Note: Descriptions are shown in the official language in which they were submitted.
CA 02927582 2016-04-19
IMPLEMENT OPERATING APPARATUS WITH OPEN END LOADING
This disclosure relates to the field of implements for use in agriculture and
industry, in
particular to a drive apparatus for attachment to a variety of implements and
for operating
the implement.
BACKGROUND
Implements such as are used in agriculture and various industries such as road
construction and maintenance include a wide variety of sizes and
configurations.
Implements such as combines, swathers, sprayers, road graders, earth movers,
and the
like are commonly self-propelled, with the engine, drive system, and operators
station
incorporated into the implement itself. Implements such as air seeders,
cultivators, discs,
gain carts, mowers, and the like are more commonly towed behind a tractor.
Some
implements are configured to be mounted directly on a tractor instead of being
towed
behind, such as snowplows mounted on the front end of a tractor, mowers
mounted under
a middle portion of the tractor, and a wide variety of implements mounted to
the arms of
a three point hitch system commonly incorporated on the rear end of tractors.
Some self-propelled implements have comprised a drive unit, which includes the
engine,
drive train, and operator's station, and different implements which can be
mounted to the
drive unit. For example Versatile Manufacturing Company of Winnipeg, Manitoba,
Canada manufactured the VersatileTM 103 which included a drive unit with a
swather
header and a spraying assembly which were mountable to the drive unit.
Also with the advent of very accurate external positioning systems using
global
positioning satellites (GPS) and the like have more recently led to the
development of
robotic agricultural vehicles with no operators station. For example recently
Amazonen-
1
CA 02927582 2016-04-19
Werke of Hasbergen, Germany, has developed a robot vehicle for carrying
various
application modules along a field surface for identifying plants, testing soil
compaction,
nutrient deficiencies and the like. The robot is controlled by an external
guidance system
such as using GPS, or by a remote control device. Remote or GPS controlled
driverless
tractors are also known, such as manufactured by Autonomous Tractor
Corporation of
Fargo, North Dakota, USA.
See also for example United States Published Patent Application Number
2014/0216314
of Bourgault et al. which discloses a driverless self-propelled air seeder
that is guided by
a GPS or like external guidance system, and/or by a remote operator.
SUMMARY OF THE INVENTION
The present disclosure provides an implement operating apparatus that
overcomes
problems in the prior art.
In a first embodiment the present disclosure provides an implement operating
system
comprising a U-shaped drive frame including a base beam and first and second
substantially parallel side beams extending from corresponding first and
second ends of
the base beam. A plurality of wheels support the drive frame for travel on a
ground
surface, the wheels including steering wheels, each steering wheel pivotally
mounted
about a substantially vertical wheel pivot axis to the drive frame, and drive
wheels. A
motor mounted on the drive frame is connected through a drive control to drive
the drive
wheels, and the drive control is operative to selectively rotate the drive
wheels in first and
second directions. A steering control is operative to selectively pivot the
steering wheels
about the corresponding wheel pivot axes. The steering and drive controls are
operative
to move and steer the drive frame along a travel path substantially aligned
with the first
and second side beams. First and second implements are configured to rest on
the ground
2
CA 02927582 2016-04-19
surface when in an idle position, and the implements and drive frame are
configured such
that when the drive frame is maneuvered to an implement loading position with
respect to
a selected one of the first or second implements in the idle position, at
least a portion of
the selected implement is between the first and second side beams and the
selected
implement is connectable to the drive frame and movable to an operating
position
supported by the drive frame where the selected implement is connectable to an
implement control system operative to control implement functions. The
steering and
drive controls are operative to move and steer the drive frame and selected
implement
along the travel path.
In a second embodiment the present disclosure provides a method of supporting
a first
implement on a drive frame and operating the first implement, and supporting a
second
implement on the drive frame and operating the second implement. The method
comprises providing a U-shaped drive frame including a base beam and first and
second
substantially parallel side beams extending from corresponding first and
second ends of
the base beam; supporting the drive frame on a plurality of wheels for travel
on a ground
surface, the wheels including steering wheels, each steering wheel pivotally
mounted
about a substantially vertical wheel pivot axis to the drive frame, and drive
wheels;
connecting a motor mounted on the drive frame through a drive control to drive
the drive
wheels, the drive control operative to selectively rotate the drive wheels in
first and
second directions; providing a steering control operative to selectively pivot
the steering
wheels about the corresponding wheel pivot axes; operating the steering and
drive
controls to move and steer the drive frame along a travel path substantially
aligned with
the first and second side beams; resting the first and second implements on
the ground
surface in an idle position; moving and steering the drive frame to a first
implement
loading position with respect to the first implement where at least a portion
of the first
implement is between the first and second side beams and a portion of the
first implement
is in close proximity to, above, or below the base beam; connecting the first
implement to
3
CA 02927582 2016-04-19
the drive frame and moving the first implement to an operating position
supported by the
drive frame; connecting the first implement to an implement control system
operative to
control implement functions of the first implement; operating the steering and
drive
controls to move and steer the drive frame and first implement along the
travel path and
operating the implement control system to control the implement functions of
the first
implement; operating the steering and drive controls to move and steer the
drive frame
and first implement along the travel path to a storage location and moving the
first
implement to the idle position resting on the ground surface and disconnecting
the first
implement from the drive frame and from the implement control system; moving
and
steering the drive frame to a second implement loading position with respect
to the
second implement where at least a portion of the second implement is between
the first
and second side beams; connecting the second implement to the drive frame and
moving
the second implement to an operating position supported by the drive frame;
connecting
the second implement to the implement control system; operating the steering
and drive
controls to move and steer the drive frame and second implement along the
travel path
and operating the implement control system to control the implement functions
of the
second implement.
