FR3049562A1 - AUTOMOTIVE ROLLER, IN PARTICULAR FOR AGRICULTURE WORK - Google Patents

Abstract

The invention relates to a self-propelled machine (1), particularly for agricultural work, said machine (1) comprising a chassis, two non-steerable motor wheels (3), able to form the rear wheels, or respectively before, the machine, the means (4) driving motors in rotation of a driving wheel (3) being distinct from the means (4) driving motors in rotation of the other driving wheel (3) for a rotational drive independent of each of the wheels (3) motor, two wheels (5) crazy able to form the front wheels, respectively rear, of the machine, said wheels (5) are each mounted to pivot about a so-called vertical axis substantially orthogonal to the axis of rotation of the wheel. Each idler wheel (5) is coupled to the frame (2) by a pivoting arm (6) pivotally mounted about an axis parallel to the axis of rotation of the drive wheels to allow movement of each idler wheel (5) between a position away from the wheels (3) drive and a close position of the wheels (3) motor.

Description

FIELD OF THE INVENTION The invention relates to a self-propelled mobile machine, particularly for agricultural work.

It relates more particularly to a rolling machine comprising a chassis, two non-steerable drive wheels, able to form the rear wheels or respectively before the machine, said drive means for driving in rotation of a driving wheel being distinct from the driving means of rotational drive of the other driving wheel for independent rotation drive of each of the drive wheels, two idler wheels adapted to form the front wheels, or rear respectively of the machine, said idler wheels being each mounted to pivot about a so-called vertical axis substantially orthogonal to the axis of rotation of the wheel.

STATE OF THE ART The use of four-wheel drive self-propelled machinery, in particular for agricultural work, is known and offers the advantage of great stability on the road and a limitation of the risks of slipping or slipping. stalemate. However, such a self-propelled four-wheel drive is expensive, which is why a two-wheel drive self-propelled machine is preferred.

Such a two-wheel drive vehicle must offer the same advantages as a four-wheel drive vehicle, both in terms of slippage, road stability, but also in terms of maneuverability and space, especially during maneuvers at the end of the field. PURPOSE AND SUMMARY

An object of the invention is to provide a self-propelled two-wheel drive vehicle whose design reduces the risk of slippage, limit the size in length and offer great maneuverability. To this end, the subject of the invention is a self-propelled mobile machine, particularly for agricultural work, said machine comprising a chassis, two non-steerable drive wheels capable of forming the rear wheels, or respectively before, of the machine, the drive means for driving in rotation of a driving wheel being distinct from the drive means for driving in rotation the other driving wheel for driving in rotation independently of each of the drive wheels, two idler wheels capable of forming the wheels before or respectively rear of the machine, each mounted to pivot about a vertical axis XX 'said substantially orthogonal to the axis of rotation of the wheel, characterized in that each idler is coupled to the frame by an arm pivoting pivotally mounted about an axis YY 'parallel to the axis ZZ' of rotation of the driving wheels to allow a displacement of each idler wheel between a position spaced from the wheel ss and a close position of the drive wheels.

The possibility of moving each idler wheel between a position separated from the driving wheels and a close position of the driving wheels allows the variation of the position of the center of gravity of the machine, in order to allow a distribution at will of the loads on the front wheels. and / or rear constituted indifferently some by the crazy wheels, the others by the drive wheels. Thus, it is possible to off-load non-drive wheels by carrying the weight of the machine on the drive wheels. This results in a reduced risk of slippage, as is the case for four-wheel drive vehicles. The use of two-wheel drive independent and asynchronous motorization allows great handling of the machine, greater than that of a four-wheel drive vehicle, and the possibility for the machine to turn on site.

According to one embodiment of the invention, each pivoting arm is pivotally mounted about an axis YY 'parallel to the axis ZZ' of rotation of the drive wheels via an actuator disposed between the frame and the swivel arm.

According to one embodiment of the invention, each actuator is a jack, preferably a simple effect, at least one of the chambers of each jack being connected to a control circuit of admission or exhaust fluid of said chamber adapted to allow the control of the inlet or the outlet of the cylinder rod, said intake / exhaust chambers of the cylinders being further connected to each other by a fluid communication circuit able to allow in parallel the return of the rod of one cylinder, the output of the rod of the other cylinder. Thus, each actuator allows, apart from the movement control phases of the associated idler wheel in the direction of a rapprochement or spacing of the driving wheels, to allow said idler wheel to follow the profile of the ground.

According to one embodiment of the invention, the intake or exhaust control circuit is equipped with control means. These control means are configured to control the control circuit according to data provided by sensors such as a force sensor, an inclinometer, an odometer or an attitude unit.

