Tracked undercarriage for an agricultural machine as well as agricultural machinery

Abstract

The present application relates to a crawler track (1) for an agricultural machine (2), comprising a front main wheel (3), a rear main wheel (4), a front main frame (5) associated with the front main wheel (3), a rear main frame (6) associated with the rear main wheel (4), two support wheels (9, 10), a running belt (11) spanning the main wheels (3, 4) and a pivot point (12) by means of which the crawler track (1) can be pivotably connected to a body (42) of the machine (2) by forming a machine axle (13), wherein the two main frames (5, 6) are pivotably coupled to each other about a common pivot axis (14), wherein the support wheels (9, 10) are arranged on a common support frame (15), wherein the support frame (15) is pivotably connected to the front main frame (5) by means of a support wheel arm (17). In order to provide a crawler track for an agricultural machine which is simpler in design than the prior art, a damping device (43) is proposed according to the invention, comprising at least one piston-cylinder unit (18) and at least one hydraulically actuated pressure device (44, 45), wherein the piston-cylinder unit (18) is coupled at a swing arm end (19) to the support wheel swing arm (17) and at a frame end (20) to the rear main frame (6), thereby coupling the support wheel swing arm (17) and the rear main frame (6) to each other.

Description

[0001] The present application relates to a crawler track for an agricultural working machine according to the preamble of claim 1. Furthermore, the present application relates to an agricultural working machine according to the preamble of claim 14.

[0002] The crawler track comprises a front main wheel and a rear main wheel. These main wheels are also known in technology as "idler wheels". Typically, one of the main wheels, usually the rear one, is rotationally driven, while the other main wheel serves passively to guide a running belt that spans the main wheels. The latter is also part of the crawler track. Viewed longitudinally of the crawler track, the main wheels are arranged opposite one another or one behind the other. The front main wheel is assigned to a front main frame and the rear main wheel to a rear main frame. This assignment can consist in particular in the fact that the main wheels are arranged directly or indirectly on their respective main frames and are each mounted so that they can rotate about a rotation axis.

[0003] In particular, the front main wheel can be mounted on a pivot arm, forming its axis of rotation, which is arranged on the front main frame. The pivot arm is connected to the main frame and forms a pivot joint, such that the pivot arm can pivot relative to the main frame. Since the axis of rotation of the main wheel is arranged at a distance from the pivot joint of the pivot arm, pivoting of the pivot arm relative to the front main frame is accompanied by a movement of the pivot axis of the front main wheel on a circular path around the pivot joint. This movement leads to a change in the distance between the axis of rotation of the front main wheel and the axis of rotation of the rear main wheel, thereby changing the belt tension of the running belt.In such a configuration, the pivot arm can preferably further cooperate with a piston-cylinder unit, by means of which a pivoting movement of the pivot arm can be generated and thus the belt tension of the running belt can be adjusted. Such a piston-cylinder unit is referred to in technology as a "belt tensioning cylinder." Such an indirect arrangement of the rotational axis of the front main wheel on the front main frame is understood, for the purposes of the present application, as an arrangement of the front main wheel on the front main frame.

[0004] At least two support wheels are arranged in an intermediate area between the two main wheels. These are also known in technology as "midrollers." The support wheels typically have a smaller diameter than the main wheels. Like the main wheels, they are in direct contact with the running belt. The support wheels are in contact with a lower section of the running belt, which typically comes into direct contact with the ground during operation of the crawler track. In this way, forces acting on the crawler track can be dissipated into the ground via both the two main wheels and the two support wheels via the running belt.

[0005] The crawler track further comprises a pivot point by means of which it can be pivotally connected to the body of a respective work machine, forming a machine axle. In a typical agricultural work machine, such as a combine harvester or a forage harvester, a crawler track is arranged at opposite ends of a front axle of the respective work machine. The respective crawler track is pivoted to the front axle of the work machine at the pivot point mentioned, so that the work machine rests on a respective surface by means of the crawler tracks, and propulsion of the work machine can be achieved via the crawler tracks.

[0006] The two main frames, to which the main wheels are assigned, are pivotally coupled. This allows the main frames to pivot relative to each other about a common pivot axis. This pivot axis is preferably identical to the machine axis at the pivot point of the crawler track. The pivot axis and the machine axis are each oriented horizontally and perpendicularly to a plane spanned by the running belt.

[0007] The support wheels are mounted on a common support frame, arranged one behind the other relative to the longitudinal axis of the crawler track. Thus, the main wheels and the support wheels are arranged "in series" in the longitudinal direction of the crawler track, with the front main wheel forming the front end of the crawler track, followed by the two support wheels, and finally the rear main wheel forming the rear end of the crawler track.

[0008] A support wheel swing arm is provided to connect the support frame to the main frame, pivoting the support frame to the front main frame. The support wheel swing arm is articulated to both the front main frame and the support frame. The support wheel swing arm is therefore mechanically designed as a pendulum rod. The articulated connection of the two main frames, as well as the articulated connection of the support wheel swing arm to the front main frame, ensures that the main wheels and the support wheels can be raised separately when driving over an obstacle without the rest of the crawler track lifting off the ground.

[0009] Crawler tracks of the type described above are already known in the prior art. Reference is made to German patent application DE 10 2014 003 964 A1 as an example. The invention described therein is based on the fact that the axis referred to above as the pivot axis, about which the front main frame and the rear main frame are pivotally mounted relative to each other, coincides with the machine axis, which is located at the articulation point of the crawler track of a respective work machine.

[0010] In order to ensure that the force transmitted from a crawler track into a particular surface is transferred as evenly as possible across the individual wheels of the crawler track (both the main wheels and the support wheels), a crawler track typically comprises at least one piston-cylinder unit, which is connected at a first end to the support wheel swing arm and at a second end to the front main frame. Furthermore, it is known for the crawler track to comprise at least one further piston-cylinder unit, which connects the front main frame and the rear main frame. The task of such piston-cylinder units is essentially to even out the force distribution across the individual wheels, even when driving over obstacles, i.e. when the crawler track is not fully resting on an at least substantially level surface.In other words, forces diverted via the crawler track should be transmitted as evenly as possible via the wheels into the ground.

