Haymaking machine and method for operating the same

Abstract

Haymaking machine (10), with a support frame (12), and with at least one rotary rake (11) which is driven around a rotary axis (21) and equipped with rake tines (20), which is pivotably attached to a boom (15) on the support frame (12) via a swath bell (18) and which can be supported on a surface to be worked by means of a rotary rake chassis (22) with gauge and support wheels (23a, 23b) or by means of skids. The haymaking machine (10) has actuators (26) which are set up to adjust the distance of the sensing and support wheels (23a, 23b) or the skids of the respective rotary rake chassis (22) to the respective swath bell (18) depending on a ground contour detected by at least one sensor and / or taken from a topology map, in order to adjust the distance of the raking tines (20) of the respective rotary rake (11) from the ground to be worked.

Description

[0001] The invention relates to a haymaking machine according to the preamble of claim 1. Furthermore, the invention relates to a method for operating a haymaking machine.

[0002] Haymaking machines are well known in practice. Haymaking machines designed as rakes and tedders are common examples.

[0003] EP 1 946 633 B1 discloses a haymaking machine with at least one raking rotor. Each raking rotor has raking tines that engage rake tine carriers, also referred to as tine arms. During operation, each raking rotor rests on the ground to be worked via guide and support wheels of its raking rotor chassis. To ensure optimal forage quality, the raking rotor, and thus its rake tines, should maintain a defined distance from the ground to be worked when the haymaking machine is in its working position, thereby preventing soil from contaminating the harvested crop.

[0004] EP 4 124 236 B1 reveals another haymaking machine.

[0005] To ensure the desired, defined distance between the rake tines and the ground being worked, haymaking machines utilize a ground contour following system. This is achieved by mounting each rake rotor to a boom via a universal joint. Depending on the ground contours detected by the sensor and support wheels, the rake rotor can shift relative to the boom via the universal joint to adapt to the ground. While this already allows for a certain degree of ground contour following, there is a need to further improve the ground contour following of haymaking machines to ensure that as much of the harvested crop as possible is captured by the rake rotors without introducing soil into the crop.

[0006] This problem is solved by a haymaking machine according to claim 1 and a method according to claim 12.

[0007] The haymaking machine according to the invention has actuators which are set up to adjust the distance of the sensing and support wheels of the respective rake head from the respective swath bell, depending on the ground contour detected by at least one sensor and / or recorded in a topology map, in order to adjust the distance of the rake tines of the respective rake head from the surface to be worked.

[0008] A topology map can be a map that shows absolute elevation data for an area to be processed, or alternatively a georeferenced map that contains an offset value for each grid area to be traversed, i.e., information about relative terrain changes, such as undulations in the ground, from grid area to grid area.

[0009] In the haymaking machine according to the invention, the ground contour of the surface to be processed is detected using at least one sensor and / or taken from a topology map.

[0010] Depending on the detected ground contour, the actuators of the haymaking machine can be used to adjust the distance of the sensing and support wheels of the respective rotary rake chassis from its respective swath bell, in order to adjust the distance of the rake tines of the respective rotary rake from the surface to be worked, depending on the ground contour.

[0011] According to the invention, a haymaking machine is provided in which the respective rotary rake has an active rotary rake chassis, namely a rotary rake chassis with actuators which adjust the distance of the rake tines of the respective rotary rake to the surface to be worked, depending on a ground contour detected by at least one sensor.

[0012] Preferably, each rotary rake can be supported on the ground to be worked via its swath bell by at least three guide and support wheels of its respective rotary rake chassis. The distance between the guide and support wheels of each rotary rake chassis and the respective swath bell can be adjusted via at least three actuators of the respective rotary rake chassis. Through translational height adjustments of the various guide and support wheels relative to the swath bell, the swath bell, with the rake tine carriers mounted on it, performs pitching movements, rolling movements, and / or changes in height relative to the ground. These changes in the plane of the rake tine carriers allow the distance of the rake tines to the ground to be worked to be adjusted. This enables particularly advantageous ground contour adaptation.

