a direction T perpendicular to the longitudinal direction D and substantially parallel to the field FL (for example , at a height immediately above the tracked system 21 , 21 ' ) .
  • the battery pack 31 is removable, in particular with a locking/unlocking device permitting the extraction in a direction perpendicular to the longitudinal direction D and substantially perpendicular to the field (for example, along the vertical axis VA, downwards) , in particular from the bottom 5 of the body base 2.
  • a locking/unlocking device permitting the extraction in a direction perpendicular to the longitudinal direction D and substantially perpendicular to the field (for example, along the vertical axis VA, downwards) , in particular from the bottom 5 of the body base 2.
  • the battery pack 31 is fixed to the base body 2, which is replaceable.
  • the processing unit 8 (namely, the vehicle 1) comprises a lifting system 32 (as described below) , which is configured to lift the processing tool 9 mechanically coupled to it.
  • a system for lifting a processing device of a precision agricultural vehicle there is provided a system for lifting a processing device of a precision agricultural vehicle.
  • the lifting system 32 includes a lifting element 33 that can be coupled (and is coupled) to the front or rear portion 6 of the base body 2 via a kinematic mechanism 34.
  • the lifting element 33 is a lifting plate.
  • the lifting element 33 is configured differently, for example by means of trestles, movable arms, etc.
  • the lifting system 32 includes an interface element 35, which is arranged in the area of the lifting element 33 and can mechanically be coupled ( is coupled) to the processing device 9 (which includes an interface element complementary to element 35 ) .
  • the interface element 35 includes a three-point coupling system ( of a known type and, therefore , not further detailed herein) , which exerts a grip upon the processing device 9 and allows for a quick fastening o f any processing device 9 equipped with such interface .
  • the mechanical interface between the interface element 35 and the processing device 9 there is ( in addition to the mechanical coupling for the li fting) a coupling for a transmission of motion (namely, a power take- ) between the base body 2 and the processing device 9 , in particular between an actuator system 46 (preferably but not necessarily mounted on board the interface element 35 ) and the processing device 9 .
  • the creation of said clutch is ( automatic and) simultaneous with the mechanical coupling for the li fting .
  • the l i fting system 32 includes an actuator device 36 configured to adj ust at least the height position of the li fting element 33 (namely, of the plate or of arms that determine the li fting) .
  • the kinematic mechanism 34 is configured to have the li fting element 33 assume at least a first configuration, in particular a lowered configuration ( Figures 6 and 8 ) , in which the interface element 35 can be coupled to the processing device 9 ( in particular resting on the ground in a tool shed) , and a second configuration, in particular a raised conf iguration ( Figures 7 and 9 ) , in which the interface element 35 is configured to support the machining device 9 ( keep it raised) .
  • the li fting system 32 is configured to li ft the processing device 9 from the first ( lowered) configuration to the second ( raised) configuration . More speci fically, the second configuration is variable in height depending on the processing device 9 used ( for example , for a shredder the height of the second configuration will depend on the desired chopping height ) .
  • the kinematic mechanism 34 comprises at least three parallel arms 37 , 37 ' equipped with two ends , one end 38 pivoted on the li fting element 33 and one end 39 pivoted on the base body 3 ; in particular in the area of the front wall 4 ' .
  • the li fting element 33 is movable from a minimum height ( from the field FL ) of less than 250 mm (preferably less than 200 mm, more in particular less than 180 mm, for example about 160 mm) to a maximum height of more than 300 mm (preferably more than 400 mm, more in particular more than 450 mm, for example about 460 mm) .
  • said at least three arms 37 , 37 ' define a pantograph system of connecting rods .
  • the actuator device 36 includes at least one electric motor 40 , which is configured to move , through its rotation, the element 33 from the first configuration to the second configuration and/or to intermediate configurations between the f irst and the second one .