The implements that can be used with the present apparatus include a wide
range
including conveyors, seeding implements, chemical application implements,
grain carts,
land packers, earth moving equipment, and cutters. Efficiency is improved as
at least
some of the weight of the implement is supported by the drive wheels providing
ballast
such that the drive frame can be lighter and there will still be sufficient
weight on the
drive wheels to provide the necessary traction. Thus the total amount of
weight moved
by the motor is reduced. Travel is provided along a path parallel to the side
beams, or the
system can also be configured to travel both a path parallel to the side
beams, or a path
perpendicular to the side beams.
4
CA 02927582 2016-04-19
With a motor of 70¨ 100 horsepower and drive frame dimensions of 10 - 12 feet
or more
square, or a rectangular drive frame of 10 - 12 feet by 15-20 feet, implements
suitable for
large farming operations can be used, such as seeding implements with a width
of 25-30
feet, grain carts with a capacity of 500 bushels, spraying equipment with a
width of 60-80
feet. Other larger implements such as 100 foot long gain conveyors are also
well suited
for use. Tillage and like land working implements are similarly well suited.
With the robotic controls presently available a single operator can supply
necessary
fertilizer and seed to a fleet of three, four, or more seeding implements for
example and
monitor the operations of all implements. Similarly the robotic controls can
be used to
move a plurality of grain carts between a plurality of combines and transport
vehicles
during harvest.
DESCRIPTION OF THE DRAWINGS
While the invention is claimed in the concluding portions hereof, preferred
embodiments
are provided in the accompanying detailed description which may be best
understood in
conjunction with the accompanying diagrams where like parts in each of the
several
diagrams are labeled with like numbers, and where:
Fig. 1 is a schematic top view of an embodiment of an implement operating
system of
the present disclosure;
Fig. 2 is a schematic side view of the drive frame of the embodiment of Fig.
1;
Fig. 3 is a schematic end view of the drive frame in an implement loading
position
with respect to a first implement;
5
CA 02927582 2016-04-19
Fig. 4 is a schematic top view of the drive frame in the implement loading
position of
Fig. 3;
Fig. 5 is a schematic end view of the drive frame and first implement of Fig.
3 with the
implement in the operating position supported on the drive frame;
Fig. 6 is a schematic top view of the drive frame with the first implement in
the
operating position shown in Fig. 5;
Fig. 7 is a schematic end view of the drive frame with a different implement
supported
thereon in the operating position;
Fig. 8 is a schematic side view of the hydraulic cylinder of the steering
control;
Fig. 9 is a schematic top view of an alternate drive frame where the drive
frame moves
down to a loading mode then up to an operating mode to raise an implement to
the
operating position;
Fig. 10 is a schematic side view of the drive frame of Fig. 9 shown in the
loading
mode;
Fig. 11 is a schematic side view of the drive frame of Fig. 9 shown in the
operating
mode;
Fig. 12 is a schematic end view of the drive frame of Fig. 9 moving from the
loading
mode to the operating mode raising an implement to the operating position
shown in
phantom lines;
6
CA 02927582 2016-04-19
Fig. 13 is a schematic top view of the drive frame and implement of Fig. 12;
Fig. 14 is a schematic cut away side view of a conical centering arrangement
and
latching mechanism for connecting an implement to the drive frame;
Fig. 15 is a schematic side view of the drive frame of Fig. 9 in the loading
mode and
implement loading position with respect to an implement that extends under the
base
beam when the drive frame is in the implement loading position;
Fig. 16 is a schematic side view of the drive frame of Fig. 2 in the implement
loading
position with respect to an implement where the wheels of the drive frame roll
over the
implement to achieve the loading position;
Fig. 17 is a schematic top view of the drive frame and im shown in Fig. 16;
Fig. 18 is a schematic top view of the drive frame of Fig. 2 and an implement
in the
idle position with a ramp raising system installed thereon;
Fig. 19 is a schematic side view of the drive frame and implement in the idle
position
with ramp raising system of Fig. 18;
Fig. 20 is a schematic side view of the drive frame and implement of Fig. 18
with the
implement in the operating position supported on the drive frame;
Fig. 21 is a schematic side view of a support member mounted on the implement
of
Fig. 18 moving up a ramp member of the ramp raising system;
7
CA 02927582 2016-04-19
Fig. 22 is a schematic side view of the support member of Fig. 21 with the
implement
in the operating position;
Fig. 23 is a schematic side view of the extendable connection actuator of the
ramp
raising system of Fig. 18 extending to engage a hook on the implement;
Fig. 24 is a schematic side view of the extendable connection actuator of Fig.