[0013] The rotary gyro chassis can be equipped with skids as an alternative to the guide and support wheels. These skids, like the guide and support wheels, can be adjusted vertically relative to the swath bell, allowing the swath bell to perform translational height adjustments as well as rolling and pitching movements relative to the ground being worked.

[0014] By controlling the three actuators of the rotary rake's chassis, a translational height adjustment, a pitching movement and a rolling movement for the swath bell of the respective rotary rake can be provided in order to precisely adjust the distance of the rake tines to the substrate to be worked, depending on the soil contour.

[0015] Preferably, the rotary rake's chassis has at least three double arms, each with at least one gauge and support wheel, and one actuator interacts with each double arm to adjust the distance between the gauge and support wheels of the respective double arm and the respective swath bell. This allows for even better ground contour following.

[0016] Preferably, the at least one sensor is arranged on a safety bracket of the respective rotary rake and / or on the boom to which the respective rotary rake attaches and / or on the rotary rake chassis of the respective rotary rake and / or on the support frame of the haymaking machine. The at least one sensor is configured to detect the ground contour of the surface to be worked, viewed in the direction of travel, in front of the respective rotary rake. The at least one sensor can also be arranged on a towing vehicle of the haymaking machine and / or be part of a drone. The respective sensor, which detects the ground contour of the surface to be worked, can be positioned particularly advantageously at these locations.

[0017] It is particularly advantageous to provide a sensor to the left and right as well as in the middle in front of a rotary table in order to capture the ground contour in multiple dimensions.

[0018] Preferably, the haymaking machine according to the invention comprises a control unit which is configured to receive a measurement signal from the at least one sensor and to control the actuators depending on the measurement signal of the at least one sensor and / or depending on information from a topology map. The control unit detects the measurement signal of the at least one sensor and / or the ground contour from the topology map and controls the actuators for ground adaptation accordingly.

[0019] Preferred embodiments of the invention are set forth in the dependent claims and the following description.

[0020] Exemplary embodiments of the invention are explained in more detail with reference to the drawing, without being limited thereto. The drawing shows: Fig. 1 a top view of a haymaking machine according to the invention with a rotating top, Fig. 2 a side view of the haymaking machine of the Fig. 1, Fig. 3 a front view of the haymaking machine of the Fig. 1, Fig. 4 a first detail of the Fig. 1 in the area of ​​rear guide and support wheels, Fig. 5 a second detail of the Fig. 1 in the area of ​​front guide and support wheels, Fig. 6 the detail of the Fig. 4 in a different state, Fig. 7 the haymaking machine of the Fig. 1, Fig. 2 to Fig. 3 during ground adjustment in operation, Fig. 8 the haymaking machine of the Fig. 1, Fig. 2 to Fig. 3 during further ground adjustments in operation, Fig. 9 the haymaking machine of the Fig. 1, Fig. 2 to Fig. 3 during further ground adjustments during operation.

[0021] The invention relates to a haymaking machine 10, wherein Fig. Figure 1 shows a haymaking machine 10 with a single rotary gyroscope 11.

[0022] Typically, a haymaking machine 10 has several raking rotors 11, for example two, four or six raking rotors 11. The haymaking machine 10 is preferably a swather.

[0023] The haymaking machine 10 has a support frame 12, wherein in Fig. 1 at one end of the support frame 12 a coupling device 13 and at an opposite end of the support frame 12 a main landing gear 14 of the haymaking machine 10 engages.

[0024] The haymaking machine 10 can be coupled to a towing vehicle via the coupling device 13.

[0025] The haymaking machine 10 rests on a surface via the main chassis 14 in both a working position and a transport position.

[0026] The in Fig. The rotary rake 11 shown engages a boom 15. The boom 15 has a joint 16 at one end, about which it can pivot relative to the support frame 12. The rotary rake 11 engages a cardan joint 17 at the other end of the boom 15, which allows the rotary rake 11 to tilt in the longitudinal and transverse directions of the haymaking machine 10.

