Processing machines and methods for treating fibrous plants

Abstract

A processing machine for handling fibrous plants, particularly hemp or flax, is described. The processing machine includes a picking unit for picking up the fibrous plants, a chassis, and a transport device mounted on the chassis for transporting the picked-up fibrous plants to a delivery device also mounted on the chassis for delivering the fibrous plants. The chassis includes a first chassis component with front wheels and a second chassis component with rear wheels. A pivoting element is mounted between the two chassis components such that the first and second chassis components can pivot relative to each other about a virtual or physical upright pivot axis. A method for processing fibrous plants using this processing machine is also described.

Description

Technical Field

[0001] This invention relates to a processing machine for processing fibrous plants such as hemp or flax. The invention also relates to the use of such a processing machine and methods for processing such fibrous plants using the machine. Background Technology

[0002] Many machines are known for processing fiber crops such as hemp or flax. Processing here may include picking up the crop from the ground, but may also include, for example, placing the picked-up fiber crop back on the ground, picking up the fiber crop placed on the ground after a period of time, rotating or turning the fiber crop and placing it back on the ground in a reverse or inverted position, and so on.

[0003] For example, flax plants are typically between 80cm and 120cm in length and are harvested by pulling them from the ground using a grabbing machine. The harvested flax plants are not immediately removed from the ground. First, the flax is laid flat on the ground in long rows or lines (also called “swathes”), with the stems of the harvested flax plants extending substantially transversely to the longitudinal direction of the swathes. This process of laying the flax flat back on the ground to create these swathes is also known as “deposition” or “pick-up.” When the flax plants are laid out in lines or swathes, intermediate spaces are left between adjacent lines. These spaces prevent the swathes from tangling together.

[0004] Then, under the combined influence of dew, rain, and sunlight, the harvested flax plants, laid flat in rows on the ground, are decomposed. In the field of flax processing, the process of decomposing flax by leaving the flax plants on the ground (i.e., in the field or in a decomposed field) for a period of time (about two weeks, depending on weather conditions (humidity, sunlight, etc.)) is called field decomposition or dew decomposition. To achieve uniform decomposition and prevent the flax from rotting, the flax laid flat in rows on the ground must be turned regularly. This turning of the flax laid flat on the ground is also called "turning," and it is done by driving what is called a flax turner on the ground.

[0005] Once sufficient softening has occurred, the flax is picked up from the ground and optionally bundled and compacted for further processing. The picking and bundling of the flax is done using a baler.

[0006] Hemp plants are typically slightly longer than flax plants, and therefore specialized hemp-grabbing machines are known for harvesting hemp plants. With hemp plants, it is also possible that after being grasped and optionally cut into smaller pieces, they are laid flat back on the ground to allow for composting. After the hemp plants have been turned over once or more during the composting process using a turner, further processing can be performed, for example, by picking them up again and tying them in a baler.

[0007] A known drawback of pickup machines (i.e., grippers, flippers, and strappers) is that they are often quite unstable, which can cause problems such as stability and / or traction issues, especially on uneven and / or sloping ground.

[0008] Another known drawback of pickup machines is that their flipping radius is relatively large, making it difficult to achieve a 180-degree flip at the end of each row, especially when there is less floor space available.

[0009] Another drawback of known picking machines is that the intermediate space between adjacent rows of fibrous plants that have been picked up and placed back on the ground is typically small. This small intermediate space can cause fibrous plants in adjacent rows to become entangled, which hinders subsequent picking processing. Then, during subsequent processing stages, the risk of the wheels of the picking machine (e.g., a turner that flips the fibrous plants after they have been picked up by the picking machine) running over the fibrous plants is further relatively high. These plants may be damaged as a result, which reduces the quality of the plants. Summary of the Invention

[0010] The object of the present invention is to at least partially eliminate at least one of the above-mentioned disadvantages.

[0011] According to the first aspect, this objective is achieved at least in part in a processing machine of the type described in the preamble, the processing machine comprising: a self-propelled vehicle including an elongated chassis; a picking unit mounted on a first end of the chassis and configured to pick up fibrous plants during vehicle travel; a transport device for transporting the picked-up fibrous plants from the first end of the chassis to an opposite second end of the chassis; and a delivery device for delivering the picked-up and transported fibrous plants at the second end, wherein the chassis includes:

[0012] - A first chassis component configured to mount at least a portion of a transport device and a picking unit, the first chassis component also being provided with suspension for two front wheels;

[0013] - A second chassis component configured to mount at least a portion of a transport device and a delivery device, the second chassis component also having at least two rear wheel suspensions;

[0014] - A pivoting element, which is mounted between a first chassis component and a second chassis component, for pivoting the first chassis component and the second chassis component relative to each other about a virtual or physical upright pivot axis.

[0015] The vehicle's pivoting ability limits the turning radius. A better location, such as at the rear of the vehicle, can also be placed, as will be explained below.

[0016] In embodiments of the invention, the vehicle is configured to pivot a second chassis component between a first pivot position and a second pivot position, in which the first and second chassis components extend in a straight line relative to each other, and in the second pivot position, the second chassis component extends obliquely relative to the first chassis component. For example, it can be driven in a so-called crab-steered manner. In the case of crab-steered driving, the two front wheels, in principle, run on a different track than the rear wheels, while the relative distances between the rear wheels and the front wheels (i.e., the (virtual) axle lengths) remain in principle the same. When the vehicle travels straight forward, for example, in a defined direction, the longitudinal direction (i.e., the axial direction) of the first chassis component will extend along that defined direction, but the pivoted second chassis component will be obliquely relative to that direction. This has the advantage that the picked-up fiber plant can be placed on the ground in a laterally offset position. This is also referred to as fiber plant offset. This creates an intermediate space between the edge of the unpicked portion of the ground and the edge of the line of the fiber plant placed on the ground.

