Agricultural machine

Abstract

The invention relates to an agricultural machine (1) comprising a frame (2) and a tool carrier (3) arranged thereon, which tool carrier has soil cultivation and / or spreading tools (5). The tool carrier (3) is connected to the frame (2) by a four-bar linkage (6) with at least two movable links (7, 8), of which at least one link (7) is designed as an actuator with an adjustable actuator length (LA). This allows the tool carrier (3) to be pivoted from a working position to a transport position and vice versa, advantageously with only low actuating forces.

Description

[0001] The invention relates to an agricultural machine according to the preamble of patent claim 1.

[0002] Patent EP3453238B1 relates to a seed drill consisting of a frame with a chassis, a seed hopper, and a tool frame with seed coulters arranged thereon that can be folded along a transverse axis. The tool frame can be folded about the transverse axis by means of an actuator from a working position to a lifting position and then into an upright transport position. However, ground adaptation by pivoting the tool frame about the transverse axis negatively affects the inclination and penetration depth of the seed coulters to the soil surface, as these change their angular position together with the tool frame.

[0003] In the disclosure DE102022106208A1, an auxiliary link is arranged between the frame and the tool frame. The auxiliary link is mounted on a transverse axis to both the frame and the tool frame, and its height is pivoted by a frame-side actuator. A further actuator between the auxiliary link and the tool frame serves to correct its angle and pivot the tool frame into a transport position.

[0004] Tilt correction, which affects the angle of attack of the seed coulters, can only be performed manually using the additional actuator. Particularly on uneven terrain, the simple pivoting mounting of the auxiliary support on the frame, such as the system presented in EP3453238B1, has a detrimental effect on the position of the seed coulters.

[0005] The object of the invention is to provide a tool frame linkage for soil cultivation or spreading tools that avoids the above-mentioned disadvantages and simultaneously requires lower actuating forces from the actuators, which in turn can be made smaller and more cost-effective. This object is achieved by the features of the characterizing part of claim 1. The following claims specify further advantages.

[0006] The proposed agricultural machine comprises a frame and a chassis arranged thereon. At least one tool carrier is assigned to the frame, which tool carrier has soil cultivation and / or spreading tools. The agricultural machine has a four-bar linkage with at least two movable links for connecting the frame and tool carrier, the joint axes of which are arranged on the frame and the tool carrier. Thus, the frame also forms a preferably fixed link, and the tool carrier forms another link, which is movably connected to the other two movable links. The direct connection between two joint axes thus each forms a link. The connections of the four joint points thus also result in four individual links, which together form a movable square or four-bar linkage.The movement of the four-bar linkage allows the tool carrier to be moved vertically relative to the frame or the ground surface. This compensates for uneven ground which, through the tillage and / or spreading tools, indirectly affects the tool carrier of the agricultural machine in its working position. In order to be able to pivot the tool carrier from a working position to a transport position and vice versa, at least one link of the four-bar linkage is designed as an actuator with an adjustable actuator length. This changes the angular position of the tool carrier, as this is a component of the four-bar linkage. Small angular adjustments of the tool carrier around one of the joint axes can also be varied using the actuator length of the adjustable actuator.This is advantageous in the working position for adjusting the angle of attack or penetration depth of the tillage and / or spreading tools relative to the soil surface as needed. At the same time, in the transport position, the adjustable actuator can be advantageously used to position the tool carrier precisely in a final position, particularly a final angular position relative to the frame. This is particularly helpful when placing the tool carrier on a transport lock or support device located away from the four-bar linkage on the frame.

[0007] The four-bar linkage is preferably designed such that it assumes a parallelogram shape for a first actuator length, preferably in the working position, and a trapezoidal shape for a second actuator length, preferably in the transport position. The transition from the parallelogram shape to the trapezoidal shape or from the working to the transport position or vice versa is carried out by the at least one length-adjustable actuator. Since this already forms a link of the four-bar linkage, the transition from one to the other shape of the four-bar linkage is already integrated into it, without the need to arrange additional actuators outside the four-bar linkage. The parallelogram shape and the trapezoidal shape are preferably each achieved in an end position of the adjustable actuator. The end position is defined as the minimum or maximum actuator length between the associated joint axes.The parallelogram shape and the trapezoidal shape do not have to be achieved exactly, but only approximately, in order to achieve the benefit of the invention.