  • the actuator device 36 includes winch means comprising a pulling element , for example a drum 41 (namely, a winch) , which can be rotated by the electric motor 40 , and an elongated motion transmission element , for example a suspension cable 42 , which has at least one portion integral to the pulling element ( drum 41 ) and another portion integral to said at least one li fting element 33 .
  • winch means comprising a pulling element , for example a drum 41 (namely, a winch) , which can be rotated by the electric motor 40
  • an elongated motion transmission element for example a suspension cable 42 , which has at least one portion integral to the pulling element ( drum 41 ) and another portion integral to said at least one li fting element 33 .
  • the suspension cable 42 is configured to be wound and unwound around the drum 41 as a result of the rotation of the electric motor 40 .
  • the winch means include and a suspension lever 43 configured to transmit the motion of the suspension cable 42 to the li fting element 33 .
  • the suspension lever 43 is coupled to at least one of the arms 37 , 37 ' in an intermediate point 44 between the two ends , so as to cause the rotation of said at least three arms 37 , 37 ' around the ends pivoted on the base body 2 (namely, the front wall 4 ' ) and the consequent (vertical ) movement of the li fting element 33 of raising as a function of the motion of the suspension cable 42 .
  • kinematic mechanism 34 includes four arms 37 , 37 ' parallel to each other and arranged so as to determine an intermediate volume 45 between them .
  • the intermediate volume is configured to accommodate (house ) an actuator system 46 to operate the processing device 9 .
  • the actuator system 46 is configured to transmit power (particularly through a rotation of a respective shaft ) to the interface element 35 .
  • the actuator system 46 is integral to the li fting element 33 .
  • the li fting element 33 includes a through hole to allow for the passage of a shaft of the actuator system 46 , at whose distal end there is mounted the interface element 35 .
  • the actuator system 46 is at least partially, in particular totally, arranged within the intermediate volume 45 defined between the li fting element 33 and the base body 2 .
  • the actuator system 46 includes a heat engine 48 and a fuel tank 49 (visible in Figure 1 ) , which is preferably arranged in an integral manner to the base body 2 and is at least partially ( in particular, totally) included within the main volume 3 .
  • a more economical solution is obtained (especially in countries where fuel costs are extremely low compared to electricity costs for generating the same power ) .
  • this reduces the energy consumption of the battery pack 31 and the " charging" for the processing device 9 is carried out by simply filling the fuel tank 49 , extremely faster than an electric charging .
  • the 46 actuator system includes an electric motor 50 .
  • the control unit 8 allows for a signi ficant noise reduction compared to other types of motori zations , while reducing vibrations and eliminating CO2 emissions ( thus making the use of vehicle 1 in greenhouses possible ) .
  • the lifting system 32 includes two suspension levers 43 coupled to two upper arms 37 ' of the four parallel arms 37 , 37 ' .
  • the two suspension levers 43 are coupled t one another by a connecting element 47 , which is connected to one end of the suspension cable 42 (for example by means of a knot or hook or, preferably, by means of a hook fitted with a pulley to halve the load on the 42 suspension cable and on the drum 41 ) to simultaneously move the two suspension levers 43 according to the motion of the suspension cable 42 .
  • the electric motor 40 adj usts the rotation of the two suspension levers 43 around the end pivoted on the front wall 4 ' of the base body 2 .
  • the upper arms 37 ' and the levers 43 (which became integral in a single body) allow the torsional sti f fness of the element 33 to be signi ficantly increased compared to the base body 2 .
  • the inclination of the li fting element 33 with respect to the vertical axis VA substantially is zero .
  • the inclination of the li fting element 33 with respect to the vertical axis VA is adj ustable ; in particular by moving one of the pins of the lower or upper arms 37 , 37 ' with a lever centred on base body 2 or on the li fting element 33 .
  • the element 33 is connected to the base body 2 so that it is not rigid in a vertical direction, that is , it hangs on the base body 2 .
  • the processing device 9 for example , a mulcher
  • the processing device 9 to adapt to the configuration of the agricultural field FL, thus avoiding unwanted jamming and reducing, at the same time, the moving force delivered by the traction system 7.
  • control unit 10 is also configured to control the action of the actuator device 36 by adjusting the height of the lifting element 33 from the agricultural field FL.