[0017] In embodiments of the invention, the vehicle is provided with two (or more) front wheels and two (or more) rear wheels. In other embodiments, the two rear wheels are replaced by a single rear wheel. This rear wheel is typically positioned laterally at the center of a second chassis component.

[0018] The chassis can be configured to allow the second chassis component to pivot between a first pivot position and a second pivot position, in which the axial direction of the first chassis component is parallel to the axial direction of the second chassis component, and in the second pivot position, the axial direction of the second chassis component is inclined relative to the axial direction of the first chassis component. In a defined embodiment, the pivot positions can be implemented in a continuously variable manner. This also means that the offset of the fiber plant can be made as needed: if more intermediate space is desired, the pivot angle can be larger, while when less intermediate space is sufficient, the pivot angle can be kept smaller. The pivot angle can also be zero, in which case the second chassis component is aligned with the first chassis component.

[0019] It has been found that if the chassis is configured such that the second chassis component can pivot relative to the first chassis component between a first pivot position and a second pivot position, in the first pivot position the angle between the axial directions of the first and second chassis components is a maximum of 4 degrees, and in the second pivot position the angle is between 5 and 30 degrees, preferably between 10 and 20 degrees, and even more preferably about 15 degrees, particularly good results can be obtained regarding the vehicle's handling sensitivity, ease of handling, and / or stability, and / or a relatively low risk of wheel damage to the fiber plant.

[0020] To maintain vehicle stability, and when the first and second chassis components pivot relative to each other, the pivoting element is preferably centrally positioned in the lateral direction and / or arranged in the axial direction between the front and rear wheels. In the latter case, a position directly behind the front wheels is preferable. The pivoting element preferably forms a unique, true structural coupling between the first and second chassis components, allowing the second chassis component to rotate virtually freely relative to the first chassis component.

[0021] In a defined embodiment, the second chassis component has only one rotational option relative to the first chassis component, which is about an optional, virtual, upright axis of rotation (e.g., the vertical axis when the vehicle is on a flat, level surface). However, in other embodiments, it can also rotate about an optional, virtual, horizontal axis of rotation that is transverse to the vertical axis and extends generally in the longitudinal direction of the vehicle. This latter axis of rotation allows the second chassis component to "roll," i.e., rotate about its longitudinal axis.

[0022] The front suspension is configured to allow the front wheels to pivot (in other words, the front wheels can be steered). The rear suspension is configured in the same manner. More specifically, the rear suspension is configured to pivot relative to a first chassis component about a second chassis component, for example, to tilt the rear chassis component in the second pivot position relative to the front chassis component. The front and rear suspensions can be further configured such that each of the front and rear wheels can pivot independently of each other. In other embodiments, both front wheels pivot simultaneously and / or both rear wheels pivot simultaneously. Steering units can be provided for pivoting the wheels. These steering units may, for example, include hydraulic actuators coupled to a hydraulic pump unit.

[0023] To transport the picked-up fibrous plants from a pickup unit at the front of the vehicle to the rear, the transport device is divided into multiple consecutive conveyors, regardless of the pivoting position of the second chassis component. These conveyors are arranged such that the fibrous plants can be easily transferred from one conveyor to another without significantly hindering transport due to the relative pivoting positions of the chassis components and / or changes in pivoting positions during vehicle movement. In a defined embodiment, the transport device includes a first annular conveyor mounted on a first chassis component and a second annular conveyor mounted on a second chassis component. A delivery unit is also located at the rear end of the second chassis component. In the illustrated embodiment, the delivery unit includes two parallel annular conveyor belts extending downwards at an angle, allowing the transported fibrous plants to be laid flat on the ground in a controlled manner.

[0024] The picking unit can be customized, especially for a specific processing step. The picking unit can be, for example, a gripping unit for picking up fibrous plants from the ground. However, the picking unit can also be designed for different processing steps. For example, the picking unit can be configured to pick up fibrous plants that have already been gripped and placed on the ground. In a particularly advantageous embodiment, the picking units are interchangeable, and the vehicle can be prepared to perform the desired processing steps by installing the correct picking unit. In a specific embodiment, the picking unit is releasably coupled to a first chassis component. The vehicle can be further configured such that regardless of which picking unit is used (gripping unit for flax, gripping unit for hemp, picking unit for flax, picking unit for hemp, etc.), the rest of the vehicle can remain completely or largely unchanged. In other words, the transport devices and / or delivery units on the chassis can remain unchanged in principle, whether they are used to transport flax or hemp.

[0025] A drive system is provided to propel the vehicle forward. This drive system is configured to drive each wheel independently (i.e., each of the front and rear wheels). Alternatively, the front wheels can be driven independently of the rear wheels. In the most preferred embodiment, the rotation of all four wheels can be driven individually, and each wheel can also be steered (i.e., pivoted) independently.

[0026] The actuator may include, for example, a hydraulic pump unit driven by a power source. The hydraulic pump unit is connected to four drive units, one for each wheel. More specifically, the processing machine includes: a first drive unit coupled to and configured to drive a first front wheel; a second drive unit coupled to and configured to drive a second front wheel; a third drive unit coupled to and configured to drive a first rear wheel; and a fourth drive unit coupled to and configured to drive a second rear wheel.