According to one embodiment of the invention, the idle wheels on the one hand, and drive wheels on the other hand, are mounted on the variable spacing frame for adjustment of the width of the track of the machine. Thus, such a machine can allow, because of its design, particularly in the case of an application to agricultural work, both a width of the track adjustment for work in the board or between rows, and an adjustment of the ground clearance to allow if necessary the crossing of cultures.

According to one embodiment of the invention, each idler wheel forms with one of the driving wheels an assembly mounted on the rest of the sliding chassis in a direction transverse to the longitudinal axis of the machine for a width adjustment. the way of the craft. This results in the possibility of simultaneously adjusting the width of the track at the front and rear wheels, so that the adjustment is facilitated.

According to one embodiment of the invention, the machine comprises a data storage memory representative of the path to be followed by the machine, and, for each idler wheel, means for determining the angular position of the idler wheel. around its axis XX 'of vertical pivoting, activable / deactivatable means of blocking the idle wheels configured for, in the active position, block the associated idler wheel in a position in which the axes of rotation of the idler and motor wheels extend into parallel planes between them and a control unit of the blocking means, said control unit being configured to activate the blocking means according to the data, relative to the course, stored. With this arrangement, it is possible for the machine to move in a straight line.

According to one embodiment of the invention, each locking means of an idler wheel is a disk brake.

According to one embodiment of the invention, the means for determining the angular position of an idler wheel comprise an encoder wheel.

According to one embodiment of the invention, the self-propelled traveling machine comprises a force sensor capable of measuring the force applied on at least one idler wheel, said force sensor being disposed at the level of the articulated link of the actuator with pivoting arm.

BRIEF DESCRIPTION OF THE FIGURES The invention will be better understood on reading the following description of exemplary embodiments, with reference to the appended drawings, in which: FIG. 1 represents a perspective elevational view of a machine conforming to FIG. invention. - Figure 2 shows a perspective view, taken from a side, of a machine according to the invention. - Figure 3 shows a perspective view, in exploded position of the elements constituting it, a machine according to the invention. - Figure 4 shows a perspective view of a machine according to the invention, in side. - Figure 5 shows a perspective view of a machine according to the invention, in the close position of the front and rear wheels, for the unloading of the machine. - Figure 6 shows a perspective view of a machine according to the invention in the spaced apart position of the front and rear wheels, for a transfer of the weight of the machine on the front wheels. - Figure 7 shows a perspective view of a machine according to the invention in the close position of the front and rear wheels, in a configuration called "gyropod" of the machine. - Figure 8 shows a perspective view of a front wheel / rear wheel assembly in the spaced apart position of the front and rear wheels. - Figure 9 shows a perspective view of a front wheel / rear wheel assembly in close position of the front and rear wheels. - Figure 10 shows the simplified hydraulic diagram of the actuators. - Figure 11 shows an exploded view of some elements of the assembly of Figure 9. - Figure 12 shows an enlarged view of a front wheel and its pivoting locking means.

DETAILED DESCRIPTION

As mentioned above, the subject of the invention is a self-propelled electric propulsion machine 1. This rolling machine 1 can be used for work in the fields or for other purposes. This machine 1 rolling comprises a chassis 2 rolling.

In the example shown, this chassis 2 rolling comprises a central portion 21, and two end portions 22 connecting to the central portion 21. This central portion comprises a structure 210 welded and two cross members 211 extending transversely to the longitudinal axis of the machine and projecting from either side of the central portion for a connection to each of the end portions.

These end portions 22 are equipped with two hollow bodies 220, each capable of being threaded onto a cross member of the central portion to form a slide-type assembly, allowing sliding movement of the end portions in the direction of a approximation or spacing of the central portion of the frame, this sliding can be operated manually or controlled using, for example, cylinders not shown.

The central portion of the frame 2 may, in the case of an application of the machine to agricultural work, be equipped with a hitch for hitching agricultural implements or others or form a carrier frame of said tools.

To allow movement of the machine on the ground, the latter is equipped with two front wheels 5 and rear 3 disposed at the end portions of the frame 2. Thus, each front wheel 5 forms with a rear wheel 3 and a end portion of the frame, an assembly mounted to slide on the central portion of the frame. This set is shown in Figure 8.

In the examples shown, each rear wheel 3 of the machine is a non-steerable drive wheel and each front wheel 5 is a crazy wheel. Obviously a reverse arrangement with a machine equipped with crazy rear wheels and non-steerable front wheels could have been considered in an equivalent manner. The machine will be described here in the configuration front wheels and non-steerable rear wheels. Each rear wheel 3 is thus equipped with means 4 rotary drive motors carried by the end portion of the frame 2. These means 4 rotary drive motors comprise, for each rear wheel, an electric motor and a transmission. , such as an endless belt transmission, of the rotational movement of the motor shaft to the rear wheel. These means 4 rotary drive motors are distinct from one rear wheel to another, and controllable independently of one another, to allow a differential speed of the rear wheels. This speed differential makes it possible to control the direction of movement of the machine.