[0011] In the current state of the art, it has proven difficult to construct such crawler tracks due to the limited space available for arranging various piston-cylinder units. Furthermore, the coordination between the individual piston-cylinder units is complex in order to achieve the most uniform possible power transfer across the crawler tracks' wheels in various operating situations, particularly under different ground conditions.

[0012] The present application is therefore based on the object of providing a crawler track for an agricultural work machine which is of simpler construction than the prior art.

[0013] The underlying object is achieved according to the invention by means of a crawler track having the features of claim 1. Advantageous embodiments emerge from the associated subclaims.

[0014] The crawler track according to the invention is characterized by a damping device comprising at least one piston-cylinder unit and at least one hydraulically acting pressure device. The piston-cylinder unit can be single-acting or double-acting. It is intended and configured to dampen movements performed by the support wheels and the rear main frame relative to one another. A hydraulic pressure device, as used in the present application, is understood to mean a device by which at least one working chamber of a piston-cylinder unit can be subjected to hydraulic pressure. This can be done both passively and actively, i.e., the pressure device can be formed by an active or a passive pressure device.

[0015] A "passive pressure device" within the meaning of the present application can, in particular, be formed by a gas reservoir. Such a device generally comprises two pressure chambers fluidically separated by a membrane, one pressure chamber being filled with pressurized gas ("gas chamber") and the other pressure chamber ("fluid chamber") being in fluid contact with a hydraulic fluid of a hydraulic system, the hydraulic system including at least one working chamber of a respective piston-cylinder unit. In this way, the hydraulic fluid can be displaced from the working chamber of the piston-cylinder unit and flow into the fluid chamber of the gas reservoir, in the course of which the membrane is deformed and the gas in the gas chamber is compressed. The gas thereby builds up an increasing counterpressure.Conversely, the gas pushes the diaphragm—and thus the hydraulic fluid in the fluid chamber—back into the working chamber of the piston-cylinder unit as soon as the volume of the latter increases or the counterpressure of a piston of the piston-cylinder unit drops and falls below the pressure prevailing in the gas chamber of the pressure device. In this case, the pressure device effectively pushes the piston of the piston-cylinder unit back. These processes are passive within the meaning of the present application, since the pressure device is not intended or configured to actively exert a variable pressure on the hydraulic system, for example, by means of a pump. The passive pressure device can indeed be preloaded and thus exert pressure on the hydraulic system. Otherwise, however, it only reacts to changes introduced into the hydraulic system from outside.

[0016] In contrast, an "active pressure device" within the meaning of the present application is one by means of which a pressure in a hydraulic system can be actively changed. For this purpose, the pressure device can interact with a pressure source, for example a pump, or can include such an integrated one. As a variant of an active pressure device, it is conceivable, for example, that a pressure source is assigned to the pressure device. Such a pressure source can provide hydraulic pressure which at least also acts on the pressure device. The latter can in this case be formed as such by a passive pressure device, for example in the form of a gas reservoir. Consequently, an entirety comprising a passive pressure device in interaction with a pressure source within the meaning of the present application can also be understood as an "active pressure device".

[0017] The piston-cylinder unit is coupled at its first end ("swing end") to the support wheel swing arm and at its second end ("frame end") to the rear main frame. As a result, the rear main frame and the support wheel swing arm are coupled to each other in a force-transmitting manner by means of the piston-cylinder unit. Particularly preferably, the crawler track is designed to be free of any further connections between the support wheel swing arm and the front or rear main frame, apart from the aforementioned piston-cylinder unit and the articulated linkage to the front main frame.

[0018] The crawler track system according to the invention has many advantages. In particular, power distribution between the main wheels and the support wheels is achieved solely by means of the single piston-cylinder unit between the support wheel swing arm and the rear main frame. This is illustrated by the following case distinctions: First, consider the case in which the front main wheel drives over an obstacle and is thereby raised relative to the support wheels and the rear main wheel. The lifting of the front main wheel is accompanied by the lifting of the front main frame, on which the support wheel swing arm is mounted. As explained above, the piston-cylinder unit is articulated to the support wheel swing arm by its swing end. Accordingly, the piston-cylinder unit is also raised slightly.The amounts of lift of the front main wheel and the piston-cylinder unit are proportional to their respective distances in relation to the pivot axis around which the front main frame is pivoted when the front main wheel is raised. Since the piston-cylinder unit is coupled to the rear main frame at the end of the frame opposite the swing arm end, the rear main frame is also raised somewhat in line with the lifting of the piston-cylinder unit. Since both the support wheel swing arm is articulated to the support frame and the rear main frame is articulated to the rear main wheel, the rear main wheel and the support wheels remain at their previous height and are therefore not lifted off the ground. The piston-cylinder unit ensures that the support wheels continue to be used to transfer forces and thus contribute to the force transfer of the respective work machine down to the ground.

[0019] In the second case considered here, the support wheels drive over an obstacle and are raised accordingly. This is also accompanied by a raising of the support wheel swing arm, to which the piston-cylinder unit is pivoted. Since the support wheel swing arm is only connected to the front main frame by forming a joint, the front main frame is only moved indirectly, namely as a result of a raising of the rear main frame via the piston-cylinder unit and a concomitant raising of the connection point at which the front main frame is connected to the rear main frame, forming the joint axis. Since the front main wheel is assigned to the front main frame, forming its axis of rotation, the pivoting of the front main frame is not accompanied by a raising of the front main wheel.The latter therefore remains in contact with the ground via the running belt and can thus transfer forces acting on the crawler track into the ground. The same applies to the rear main wheel.

[0020] The principle described above applies analogously when the rear main wheel is raised as a result of driving over an obstacle, whereby the forces are introduced into the support wheels via the piston-cylinder unit.

[0021] The crawler track according to the invention therefore has the particular advantage that, in its simplest design, it uses only a single piston-cylinder unit to ensure continuous, reliable transfer of forces into the ground via the two main wheels and the two support wheels. This allows the crawler track to be constructed particularly simply, eliminating the need for a separate coupling element, which in the prior art is also typically designed as a piston-cylinder unit.