[0027] The drive unit is also configured to substantially continuously change the torque transmitted to the front and rear wheels by independent drive units. The first and second drive units can, for example, be configured to independently and continuously change the torque transmitted from the first drive unit to the first rear wheel and from the second drive unit to the second rear wheel. Here, change can mean transmitting more or less torque to the respective rear wheels, which is achieved, for example, in a given type of drive unit by controlling the drive's stroke volume and adjusting the plate. Each wheel may also optionally be provided with a transmission mechanism that can change the gear ratio between the hydraulic drive motor and the associated wheel, as will be explained below.

[0028] The drive unit may include a corresponding hydraulic drive motor, wherein each of the hydraulic drive motors preferably comprises a variable displacement bent-shaft piston motor. In these hydraulic motors, hydraulic energy is converted into mechanical energy to rotate the wheels. The hydraulic motor is driven via a hydraulic medium in a closed hydraulic circuit. Different types of hydraulic motors may be used. In a defined embodiment, the hydraulic motor is of the bent-shaft piston motor type, preferably of the type in which the angle of its shaft is continuously variable (i.e., a variable displacement bent-shaft piston motor). The stroke volume of these motors can be adjusted by tilting an adjustment plate disposed therein to a greater or lesser degree, or preferably by changing the angle between the longitudinal direction of the piston and the longitudinal direction of the driven shaft. For this purpose, an adjustment device may be provided for adjusting the angle between the displacement direction of the piston and the longitudinal direction of the driven shaft. In a particularly advantageous embodiment, each hydraulic motor for driving the rear wheels is formed by a bent-shaft piston motor with variable displacement. The adjustment device is also preferably implemented to be capable of continuously and / or adjusting the angle over a relatively large angle range (e.g., approximately 0 to 40 degrees). Such a motor is capable of producing relatively high rotational speeds. Combined with a transmission mechanism (such as a planetary final drive), this produces relatively high torque.

[0029] In an embodiment of the invention, the second chassis component has at least one rear wheel on the left-hand side of the second chassis component and at least one rear wheel on the right-hand side of the second chassis component. The second steering unit may include a first actuator mounted on the second chassis component and the left rear wheel, and a second actuator mounted on the second chassis component and the right rear wheel, wherein the actuator preferably includes a hydraulic extension cylinder.

[0030] The two actuators can be controlled individually or jointly, and in a given embodiment, the two actuators can be combined into a single actuator. In other words, the first and second actuators can be configured to pivot the first and second rear wheels independently of each other. In other embodiments, the first and second actuators are configured to pivot the first (left) and second (right) rear wheels jointly and synchronously.

[0031] In embodiments of the invention, the first steering unit is constructed in a similar manner to enable the first (left) front wheel and the second (right) front wheel to pivot. The two front wheels can pivot together and synchronously with each other, while in other embodiments, the first front wheel can pivot independently of the second front wheel.

[0032] In a further embodiment, the processing machine includes a single rear axle pivotally mounted on at least one rear wheel on the left-hand side of a second chassis component and at least one rear wheel on the right-hand side of the second chassis component. The rear axle and the rear wheels mounted on it are also arranged via at least one central pivot member on the second chassis component for pivoting about a virtual or physical horizontal pivot axis extending longitudinally along the second chassis component. In an optional or further embodiment, the rear axle may also be rotatably arranged on the second chassis component for pivoting about a virtual or physical vertical pivot axis. Thus, the rear axles can rotate together at a central point of rotation. In a specific embodiment, the rear axle is a sway or pivot axis. Such a sway or pivot axis can be hinged / pivoted about a longitudinally extending pivot axis arranged at a central position between the rear wheels.

[0033] Although the vehicle has four wheels in the embodiment shown in the figure, namely two front wheels and two rear wheels, this number may differ in other embodiments. In certain embodiments, two or more wheels are placed adjacent to each other: for example, two or more right front wheels, two or more right rear wheels, two or more left front wheels, and / or two or more left rear wheels. However, in other embodiments, fewer wheels are provided, such as right front wheels, left front wheels, and a single center rear wheel, preferably centrally positioned and pivotable.

[0034] Another aspect of the invention relates to the use of a processing machine. According to yet another aspect of the invention, a method for processing fibrous plants, particularly hemp or flax, is provided, the method comprising: pivoting a second chassis component relative to a first chassis component, and driving a self-propelled vehicle over the ground in the pivoted state to pick up fibrous plants along a first row using a picking unit on the first chassis component, transporting the picked-up fibrous plants from the picking unit to a delivery device on the second chassis component, and delivering the picked-up and transported fibrous plants along a second row using the delivery device, wherein the second row is located at a position offset in a lateral direction transverse to the axial direction. Attached Figure Description

[0035] Further details, features, and characteristics of the invention will be set forth below based on a description of several embodiments thereof. Reference is made in the accompanying drawings, in which:

[0036] Figure 1 This is a schematic perspective side view of an embodiment of the fiber plant processing machine described herein;

[0037] Figure 2 and Figure 3 They are Figure 1 A schematic perspective bottom view of the embodiment in a first pivot position and a second pivot position, in the first pivot position the second chassis component is aligned with the first chassis component, and in the second pivot position the second chassis component is arranged obliquely relative to the first chassis component, and the chassis is formed as a hinged chassis.