[0027] The rotary rake 11, or the respective rotary rake 11, has a so-called swath bell 18 in which a swath gearbox is arranged. Several rake tine carriers 19, also referred to as tine arms, are attached to the swath bell 18, particularly to the swath gearbox. The rake tines 20 engage the rake tine carriers 19. In the working position of the haymaking machine 10, or the respective rotary rake 11, the rotary rake 11, namely its swath bell 18, together with the rake tine carriers 19 and rake tines 20, is rotatable about a rotation axis 21 extending in the vertical direction. During the rotation of the rotary rake 11, the swath gearbox controls the position of the rake tine carriers 19 and the rake tines with regard to a working or non-working position.

[0028] Each rotary gyrator 11 also has a rotary gyrator chassis 22. The rotary gyrator chassis 22 has sensing and support wheels 23, by means of which the respective rotary gyrator 11 supports itself in the working position on a surface to be processed, thus following the ground contours.

[0029] In the illustrated embodiment, the rotary gyratory chassis 22 of the respective rotary gyratory 11 has a total of six gauge and support wheels 23a, 23b, namely two gauge and support wheels 23a located at the front in the direction of travel and four gauge and support wheels 23b located at the rear in the direction of travel.

[0030] The two support wheels 23a located at the front in the direction of travel are attached to a transversely extending front double swing arm 24a, and two of the rear guide and support wheels 23b are each attached to a longitudinally extending rear double swing arm 24b. The pairs of rear guide and support wheels 23b attached to the respective rear double swing arm 24b are arranged side by side in the transverse direction.

[0031] The double swing arms 24a, 24b are also referred to as pendulum axles. Although the illustrated embodiment has a total of six guide and support wheels 23a, 23b, it is also possible that the rotary gyroscope chassis 22 of the respective rotary gyroscope 11 has only three guide and support wheels, in particular one front guide and support wheel 23a and two rear support wheels 23b, which are arranged side by side in the transverse direction.

[0032] In the illustrated embodiment, the double swing arms 24a, 24b, on which the feeler and support wheels 23a, 24b engage, attach to a frame 25 of the rotary gyratory chassis 22 of the respective rotary gyratory 11.

[0033] The haymaking machine 10 according to the invention has actuators 26 which are configured to adjust the distance of the sensing and support wheels 23a, 23b to the respective swath bell 18 depending on a ground contour. This allows the orientation of the swath bell 18 relative to the ground to be changed, thereby adjusting the distances of the rake tines 20 of the respective rake rotor 11 to the ground to be worked. Each rotary rake 11 therefore has an active rotary rake chassis 22, such that the actuators 26 exert a pulling or pushing force on the sensing and support wheels 23a, 23b depending on the ground contour of the subsoil to be worked, in order to adjust the distance of the sensing and support wheels 23a, 23b of the respective rotary rake 11 to the respective swath bell 18 and thus the distance of the raking tines 20 of the respective rotary rake 11 to the subsoil to be worked. The ground contour can be detected by sensors and / or taken from a topology map.

[0034] Each rotary gyroscope 11 has three actuators 26. These actuators 26 are preferably designed as hydraulic cylinders. In the illustrated embodiment, each pair of sensing and support wheels 23a, 23b, which act on a common double rocker arm 24a, 24b, is acted upon by one actuator 26. Fig. Figure 4 shows an actuator 26 that interacts with a pair of rear sensing and support wheels 23b that engage the double swing arm 24b. Fig. 5 and Fig. Figure 6 shows the actuator 26, which interacts with the front sensing and support wheels 23a that engage the double swing arm 24a. Fig. 5 and Fig. Figure 6 shows the respective detail from the haymaking machine 10 in different states, whereby in Fig. 6 the distance of the gauge and support wheels 23a to the swath bell 18 in the vertical direction is greater than in Fig. 5.