[0022] In a particularly preferred embodiment, the at least one pressure device is integrated into the piston-cylinder unit. This embodiment is particularly advantageous when the piston-cylinder unit is single-acting. This embodiment is particularly advantageous because it saves installation space and makes the piston-cylinder unit more compact overall.

[0023] Furthermore, it can be particularly advantageous if the damping device comprises at least two pressure devices, preferably exactly two pressure devices, that interact with the same piston-cylinder unit. In this configuration, the piston-cylinder unit can, for example, and preferably, be double-acting, with the first pressure device being operatively connected to a cylinder-side main working chamber of the piston-cylinder unit, and the second pressure device being operatively connected to a piston-side secondary working chamber of the piston-cylinder unit.

[0024] At least one of the pressure devices, preferably both pressure devices, are preferably designed as a passive gas reservoir. This allows the piston-cylinder unit as a whole to function particularly well as a gas spring and dampen shock loads transmitted by the piston-cylinder unit between the support wheel swing arm and the rear main frame. This ensures good driving comfort for the respective work machine on which the crawler track is mounted. In particular, sudden deflections resulting from driving over obstacles and the resulting forces can be dampened. In addition to improving driving comfort, the components of the crawler track and the respective work machine as a whole are also protected.

[0025] If both pressure devices are passive, it can also be advantageous if the pressure devices are preloaded with different pressures. In this case, the first pressure device, which is operatively connected to the main working chamber, is preferably preloaded with a greater pressure than the second pressure device, which is operatively connected to the secondary working chamber. The pressure ratio between the pressure devices can be, for example, and preferably at least 1.5:1, preferably at least 2:1, regardless of which pressure device is assigned to which of the working chambers. Nevertheless, it is preferred if the more strongly preloaded pressure device is the one assigned to the main working chamber. Preloading the pressure devices with different pressures has the advantage that they can contribute particularly well to damping in different force ranges.While at a comparatively low load on the crawler track, for example, on a combine harvester traveling on the road with an empty grain tank, one pressure device is loaded with pressure from the piston-cylinder unit in the most ideal range of its characteristic curve, the same applies to the other pressure device at a comparatively high load on the crawler track, for example, during harvesting in the field with a full grain tank. Thus, the damping effect of the piston-cylinder unit is well distributed across different load ranges, and the damping device offers a good damping effect across a wide load range.

[0026] As an alternative to a design in which both pressure devices interacting with the same piston-cylinder unit are formed by passive gas reservoirs, it is also conceivable for at least one pressure device, preferably both pressure devices, to be actively configured, i.e., either to comprise a hydraulic pressure source itself or to be connected to or interact with such a source. Preferably, the respective active pressure device also comprises a passive gas reservoir.

[0027] By means of the hydraulic pressure source, a hydraulic pressure in the main working chamber and / or the secondary working chamber of the piston-cylinder unit can be actively changed during normal operation of the crawler track on an agricultural machine. Preferably, an active pressure device is assigned to the piston-side secondary working chamber of the piston-cylinder unit.

[0028] The use of an active pressure device has the advantage that the pressure in the respective assigned working chamber can be manipulated as needed to influence the damping characteristics of the piston-cylinder unit. In particular, the piston-cylinder unit can be kept within a favorable range of its characteristic curve in this way, so that shocks are damped particularly well. For example, it is conceivable that the piston-cylinder unit is designed to transmit large forces into the ground via the crawler track. This means that the piston-cylinder unit transmits large forces between its swing arm end and its frame end. The design of the piston-cylinder unit for such a load case, which sensibly makes up a large part of a typical usage profile of the respective work machine, means that the damping characteristics of the piston-cylinder unit are particularly forgiving for this load case.If a different load case occurs, especially one in which the crawler track must transfer significantly lower forces into the ground, the piston-cylinder unit operates outside of its optimal operating point, meaning the damping characteristics are not ideal. In such a case, the active pressure device can apply additional hydraulic pressure to the respective working chamber, especially the main working chamber, to "simulate" a higher load on the crawler track. In this way, the piston-cylinder unit is kept within an ideal range of its characteristic curve, ensuring the best possible damping characteristics.

[0029] In this embodiment, it may be advantageous if the second pressure device is designed in the manner of a passive pressure device and, for example, comprises only a passive gas storage device.

[0030] In further developing the crawler track, it can be advantageous if the axes of rotation of the two main wheels and the pivot axis are at least substantially at a common height, at least when the crawler track is in a central position. The pivot axis is in its zero position when the crawler track is in its central position. The central position of the crawler track, in the sense of the present application, describes a state of the crawler track in which the same is resting on a level surface, i.e., neither the main wheels nor the support wheels are driving over an obstacle. Such a central position of a crawler track is illustrated in the figures of the exemplary embodiment. The arrangement of the pivot axis at the same height as the axes of rotation of the main wheels means that no torque is generated about the pivot axis as a result of belt tension in the running belt.Due to the at least substantially identical vertically measured distance of an upper section of the running belt from the pivot axis compared to the vertically measured distance of a lower section of the running belt from the pivot axis, the forces acting in the running belt cancel each other out due to their identical lever arm relative to the pivot axis, so that no torque occurs. Such a torque only occurs when the pivot axis is vertically displaced from its zero position, which can occur as a result of raising one of the crawler wheels.

[0031] If the pivot axis deflects vertically from its zero position, as occurs, for example, due to the lifting of at least one of the running wheels when driving over an obstacle, a torque caused by the running belt and its belt tension must be expected to be generated around the pivot axis. This is because the distances between the upper section of the running belt and the lower section of the running belt from the pivot axis will generally be different due to the vertical displacement of the pivot axis. Accordingly, the lever arms between the lower section of the running belt and the pivot axis, as well as between the upper section of the running belt and the pivot axis, are different, so that the torques generated around the pivot axis by the belt tension do not cancel each other out.The greater the deflection of the pivot axis in the vertical direction, the greater the effective torque acting on the pivot axis, causing the front main frame to pivot relative to the rear main frame around the pivot axis. The system thus reinforces itself.