[0038] Figure 4 These are detailed views of embodiments of the pivoting element described herein;

[0039] Figure 5 and Figure 6 They are respectively located at the first pivot position and the second pivot position. Figure 2 and Figure 3 A schematic perspective bottom view of an embodiment;

[0040] Figure 7 and Figure 8 This is a schematic top view of the first and second methods of treating fibrous plants in the field;

[0041] Figure 9 and Figure 10 This is a perspective view of the rear wheel suspension of the second chassis component according to an embodiment, viewed from the front and rear sides of the chassis component, respectively. The rear wheel suspension includes a steering unit for steering the wheels and a pivotable rear axle; and

[0042] Figure 11 This is a perspective view of the rear wheel suspension of the rear wheel of a second chassis component according to another embodiment, the rear wheel suspension including a steering unit for steering the wheel and a pivotable rear axle. Detailed Implementation

[0043] Figures 1 to 3 , Figure 5 and Figure 6An embodiment of a processing machine 1 is shown, which includes a picking unit 7 for picking up fibrous plants (not shown), mounted at the front end of a self-propelled vehicle 18. The vehicle is self-propelled, meaning it has its own drive unit that allows it to move independently on the ground. Therefore, no additional vehicle, such as a tractor, is required to move the vehicle on the ground.

[0044] In the illustrated embodiment, the picking unit 7 is implemented as a gripping unit for gripping fibrous plants growing on the ground and for transporting the gripped fibrous plants to the conveyor 10. Here, a vehicle is used as the gripping machine. For this purpose, the gripping unit is provided at the front end of the chassis 2 with an axial direction (P) A Multiple gripping elements extend to grip the fibrous plant during travel and pull it off the ground. Here, differences may arise between gripping units suitable for gripping flax and gripping units suitable for gripping hemp. For example, hemp is longer than flax and requires a cutting operation, where the hemp plant is cut into two (or more) sections before being transported to the conveyor on the chassis.

[0045] In other embodiments, the picking unit 7 is configured to precisely pick up fibrous plants (such as flax or hemp) that have been grasped and laid flat on the ground in an earlier stage.

[0046] The chassis 2 includes a first (front in the illustrated embodiment) chassis component 3, a second (rear in the illustrated embodiment) chassis component 4, and a coupler in the form of a pivot element 6 arranged between the two chassis components 3 and 4. The pivot element 6 enables the first and second chassis components to pivot about a virtual or physical upright axis (i.e., at a position...). Figure 1 The vehicles shown are pivoting relative to each other (vertical pivot axis). Figure 2 , Figure 3 , Figure 5 and Figure 6 As can be seen, the second chassis component 4 can pivot relative to the first chassis component 3 to different positions. The degree of pivoting can be expressed as the magnitude of an angle (α), which is defined as the angle between the virtual centerline (PA3) in the axial direction of the first chassis component 3 and the virtual centerline (PA4) in the axial direction of the second chassis component 4, such as... Figure 6 As shown in the image.

[0047] exist Figure 2 and Figure 5 In the middle, the two chassis components 3 and 4 are aligned in principle (i.e., the pivot angle (α) is approximately 0 degrees), while... Figure 3 and Figure 6In the middle, the second chassis component 4 pivots clockwise (viewed from above) through a pivot angle (α). This pivoting is, in principle, continuously variable, and although in Figure 2 and Figure 3 Only two pivot positions are shown, but the second chassis component 4 can also pivot to any intermediate or further position, effectively pivoting to a maximum pivot angle of 60 degrees or slightly greater (α). max ).

[0048] Figures 1 to 3 The second chassis component 4 is also shown, comprising a spreading platform or conveyor platform 5. The picked-up fiber crop can be temporarily placed on this platform 5. Two parallel-driven, annular conveyors 12 are arranged on this spreading or conveyor platform 5. Lateral distance (i.e., lateral direction P) L The distance on the horizontal direction P L The axial direction P that is transverse to the direction corresponding to the longitudinal axis of vehicle 18 A Here, the fiber crop is only slightly shorter than the length of the fiber plant, so that the fiber plant remaining on the two conveyor belts can be transported quickly and reliably to the rear end of chassis 2, i.e., the rear end of the second chassis component 4. The fiber plant comes from conveyor 10 of the picking unit 7 and another conveyor 11 of the first chassis component 4. A delivery device 13, located at the rear end of the second chassis component, in the form of two further driven annular conveyor belts arranged at a predetermined angle, is also shown. Using these delivery devices, the supplied fiber crop can be neatly laid flat on the ground in a controlled manner.

[0049] The vehicle moves forward on two front wheels 14 and 15 mounted on a first chassis component 3 via suspension 20 and two rear wheels 16 and 17 mounted on a second chassis component 4 via suspension 23. Each wheel is independently driven. The front wheels 14 and 15 are driven by their respective drive units 21 and 22, while the rear wheels 16 and 17 are driven by their respective drive units 24 and 25. Each drive unit is integrated with the associated wheel: the left front wheel 14 with drive unit 21, the right front wheel 15 with drive unit 22, the left rear wheel 16 with drive unit 24, and the right rear wheel 17 with drive unit 25. More specifically, in a defined embodiment, each drive unit may be mounted on the inside of the associated wheel (i.e., the side facing the center of the vehicle). In the illustrated embodiment, drive units 21, 22, 24, and 25 are formed by hydraulic axial piston motors, although other types of hydraulic motors may also be used.

[0050] The power for the drive unit comes from power source 35 (in Figure 5(Illustrated schematically), for example, in the form of a diesel engine 36, which is mounted on a second chassis component 3, and whose rotatable output drive shaft 37 is coupled to a hydraulic pump unit 38. The hydraulic pump unit 38 is configured to pressurize hydraulic media and transport the media via a hydraulic circuit (not shown). The pump pressure generated by the hydraulic pump unit 38 can optionally be changed by a regulating device (not shown), such as a hydraulic and / or electric regulating mechanism. The hydraulic pump unit 38 is connected via a hydraulic circuit to four separate drive units 21, 22, 24, and 25.