[0008] More preferably, the four-bar linkage of the agricultural machine has four links, one link being formed by the spaced-apart joint axes on the frame, and another link being formed by the spaced-apart joint axes on the tool carrier. In the working position, two opposing links are arranged parallel or aligned at a small angle to each other. In the transport position, two opposing links are arranged perpendicularly or spaced apart from each other at a large angle to each other. The remaining links are still arranged parallel or aligned at a small angle to each other.

[0009] In an improved version of the agricultural machine, the linkage of the four-bar linkage, designed as a length-adjustable actuator, is arranged on the lower side of the four-bar linkage facing the ground surface. This enables the use of a plunger fluid cylinder, which, with its compressive force, overcomes the tilting moment of the rearward-projecting tools of the tool carrier in a simple and cost-effective manner. If the actuator is alternatively designed as a double-acting fluid cylinder, it also enables a negative restoring moment, with which the tool carrier can be returned from a transport to the working position, even on uneven terrain. Furthermore, when the actuator is designed as a double-acting fluid cylinder, its piston crown side is advantageously used to generate the compressive force, while the piston ring side is smaller to generate a tensile force for the restoring moment.This is advantageous because, due to the tool extension of the tool carrier's tools, the tilting moment acting on the piston crown side of the actuator around a joint axis is significantly greater than the restoring moment acting on the piston ring side. The actuator, designed as a fluid cylinder, can be dimensioned accordingly, saving space when mounted on the lower side of the four-bar linkage.

[0010] In an expanded version of the agricultural machine, the four-bar linkage has an additional diagonal link. This link is arranged between two adjacent or opposite links of the four-bar linkage and is movable relative to them. This arrangement achieves a planned and predictable movement of individual links of the four-bar linkage in a desired position.

[0011] In addition, the diagonal link is designed as a length-adjustable actuator. This actuator can actively change the position or movement of individual links of the four-bar linkage or lock them in a specific position.

[0012] In particular, a deformation of the four-bar linkage and thus a change in height between the frame and the tool carrier is carried out and achieved by means of the diagonal linkage, while at least one actuator which is connected to the four-bar linkage is actuated.

[0013] In a special invention of the agricultural machine, a link of the four-bar linkage is divided into two partial links by an intermediate lever, which are movably connected to the intermediate lever on the one hand and the frame and tool carrier on the other. The intermediate lever is pivotally connected to the remaining, non-divided linkage in an articulated manner. This arrangement achieves a separate design of the linkage, which allows for a flexible arrangement of the links and actuators to suit the structural requirements of the agricultural machine. At the same time, the actual movement characteristics of the four-bar linkage are retained.

[0014] In a supplementary form of the agricultural machine, the tool carrier is made up of several parts or is divided into several segments. The segments are arranged so as to be pivotable and / or height-adjustable relative to one another or to a central frame, in particular about articulated axes. By dividing the tool carrier into several segments and the resulting relative movement of the segments to one another or to another central frame, improved adaptation and depth control of the tools is achieved on uneven ground surfaces, in particular when the unevenness is transverse to the direction of travel. In particular, the tool carrier with the tools attached to it can be converted from a wide working position into a narrow, permissible transport position by pivoting the segments against one another. The pivoting movement of the segments of the tool carrier preferably takes place relative to one another orto the center frame by means of further actuators, which are arranged at a distance from the pivot axes of the segments between the segments or the center frame. In a further embodiment of the agricultural machine, the soil tillage and / or spreading tools are arranged on the tool carrier in a movable manner, in particular vertically movable, by means of a further four-bar linkage. Through this arrangement, a change in the position of the tool carrier, which occurs relative to the frame of the agricultural machine via the first four-bar linkage, can influence the position of the further four-bar linkage. This makes it possible, in particular, to manipulate the position of the soil tillage and / or spreading tools in terms of angle and / or penetration depth into a soil surface.