Each wheel 5 before the machine is a non-driving wheel drive. Each front wheel 5 of the machine is therefore pivotally mounted about an axis XX 'said vertical substantially orthogonal, that is to say more or less 10 ° near the axis of rotation of the wheel, for take into account the hunting angle. These axes do not intersect to allow self-positioning of said front wheels. It is thus possible to control the direction of movement of the machine by playing on a speed differential of the rear wheels, in a manner known per se, as mentioned above.

Each idler wheel 5 is coupled to the frame 2, in particular to the end portion of the frame with which it is associated, by a pivoting arm 6 pivotally mounted on the end portion of the frame about an axis YY ' parallel to the axis ZZ 'of rotation of the rear-wheel drive, to allow movement of each front wheel 5 between a position spaced rear wheels 3 and a close position of the rear wheels 3. This assembly allows to change at will the position of the center of gravity of the machine. Note that this axis of rotation YY 'around which the arm 6 pivots extends parallel to the sliding direction of the end portions of the frame relative to the central portion of the frame. Each arm 6 is therefore equipped at one end of the idler wheel pivotally mounted about its axis XX 'on said arm and at its other end with a pivot connection to the chassis 2. To allow such pivotal movement of the arm 6 , there is provided an actuator 7 disposed between the frame 1 and the arm 6 pivoting. Thus, such a machine comprises two actuators 7 namely one per swivel arm 6. Each actuator here is a single-acting cylinder. Each jack comprises a hollow body defining an enclosure within which is partially housed a rod 711 equipped with a piston dividing the chamber into two chambers respectively shown at 710 and 712 in the figures.

The chamber shown at 710 of each cylinder 71 is connectable via a hydraulic circuit shown at 8 in the figures, on the one hand to a pump, on the other hand to a slide valve. The actuation of the pump allows the fluid supply of the chambers 710 of the cylinders and consequently an output of the cylinder rod. The distributor allows, conversely, in one of its positions, the exhaust of the cylinder chambers 710 and, consequently, the retraction of the cylinder rods.

To allow, in addition, each wheel 5 forward crazy to follow the profile of the soil, there is provided a second hydraulic circuit 9 which can be at least partially common to the first control circuit 8. This circuit 9, called fluid communication circuit interconnects the two cylinder chambers 710 to allow, in case of retraction of a rod of a cylinder, the output of the rod of the other cylinder.

To allow, furthermore, a damping of the displacement of each cylinder rod, this fluidic control circuit 9 between the chambers may be equipped with a suspension-function membrane accumulator 10.

The inlet / fluid exhaust control circuit 8 is equipped with control means 11 configured to control the control circuit 8, that is to say the retraction or the exit of the cylinder rods, and consequently , approximation or spacing of the rear wheels according to data that can be provided, including sensors.

The control means 11 may comprise a central unit, such as an electronic and / or computer unit comprising at least one working memory, a data input module in the central unit and a control signal output module. from the data processed by the central unit, these control signals for controlling the operation of the pump or the movement of the slide valve spool according to said input data.

These input data can be data from a force sensor and / or an inclinometer and / or an odometer and / or an attitude center comprising at least one gyroscope and an accelerometer and or an inclinometer.

In the example shown, the self-propelled rolling machine 1 comprises a force sensor 15 capable of measuring the force applied to at least one idler wheel 5, said force sensor being disposed at the articulated link of FIG. the actuator 7 to the pivoting arm. For example, this force sensor may be a load axis forming the pivot axis of the link.

With this control, the front and rear wheels can occupy different positions, illustrated in Figures 4 to 7, offering a large number of advantages. Thus, it is possible, thanks to this possibility of adjusting the distance between the front and rear wheels, to maintain the attitude of the chassis when the machine is traveling on a sloping track (see Figure 4), to tilt the chassis for allow, for example, the emptying of a bucket placed under the frame (figure 5) or to modify the depth of work or of earth of a towed tool coupled to the chassis of the machine, to unload or to weigh down the train before to avoid, either a stagnation or a skating of said front axle, to adjust the ground clearance of the vehicle, to move if necessary in Segway mode by transferring the entire weight of the vehicle on the rear wheelset , as shown in Figure 7, and without affecting the possibility of on-site rotation of the machine and a reduced footprint in length if necessary.

To perfect the operation of the machine and facilitate its movement in a straight line, the machine 1 comprises a memory 12 for storing data representative of the path to be followed by the machine 1, and for each wheel 5 before, means 13 for determining the angular position of the idler wheel 5 about its axis XX 'of vertical rotation and means 14 for activating / deactivating the locking of the front wheels 5 configured to, in the active position, block the associated front wheel 5 idle in a position in which the axes of rotation of the front wheels 5 and rear 3 extend in planes parallel to each other. The machine 1 further comprises a control unit 16 for locking means 14, said control unit 16 being configured to activate the locking means 14 according to the stored data, relative to the path.