23
engaged with the hook on the implement;
Fig. 25 is a schematic side view of a support member mounted on a drive frame
as
schematically illustrated in Fig. 27 and moving up a ramp member mounted on an
implement;
Fig. 26 is a schematic side view of the support member and ramp member of Fig.
25
when the implement is in the operating position;
Fig. 27 is a schematic side view of a ramp raising system where a support
member is
mounted on the drive frame and a corresponding ramp member is mounted on the
implement;
-)0
Fig. 28 is a schematic end view of a support wheel rolling along a trough
shaped
bearing surface of a ramp member;
Fig. 29 is a schematic sectional side view of a guide member entering a guide
aperture
to align an implement and drive frame;
Fig. 30 is a schematic sectional side view of the guide member of Fig. 29
fully engaged
in the guide aperture and substantially filling the guide aperture;
8
CA 02927582 2016-04-19
Fig. 31 is a schematic top view of the drive frame showing the orientation of
the
wheels with respect to their pivot axes when travelling a path parallel to the
side
beams;
Fig. 32 is a schematic top view of the drive frame showing the orientation of
the
wheels with respect to their pivot axes when travelling a path perpendicular
to the side
beams;
Fig. 33 is a schematic top view showing the configuration of a wheel and
corresponding steering hydraulic cylinder with the wheel oriented at the end
of the
steering angle range for travel along path P';
Fig. 34 is a schematic top view showing the configuration of the drive wheel
and
corresponding steering hydraulic cylinder of Fig. 33 with the wheel pivoted
about the
vertical wheel axis through about 130 degrees to the end of the steering angle
range for
travel along path P;
Fig. 35 is a schematic end view showing the drive frame of Fig. 2 supporting
the gain
cart of Fig. 1 in the operating position;
Fig. 36 is a schematic top view of an implement mounted on the drive frame of
Fig. 2
configured to move along path P' in a wide operating orientation, and to move
along
path P in a narrow transport orientation;
Fig. 37 is a schematic side view of a conveyor implement mounted on the drive
frame
with homing devices mounted on the conveyor intake and discharge and
corresponding
homing devices mounted on the fill and discharge openings of bins;
9
CA 02927582 2016-04-19
Fig. 38 is a schematic side view showing the implement in the idle position
with the
drive frame in the implement loading position and using an alternate loading
system
where the implement is moved to the operating position supported on the drive
frame
by a combination of a raising arm and ramp member;
Fig. 39 is a schematic side view of the alternate loading system of Fig. 38
with the
implement in the operating position supported on the drive frame.
DETAILED DESCRIPTION OF THE ILLUSTRATED EMBODIMENTS
Fig. 1 schematically illustrates an embodiment of an implement operating
system 1 of the
present disclosure. The system 1 comprises a U-shaped drive frame 3, further
illustrated
in Fig. 2, including a base beam 5 and first and second substantially parallel
side beams
7A, 7B extending from corresponding first and second ends of the base beam 5.
Typically as illustrated the side beams 7 are somewhat longer than the base
beam 5. A
plurality of wheels 9 support the drive frame 3 for travel on a ground surface
11. The
wheels 9 include steering wheels and drive wheels which may be arranged in
various
locations depending on the particular application. In the illustrated system
1, each wheel
9 is both a drive wheel and a steering wheel thus providing maximum
maneuverability
and traction for the system 1. Also in the illustrated system 1 the base beam
5 is straight
and joined to the side beams 7 at right angles however it is contemplated that
the base
beam could be curved or otherwise configured to provide the desired U-shape
for the
drive frame 3..
,5
Thus each wheel 9 is pivotally mounted about a substantially vertical wheel
pivot axis
WPA to the drive frame, and a steering control 13 is operative to selectively
pivot the
each wheel 9 about the corresponding wheel pivot axis WPA. Each wheel 9 is
also
CA 02927582 2016-04-19
connected through a drive control 15 to a motor 17 mounted on the drive frame
3. The
drive control 15 is operative to selectively rotate each wheel 9 in first and
second
directions. Typically the motor 17 will drive a hydraulic pump or electric
generator, and
a corresponding hydraulic or electric motor 19 will be mounted directly to the
axle of
each drive wheel 9 as schematically illustrated in Fig. 3. The steering and
drive controls
13, 15 are operative to move and steer the drive frame 3 along a travel path P
substantially aligned with the side beams 7. The drive frame 3 can be operated
with
substantially equally speed and maneuverability in either direction along the
travel path.