  • the actuator device 36 is (at least partially) placed on board the base body 2 and also is at least partially (in particular, totally) integrated in the main volume 3.
  • a tracked electric vehicle in accordance with the description above and below.
  • the vehicle 1 comprises a pair of tracked systems, 21, 21', which are arranged parallel to each other and are configured to move vehicle 1 on the field FL.
  • the vehicle 1 preferably includes a support structure 51, which is configured to connect the base body 2 to each of the tracked systems 21, 21 ’ .
  • each of the tracked systems includes a track 22, 22' defining, on the inside, a track volume 52.
  • the track volume 52 substantially corresponds to the space volume surrounded by each track 22, 22' .
  • each tracked system 21, 21' comprises an electric actuation system 5, configured to move the track 22, 22' and, hence, the vehicle 1.
  • the tracked system 21, 21' includes a first crown 54 and a second crown 55 arranged on opposite sides and configured to at least partially tension the track 22 , 22 ' , at least one of them, in particular the first crown 54 , being a driving crown moved by the electric actuation system 53 and coupled to an inner portion 56 the track in order to transmit the motion of the electric motor 50 to the track 22 , 22 ' .
  • the electric actuation system 53 is substantially (namely, at least for the largest part ; in particular , totally) integrated within the track volume 52 .
  • the electric actuation system 53 is substantially (namely, at least for the largest part ; in particular, totally) supported by the tracked system 21 21 ' .
  • the base body 2 and/or the support structure 51 can be replaced so as to change the height of the bottom 5 of the base body 2 from the field FL .
  • crops that require it such as crops requiring a very variable track distance or inter-row processing
  • the track distance namely, the distance between the tracks 22 , 22 ' along the direction T
  • the actual inter-row distance of the field of cultivation namely, the distance between two ad acent rows
  • the support structure 51 comprises at least one pair of hori zontal elements 57 , each arranged within a respective track volume 52 .
  • the horizontal elements 57 connect the first crown 54 and/or the second crown 53 to the base body 2 .
  • the support structure 51 also includes vertical elements 58, which connect the horizontal elements 57 to the base body 2.
  • the base body 2 is movable along the vertical elements 58 so as to adjust the height of the bottom 5 of the base body 2 from the field FL.
  • the translation of the base body 2 along the vertical elements 58 is controlled by a special actuator.
  • the base body 2 can be replaced so as to adjust the track distance (i.e. the distance between the tracks 22, 22' along the direction T) by increasing or reducing the width of the base body 2.
  • the base body 2 is movable with respect to the tracks 22, 22' (or vice versa, the tracks 22, 22' are movable with respect to base body 2) so as to adjust the track distance, for example through a special actuator.
  • each electric actuation system 53 includes an electric motor 59, which, in particular, has a power ranging from 2.5 kW to 6.5 kW.
  • the electric motor 59 has a nominal torque of more than 40 Nm, in particular less than 120 Nm.
  • the electric motor 59 is a torque motor.
  • each electric actuation system 53 includes an epicyclic reduction gear 60.
  • each electric actuation system 53 comprises a respective drive 61, which is arranged on the inside of the respective track volume 52.
  • each electric actuation system 53 receives energy from the battery pack 31 arranged in the area of the bottom 5 of the base body 2 ( and, i f necessary, removable ) .
  • each electric actuation system 52 receives energy from a respective battery pack 62 arranged within the respective track volume 52 .
  • each of the tracked systems 21 , 21 ' includes , within the respective track volume 52 , a respective suspension system 23 ( in particular as described above ) .
  • the suspension system 23 is configured to generate a trapezoid shape on the respective track 22 , 22 ' .
  • a smaller base of the trapezoid corresponds to the ( lower central ) track portion 26 , in contact with the field FL, which is the only portion of the vehicle 1 defining an unsprung mass .
  • the suspension systems 23 entirely make the base body 2 a suspended mass of the agricultural vehicle 1 .
  • the suspension systems 23 are configured to define Christie suspensions in accordance with the description above .