[0032] Accordingly, it can also be advantageous if the crawler track comprises at least one spring element. This is preferably designed to be passive, with a spring force caused by the spring element being determined solely by its spring constant and a deflection of the spring from a force-free state. A first end of the spring element is connected to the front main frame and a second end of the spring element is connected to the rear main frame. In this way, the spring element connects the two main frames to one another, so that when the two main frames are pivoted relative to one another about the pivot axis, the spring element is stretched or compressed. Accordingly, this results in a change in the deflection of the spring and thus in a spring force exerted by the spring element, which is introduced into the front main frame and the rear main frame at the ends of the spring element.The spring element is arranged such that an effective axis of the spring element, along which the spring force acts, is located at a distance from the pivot axis. In this way, a torque is exerted on the two main frames around the pivot axis as a result of the spring force. Since the spring force at the ends of the spring element acts in opposite directions on the front main frame and the rear main frame, the front main frame and the rear main frame are subjected to opposing torques around the common pivot axis.

[0033] In this case, the spring element is preferably configured such that, when the crawler track is in the central position (and therefore when the pivot axis is in its zero position), it is either in a passive state in which the spring element develops neither tensile forces nor compressive forces, or in a state preloaded with tensile stress or compressive stress, depending on the arrangement. Since the pivot axis typically cannot move downwards from its zero position, as a rule only the case in which the pivot axis is moved vertically upwards from its zero position needs to be considered. Accordingly, with regard to the effect of the belt tension, only a state in which the crawler track "stands up" upwards needs to be considered, i.e. the pivot axis is deflected further upwards as a result of its vertically upward movement due to the effect of a torque caused by the belt tension.The spring element serves to counteract this movement and at least reduce or limit the so-called “standing up” of the crawler track.

[0034] If the spring element is arranged such that the two ends of the spring element move away from each other during a described erection movement of the crawler track, the spring element is preferably designed as a tension spring that is preloaded with a tensile stress. Conversely, the spring element can also be arranged such that its two ends are located at points on the front main frame and the rear main frame that move towards each other as a result of the erection of the crawler track. In this case, the spring element is preferably designed as a compression spring that is preloaded with a compressive stress. In any case, the spring element should act in such a way that it counteracts the pivoting of the front main frame relative to the rear main frame caused by the erection of the crawler track.

[0035] In a further advantageous embodiment of the crawler track, the damping device comprises a second piston-cylinder unit, the first end of which is connected to the front main frame and the second end of which is connected to the rear main frame. The second piston-cylinder unit is provided and configured to actively apply a mutual torque about the common pivot axis to the front main frame and the rear main frame. In this way, the second piston-cylinder unit, which can be single-acting or double-acting, is suitable for counteracting the above-described tilting of the crawler track when the pivot axis moves upward from its zero position and, as a result, torques are introduced into the main frame by the belt tension of the running belt.

[0036] If the damping device comprises a second piston-cylinder unit, it can be particularly advantageous if one pressure device interacts with the first piston-cylinder unit and the other pressure device interacts with the second piston-cylinder unit. In this way, both piston-cylinder units can be used for passive damping and / or for actively exerting forces on the connected components.

[0037] It is particularly preferred if the at least one pressure device interacts with the first piston-cylinder unit, which interacts with the support wheel swing arm and the rear main frame. This pressure device is preferably designed in the manner of a passive gas reservoir. In particular, the pressure device can be assigned to a working chamber of the first piston-cylinder unit, wherein the piston-cylinder unit is preferably designed to be single-acting. In this way, the first piston-cylinder unit is particularly well suited to dampening shock loads acting on the support wheels in their transmission to the rear main frame.

[0038] Furthermore, it may be advantageous if the damping device comprises a second pressure device assigned to the second piston-cylinder unit. The second pressure device preferably comprises a hydraulic pressure source or is preferably connected to a hydraulic pressure source, wherein, by means of the hydraulic pressure source, a variable hydraulic pressure can be actively applied to a working chamber of the second piston-cylinder unit during normal operation of the crawler track. Advantageously, the second pressure device additionally comprises a passive gas reservoir. Furthermore, it may be advantageous if the second piston-cylinder unit is designed to be single-acting.

[0039] In combination with such a second pressure device, the second piston-cylinder unit is particularly well suited to counteracting a possible tilting of the crawler track, as described above. In particular, by means of the second pressure device or the pressure source assigned to it, such hydraulic pressure can be exerted on the working chamber of the second piston-cylinder unit that the two main frames, to which the second piston-cylinder unit is attached at their ends, are subjected to a mutual torque in such a way that a tilting movement of the crawler track is counteracted. In this way, the main wheels and the support wheels can each be kept in permanent contact with the ground, if necessary, in order to reliably divert forces acting on the crawler track into the ground.

[0040] In an advantageous embodiment of the crawler track, the at least one piston-cylinder unit of the damping device is aligned such that a straight longitudinal axis of the piston-cylinder unit, which connects the swing arm end and the frame end of the piston-cylinder unit, is inclined by a maximum of 15°, preferably by a maximum of 10°, more preferably by a maximum of 5°, relative to a vertical. This embodiment has the advantage that the force distribution between the main wheels and the support wheels can be achieved particularly easily. In particular, no other compensating elements or the like are required to ensure the desired amount of force introduction into the support wheel swing arm and the support wheels if the piston-cylinder unit were oriented "obliquely."

[0041] Furthermore, it can be particularly advantageous if the pivot axis of the two main frames and the machine axis coincide. In this embodiment, the crawler track has a central main joint which forms the articulation point and at which it is connected to a respective axle of a work machine, forming the machine axis. The pivot axis, at which the front main frame and the rear main frame are pivotally connected to one another, is also formed on this central main joint. Preferably, the articulation point - and thus the machine axis and the pivot axis - is located centrally on the crawler track, viewed in the longitudinal direction of the crawler track, so that a horizontally measured distance of the axis of rotation of the front main wheel from the pivot axis is at least substantially the same as a horizontally measured distance of the axis of rotation of the rear main wheel from the pivot axis.This design also contributes to a simplification of the crawler track, since the kinematics of the possible relative movements of the individual elements to each other are simplified compared to a design in which the swivel axis and machine axis are arranged separately from each other.