[0035] Each actuator 26 is articulated at one end 27 to the frame 25 of the rotary gyro chassis 22 of the respective rotary gyro 11 and at the opposite end 28 to a parallel kinematic linkage, via which the respective double rocker arm 24a, 24b is connected to the frame 25 of the rotary gyro chassis 22 of the respective rotary gyro 11. This parallel kinematic linkage has two parallel links 29, 30, each of which is articulated at its ends to the frame 25 on one side and to the respective double rocker arm 24a, 24b on the other. The two parallel links 29, 30 of the respective parallel kinematic linkage of the respective rotary gyro chassis 22 of the respective rotary gyro 11 form a four-bar linkage.

[0036] The parallel kinematics encompassing the linkages 29, 30 can be pivoted via the respective actuator 26 in order to either pull the feeler and support wheels 23a, 23b acting on the respective double rocker arm 24a, 24b more strongly towards the swath bell 18 or push them further away from the swath bell 18 - each in a vertical direction.

[0037] Each actuator 26 acts individually on the respective double arms 24a, 24b and thus individually on the feeler and support wheels 23a, 23b acting on the respective double arms 24a, 24b. In this way, the swath bell 18, together with the rake tine carriers 19, can perform translational height adjustment as well as pitching and rolling movements relative to the surface being worked. If all actuators 26 act uniformly on the double arms 24a, 24b and thus on all feeler and support wheels 23a, 23b, translational height adjustment of the swath bell 18, and thus for the rake tines 20, can be provided. If, on the other hand, the actuators 26 are controlled differently, pitching and / or rolling movements for the swath bell 18, and thus a change in the distance of the rake tines 20 relative to the surface being worked, can also be ensured.For example, if only the actuator 26 acting on the front double swing arm 24 (in the direction of travel) and thus on the front guide and support wheels 23a is adjusted, a pitching movement can be provided. If only one of the actuators 26 acting on the guide and support wheels 23b mounted on the rear double swing arms 24b (as viewed in the direction of travel) is adjusted, a rolling movement can be provided.

[0038] Fig. Figure 4 shows the rear guide and support wheels 23b shown there, and their double swing arm 24b, respectively. Fig. 5 and Fig. Figure 6 shows a stop 31 for the front gauge and support wheels 23a and their double swing arm 24a, which limits the displacement of the respective gauge and support wheels 23a, 23b relative to the swath bell 18. This advantageously prevents the gauge and support wheels 23a, 23b from colliding with the swath bell 18 or the tine carriers 19.

[0039] As already explained, the actuators 26 serve to adjust the distance of the respective sensing and support wheels 23a, 23b to the swath bell 18 in the vertical direction, depending on the ground contour of the substrate to be worked, in order to adjust the distance of the raking tines 20 to the substrate to be worked.

[0040] The contour of the substrate to be treated can be detected by at least one sensor. This sensor is not shown in the figures.

[0041] Alternatively, the ground contour can be taken from a topology map.

[0042] It is possible to arrange at least one sensor, which serves to detect the ground contour of the surface to be worked, on a safety bar 32 of the respective rotary rake 11. This sensor is then preferably arranged in the middle of the safety bar 32, as far forward as possible in the direction of travel of the haymaking machine 10, in order to detect the ground contour lying in front of the respective rotary rake 11 effectively.

[0043] A sensor used to detect the ground contour of the surface to be worked can also be attached to the support frame 12 of the haymaking machine 10, preferably adjacent to the coupling device 13. Such a sensor, used to detect the ground contour of the surface to be worked, can also be attached to a boom 15, preferably at a position of the boom 15 that, in the working position, is as far out as possible near the axis of rotation or gyroscope axis 21 of the respective rotary gyroscope 11.