A plurality of implements 21 are configured to rest on the ground surface 11
when in an
idle position. A wide variety of implements 21 can be configured for use with
the present
system 1. For example the illustrated implements 21 include a conveyor 23, a
grain cart
25, and an air seeder 27.
The implements 21 and drive frame 3 are configured such that the drive frame 3
is
maneuvered to an implement loading position with respect to a selected one of
the
implements 21 in the idle position, the selected implement is connectable to
the drive
frame 3 and movable to an operating position supported by the drive frame 3.
The drive
frame 3 acts as a prime mover for the implements 21.
The conveyor 23 includes a conveyor frame 29 and support plates 31, and as
schematically illustrated in Fig. 3, when the conveyor 23 is in the idle
position the
support plates 31 rest on jack stands 33. Figs. 3 and 4 schematically
illustrate the drive
frame 3 in the loading position with respect to the conveyor 23 in the idle
position. The
conveyor 23 is between the side beams 7, and extends over the base beam 5 in
one
direction along the path P and beyond the outer ends of the side beams 7 in
the opposite
direction along the path P.
11
CA 02927582 2016-04-19
The conveyor 23 is connected to the drive frame 3 and moved to an operating
position
supported by the drive frame 3, as schematically illustrated in Figs. 5 and 6,
by lowering
the jack stands 33 until the the support plates rest on the side beams 7 and
are connected
to the side beams 7 by bolts, latches, or like fastening mechanisms. The jack
stands 33
are removed and the conveyor 23 is then connected to an implement control
system 35
operative to control implement functions of the conveyor 23. With an implement
such as
the conveyor 23, such implement functions include activating actuators 37 to
raise and
lower the conveyor 23, and the motor 17 is further connected to power the
conveyor 23,
such that the conveyor 23 does not require its own motor.
In the illustrated system 1 the motor 17 is also movable laterally as shown in
Figs. 3 and
4 to allow the support plates 31 to pass above the side beams 7, and then can
be moved
back between the support plates 31 once the conveyor 23 is in the operating
position of
Figs. 5 and 6. Also once the conveyor 23 is in the operating position of Fig.
5, the
steering and drive controls 13, 15 are operative to move and steer the drive
frame 3 and
conveyor 23 along the travel path P.
The open ended U-shape of the drive frame 3 allows for convenient installation
of
various implements 21 by driving to an implement loading position where the
side beams
7 straddle the implement. For operation of many implement which exert
significant
stresses on the drive frame 3 it is desirable to secure outer end portions of
the side beams
7 to each other to add rigidity to the structure. Typically this is done by
providing an end
beam attached at first and second ends thereof to outer end portions of the
first and
second side beams 7A, 78 remote from the base beam 5. In the illustrated
example of
Figs. 3 - 6 the end beam is provided by the support plates 31 of the
implement, conveyor
23, such that the end beam is attached to the first and second side beams 7A,
7B when the
conveyor 23 is in the operating position. Other implements 21 will typically
be
configured to also provide the end beam when required. With no implement 21
installed
CA 02927582 2016-04-19
on the drive frame 3, or with some light implements, forces on the side beams
7 will
generally be minimal and no end beam required.
Fig. 7 schematically illustrates the drive frame 3 where the selected
implement is the air
seeder 27 supported on the drive frame in the operating position. When moving
along
the travel path, the air seeder 27 extends laterally beyond the first and
second side beams
7A, 7B in a direction perpendicular to the travel path which is parallel to
the side beams
7.
As schematically illustrated in Fig. 8 the steering control 13 includes a
hydraulic cylinder
39 adjacent to each steering wheel 9 and connected to selectively pivot the
corresponding
steering wheel 9 about the corresponding wheel pivot axis WPA.
Figs. 9 ¨ 13 schematically illustrate an alternate drive frame 103 with base
beam 105 and
first and second side beams 107A, 107B where the wheels 109 are movable
vertically
with respect to the drive frame 103 to raise and lower the drive frame 103 to
conveniently
pick a selected implement 121 off the ground and move it up to the operating
position.
The drive frame 103 comprises a frame mode actuator operative to selectively
move the
wheels 109 up with respect to the drive frame 103 to lower the drive frame 103
to a
loading mode shown in Fig. 10 where the drive frame 103 is a reduced height HI
above
the ground surface 11, and move the wheels 109 down with respect to the drive
frame
103 to raise the drive frame 103 to an operating mode shown in Fig. 11 where
the drive
frame 103 is at an increased operating height H2 above the ground surface 11.
Each wheel 109 is mounted to a wheel end 141W of a wheel arm 141, and an
opposite
frame end 141F of each wheel arm 141 is pivotally attached to the drive frame
103. The
frame mode actuator comprises a valve mechanism 143, and an arm hydraulic
cylinder
145 operative to pivot each wheel arm 141 with respect to the drive frame 103
to move
13
CA 02927582 2016-04-19
each wheel 109 up and down with respect to the drive frame 103. Steering
hydraulic
cylinders 139 are mounted on each wheel arm 141 to pivot each wheel 109 about
its
wheel pivot axis WPA, and a drive motor 119 is mounted on each wheel 109 so
that all
wheels 109 can be steered and driven.