[0042] In a further advantageous embodiment, the swing end and the frame end of the at least one piston-cylinder unit are arranged on the same side of a vertically oriented center plane containing the pivot axis, viewed in the longitudinal direction of the crawler track. This center plane, which is oriented perpendicular to a belt plane spanned by the running belt, conceptually separates the crawler track into a front section and a rear section, wherein the front section comprises the front main frame and the front main wheel, and the rear section comprises the rear main frame and the rear main wheel. According to the above description, the pivot axis is preferably located in correspondence with its position on the machine axis and further preferably in a center of the crawler track viewed in the longitudinal direction.

[0043] The arrangement of at least one piston-cylinder unit on one side of the center plane, preferably on the side of the front section, also contributes to particularly simple kinematics of the crawler track. The distance of the piston-cylinder unit from the pivot axis can be used to adjust the force ratio by applying forces to the support wheel swing arm and thus the support wheels or by using them to dissipate forces into the ground. The closer the swing end of the piston-cylinder unit is to the support frame along the support wheel swing arm, the greater the force transfer from the support wheels.For example, the swing arm end can be arranged exactly in the middle of the support wheel swing arm, so that forces introduced into the support wheel swing arm by means of the piston-cylinder unit are split equally between the articulation of the support wheel swing arm to the front main frame and the support frame. A displacement of the swing arm end along the support wheel swing arm accordingly leads to a distribution of the forces between the front main frame and the support frame that deviates from the 50 / 50 split. Preferably, the swing arm end of the piston-cylinder unit is located, viewed in a direction parallel to the longitudinal axis of the crawler track, at a distance from the pivot axis of at most 1 / 4, preferably at most 1 / 6, more preferably at most 1 / 8, of a correspondingly measured wheel distance between the rotation axes of the main wheels.

[0044] The present object is further achieved according to the invention by means of an agricultural working machine having the features of claim 14.

[0045] The work machine comprises a body and two crawler tracks, namely a left and a right crawler track. The crawler tracks are each connected to the body via a pivot point. In particular, the crawler tracks can be connected to a front axle of the work machine. The work machine is characterized in that at least one of the crawler tracks, preferably both crawler tracks, is / are formed by a crawler track according to the invention in accordance with the present application. The resulting advantages have already been explained above.

[0046] The invention is explained in more detail below using an exemplary embodiment illustrated in the figures. It shows: Fig. 1: A schematic side view of an agricultural machine equipped with two crawler tracks, Fig. 2: A cross-section through a crawler track, Fig. 3: A schematic diagram of a first crawler track according to the invention, Fig. 4: A schematic diagram of a second crawler track according to the invention, Fig. 5: A schematic diagram of a third crawler track according to the invention.

[0047] In Fig. 1 shows an agricultural work machine 2 in the form of a self-propelled combine harvester, the body 42 of which interacts with two crawler tracks 1. The crawler tracks 1 are connected to a front axle of the work machine 2. The crawler track 1 has a front main wheel 3, a rear main wheel 4, and two support wheels 9, 10. The crawler track 1 also comprises a running belt 11 that spans the two main wheels 3, 4. The main wheels 3, 4 are arranged opposite one another along a longitudinal axis 16 of the crawler track 1. The support wheels 9, 10 are arranged in an intermediate region between the main wheels 3, 4. Overall, forces diverted from the work machine 2 into the crawler track 1 are transferred into the ground via both the main wheels 3, 4 and the support wheels 9, 10.

[0048] The design of a crawler track 1 according to the invention is fundamentally similar to other crawler tracks. One such track is shown as an example in Fig. 2. The crawler track 1 there has a front main frame 5 and a rear main frame 6. The two main frames 5, 6 are connected to one another at a central pivot point 12 of the crawler track 1, forming a pivot axis 14 in a manner pivotable relative to one another. In the example shown, the pivot axis 14 coincides with a machine axis 13 formed at the pivot point 12, about which the crawler track 1 as a whole is pivotably mounted about a respective axis of the work machine 2. The machine axis 13 and the pivot axis 14 are oriented horizontally and perpendicularly to a belt plane spanned by the running belt 11. In Fig. 2, the belt plane is formed by the drawing plane or parallel to it. Furthermore, the pivot axis 14 is arranged centrally with respect to a length of the crawler track 1 measured along the longitudinal axis 16 of the crawler track 1, so that a vertical center plane 29, which is also oriented perpendicular to the belt plane of the running belt 11 and contains the pivot axis 14, divides the crawler track 1 into two at least substantially equal sections, namely a front section and a rear section. The front section contains the front main frame 5 and the front main wheel 3, while the rear section comprises the rear frame 6 and the rear main wheel 4. Furthermore, when the crawler track 1 is in a central position, which in Fig. 2, the pivot axis 14 is arranged centrally when viewed in the vertical direction, that is to say in relation to a height of the crawler track 1, so that a vertically measured distance of the pivot axis 14 from a lower section 39 of the running belt 11 is just as large as a vertically measured distance of the pivot axis 14 from an upper section 38 of the running belt 11. As a result, forces prevailing in the running belt 11 as a result of a belt tension of the running belt 11 do not cause a torque about the pivot axis 14, provided that the latter is in its Fig. 2, which the pivot axis 14 assumes when the crawler track 1 is in its central position.

[0049] A support wheel swing arm 17 is pivoted to the front main frame 5, forming a joint 34. At an end of the support wheel swing arm 17 opposite the joint 34, the latter is connected to a support frame 15—also forming a joint 35. The two support wheels 9, 10 are each rotatably mounted on this support frame 15.