[0044] Such a sensor, which serves to detect the ground contour of the surface to be worked, can also be attached to the rotary gyratory chassis 22 of the respective rotary gyratory 11, for example to the double swing arm 24a located at the front in the direction of travel of the sensing and support wheels 23a located at the front in the direction of travel. Such a sensor must be configured to be able to detect the ground contour located in front of the rotary gyratory chassis 22.

[0045] A separate mount can also be provided on the haymaking machine 10 for such a sensor, which serves to detect the ground contour of the surface to be worked. The respective sensor, which detects the ground contour and is arranged on the haymaking machine 10, can thus be, for example, a radar sensor, lidar sensor, ultrasonic sensor or the like.

[0046] It is also possible that such a sensor for detecting the ground contour of the surface to be worked is assigned to a tractor unit of the haymaking machine 10. Alternatively, such a sensor for detecting the ground contour of the surface to be worked can be part of a drone that flies over the surface during processing and detects its contour.

[0047] Regardless of where the sensor for detecting the ground contour of the substrate to be processed is arranged, or whether the ground contour is taken from a topology map, the invention provides that the actuators 26 of the respective rotary rake 11 act on the sensing and support wheels 23a, 23b of the respective rotary rake 11, in the illustrated embodiment on the double swing arms 24a, 24b of the respective rotary rake 11, depending on the ground contour of the substrate to be processed, in order to ultimately optimally adjust the distance of the rake tines 20 of the respective rotary rake 11 from the substrate to be processed, so that as much crop material as possible is captured by the rake tines 20 without introducing soil into the crop material.

[0048] Preferably, the haymaking machine 10 comprises a control unit 33 ( Fig. 2), which is configured to receive the measurement signal of the at least one sensor that detects the ground contour of the subsurface to be processed and which is further configured to evaluate the measurement signal of the at least one sensor and, depending on this or depending on the information from a topology map, to control the actuators 26 of the at least one rotary gyroscope 11.

[0049] The control of the actuators 26 of the respective rotary gyroscope 11 can also depend on a steering angle of the towing vehicle and / or the haymaking machine and / or on GPS data and / or on the measurement signal of an inclination sensor.

[0050] The control unit can be configured to control the actuators 26 in the sense of control or regulation.

[0051] In a control system, depending on the information from a topology map or depending on the measurement signal from at least one sensor that detects the ground contour, and possibly depending on the steering angle and / or GPS data and / or a measurement signal from an inclination sensor, a control variable for the actuators 26 of the respective rotary gyroscope 11 is determined, depending on which the actuators 26 are then controlled, without, however, monitoring what actual distance of the raking tines 20 relative to the surface to be processed actually develops.

[0052] In contrast, in a control system, the actual distance of the rake teeth 20 to the substrate being processed, which develops depending on the control of the actuators 26, is determined in order to compare this actual distance with a control-technically specified target distance and, depending on the deviation between the actual distance and the target distance, the actuators 26 of the respective rake 11 are controlled in such a way that the actual distance of the rake teeth 20 of the respective rake 11 from the substrate being processed is brought closer to the target distance.

[0053] The determination of the actual distance of the rake teeth 20 of the respective rake gyroscope 11 from the substrate to be processed can be based on information from a topology map or using suitable sensors, for example radar sensors, lidar sensors or the like.

[0054] The invention enables optimal ground adaptation even on very uneven terrain, so that as much of the harvested crop as possible is captured by the respective rotary rake 11 without introducing soil into the harvested crop. Fig. 7, Fig. 8 and Fig. Figure 9 shows the haymaking machine. Figure 10 of the Fig. 1, Fig. 2 to Fig. 3 in different terrain formations of a subsoil to be worked.

[0055] As already explained, the distance of the rake teeth 20 of the respective rake head 11 to the surface to be processed can be precisely adjusted via the actuators 26, which are controlled depending on a detected ground contour of the substrate to be processed.