[0015] The invention is particularly characterized in that the agricultural machine, comprising a frame and a tool carrier arranged thereon, which has soil cultivation and / or spreading tools, includes a connection between the tool carrier and the frame, which connection implements a four-bar linkage with at least two movable links, at least one of which is designed as an actuator with an adjustable actuator length. This allows the tool carrier to be pivoted from a working position to a transport position and vice versa, advantageously with only minimal actuating forces.

[0016] The invention can be used in particular in devices for soil cultivation, for applying plant protection products, fertilizers and / or seeds.

[0017] Further details and advantages of the subject matter of the invention will become apparent from the following description and the accompanying drawings, which illustrate an embodiment with the necessary details and individual parts. They show: Fig. 1 shows a perspective view of an agricultural machine in working position, Fig. 2 shows the agricultural machine in transport position, Fig. 3 the agricultural machine from Fig. 1 in side view, Fig. 4 the agricultural machine from Fig. 2 in side view and Fig. 5 and Fig. 6 enlarged details from Fig. 3 and Fig. 4.

[0018] The illustrations essentially represent specific embodiments. However, the invention is not limited to the illustrated embodiments, but can also be modified by those skilled in the art to adapt it to a specific application. Character description

[0019] In Fig. 1, an agricultural machine 1 is shown obliquely from the rear in working position. The agricultural machine 1 is designed, for example, as a distribution machine with a frame 2, a towing device 14, a chassis 4 together with the associated axle and wheels 23 and a tool carrier 3 arranged behind it. The tool carrier 3 is movably connected, in particular vertically movable, to the frame 2 by means of a four-bar linkage 6. The agricultural machine 1 is divided by a central plane M, which runs perpendicular to the ground surface B and parallel to the direction of travel F, in which the agricultural machine 1 is moved. For this purpose, it can be connected by means of a towing device to a Fig. 1 can be coupled to a towing vehicle 16, not shown, which is also preferably provided for supplying mechanical, electrical or hydraulic energy for the agricultural machine 1. The agricultural machine 1 can also be designed as a self-propelled machine with its own energy supply. In order to carry material to be spread and distributed, one or more containers 15 for granulated, grainy or liquid material such as seed, fertilizer and / or pesticides are preferably arranged on the agricultural machine 1. The tool carrier 3 extends laterally to the center plane M with soil cultivation and / or spreading tools 5 arranged thereon. The tool carrier 3 is preferably divided into several segments 17, 18, which are arranged in an articulated manner on a center frame 20. The tools 5 are connected to one another laterally and preferably also in the direction of travel F on the tool carrier 3 orarranged at a distance from its segments 17, 18. In front of or behind the tools 5, further additional tools 19, 24 can be assigned to the tool carrier 3, its segments 17, 18, or the tools 5. These serve, for example, to prepare or level the ground surface B or to control the depth of the tools 5. The segments 17, 18 are connected to the center frame 20 via joint axes A5 and A6 and enable height compensation of the segments 17, 18 to the ground surface B on uneven terrain. Depth control means 22, for example, height-adjustable wheels, are arranged at the ends of the segments 17, 18 to support this. The segments 17, 18 can be moved about the joint axes A5 and A6 by means of actuators 21. These are preferably designed as fluid cylinders and can simultaneously increase the contact pressure by means of a preload pressure on the ground surface. This improves, for example, the penetration behavior of the tools 5 into the ground surface B.

[0020] Analogous to Fig. 1 shows Fig. 2 shows the agricultural machine 1 in transport position. For this purpose, the four-bar linkage 6 with its linkage 7 is deformed by means of the diagonal links 12 designed as actuators 13 and thus moved into an upper position. At the same time, the tool carrier 3 is pivoted into an upright intermediate position by means of the extended linkage 8 designed as actuator 9. The two segments 17, 18 are then pivoted forward about the linkage axes A5, A6, which are now also upright with the center frame 20 of the tool carrier 3, with the actuators 22 hidden here into the transport position, which allows a permissible width for participation in public road traffic. Visible are the linkage axes A1 and A2, which connect the linkages 7 and 8 to the frame 2, as well as the linkage axis A3, which connects the linkages 8 to the tool carrier 3 or its center frame 20. The joint axis A4, which connects the handlebar 7 with the middle frame 20 orthe tool carrier 3 is hidden in this figure.