[0051] Drive units 21, 22, 24, and 25 are connected to an integrated electronic control unit 39 for driving each hydraulic drive motor. Figure 5 For example, an Electronic Control Unit (ECU). In an embodiment where the hydraulic drive motor is formed by a variable displacement bent-shaft piston motor, the control unit 39 may be connected to an adjustment device disposed on the control unit 39 and configured to adjust the torque supplied by the associated drive motor and the rotational speed of the output shaft.

[0052] The control unit 39 is also connected to steering mechanisms that allow each of the wheels 14 to 17 to be steered individually (or, in other embodiments, allow the two front wheels 14, 15 to be steered together and / or the two rear wheels 16, 17 to be steered together). For example, in a defined embodiment, a steering unit is provided for controlling the pivot position of the left front wheel 14 and a second steering unit is provided for controlling the pivot position of the right front wheel 15. Similarly, a third steering unit and a fourth steering unit are provided for controlling the respective pivot positions of the left rear wheel 16 and the right rear wheel 17.

[0053] In a defined embodiment, a planetary gear drive (not shown), also referred to herein as a planetary transmission, may be arranged between each drive motor and its associated wheel. Using this drive, the ratio between the speed of the drive motor and the speed of the wheel can be adjusted as needed, preferably by means of a control unit 39. The advantage of this planetary gear drive is that it occupies relatively little space, thus allowing for simple construction, and it can achieve relatively high transmission ratios (especially relative to a limited size).

[0054] exist Figure 4The pivot element 6 between the two chassis components 3 and 4 is shown in more detail. It is shown that the first chassis component 4 has a plurality of horizontally lying parallel flanges: two upper parallel flanges 44 and two lower parallel flanges 45. On the side of the second chassis component 4, the pivot element 6 also has upper horizontally lying flanges 48 and lower horizontally lying flanges 49. All flanges are provided with openings into which a physical upright shaft 46 (a vertical upright shaft in the illustrated vehicle position) has been inserted. This configuration ensures that the second chassis component 4 can pivot about the upright shaft 46. In the illustrated embodiment, the pivot element 6 is also implemented to be able to pivot about a horizontally lying axis. Therefore, the rear chassis component 4 can “roll” relative to the front chassis component 3. The rolling motion is achieved by two upright flanges 70 and 71, which are interconnected via a horizontally lying rotation axis 72.

[0055] Figure 7 and Figure 8 Two methods of utilizing the processing machine 1 according to the embodiment are shown. Figure 7 This illustrates the capture of the fiber plant when the vehicle is in a pivot position, in which the rear chassis component 4 and the front chassis component 3 are aligned on the same axis (whereby the two chassis components are thus aligned relative to each other). When the vehicle moves forward (direction P)... T When the process is complete, the gripping unit 7 at the front of the vehicle 18 grips the (untreated) fiber plants OV of the first row 50. The gripped fiber plants are then transported rearward on the chassis 2, and subsequently, the gripped and transported fiber plants (which are neatly parallel to each other during transport) are placed on the ground in the second row 51 via the conveyor unit 13. As can be seen in the figure, the treated fiber plants VV are thus placed in the second row 51, which is positioned laterally very close to the ungrabbed portion of the fiber plants. In fact, there is little or no intermediate space between the second row 51 and the ungrabbed fiber plants (depending on the width of the gripping unit 7 relative to the length of the gripped fiber plants).

[0056] In the illustrated embodiment, each row 51 further comprises two adjacent rows of fibrous plants. The flax plants being grasped are approximately 1.2m to 1.3m long, while the hemp plants are even longer. This is why the hemp plants are cut in half so that the length of the cut hemp plants is also approximately 1.2m. The working width of the vehicle is typically on the order of 2.6m.

[0057] Figure 8The diagram illustrates a second chassis component 4 positioned at an angle relative to the first (front) chassis component 3, achieved by steering the rear wheels using a steering mechanism and / or by individually driving these rear wheels. The rear wheels 16 and 17 pivot such that they extend in the displacement direction PT of the vehicle 18 (just like the front wheels 14 and 15; in other words, all wheels are now oriented in the same direction, regardless of the angle of the second chassis component 4 relative to the first chassis component 3). Different conveyors 10, 11, and 12 (and delivery unit 13) are implemented here to allow the fiber plants to be placed back on the ground, neatly arranged side-by-side on the rear side of the vehicle. If the vehicle 18 operates in this manner, the second row 51' is located at a position offset laterally in the transverse direction to the axial direction, as... Figure 8 As shown in the diagram. This frees up an additional row 52, ​​at least an extra-wide row 52. The width (a) of this row is preferably greater than the width of the right front wheel 15 and the right rear wheel 17, to such an extent that when the vehicle next passes over the fibrous plant, the front wheels can remain completely within the additional row 52, ​​and the risk of the wheels 15, 17 driving over the fibrous plant placed on the ground is minimized.

[0058] Figure 6 The diagram illustrates that drive units 21 and 25 and associated rear wheels 16 and 17 can actively pivot relative to the rear chassis component 4. Both wheels 16 and 17 can pivot (for steering) about a virtual vertical axis, with the right rear wheel 17 pivoting forward and the left rear wheel 16 pivoting backward. The diagram shows the rear chassis component 4 pivoted to a desired tilt position and the vehicle traveling while maintaining the rear chassis component 4 in the indicated tilt position. Clearly, the rear chassis component 4 can also be positioned in any other tilt position in the same manner.