[0050] In the example shown, the front main wheel 3 is only indirectly mounted on the front main frame 5. This is done here in such a way that the front main wheel 3 is mounted on a pivot arm 33, which in turn is pivotally mounted on the front main frame 5. In this way, the distance between the axis of rotation 7 of the front main wheel 3 and the pivot axis 14 can be changed by pivoting the pivot arm 33 relative to the front main frame 5. This is used to set or adjust the belt tension of the running belt 11. To achieve this, the crawler track 1 shown comprises a belt tensioning cylinder 30 formed by a piston-cylinder unit, which is mounted with its first end 36 on the pivot arm 33 and with its second end 37 on the front main frame 5.By changing the deflection of the belt tensioning cylinder 30, the pivot arm 33 can be pivoted relative to the main frame 5, whereby the rotation axis 7 is displaced horizontally in the manner described, thereby changing its horizontally measured distance from the rotation axis 8 of the rear main wheel 4. Accordingly, the belt tension of the running belt 11 is changed by such a movement.

[0051] The crawler track 1 shown further comprises two additional piston-cylinder units 31, 32, the first coupling the front main frame 5 to the rear main frame 6, and the second coupling the support wheel swing arm 17 to the front main frame 5. In conjunction, the piston-cylinder units 31, 32 are designed and configured to distribute the forces acting on the crawler track 1 to the main wheels 3, 4 and the support wheels 9, 10. The task is generally to transfer the forces as evenly as possible via the main wheels 3, 4 and the support wheels 9, 10 into the ground. For this purpose, pressure chambers of the two piston-cylinder units 31, 32 can be fluidically coupled to one another, so that the displacement of a hydraulic fluid from a pressure chamber of one piston-cylinder unit 31, 32 results in a corresponding inflow of the fluid into a pressure chamber of the other piston-cylinder unit 31, 32.This kinematically couples the components of the front main frame 5, the rear main frame 6, and the support wheel swing arm 17 or support frame 15 to achieve the aforementioned force distribution and, in particular, to keep the wheels 3, 4, 9, 10 in continuous contact with the ground. This should be maintained, in particular, even when the wheels 3, 4, 9, 10 are raised intermittently when driving over an obstacle.

[0052] A first variant of a crawler track 1 according to the invention is shown in Fig. 3. It differs from the known crawler track 1 in particular in that it comprises a damping device 43, which comprises a piston-cylinder unit 18 and a first pressure device 44 and a second pressure device 45.

[0053] The piston-cylinder unit 18 used couples the support wheel swing arm 17 to the rear main frame 6. Accordingly, one swing arm end 19 of the piston-cylinder unit 18 is pivotally connected to the support wheel swing arm 17, while one frame end 20 of the piston-cylinder unit 18 is pivotally connected to the rear main frame 6. In this way, the piston-cylinder unit 18 acts mechanically as a pendulum rod that can only transmit normal forces, but does not allow the transmission of transverse forces and torques between the support wheel swing arm 17 and the rear main frame 6. The piston-cylinder unit 18 ensures that the front main frame 5, the support wheel swing arm 17, and the rear main frame 6 are kinematically coupled to one another.In this way, the piston-cylinder unit 18 alone ensures that when one of the wheels 3, 4, 9, 10 is lifted, the remaining wheels 3, 4, 9, 10 remain in contact with the ground, and accordingly, power continues to be transferred into the ground via these wheels 3, 4, 9, 10. This has already been explained using two examples in the above description.

[0054] In contrast to the crawler track 1 according to Fig. 2, it is therefore not necessary to install two separate piston-cylinder units 31, 32 in order to kinematically couple the support wheel swing arm 17 as well as the front main frame 5 and the rear main frame 6. Accordingly, the crawler track 1 according to the invention is significantly simplified without any restriction of functionality. In a particularly advantageous manner, the crawler track 1 according to Fig. 3 free of other coupling elements or piston-cylinder units, which, for example, couple the support wheel swing arm 17 with the front main frame 5 or the two main frames 5, 6 together. Compared to the crawler track 1 according to Fig. 2 is the crawler track 1 according to the invention according to Fig. 3 is constructed in a particularly simple manner without compromising its functionality.

[0055] In the example shown, the piston-cylinder unit 18 is oriented at least substantially vertically, so that a link axis 21 connecting the swing end 19 and the frame end 20 is oriented at least substantially parallel to a vertical 22. This is particularly evident from Fig. 3. Furthermore, the piston-cylinder unit 18 is located entirely on one side of the pivot axis 14, wherein in the example shown it is located in the front section of the crawler track 1 on this side of the center plane 29. Furthermore, the piston-cylinder unit 18 is arranged such that it is located at a horizontally measured distance 23 from the pivot axis 14, which corresponds approximately to one eighth of a wheel distance 24, also measured horizontally, between the rotation axes 7, 8 of the two main wheels 3, 4. In this arrangement, at least when the crawler track 1 is in its Fig. 3, a force transmitted to the crawler track 1 at the articulation point 12 is diverted into the ground via the two main wheels 3, 4 and the two support wheels 9, 10, one-quarter each. Furthermore, in the example shown, the swing arm end 19 of the piston-cylinder unit 18 is arranged approximately centrally on the support wheel swing arm 17, so that a horizontally measured distance of the swing arm end 19 from the two joints 34, 35 is equal. This has the effect that a vertical force transmitted to the support wheel swing arm 17 via the piston-cylinder unit 18 is diverted approximately half to the front main frame 5 and half to the support frame 15.

[0056] In the example shown, the piston-cylinder unit 18 is double-acting and accordingly comprises a cylinder-side main working chamber 46 and a piston-side secondary working chamber 47. Furthermore, the damping device 43 is designed such that the first pressure device 44 is assigned to the main working chamber 46 and the second pressure device 45 is assigned to the secondary working chamber 47. The two pressure devices 44, 45 are each formed by passive gas reservoirs that have a compressible gas volume. The gas volumes are separated by membranes from a respective hydraulic fluid located in the working chambers 46, 47 of the piston-cylinder unit 18 and exchanged with the pressure devices 44, 45 via lines. In the example shown, the second pressure device 45 is integrated into the piston-cylinder unit 18, wherein a gas volume of the second pressure device 45 is arranged directly in the secondary working chamber 47.The first printing device 44, on the other hand, is by means of a in . Fig. 3 is fluidly connected to the main working chamber 46. The pressure devices 44, 45 enable a damping function, which is performed by the piston-cylinder unit 18. In this way, shock loads acting on the wheels 3, 4, 9, 10, for example, as a result of driving over an obstacle, are dampened to prevent sudden loads.