Fig. 12 schematically illustrates an end view of the drive frame 103 in the
loading mode
and in the implement loading position under the selected implement 121. The
selected
implement 121 extends over the first and second side beams 107A, 107B, and
when the
drive frame 103 is raised to the operating mode the selected implement 121
moves
upward.
When the drive frame 103 is raised to the operating mode, the selected
implement 121
moves upward and engages first and second beam lock mechanisms 147A, 147B,
further
illustrated in Fig. 14, on corresponding outer end portions of the first and
second side
beams 107A, 107B to connect the implement 121 to the drive frame 103 and to
secure the
first side beam to the second side beam. The illustrated implement 121, as
seen in Fig.
13, extends over the base beam 105 and engages a base beam lock mechanism 147C
on
the base beam when the drive frame 103 is moved upward to the operating mode.
As schematically illustrated in Fig. 14, the beam lock mechanisms 147 correct
slight
misalignments of the implement 121 with the drive frame 103. The beam lock
mechanisms 147 are provided by conical projections 149 extending down from the
implement 121 and corresponding conical recesses 151 on the drive frame 103
such that
as the drive frame 103 is raised and the conical projection 149 enter an edge
of the
conical recess 151, further upward movement will force the conical projection
149 and
recess 151 into full engagement in the correct alignment. Further to more
quickly
connect the implement 121 to the drive frame 103, a lock recess 153 can be
provided in
the conical projection 149 configured to receive a lock member 155 that is
biased by a
spring 157 or the like when the conical projection 149 and recess 151 are
fully engaged.
14
CA 02927582 2016-04-19
The beam lock mechanism 147 provided by the recess 151, lock member 155, and
spring
157 is convenient and other lock mechanisms and fasteners as known in the art
can also
be used to connect the implement 121 to the drive frame 103.
A wide variety of implement will typically be used with the drive frame 103,
and will
vary significantly in their configuration. Fig. 15 schematically the drive
frame 103 in the
loading mode and in the implement loading position with respect to an
implement 121'
resting on the ground surface 11 in the idle mode. A portion 121A' of
implement 121'
extends under the base beam 105, and a base beam raising arm 159 is operative
to
connect the base beam 105 to the implement portion 121A' such that when the
drive
frame 103 is moved upward to the operating mode, the portion 121A' of
implement 121'
moves upward with the opposite portion of the implement 121B' which extends
over the
side beams.
Figs. 16 and 17 schematically illustrate the drive frame 3 in the implement
loading
position with respect to a mowing implement 61 which is much wider than the
distance
between the wheels 9 under the side beams 7 so the mowing implement is
configured
such that the wheels 9 of the drive frame simply roll over the mowing
implement 61
when moving to the implement loading position. The mowing implement 61 is
connected to the drive frame 3 by movable raising arms 63 attachable to the
selected
implement and the drive frame, and an actuator 65 operative to move the
raising arms 63
to move the mowing implement 61 to the operating position. This arrangement
allows a
wide implement such as a mower to be loaded and operated by the described
drive frame
3.
Figs. 18 ¨ 22 schematically illustrate a ramp raising system installed on the
drive frame 3
and implement 67 for raising the implement 67 off the ground surface 11 and up
to the
operating position supported on the drive frame 3. The raising system
comprises a
CA 02927582 2016-04-19
plurality of ramp members 69 attached to one the drive frame 3 and the
implement 67,
each ramp member 69 including a sloping bearing surface 69S, and a
corresponding
plurality of support members 79 attached to the other of the drive frame 3 and
the
implement 67. The ramp members 69 and the support members 79 are configured
such
that as the implement 67 moves toward the operating position, each support
member 79
bears against the sloping bearing surface 69S of the corresponding ramp member
69 and
exerts an upward force on the implement 67.
Figs. 18 ¨ 22 schematically illustrate a system where the ramp members 69 are
mounted
on the drive frame 3 and the support members 79 are mounted on the implement
67. In
this arrangement the sloping bearing surface 69S of the ramp members 69 is the
top
surface. First and second ramp members 69A, 69B are attached to corresponding
first
and second side beams 7A, 7B. Each ramp member 69 extends substantially
parallel to
the corresponding side beam 7 from a base end 71 thereof that is nearest the
base beam 5,
to a remote end 73 thereof. Each ramp member 69 comprises a substantially
horizontal
flat portion 75 extending from the base end 71 thereof to a midpoint thereof,
and an
inclined portion 77 sloping downward from the midpoint to the remote end 73 of
the
ramp member 69.