[0059] Figure 9 and Figure 10A more detailed view is shown illustrating this pivoting configuration of the rear wheels 16, 17. These figures illustrate an embodiment of the steering unit 53 and associated wheel suspension 54 of the second chassis component 4. The drive unit 21 of the left rear wheel 16 is pivotally coupled to a first outer end of the rear axle 55 via a generally U-shaped hinge, while the drive unit 25 of the right rear wheel 17 is pivotally coupled to the opposite second outer end of the rear axle 55 via a U-shaped hinge 56. In the illustrated embodiment, the rear axle is a pivot axis. This is mounted on the frame of the rear chassis component 4 via one or more central support members 57 for pivoting (“swinging”). The pivot axis 58 extends generally along the horizontal longitudinal direction of the vehicle, allowing the rear axle 55 to pivot upward and downward via a central location, as laterally visible, to compensate for unevenness of the ground surface over which the vehicle travels. Two actuators 59, 60 are also provided. In the illustrated embodiment, each actuator is formed by an extension cylinder. Extension cylinder 60 has a first outer end attached (e.g., via the central support 57) to the rear chassis component 4 (central portion) and a opposing outer end attached via a pivotable frame component 62 to the associated drive unit 25 and / or the associated wheel 17. Extension cylinder 69 also has a first outer end attached (e.g., via the central support 57) to the rear chassis component 4 (central portion) and a opposing outer end attached via a pivotable frame component 61 to the associated drive unit 21 and / or the associated wheel 16. The extension or retraction of cylinders 59 and 60 (generally in the lateral direction, see...) Figure 9 The arrows in the diagram cause the corresponding pivoting of the relevant rear wheels 16 and 17.

[0060] Each of actuators 59 and 60 can cause the associated rear wheels 16 and 17 to pivot. Actuators 59 and 60 together form a steering unit 53, thereby allowing adjustment of the position of the rear wheels 16 and 17 as needed. In the illustrated embodiment, actuators 59 and 60 can operate individually, such that one rear wheel 16 can pivot in principle independently of the other rear wheel 17. In other embodiments, both actuators 59 and 60 operate simultaneously, or a single integrated actuator (e.g., a double-acting extended cylinder) is present, thereby causing the two wheels 16 and 17 to pivot synchronously with each other. Actuators 59 and 60 can also be implemented as hydraulic or pneumatic actuators, for example connected to the rest of the vehicle's hydraulic system.

[0061] Figure 11 Embodiments of the steering unit and wheel suspension are shown, which, with a few minor differences, are similar to... Figure 9 and Figure 10 The steering unit and wheel suspension in the above embodiments correspond to each other. Figure 11In the accompanying drawings, the same reference numerals denote the same components, and for the sake of simplicity, detailed descriptions of each of these components are omitted here. The illustrated embodiment includes a steering unit 53 and an associated wheel suspension 54. The drive unit 25 (not shown) of the right rear wheel 17 is pivotally coupled to a first outer end of the rear axle 55 via the generally U-shaped hinge 56, while the drive unit of the left rear wheel is similarly pivotally coupled to a second opposite outer end of the rear axle 55 via a U-shaped hinge. The rear axle 55 is pivotally mounted on the chassis component 4 via an axle housing 65, in which a pivot shaft 58 extends generally in the horizontal longitudinal direction of the vehicle, allowing the rear axle 55 to pivot to some extent. The two actuators 59, 60 (only actuator 60 is shown in the figures) are again formed by extension cylinders. The extension cylinder 60 has a first outer end (e.g., via the central support 57) attached to the rear chassis component 4 (the central portion) and a opposite outer end attached via a pivotable frame component 62 to the associated drive unit and / or the associated wheel 17. By retracting or extending the extension cylinder (preferably a hydraulic extension cylinder connected to the vehicle's hydraulic system and controlled by the driver in the vehicle's cab), the associated rear wheel 17 can be pivoted to the left or right and to the rear chassis component 4 in this way, thereby enabling steering as needed.

[0062] Further embodiments are described in the examples numbered below.

[0063] Example 1. A processing machine for processing fibrous plants, particularly hemp or flax, the processing machine comprising: a self-propelled vehicle including an elongated chassis; a picking unit mounted on a first end of the chassis and configured to pick up the fibrous plant during travel of the vehicle; a transport device for transporting the picked-up fibrous plant from the first end of the chassis to an opposite second end of the chassis; and a delivery device for delivering the picked-up and transported fibrous plant at the second end, wherein the chassis includes:

[0064] - A first chassis component configured to mount at least a portion of the transport device and the picking unit, the first chassis component also being provided with suspension for the two front wheels;

[0065] - A second chassis component configured to mount at least a portion of a transport device and a delivery device, the second chassis component also having at least two rear wheel suspensions;

[0066] - A pivoting element, which is mounted between the first chassis component and the second chassis component, for pivoting the first chassis component and the second chassis component relative to each other about a virtual or physical upright pivot axis.

[0067] Example 2: The processing machine according to Example 1, wherein the processing machine is configured to pivot the second chassis component between a first pivot position and a second pivot position, wherein in the first pivot position the first chassis component and the second chassis component extend in a straight line relative to each other, and in the second pivot position the second chassis component extends obliquely relative to the first chassis component.

[0068] Example 3: The processing machine according to Example 1 or 2, wherein the chassis is configured to allow the second chassis component to pivot between a first pivot position and a second pivot position, wherein in the first pivot position the axial direction of the first chassis component is parallel to the axial direction of the second chassis component, and in the second pivot position the axial direction of the second chassis component is inclined relative to the axial direction of the first chassis component.

[0069] Example 4. A processing machine according to any of the preceding examples, wherein the chassis is configured such that the second chassis component can pivot relative to the first chassis component between a first pivot position and a second pivot position, wherein in the first pivot position the angle between the axial directions of the first chassis component and the second chassis component is a maximum of 4 degrees, and in the second pivot position the angle is between 5 degrees and 30 degrees, preferably between 10 degrees and 20 degrees, and even more preferably about 15 degrees.