[0057] In the example shown, the front main frame 5 and the rear main frame 6 are additionally directly coupled to one another by means of a spring 25. This is connected at a first end 26 to the front main frame 5 and at a second end 27 to the rear main frame 6, so that spring forces caused by the spring element 25 act directly and in opposite directions on the front main frame 5 and the rear main frame 6. In the example shown, the spring element 25 is passive, so that forces caused by the spring element 25 are solely the result of a deflection (extension or compression) of the spring element 25. It is conceivable to preload the spring element 25, for example with a compressive force, so that even when the crawler track 1 is in its central position, opposing forces and corresponding torques act on the two main frames 5, 6.

[0058] The spring element 25 has the function of enabling the above-described setting up of the crawler track 1 as a result of a vertical displacement of the pivot axis 14 from its Fig. 5 shown zero position upwards and thereby to control it. Said setting up is due to the fact that a vertically measured distance of the pivot axis 14 from an upper section 38 of the running belt 11 is reduced as a result of a displacement of the pivot axis 14 vertically upwards, while a similarly measured distance of the pivot axis 14 from a lower section 39 of the running belt 11 is increased. As a result, as a result of belt tension of the running belt 11, a torque about the pivot axis 14 is caused on the front main frame 5 and the rear main frame 6, which promotes a further movement of the pivot axis 14 upwards. The further the pivot axis 14 is raised, the greater the torque that supports this effect, resulting in a self-reinforcing deflection of the pivot axis 14 upwards.

[0059] The spring element 25 serves to counteract a reduction in the distance between the two ends 26, 27 of the spring element 25 resulting from such a movement of the two main frames 5, 6. In the example shown, this occurs by compressing the spring element 25 and building up a counterpressure force corresponding to its spring constant. This counteracts further movement of the two ends 26, 27 of the spring element 25, thereby applying a torque to the two main frames 5, 6 that counteracts the erection of the crawler track 1.

[0060] In a further variant of a crawler track 1 according to the invention, which is shown in Fig. 4, the damping device 43 is also equipped with a piston-cylinder unit 18 and two pressure devices 44, 45. In contrast to the Fig. In the example shown in Figure 3, the second pressure device 45, which is assigned to the secondary working chamber 47 of the piston-cylinder unit 18, is not integrated into the piston-cylinder unit 18. Furthermore, the second pressure device 45 is connected to a pressure source 50 in the example shown. In this way, the second pressure device 45 acts as an active pressure device within the meaning of the present application. The pressure source 50 is connected via a line such that a hydraulic pressure provided by the pressure source 50 acts on the secondary working chamber 47 of the piston-cylinder unit 18. Thus, the pressure source 50 is suitable for extending a piston of the piston-cylinder unit 18 and thereby increasing a volume of the secondary working chamber 47, while reducing a volume of the main working chamber 46.

[0061] This makes it possible to artificially keep the pressure in the main working chamber 46 within a predetermined range. This can be advantageous, for example, if a force acting on the crawler track 1 is so small that the pressure in the main working chamber 46 lies outside a favorable range. In particular, an attempt is made to keep the piston-cylinder unit 18 within a favorable range of its characteristic curve in order to make the best possible use of the damping properties of the piston-cylinder unit 18. By applying pressure to the secondary working chamber 47, the pressure in the main working chamber 46 can be regulated such that it always lies within a predefined, advantageous range. The damping characteristics of the piston-cylinder unit 18 can thus be kept within a favorable range of its characteristic curve, regardless of the load on the crawler track 1.

[0062] In another embodiment, which is shown in Fig. 5, the damping device 43 has a second piston-cylinder unit 28, the first end 40 of which interacts with the front main frame 5 and the second end 41 of which interacts with the rear main frame 6. The second piston-cylinder unit 28 is connected to a hydraulic pressure source 50, wherein a working chamber 49 of the second piston-cylinder unit 28 can be subjected to hydraulic pressure by means of the pressure source 50. Since the working chamber 49 is arranged on the piston side here, a piston of the second piston-cylinder unit 28 is retracted into an associated cylinder as a result of the application of hydraulic pressure to the working chamber 49. This leads to a shortening of the second piston-cylinder unit 28 and thus to a movement of the two ends 40, 41 of the piston-cylinder unit 28 towards one another. At least when the crawler track 1 is in a central position, as shown in Fig.5, such a movement is equivalent to the two main wheels 3, 4 being raised and thus relieved of load, while the two support wheels 9, 10 contribute a greater proportion to the transfer of the forces acting on the crawler track 1. In this way, it is possible to specifically reduce the forces diverted into the ground via the two main wheels 3, 4, which can be advantageous, for example, during a turning maneuver of the work machine 2 in the area of ​​a headland or during road travel of the respective work machine 2.

[0063] Furthermore, the second piston-cylinder unit 28 can be used to actively counteract the above-described tilting of the crawler track 1 by applying pressure to the working chamber 49. An additional spring element 25, as shown in the other embodiments, can therefore be omitted here.