[0021] Fig. 3 shows the agricultural machine 1 attached to a towing vehicle 16 in the direction of travel F from the left in a side view in working position, as well as in perspective in Fig. 1. The left wheel 23 has been omitted to provide a clear view of the frame 2, which forms the fixed linkage 10 of the four-bar linkage 6.

[0022] Preferably located between the wheels 23 and at the ends of the frame 2 are the two joint axes A1 and A2, with which the links 7 and 8 are pivotably and, in particular, vertically adjustable on the frame 2 and the fixed link 10, respectively. The effective ranges of the links are indicated and illustrated by dashed lines. At the other ends of the two links 7 and 8, the center frame 20 of the tool carrier 3, which forms the fourth link 11 of the four-bar linkage 6, is connected to the links 8 and 7 via the joint axes A3 and A4. The joint bearings are preferably designed with suitable bolts and joint eyes or suitable joint bushings.

[0023] The links 7 and 8 as well as 10 and 11 each run approximately parallel to one another and form a parallelogram shape. Between the link 7 and the center frame 20 of the tool carrier 3, which forms the link 11, there is another diagonal link 12, designed as a length-adjustable actuator 13, arranged by means of additional joint eyes. The actuator 13, preferably designed as a fluid cylinder, can change the angle between the links 7 and 11 about the joint axis A4. The four-bar linkage 6 deforms accordingly without departing from the basic parallelogram shape. This deformation of the four-bar linkage 6 changes the relative height of the link 11 to the fixed link 10. This allows the height of the tool carrier 3 to be adjusted relative to the frame 2 and thus the height or penetration depth of the tools 5 relative to the ground surface B to be adjusted.By applying pressure to the actuator 13, the contact pressure of the tool carrier 3 can also be increased or decreased, thus adjusting the penetration behavior of the tools 5 into the soil surface 5 as needed. The additional tools 19 can also be adjusted to the prevailing soil conditions as needed using adjusting devices (not shown). By slightly changing the length of the link 8, designed as actuator 9, the angle of the link 11 and thus of the tool carrier 3 and its center frame 20 relative to the soil surface can be adjusted. This also allows the aggressiveness or penetration depth of the tools 5 with respect to the soil surface B to be changed.In particular, if the tools 5 are arranged with additional depth control means in a further, movable four-bar linkage 28, the penetration depth of the tools 5 into the ground surface B can advantageously be centrally adjusted by simply adjusting the angle of attack of the tool carrier 3 by changing the length of the link 8 or actuator 9. Preferably, the movable four-bar linkage is also designed as a parallelogram. Alternatively, a further four-bar linkage arrangement 28 is also suitable, as shown in FIG. Fig. 5. A first link 25 is mounted at one end on the tool carrier 3 in an articulated and height-adjustable manner and carries the tool 5 at the other end, which is designed here, for example, as a rotatable cutting disk. A second link 26 is mounted above the first link 25, also on the tool carrier 3 in an articulated and height-adjustable manner. Its other, extended end carries a rotatably mounted pressure wheel 24. If the inclination of the tool carrier 3, viewed transversely to the direction of travel, is changed by changing the length of the actuator 9, the two articulation axes of the links 25 and 26 on the tool carrier 3 tilt simultaneously. The two links 25 and 26 are also connected to one another behind the tool carrier 3 by means of a connecting element 27, which is preferably designed as a cable or chain, and together form the additional four-bar linkage 28, which in Fig. 5 is indicated by dashed lines for easier understanding. Due to the change in inclination of the tool carrier 3, the shape of the four-bar linkage 28 then changes, since the pressure wheel remains constantly stationary on the ground surface B. Preferably, the tool 5 or its link 25 is subjected to a pressure force by an energy storage device. Due to this further preferably adjustable pressure force, the tool 5 penetrates the ground surface B more effectively. The penetration depth is limited as desired by the connecting device 27, which connects the link 25 of the tool 5 and the link 26 of the pressure wheel 24.