[0070] Example 5: A processing machine according to any of the preceding examples, wherein the pivoting element is centrally positioned in the lateral direction and / or arranged in the axial direction between the front wheel and the rear wheel.

[0071] Example 6. A processing machine according to any of the preceding examples, wherein the pivoting element is further configured to allow the first chassis component and the second chassis component to pivot relative to each other about a virtual or physical horizontal axis that is generally transverse to the vertical axis and lies in the axial direction of the first chassis component or the second chassis component.

[0072] Example 7. A processing machine according to any of the preceding examples, wherein the suspension of the front wheel and the suspension of the rear wheel are both configured such that the positions of the front wheel and the rear wheel can be changed relative to the respective axial directions of the first chassis component and the second chassis component.

[0073] Example 8. A processing machine according to any of the preceding examples, wherein the suspension architecture of the front wheel and the rear wheel causes each of the front wheel and the rear wheel to pivot independently of each other.

[0074] Example 9: The processing machine according to Example 6 or 7 includes a first steering unit for controlling the pivot position of the front wheels and / or a second steering unit for controlling the pivot position of the rear wheels.

[0075] Example 10: The processing machine according to Example 9, wherein the second steering unit is configured to adjust the pivot position of the rear wheel to the pivot position of the second chassis component.

[0076] Example 11: A processing machine according to any of the preceding examples, wherein the transport device includes a first annular conveyor mounted on the first chassis component and a second annular conveyor mounted on the second chassis component.

[0077] Example 12: A processing machine according to any of the preceding examples, wherein the picking unit is a gripping unit for picking up fibrous plants from the ground.

[0078] Example 13. A processing machine according to any of the preceding examples, wherein the gripping unit is a hemp gripping unit configured to grip hemp plants, and / or wherein the gripping unit is a flax gripping unit configured to grip flax.

[0079] Example 14: A processing machine according to any of the preceding examples, wherein the picking unit is a picking unit for picking up fibrous plants that have been previously grabbed and placed on the ground.

[0080] Example 15: A processing machine according to any of the preceding examples, wherein the pickup unit is an interchangeable pickup unit releasably coupled to the first chassis component.

[0081] Example 16: A processing machine according to any of the preceding examples, including a drive configured to independently drive each of the front wheel and the rear wheel.

[0082] Example 17. A processing machine according to any of the preceding examples, wherein the actuator includes a hydraulic pump unit driven by a power source, and the hydraulic pump unit is connected to: a first drive unit coupled to and configured to drive a first front wheel; a second drive unit coupled to and configured to drive a second front wheel; a third drive unit coupled to and configured to drive a first rear wheel; and a fourth drive unit coupled to and configured to drive a second rear wheel.

[0083] Example 18. A processing machine according to any of the preceding examples, wherein the processing machine includes a driver configured to substantially continuously change the torque transmitted to the front wheel and the rear wheel by independent drive units.

[0084] Example 19. A processing machine according to Example 17 or 18, wherein the drive unit includes a respective hydraulic drive motor, wherein each of the hydraulic drive motors preferably includes a variable displacement bent-shaft piston motor.

[0085] Example 20: The processing machine according to Example 19, wherein the hydraulic drive motor is integrated with the corresponding front wheel and the rear wheel.

[0086] Example 21: A processing machine according to any of the preceding examples, comprising a corresponding transmission mechanism for each of the front wheels and each of the rear wheels, wherein the transmission mechanism is coupled to a corresponding hydraulic drive motor for transmitting rotation of the drive motor to the associated front wheel or the rear wheel at at least a selected gear ratio, wherein each of the transmission mechanisms preferably comprises a planetary gear drive.

[0087] Example 22: The use of the processing machine as described in any of the preceding examples.

[0088] Example 23. A method for processing fibrous plants, particularly hemp or flax, the method preferably utilizing a processing machine according to any one of Examples 1-21, the method comprising: pivoting a second chassis component relative to a first chassis component, and driving the self-propelled vehicle over the ground in the pivoted state to pick up fibrous plants along a first row using the pickup unit on the first chassis component, transporting the picked-up fibrous plants from the pickup unit to a delivery device on the second chassis component, and delivering the picked-up and transported fibrous plants along a second row using the delivery device, wherein the second row is located at a position offset in a lateral direction transverse to the axial direction.

[0089] This invention is not limited to the embodiments described herein. The scope of protection is defined by the appended claims, within which various modifications and adjustments are contemplated.

Claims

1. A processing machine for processing fibrous plants, the processing machine comprising: - A self-propelled vehicle, the self-propelled vehicle comprising an elongated chassis; - A pickup unit, which is mounted on a first end of the chassis and configured to pick up fibrous plants during the movement of the vehicle; - A transport device for transporting the picked-up fibrous plant from the first end of the chassis to the opposite second end of the chassis; as well as - A delivery device for delivering the picked-up and transported fibrous plant at the second end, wherein the chassis includes: - A first chassis component configured to mount at least a portion of the transport device and the picking unit, the first chassis component also being provided with a suspension for mounting two front wheels; - A second chassis component configured to mount at least a portion of a transport device and a delivery device, the second chassis component also having at least a suspension for mounting two rear wheels; - A pivoting element, which is mounted between the first chassis component and the second chassis component, for pivoting the first chassis component and the second chassis component relative to each other about a virtual or physical upright pivot axis; - A first steering unit for controlling the pivoting position of the front wheels mounted on the first chassis component; and - A second steering unit, which controls the pivoting position of the rear wheels mounted on the second chassis component.