  • the vehicle 1 preferably is a sel f-driving vehicle and, therefore , it starts from a charging station for the battery packs 31 located in a dedicated structure and heads , through the aforementioned autonomous navigation, towards a first row ( or orchard or field) driving through it in order to carry out the aforementioned agricultural operations , such as chopping, dusting, spraying, . . .
  • the vehicle 2 can move to a second row in order to continue with the same agricultural operation.
  • the vehicle shall return to the above-mentioned structure and replace, preferably automatically, the processing device 9 with another one, in order to carry out a different agricultural operation in the same row/orchard/ field or another one.
  • the agricultural vehicle 1 interrupts the current agricultural operations and, through a return path, goes back to the charging station; in particular to then resume, once loaded/refuelled (for example as a result of a charge or replacement of the battery pack 31 by an operator or in an automatic manner) , the agricultural operations from where they had been interrupted.
  • the system, the (agricultural and/or electric tracked) vehicle and the lifting system described above have many advantages .
  • the vehicle described above reduces manoeuvring spaces and, consequently, increase the surface to be used for cultivation.
  • the main masses are concentrated near the centre o f gravity CM of the vehicle , especially the tank (also at the centre of the vehicle ) , load trans fers between full and empty tanks are avoided, ensuring consistent performance during operation .
  • This is also important for the quality of the autonomous driving, which considerably improves in terms of precision .
  • the concentration of the main masses at the centre of the vehicle also reduces the relative moment of inertia, for example increasing the value of the modal frequencies of roll and pitch and consequently increasing the stability of the vehicle on any type of terrain .
  • the lower speci fic pressure exerted upon the field FL preserves the integrity of the plant roots and of the inter-row turf , avoiding the formation of puddles and muddy holes , thus making it possible for the vehicle to promptly enter the field even with wet and soft soil .
  • this increases the ef fectiveness of the agricultural treatment operation, as the proli feration of pathogens usually occurs in wet conditions , immediately after storms , when traditional agricultural vehicles cannot intervene .
  • the reduced weight also af fects the reduction of fuel consumption and the manoeuvrability of the vehicle .
  • the substantially fixed hori zontal position of the centre of gravity of the vehicle even during tank emptying ensures predictable and constant steering behaviour, which generally requires an operator who promptly corrects any slippage or errors of the tracked systems .
  • a further advantage of this invention lies in the integration of the processing device on the vehicle 1 (which li fts it via the li fting system) .
  • the traditional concept of tractor dragging the processing device is subverted, as a greater weight of the li fted processing device corresponds to a greater weight of the vehicle 1 and, therefore , a greater tensile force that can be delivered to the ground, hence avoiding having to increase the mass of the tractor as the mass of the processing device increases .
  • a fully electric power supply allows the vehicle to be integrated in agricultural production systems that are totally independent from the energy point of view, for example exploiting renewable sources , such as wind and/or the sun, at the same time reducing CO2 production .
  • renewable sources such as wind and/or the sun
  • CO2 production at the same time reducing CO2 production .
  • a ful ly electric power supply and an autonomous driving system minimi ze dangers , from a healthcare point of view, also towards operators (who are not subj ected to the risk of inhaling toxic substances such as pesticides ) .
  • the battery pack 31 is placed as low as possible and on the opposite side relative to the processing device . As shown in Figure 5 , this position makes it possible for manufacturers to implement a quick and automatic changeover system, thus of fering the option of continuous vehicle operation 1 . This also allows for the management of several battery packs 31 , which can also be used for uses other than the main one , such as becoming storage systems for the excess energy produced by photovoltaic systems during their phases of maximum productivity or when there is no demand for use by the vehicle 1 .
  • the autonomous navigation of the agricultural vehicle can be used both in rows and in the open field, without having a user put his /her health at risk in the case of potentially dangerous operations such as pesticide spraying and shearing .