The raising system further comprises first and second support members 79A, 79B
attached to sides of the implement 67 and are configured to move up the
sloping inclined
portions 77 of the corresponding first and second ramp members 69A, 6913 as
the
implement 67 moves toward the operating position. When the implement 67 is
moved all
the way to the operating position of Fig. 20 it is supported on the flat
portions 75 of the
ramp members when in the operating position as seen in Fig. 22.
The illustrated support members 79 each comprise a support wheel 81 configured
to roll
along the corresponding ramp member 69, and a support surface 83 adjacent to
and above
a bottom edge of the support wheel 81 as schematically illustrated in Fig. 21.
Thus as the
16
CA 02927582 2016-04-19
support wheel 81 rolls up ramp member 69 the support surface 83 is above the
ramp
member 69 as seen in Fig. 21. When the implement 67 moves into the operating
position
of Fig. 20, each wheel 81 moves beyond the base end 71 of the corresponding
ramp
member 69 so that the wheel 81 no longer keeps the support surface 83 above
the ramp
member 69, and instead each support surface 83 rests on the corresponding flat
portion
75 of each ramp member 69 supporting the implement 67 when the implement 67 is
in
the operating position.
An extendable connection actuator 85 is attached to the drive frame 3 and is
releasably
attachable to the implement 67 by a pin 87 engaging a hook 89 on the implement
67. As
the actuator 85 extends the pin 87 rides over the top of the hook 89 and then
falls down
behind the hook 89. Retracting the actuator 85, typically a hydraulic
cylinder, then pulls
the implement 67 toward the drive frame 3 such that the support members 79
move up
the ramp members 69 and the implement 67 moves to the operating position.
Extending
the actuator 85 will push the support members 79 away from the drive frame 3
such that
the support wheels 81 again roll up onto the ramp members 69 and down to move
the
implement 67 to the idle position. The actuator 85 can also be configured as a
constantly
pressurized hydraulic cylinder so that same exerts a substantially constant
force on the
hook 89 in the retracting direction R to keep the implement 67 in the
operating position.
The implement 67 is supported in the idle position by legs 91. In the
operating position
the legs 91 are sufficiently far above the ground 11 that they will not
interfere with
implement operations. Further ramp members 69 can be attached to the drive
frame 3 at
convenient locations, each with a corresponding support member 79 mounted on
the
implement 67. In the illustrated drive frame 3, third and fourth ramp members
69C, 69D
are attached to the base beam 5, and wherein the implement 67 comprises a
corresponding third and fourth support members 79C, 79D configured to move up
the
inclined portion of the ramp members 69C, 69D as the implement 67 moves toward
the
operating position.
17
CA 02927582 2016-04-19
Figs. 25 - 27 schematically illustrate an alternate system where the support
members 79'
are mounted on the drive frame 3' and the ramp members 69' are mounted on the
implement 67'. In this arrangement the sloping bearing surface 69S' of the
ramp
members 69' is the bottom surface. Each ramp member 69' extends substantially
parallel
to the path P of the drive frame 3' from a base end 71' thereof that is
nearest the base
beam 5' of the approaching drive frame 3', to a remote end 73' thereof. Each
ramp
member 69' again comprises a substantially horizontal flat portion 75'
extending from the
remote end 73 thereof to a midpoint thereof, and an inclined portion 77'
sloping upward
from the midpoint to the base end 71' of the ramp member 69'.
Thus it can be seen that a plurality of ramp members 69, 69' and a
corresponding number
of support members 79, 79' can be mounted on either or both of the drive frame
3, 3' and
implement 67, 67' as required by the configuration of various implements. To
facilitate
proper alignment of the implement and drive frame, Fig. 28 schematically
illustrates the
sloping bearing surface 69S" of the ramp member 69" formed as a trough with a
flat
bottom generally the same width as the width of the support wheel 81". If
slightly
misaligned when contacting the bearing surface 69S", the wheel 81" will slide
to the
bottom of the trough in the desired aligned position.
?0
Figs. 38 and 39 illustrate a system 201 using a ramp member 269 in combination
with a
raising arm 259 to move an implement 221 from the idle position of Fig. 38 to
the
operating position of Fig. 39 supported on the drive frame 203. The support
member 279
is mounted on the implement 221 and configured to engage the ramp member 269
about
the same time as the pin 260 on the implement 221 engages the recess 262 in
the raising
arm 259. The actuator hydraulic cylinder 285 is then retracted moving the
raising arm
259 and pin 260 up to move the first end 221A of the implement 221 up and
toward the
drive frame 203 and also moves the support member 279 upward along the ramp
member
18
CA 02927582 2016-04-19
269. Constant hydraulic pressure retracting the actuator hydraulic cylinder
285 keeps the
implement in the operating position, and when it is desired to move the
implement 121
off the drive frame 203 into the idle position resting on legs 291 the
actuator hydraulic
cylinder 285 is simply extended.