2. The processing machine according to claim 1, wherein the processing machine is configured to pivot the second chassis component between a first pivot position and a second pivot position, wherein in the first pivot position the first chassis component and the second chassis component extend in a straight line relative to each other, and in the second pivot position the second chassis component extends obliquely relative to the first chassis component.

3. The processing machine according to claim 1, wherein, The chassis is configured to allow the second chassis component to pivot between a first pivot position and a second pivot position, wherein in the first pivot position the axial direction of the first chassis component is parallel to the axial direction of the second chassis component, and in the second pivot position the axial direction of the second chassis component is inclined relative to the axial direction of the first chassis component.

4. The processing machine according to claim 1, wherein, The chassis is configured such that the second chassis component can pivot relative to the first chassis component between a first pivot position and a second pivot position, wherein in the first pivot position the angle between the axial directions of the first chassis component and the second chassis component is a maximum of 4 degrees, and in the second pivot position the angle is between 5 degrees and 30 degrees.

5. The processing machine according to claim 1, wherein, The pivoting element is centrally positioned in the lateral direction and / or arranged in the axial direction between the front wheel and the rear wheel.

6. The processing machine according to claim 1, wherein, The pivoting element is also configured to allow the first chassis component and the second chassis component to pivot relative to each other about a virtual or physical horizontal axis that is transverse to the virtual or physical upright pivot axis and is axial in the direction of the first chassis component or the second chassis component.

7. The processing machine according to claim 1, wherein, The suspension of the front wheels and the suspension of the rear wheels are both configured such that the positions of the front wheels and the rear wheels can be changed relative to the axial directions of the first chassis component and the second chassis component, respectively.

8. The processing machine according to claim 1, wherein, The suspension architecture of the front and rear wheels causes each of the front and rear wheels to pivot independently.

9. The processing machine according to claim 1, wherein, The second steering unit is configured to adjust the pivot position of the rear wheel to the pivot position of the second chassis component.

10. The processing machine according to claim 1, wherein, The transport device includes a first annular conveyor mounted on the first chassis component and a second annular conveyor mounted on the second chassis component.

11. The processing machine according to claim 1, wherein, The picking unit is a gripping unit used to pick up fibrous plants from the ground.

12. The processing machine according to claim 11, wherein, The grasping unit is a hemp grasping unit configured to grasp hemp plants, and / or, wherein the grasping unit is a flax grasping unit configured to grasp flax.

13. The processing machine according to claim 1, wherein, The picking unit is used to pick up fibrous plants that have been previously grabbed and placed on the ground.

14. The processing machine according to claim 1, wherein, The pickup unit is an interchangeable pickup unit that is releasably coupled to the first chassis component.

15. The processing machine of claim 1, comprising a drive configured to independently drive each of the front wheel and the rear wheel.

16. The processing machine according to claim 15, wherein, The driver includes a hydraulic pump unit driven by a power source, and the hydraulic pump unit is connected to: a first drive unit coupled to a first front wheel and configured to drive the first front wheel; A second drive unit, the second drive unit being coupled to a second front wheel and configured to drive the second front wheel; A third drive unit is coupled to the first rear wheel and configured to drive the first rear wheel; And a fourth drive unit, which is coupled to the second rear wheel and configured to drive the second rear wheel.

17. The processing machine according to claim 1, wherein, The processing machine includes a drive configured to continuously change the torque transmitted to the front and rear wheels by independent drive units.

18. The processing machine according to claim 17, wherein, The drive unit includes a corresponding hydraulic drive motor.

19. The processing machine according to claim 18, wherein, The hydraulic drive motor is integrated with the corresponding front wheel and the rear wheel.

20. The processing machine of claim 15, comprising corresponding transmission mechanisms for each of the front wheels and each of the rear wheels, wherein, The transmission mechanism is coupled to a corresponding hydraulic drive motor for transmitting the rotation of the drive motor to the relevant front wheel or the rear wheel at at least a selected gear ratio.

21. The processing machine according to claim 1, wherein, The second chassis component has at least one rear wheel on the left-hand side of the second chassis component and at least one rear wheel on the right-hand side of the second chassis component, wherein the second steering unit includes: - A first actuator, mounted on the second chassis component and the left rear wheel; and - A second actuator, which is mounted on the second chassis component and the right rear wheel.

22. The processing machine of claim 1, comprising a single rear axle pivotally mounted on at least one rear wheel on the left-hand side of the second chassis component and at least one rear wheel on the right-hand side of the second chassis component, wherein, The rear axle and the rear wheel mounted on the rear axle are also arranged via at least one central pivot member on the second chassis component, the at least one central pivot member being used to pivot about a virtual or physical flat pivot axis extending along the longitudinal direction of the second chassis component.

23. The processing machine according to claim 22, wherein, The rear axle includes a swing shaft or a oscillating shaft.

24. The processing machine according to claim 1, wherein, The rear wheels are assembled into a single rear wheel that is centrally positioned in the lateral direction.

25. Use of the processing machine according to any one of the preceding claims.

26. A method for treating fibrous plants, the method utilizing a processing machine according to any one of claims 1-24, the method comprising: The second chassis component is pivoted relative to the first chassis component, and the self-propelled vehicle is driven to roll over the ground in the pivoted state so as to pick up fibrous plants along a first row using the picking unit on the first chassis component, transport the picked-up fibrous plants from the picking unit to the delivery device of the second chassis component, and deliver the picked-up and transported fibrous plants along a second row using the delivery device, wherein the second row is located at a position offset in a lateral direction transverse to the axial direction.

27. The method of claim 26, comprising: The steering unit is used to control the pivoting position of the rear wheels mounted on the second chassis component, thereby causing the second chassis component to pivot relative to the first chassis component.

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