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Environmental Sciences (AREA)
  • Insects & Arthropods (AREA)
  • Pest Control & Pesticides (AREA)
  • Wood Science & Technology (AREA)
  • Zoology (AREA)
  • Mechanical Engineering (AREA)
  • Soil Sciences (AREA)
  • Catching Or Destruction (AREA)

Abstract

L'invention concerne un système de levage d'un dispositif de traitement (9) pour un véhicule d'agriculture de précision (1) comprenant un corps de base (2) et un dispositif de traitement (9) pour effectuer une opération agricole ; le système comprend au moins un élément de levage (33) qui peut être accouplé à la partie avant (6) du corps de base (2) au moyen d'un mécanisme cinématique (34) ; un élément d'interface (35) qui est disposé dans la zone dudit élément de levage (33) et peut être accouplé mécaniquement au dispositif de traitement (9) ; un dispositif actionneur (36) conçu pour ajuster au moins la position en hauteur dudit élément de levage (33) ; le mécanisme cinématique (34) est conçu pour que ledit élément de levage (33) adopte au moins une première configuration et une seconde configuration ; le système de levage (32) est conçu pour soulever le dispositif de traitement (9) en passant de la première configuration à la seconde configuration.
PCT/IB2022/058413 2021-09-07 2022-09-07 Système de levage pour un véhicule agricole pour l'agriculture de précision et véhicule agricole associé Ceased WO2023037259A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IT102021000023096 2021-09-07
IT202100023096 2021-09-07

Publications (1)

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WO2023037259A1 true WO2023037259A1 (fr) 2023-03-16

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PCT/IB2022/058413 Ceased WO2023037259A1 (fr) 2021-09-07 2022-09-07 Système de levage pour un véhicule agricole pour l'agriculture de précision et véhicule agricole associé

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3159492A1 (fr) * 2024-02-28 2025-08-29 Cyclair Robot agricole comportant un dispositif de relevage d’un porte-outil configurable pour tout type de culture
AT528251A1 (de) * 2024-04-29 2025-11-15 Johann Hoellwart Kraftheber mit elektrischer Antriebseinheit

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2939987A1 (de) * 1978-10-03 1980-04-24 Guy Payen Verfahren zum ausrichten von fahrbaren landwirtschaftlichen einrichtungen sowie vorrichtung zum durchfuehren des verfahrens
JPH08256515A (ja) * 1995-03-20 1996-10-08 Iseki & Co Ltd 作業機自動昇降装置
JP2010233549A (ja) * 2009-03-31 2010-10-21 Kobashi Kogyo Co Ltd オフセット作業機
JP4718505B2 (ja) * 2007-03-08 2011-07-06 株式会社クボタ 水田作業機
US20210059095A1 (en) * 2018-03-01 2021-03-04 Precision Planting Llc Agricultural trench depth systems, methods, and apparatus

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2939987A1 (de) * 1978-10-03 1980-04-24 Guy Payen Verfahren zum ausrichten von fahrbaren landwirtschaftlichen einrichtungen sowie vorrichtung zum durchfuehren des verfahrens
JPH08256515A (ja) * 1995-03-20 1996-10-08 Iseki & Co Ltd 作業機自動昇降装置
JP4718505B2 (ja) * 2007-03-08 2011-07-06 株式会社クボタ 水田作業機
JP2010233549A (ja) * 2009-03-31 2010-10-21 Kobashi Kogyo Co Ltd オフセット作業機
US20210059095A1 (en) * 2018-03-01 2021-03-04 Precision Planting Llc Agricultural trench depth systems, methods, and apparatus

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3159492A1 (fr) * 2024-02-28 2025-08-29 Cyclair Robot agricole comportant un dispositif de relevage d’un porte-outil configurable pour tout type de culture
AT528251A1 (de) * 2024-04-29 2025-11-15 Johann Hoellwart Kraftheber mit elektrischer Antriebseinheit

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