Thus the system 201 utilizes a combination of the ramp members 69 shown in
Fig. 18
and the raising arm 159 shown in Fig. 15 with the actuator hydraulic cylinder
285
performing the function of the hydraulic connection actuator of Figs. 18 - 20.
Other such
combinations of the described arrangements are contemplated as well.
= Further to facilitate alignment, Figs. 29 and 30 schematically illustrate
a guide system
comprising a circular guide aperture 92 defined in the selected implement 21,
and a
conical guide member 94 extending from the drive frame 3. The opposite
arrangement
with the circular guide aperture 92 defined in the drive frame 3, and the
conical guide
member 94 extending from the selected implement 21 will function equally as
well. The
guide member 94 and the guide aperture 92 are configured such that as the
implement
moves toward the operating position as seen in Fig. 29, the guide member 94
enters the
guide aperture 92, and when the implement 21 is in the operating position the
guide
member 94 substantially fills the guide aperture 92 as seen in Fig. 30. Thus
slight
misalignments are corrected when the implement achieves the operating
position. The
guide member 94 and guide aperture 92 can be oriented vertically or
horizontally
however with the guide member 94 extending horizontally as illustrated, when
the guide
member 94 enters the guide aperture 92, the conical edge 96 bears against the
top of the
guide aperture 92 and forces the implement 21 upward, such that when the
implement 21
is in the operating position, the implement 21 bears downward on the guide
member 94
and is supported on the drive frame 3.
19
CA 02927582 2016-04-19
Fig. 31 schematically illustrates the drive frame where a first pair of wheels
9A supports
the first side beam 7A and a second pair of wheels 9B supports the second side
beam 7B.
The first pair of wheels 9A includes a first base wheel 9AX proximate to the
base beam
5, and a first end wheel 9AY remote from the base beam 5. Similarly the second
pair of
wheels 9B includes a second base wheel 9BX proximate to the base beam 5, and a
second
end wheel 9I3Y remote from the base beam 5. In the illustrated drive frame 3
all the
wheels 9 are both steering wheels and drive wheels.
The drive frame 3 can travel along path P in either direction with the
steering control
operative to steer same by pivoting either both base wheels 9AX, 9BX or both
end
wheels 9AY, 9BY about their wheel pivot axes WPA through a steering angle SN.
Sharper turns can be made, or crab steering can be achieved, by steering both
the base
wheels and the end wheels. Skewing of an implement occurs on side-hills or
uneven
draft situations where the implement swings out of alignment with the travel
path. Crab
steering can be used to overcome this skewing by varying the angle of the
implement
with respect to the travel path.
In addition to moving and steering the drive frame along the path P parallel
to the side
beams 7, the wheels 9 can be configured so that the steering and drive
controls 13, 15 are
operative to move and steer the drive frame 3 and a supported implement along
a second
travel path P' that is oriented generally perpendicular to the travel path P
as schematically
illustrated in Fig. 32.
Figs. 33 and 34 schematically illustrate a steering control for the drive
frame 3 that
provides operation along either path P or 13'. Thus an implement 21 can be
configured to
cover a wide path when in an operating position and moving along path P" as
schematically illustrated in Fig. 36, and then be oriented in a narrow
transport width
when moving along path P.
CA 02927582 2016-04-19
The steering control comprises the hydraulic cylinder 39 as shown in Fig. 8
adjacent to
each wheel 9, where each hydraulic cylinder 39 is operative to selectively
pivot the
corresponding wheel 9 about the corresponding wheel pivot axis WPA through a
pivot
range greater than about 130 degrees.
In order to travel in a straight line along both paths P and P' the wheels 9
need to pivot
only 90 degrees, however in order to actually steer the drive frame 3 along
either path the
wheels 9 need to pivot through a steering angle range SN of at least about 20
degrees
either side of the path.
Since the wheels 9 can be rotated in either direction RI, R2 each wheel 9 is
only required
to pivot about its wheel pivot axis WPA through an angle of about 130 degrees,
or for
greater steering range through 135 degrees as shown by the position of the
wheel edge
9X at one end of the range in Fig. 33 and the position of the same wheel edge
9X at the
opposite end of the range in Fig. 34.
While it is contemplated that an operator's position can be provided on the
drive frame 3,
in a typical application the steering control 13, drive control 15, and
implement control
system 35 are responsive to signals received from a microprocessor 95 that
receives
location signals from an external guidance system 97 using field maps with
global
positioning systems or the like to guide and drive the drive frame 3 and to
operate
implement controls in a robotic fashion. Typically as well the microprocessor
95 is
responsive to wireless signals sent from a remote control box 99 such that a
remote
operator can monitor and further control the operation of the drive frame 3
and any
supported implement 21.