[0024] Fig. 4 shows the agricultural machine 1 from Fig. 3, but in transport position, as well as perspective in Fig. 2. The diagonal link 12, designed as a length-variable actuator 13, which connects the links 7 and 11, is compared to Fig. 3 is almost fully extended and has deformed the four-bar linkage 6 such that the link 7 has assumed a raised position. By extending the link 8, which is designed as a length-adjustable actuator 9, the link 11, which forms the middle part 20 of the tool carrier 7, has assumed a horizontal position, or the middle part 20 of the tool carrier 7 has assumed an upright position. The pivoting movement of the link 11, which is effected about the joint axis A4 of the link 7 by the extension of the actuator 9, preferably describes a pivot angle β of approximately 90 degrees. As a result, the Fig. 2 shown joint axes A5, A6 from a previously lying, as in Fig. 1, into a standing position. With the actuators 21 from Fig. 1, which are hinged to the two segments 17, 18 and the middle frame 20 of the tool carrier 3, the two segments 17,18 can be moved into the Fig. 2 and Fig. 4. Preferably, the container 15 has a correspondingly tapered shape in the upper region, along which the segments 17 and 18, with the tools 5 and additional tools 19 arranged thereon, extend forward in the direction of travel F. Preferably, the container 15 also has recesses in its outer contour in the front region, in which the depth guides 22, pivoted forward with the segments 17 and 18, are located.

[0025] Fig. 5 and Fig. 6 show a section of the respective Fig. 3 and Fig. 4. For better understanding, the links 7, 8 and 10, 11 are idealized with dashed lines. This shows the previously described parallelogram shape of the four-bar linkage 6 from Fig. 3 in working position and the trapezoidal shape of the four-bar linkage 6 from Fig. 4 in transport position. The opposite links 7 and 8 as well as 10 and 11 run in Fig. 5 are approximately parallel to each other, while the links 7 and 8 are in Fig. 6 are also approximately parallel, but the links 10 and 11 are angled to each other. The actuator length LA shows in Fig. 5 the retracted state (preferably minimum actuator length) and in Fig. 6 the extended state (preferably maximum actuator length) of the link 8 designed as a length-adjustable actuator 9. Preferably, the angular position β of the links 10 and 11 is approximately 90 degrees, which corresponds to a right angle. While the link 12 designed as actuator 13 is articulated on the one hand within the extension of the link 7, its other end is articulated on the link 11 or the center frame 20 of the tool carrier 3 to a projection of the center frame 20. By attaching the actuator 13 protruding from the center frame 20, the leverage ratios between the link 12 or actuator 13, the link 7 and the center frame 20 are favored, so that its angular change about the joint axis A4 requires only low actuating forces of the actuator 13 and this can be designed accordingly inexpensively and in a space-saving manner. Since the links 7 and 8, as in both Fig. 3 and Fig. 4 or 5 and Fig.6, run approximately parallel or only slightly converging to one another, the instantaneous center of the four-bar linkage 6 is very far away from the fixed joint axes A1 and A2 or the other joint axes A3 and A4. Compared to simply pivoting levers or support arms known from the prior art, which only pivot about one joint axis, this also results in considerably lower actuating forces for excavating the tool carrier 3 with its attached tools 5 and 19. The respective actuators 9, 13 and 21, as well as any further required actuators, are preferably designed as double-acting hydraulic cylinders. These are connected to a hydraulic pressure source, for example a pressure source of the towing vehicle, for actuation.The hydraulic cylinders can be operated individually, in groups, or via a sequential circuit manually by an operator or, preferably, automatically via a control and / or regulating device via control valves. If the hydraulic cylinders are used solely to generate pressure forces, they can also be used or designed as cost-effective, single-acting plunger cylinders.