In the example shown, the means 13 for determining the angular position of an idler wheel 5 comprise an encoder wheel and each means 14 for blocking a front wheel 5 is a disk brake.

Thus, in the example shown, each front wheel 5 is equipped with a U-shaped yoke surmounted by an axis inserted in a through barrel disposed at the free end of the arm 6. This sleeve carries the brake shoes , the brake disc being mounted integral in rotation with the axis fitted to the wheel. In the enclosed state of the disk by the jaws, the crazy front wheel 5 is no longer steerable and can no longer rotate about the axis XX '. This tightening of the jaws is controlled according to the information relating to the course to be followed by the machine and allows a locking of the front wheels 5 for a straight-line movement of the machine.

In order to precisely define the angular position of the idler wheel before causing a blockage of the orientation of the idler front wheel, an encoder wheel may be disposed at the end of the axis above the U-shaped yoke.

To complete the control in motion of the machine, other information can be exchanged between the machine and a remote control unit, in a manner known per se.

Claims (10)

1. Machine (1) self-propelled rolling, particularly for agricultural work, said machine (1) comprising a frame (2), two non-steerable (3) drive wheels, able to form the rear wheels, or respectively before, the machine, the means (4) driving motors in rotation of a driving wheel (3) being distinct from the means (4) driving motors in rotation of the other driving wheel (3) for a rotational drive independent of each of the wheels (3) motor, two wheels (5) crazy able to form the front wheels, respectively rear, of the machine, said wheels (5) being each mounted rotatably about an axis XX ' said vertical substantially orthogonal to the axis of rotation of the wheel, characterized in that each idler wheel (5) is coupled to the frame (2) by a pivoting arm (6) pivotally mounted about an axis YY 'parallel to the ZZ 'axis of rotation of the drive wheels to allow movement of each wheel (5) mad between a position separated from the driving wheels (3) and a close position of the driving wheels (3). 2. Device (1) self-propelled rolling machine according to claim 1, characterized in that each arm (6) pivoting is pivotally mounted about an axis YY 'parallel to the axis ZZ' of rotation of the wheels (3) by via an actuator (7) disposed between the frame (2) and the pivoting arm (6). 3. Machine (1) self-propelled rolling machine according to claim 2, characterized in that each actuator (7) is a jack (71), preferably simple effect, at least one (710) of the chambers of each cylinder (71) being connected to a circuit (8) for controlling the admission or exhaust of fluid from said chamber (710) able to control the inlet or the outlet of the rod (711) of the jack (71), said intake / exhaust chambers of the cylinders (71) being furthermore interconnected by a fluidic communication circuit (9) able to allow, in parallel with the retraction of the rod (711) of a jack (71), the output of the rod (711) of the other cylinder (71). 4. Machine (1) self-propelled rolling machine according to claim 3, characterized in that the circuit (8) for admission or exhaust control is equipped with means (11) for driving. Self-propelling machine (1) according to one of the preceding claims, characterized in that the wheels (5) on the one hand, and the drive wheels (3) on the other hand, are mounted on the frame (2) at variable gauge for adjusting the width of the vehicle track (1). 6. Device (1) self-propelled rolling machine according to one of the preceding claims, characterized in that each idle wheel (5) forms, with one of the wheels (3) drive, an assembly mounted on the rest of the frame (2) sliding in a direction transverse to the longitudinal axis of the machine (1) for adjusting the width of the track of the machine (1). 7. Machine (1) self-propelled rolling machine according to one of the preceding claims, characterized in that the machine (1) comprises a memory (12) storing data representative of the path to be followed by the machine (1), and, for each wheel (5) idle means (13) for determining the angular position of the wheel (5) crazy about its axis XX 'vertical pivoting, means (14) activatable / deactivatable wheel lock ( 5) configured to, in active position, block the idler wheel (5) associated in a position in which the axes of rotation of the idler wheels (5) and motor (3) extend in planes parallel to each other and a unit (16) for controlling the locking means (14), said control unit (16) being configured to activate the locking means (14) according to the data, relative to the course, stored. 8. Device (1) self-propelled rolling machine according to claim 7, characterized in that each means (14) for locking a wheel (5) crazy is a disk brake. 9. Device (1) self-propelled rolling machine according to one of claims 7 or 8, characterized in that the means (13) for determining the angular position of a wheel (5) crazy include a coding wheel. 10. Machine (1) self-propelled rolling machine according to one of the preceding claims taken in combination with claim 2, characterized in that it comprises a force sensor (15) capable of measuring the force applied on at least one wheel (5) crazy, said force sensor (15) being disposed at the articulated connection of the actuator (7) to the arm (6) pivoting.