For example Fig. 37 schematically illustrates the conveyor 23 mounted on the
drive
frame 3 as shown in Fig. 6, with homing devices 80A mounted on the intake and
21
CA 02927582 2016-04-19
discharge of the conveyor 23, and corresponding horning devices 80 B mounted
on the
fill opening 84 of one bin 82, and on the discharge opening 86 of another bin
82. The
steering and drive controls can be programmed to position the homing device
80A on the
conveyor discharge above the horning device 80B on the fill opening 84 of the
bin 82
such that the conveyor 23 discharges into the fill opening 84. Similarly the
steering and
drive controls can be programmed to position the homing device 80A on the
conveyor
intake under the homing device 80B on the discharge opening 86 of the bin 82
such that
the conveyor 23 receives granular material from the bin discharge opening 86.
Alternatively with precise GPS location equipment available today it is
contemplated that
the conveyor 23 and drive frame 3 can be maneuvered to locate the conveyor
discharge at
the fill opening 84 of each bin on a farm, and to locate the conveyor intake
at the
discharge opening 86 of each bin on a farm, such that the microprocessor
essentially
maps all the bins 82 and the conveyor 23 "learns" the bin locations and can
then be
directed automatically to position the conveyor discharge or intake to deposit
material
into or receive material out of a selected bin 82.
Similar automatic location and operation can be achieved with other implements
for other
purposes.
The present disclosure further provides a method of supporting a first
implement on a
drive frame and operating the first implement, and supporting a second
implement on the
drive frame and operating the second implement. The method comprises providing
a U-
shaped drive frame 3 including a base beam 5 and first and second
substantially parallel
side beams 7A, 78 extending from corresponding first and second ends of the
base beam
5; supporting the drive frame 3 on a plurality of wheels 9 for travel on a
ground surface,
the wheels 9 including steering wheels 9, each steering wheel 9 pivotally
mounted about
a substantially vertical wheel pivot axis WPA to the drive frame 3, and drive
wheels 9;
/2
1
CA 02927582 2016-04-19
connecting a motor 17 mounted on the drive frame 3 through a drive control 15
to drive
the drive wheels 9, the drive control 15 operative to selectively rotate the
drive wheels 9
in first and second directions; providing a steering control 13 operative to
selectively
pivot the steering wheels 9 about the corresponding wheel pivot axes WPA;
operating
the steering and drive controls 13, 15 to move and steer the drive frame 3
along a travel
path P substantially aligned with the first and second side beams 7; resting
the first and
second implements 23, 25 on the ground surface in an idle position; moving and
steering
the drive frame 3 to a first implement loading position with respect to the
first implement
23 where at least a portion of the first implement 23 is between the first and
second side
beams 7 and a portion of the first implement is in close proximity to, above,
or below the
base beam 5; connecting the first implement 23 to the drive frame 3 and moving
the first
implement 23 to an operating position supported by the drive frame 3;
connecting the
first implement 23 to an implement control system 35 operative to control
implement
functions of the first implement 23; operating the steering and drive controls
13, 15 to
move and steer the drive frame 3 and first implement 23 along the travel path
P and
operating the implement control system 35 to control the implement functions
of the first
implement 23; operating the steering and drive controls 13, 15 to move and
steer the
drive frame 3 and first implement 23 along the travel path P to a storage
location and
moving the first implement 23 to the idle position resting on the ground
surface 11 and
disconnecting the first implement 23 from the drive frame 3 and from the
implement
control system 35; moving and steering the drive frame to a second implement
loading
position with respect to the second implement 25 where at least a portion of
the second
implement 25 is between the first and second side beams 7 as schematically
illustrated in
Fig. 30; connecting the second implement 25 to the drive frame 3 and moving
the second
implement 25 to an operating position supported by the drive frame 3;
connecting the
second implement to the implement control system 35; operating the steering
and drive
controls 13, 15 to move and steer the drive frame 3 and second implement 25
along the
23
CA 02927582 2016-04-19
travel path P and operating the implement control system 35 to control the
implement
functions of the second implement 25.
The implements that can be used with the present system 1 include a wide range
including conveyors, seeding implements, chemical application implements,
grain carts,
cutters, and the like Efficiency is improved as at least some of the weight of
the
implement, and any product carried in seeder or sprayer tanks is supported by
the drive
wheels 9 providing ballast such that the drive frame 3 can be lighter and
there will still be
sufficient weight on the drive wheels 9 to provide the necessary traction.
Thus the total
amount of weight moved by the motor 17 is reduced. Travel along either path P
or
perpendicular along P' allows an implement 21 to be operated in a wide
orientation along
path P to cover significant ground area during operation, and then moved in a
narrow
orientation along path P for transport. The motor 17 drives the wheels 9 in
either
direction such that the drive frame 3 can be operated in either direction
along the path P,
adding flexibility to the possible configurations of the implements 21.
The foregoing is considered as illustrative only of the principles of the
invention.
Further, since numerous changes and modifications will readily occur to those
skilled in
the art, it is not desired to limit the invention to the exact construction
and operation
shown and described, and accordingly, all such suitable changes or
modifications in
structure or operation which may be resorted to are intended to fall within
the scope of
the claimed invention.
24