[0026] The invention is not limited to the above embodiments. It will be readily apparent to those skilled in the art to apply the invention to other areas of agricultural engineering and to modify the embodiments in any way they deem appropriate to adapt them to a specific application. Five pages of drawings follow. LIST OF REFERENCE SYMBOLS 1 agricultural machine 2 frames 3 tool carriers 4 Chassis 5 tools 6 four-bar linkage 7 handlebars 8 handlebars 9 Actuator 10 handlebars 11 handlebars 12 diagonal links 13 Actuator 14 Drawbar 15 containers 16 towing vehicle 17 segments 18 segments 19 Additional tools 20 center frame 21 Actuator 22 Depth control 23 wheels 24 Pressure wheel 25 handlebars 26 handlebars 27 Connecting element 28 four-bar linkage A1 joint axis A2 joint axis A3 joint axis A4 joint axis A5 joint axis A6 joint axis LA actuator length B Soil surface M Middle level 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] EP 3453238B1 [0002, 0004] DE 102022106208A1

[0003]

Claims

[1] Agricultural machine (1) with a frame (2) and a chassis (4) arranged thereon, wherein at least one tool carrier (3) is assigned to the frame (2) which has tillage and / or spreading tools (5), wherein the agricultural machine (1) has a four-bar linkage (6) with at least two movable links (7, 8) for connecting the frame (2) and the tool carrier (3), the pivot axes (A1, A2, A3, A4) of which are arranged on the frame (2) and on the tool carrier (3) such that the tool carrier (3) can be pivoted from a working position to a transport position and vice versa, characterized by , that at least one handlebar (8) is designed as an actuator (9) with an adjustable actuator length (LA). [2] Agricultural machine according to claim 1, characterized by, that the four-bar linkage (6) is designed to assume a parallelogram shape in the working position for a first actuator length (LA) and a trapezoidal shape in the transport position for a second actuator length, wherein the transition from the working position to the transport position or vice versa is carried out by the at least one length-variable actuator. [3] Agricultural machine according to claim 1 or 2, characterized by, that the four-bar linkage (6) has links, wherein one link (10) is formed by the spaced-apart articulation axes (A1, A2) on the frame (2) and another link (11) is formed by the spaced-apart articulation axes (A3, A4) on the tool carrier (3), wherein in working position two opposing links (7, 8, 10, 11) are arranged parallel or at a small angle to each other and in transport position two opposing links (10, 11) are arranged perpendicular or at a large angle to each other, while the remaining links (7, 8) are arranged parallel or at a small angle to each other. [4] Agricultural machine according to the preceding claims, characterized by , that the linkage (8) of the four-bar linkage (6), designed as a variable-length actuator (9), is arranged on the lower side of the four-bar linkage (6) facing the ground surface (B). [5] Agricultural machine according to the preceding claims, characterized by , that the four-bar linkage (6) has a further diagonal link (12) which is arranged movably between two adjacent links (7, 11) or opposite links (10, 11) of the four-bar linkage. [6] Agricultural machine according to the preceding claims, characterized by , that the diagonal linkage (12) is designed as a length-variable actuator (13). [7] Agricultural machine according to the preceding claims, characterized by , that the diagonal link (12) deforms the four-bar linkage (6) and thus changes the height between the frame (2) and the tool carrier (3) while an actuator (9, 13) is actuated. [8] Agricultural machine according to the preceding claims, characterized by, a link (7,8) of the four-bar linkage (6) is divided into two partial links by an intermediate lever and these are movably connected to the intermediate lever on one side and to the frame (2) and the tool carrier (3) on the other, wherein the intermediate lever is articulated and pivotably connected to the remaining, undivided link (8, 7). [9] Agricultural machine according to the preceding claims, characterized by , that the tool carrier (3) is formed in multiple parts from several segments (17,18), wherein the segments (17,18) are arranged to pivot relative to each other or to a central frame (20), in particular about pivot axes (A5, A6) and / or to be movable in height. [10] Agricultural machine according to the preceding claims, characterized by , that the soil cultivation and / or application tools (5) are arranged movably, in particular vertically, on the tool carrier (3) by means of a further four-bar linkage arrangement (28).

Images