[0064] In the example shown, the first pressure device 44, which is formed by a passive gas reservoir and thus represents a passive pressure device within the meaning of the present application, is assigned to a working chamber 48 of the first piston-cylinder unit 18, which is designed to be single-acting here. The second pressure device 45 is assigned to the working chamber 49 of the second piston-cylinder unit 28 and is connected to the described pressure source 50. The second pressure device 45 therefore forms an active pressure device within the meaning of the present application, even if it also comprises a passive gas reservoir, which is preferred. List of reference symbols 1 crawler track 2 working machines 3 front main wheel 4 rear main wheel 5 front main frame 6 rear main frame 7 axis of rotation 8 axis of rotation 9 Support wheel 10 support wheel 11 Running belt 12 articulation point 13 Machine axis 14 Swivel axis 15 support frames 16 Longitudinal axis 17 Support wheel swing arm 18 piston-cylinder unit 19 Swing end 20 frame end 21 Link axis 22 vertical 23 Distance 24 wheelbase 25 spring element 26 End 27 End 28 piston-cylinder unit 29 Middle Level 30 belt tensioning cylinders 31 Piston-cylinder unit 32 piston-cylinder unit 33 Swivel arm 34 joint 35 joint 36 End 37 End Section 38 Section 39 40 End 41 End 42 Body 43 Damping device 44 first printing device 45 second printing device 46 Main workroom 47 Secondary workroom 48 workspace 49 work space 50 pressure source QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] DE 10 2014 003 964 A1

[0009]

Claims

[1] Crawler track (1) for an agricultural working machine (2), comprising - a front main wheel (3), - a rear main wheel (4) opposite the front main wheel (3) viewed in the longitudinal direction of the crawler track (1), - a front main frame (5) associated with the front main wheel (3), - a rear main frame (6) associated with the rear main wheel (4), - at least two support wheels (9, 10) arranged in an intermediate area between the main wheels (3, 4), - a running belt (11) spanning the main wheels (3, 4), - a linkage point (12) by means of which the crawler track (1) can be pivotably connected to a body (42) of the working machine (2) to form a machine axis (13), wherein the two main frames (5, 6) are pivotally coupled to one another about a common pivot axis (14), wherein the support wheels (9, 10) are arranged one behind the other on a common support frame (15) relative to a longitudinal axis (16) of the crawler track (1), wherein the support frame (15) is pivotally connected to the front main frame (5) by means of a support wheel swing arm (17), characterized by a damping device (43) comprising at least one piston-cylinder unit (18) and at least one hydraulically acting pressure device (44, 45), wherein the piston-cylinder unit (18) is coupled at one swing arm end (19) to the support wheel swing arm (17) and at one frame end (20) to the rear main frame (6), thereby coupling the support wheel swing arm (17) and the rear main frame (6) to one another. [2] Crawler track (1) according to claim 1, characterized bythat the damping device (43) has at least, preferably exactly, two hydraulically acting pressure devices (44, 45) which cooperate with the same piston-cylinder unit (18), wherein the piston-cylinder unit (18) is designed to be double-acting, wherein the first pressure device (44) is operatively connected to a cylinder-side main working chamber (46) of the piston-cylinder unit (18) and the second pressure device (45) is operatively connected to a piston-side secondary working chamber (47) of the piston-cylinder unit (18). [3] Crawler track (1) according to claim 2, characterized by that both pressure devices (44, 45) are each designed in the manner of a passive gas storage device. [4] Crawler track (1) according to claim 3, characterized by that both pressure devices (44, 45) are preloaded with different pressures, wherein preferably the first pressure device (44) is preloaded with a greater pressure than the second pressure device (45). [5] Crawler track (1) according to one of the preceding claims, characterized by that the at least one pressure device (45) is designed to be integrated into the piston-cylinder unit (18), wherein the piston-cylinder unit (18) is preferably designed to be single-acting. [6] Crawler track (1) according to one of the preceding claims, characterized by that the at least one pressure device (44, 45), preferably all pressure devices (44, 45), comprise a gas reservoir, wherein preferably the at least one pressure device (44, 45) comprises a hydraulic pressure source (50) or is connected to a hydraulic pressure source (50) by means of which a variable hydraulic pressure can be actively applied to the main working chamber (46) and / or the secondary working chamber (47) of the piston-cylinder unit (18). [7] Crawler track (1) according to one of the preceding claims, characterized bya spring element (25), the first end (26) of which is connected to the front main frame (5) and the second end (27) of which is connected to the rear main frame (6), the spring element (25) being provided and designed to apply a mutual torque about the common pivot axis (14) to the two main frames (5, 6) at least when the pivot axis (14) is above a zero position which the respective main wheel (3, 4) assumes when the crawler track (1) is in a central position in which the crawler track (1) is on a level surface. [8] Crawler track (1) according to one of the preceding claims, characterized byin that the damping device (43) comprises a second piston-cylinder unit (28), the first end (40) of which is connected to the front main frame (5) and the second end (41) of which is connected to the rear main frame (5), wherein the second piston-cylinder unit (28) is provided and configured to actively apply a mutual torque to the main frames (5, 6) about the common pivot axis (14). [9] Crawler track (1) according to claims 2 and 8, characterized by that the first pressure device (44) is assigned to the first piston-cylinder unit (18) and the second pressure device (45) is assigned to the second piston-cylinder unit (28). [10] Crawler track (1) according to claim 9, characterized bythat the first pressure device (44) is designed in the manner of a passive gas storage device, wherein the first pressure device (44) is assigned to a working chamber (48) of the first piston-cylinder unit (18), wherein preferably the first piston-cylinder unit (18) is designed to be single-acting. [11] Crawler track (1) according to claim 9 or 10, characterized by in that the second pressure device (45) comprises a hydraulic pressure source (50) or is connected to a hydraulic pressure source (50), wherein by means of the hydraulic pressure source (50) a variable hydraulic pressure can be actively applied to a working chamber (49) of the second piston-cylinder unit (28), wherein preferably the second piston-cylinder unit (28) is designed to be single-acting. [12] Crawler track (1) according to one of the preceding claims, characterized by that the pivot axis (14) of the two main frames (3, 4) coincides with the machine axis (13). [13] Crawler track (1) according to one of the preceding claims, characterized by that the axes of rotation (7, 8) of the two main wheels (3, 4) and the pivot axis (14) are at least substantially at a common height level when the crawler track (1) is in a central position in which the crawler track (1) stands on a level surface. [14] Agricultural working machine (2), comprising - a body (42), - a left crawler track (1), - a right-hand crawler track (1), wherein the crawler tracks (1) are each connected to the body (42) via a linkage point (12), characterized by that at least one of the crawler tracks (1) is designed according to one of the preceding claims.

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