[0056] The invention further relates to a method for operating a haymaking machine 10 according to the invention. In the method according to the invention, the ground contour of the surface to be worked is detected using at least one sensor or a topology map. Depending on the ground contour detected by the at least one sensor, the distance of the sensing and support wheels 23a, 23b of the respective raking rotor 11 of the haymaking machine 10 to the respective swath bell 18 is adjusted by means of the actuators 26 in order to adjust the distance of the raking tines 20 of the respective raking rotor 11 from the surface to be worked depending on the ground contour.

[0057] The active rotary drive according to the invention can also additionally regulate the distance of the rake tines 20 to the substrate to be processed depending on the amount of crop to be processed.

[0058] In a haymaking machine 10 according to the invention, various driving modes can be provided. For example, a driving mode can be provided that allows more raking losses, i.e., leaves crop material on the ground, but harvests cleaner crop material with a lower crude ash content. Likewise, a driving mode can be provided that allows more frequent ground contact of the raking tines 20 and thus operates with lower crop losses, but harvests crop material with a potentially higher crude ash content. Reference symbol list 10 haymaking machines 11 gyroscopes 12 support frames 13 Coupling device 14 Main landing gear 15 outriggers 16 joint 17 Cardan joint 18 Swath bell 19 right-hand pin carriers 20 rectangles 21 gyroscope axes 22 Right-hand gyro landing gear 23a Gauge and support wheel 23b Tactile and support wheel 24a Double swing arm 24b Double swing arm 25 frames 26 Actuator 27 End 28 End 29 handlebars 30 handlebars 31 attacks 32 safety bars 33 Control unit QUOTES INCLUDED IN THE DESCRIPTION

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

[0000] EP 1 946 633 B1

[0003] EP 4 124 236 B1

[0004]

Claims

Haymaking machine (10), with a support frame (12), with at least one rotary rake (11) driven around a rotary axis (21) and equipped with rake tines (20), which is pivotably attached to a swath bell (18) via a boom (15) on the support frame (12) and which can be supported on a surface to be worked by a rotary rake chassis (22) with guide and support wheels (23a, 23b) or by skids, characterized by actuators (26) which are arranged to adjust the distance of the guide and support wheels (23a, 23b) or skids of the respective rotary rake chassis (22) to the respective swath bell (18) depending on a ground contour detected by at least one sensor or taken from a topology map, in order to adjust the distance of the rake tines (20) of the respective rotary rake (11) from to adjust to the surface being treated. Haymaking machine (10) according to claim 1, characterized in that each rotary rake (15) can be supported on the substrate to be worked via at least three gauge and support wheels (23a, 23b) or at least three skids of its respective rotary rake chassis (22), and that the distance of the gauge and support wheels (23qa, 23b) or the skids of the respective rotary rake chassis (22) to the respective swath bell (18) can be adjusted via at least three actuators (26) of the rotary rake chassis (22) of the respective rotary rake (11) in order to adjust the distance of the rake tines (20) from the substrate to be worked via a translational height adjustment and / or a pitching movement and / or a rolling movement of the swath bell (18) of the respective rotary rake (11). Haymaking machine (10) according to claim 2, characterized in that the rotary rake chassis (22) of the respective rotary rake (11) has at least three double arms (24a, 24b) on each of which at least one gauge and support wheel (23a, 23b) engages, wherein one of the actuators (26) cooperates with each double arm (24a, 24b) to adjust the distance of the gauge and support wheels (23a, 23b) of the respective double arm (24a, 24b) to the respective swath bell (18). Haymaking machine (10) according to one of claims 1 to 3, characterized in that the at least one sensor is arranged on a safety bracket (32) of the respective rotary gyrator (11) and / or on the boom (15) on which the respective rotary gyrator (11) engages, and / or on the rotary gyrator chassis (22) of the respective rotary gyrator (11) and / or on the support frame (12) of the haymaking machine (10). Haymaking machine (10) according to one of claims 1 to 4, characterized in that the at least one sensor is arranged on a towing vehicle of the haymaking machine (10). Haymaking machine (10) according to one of claims 1 to 5, characterized in that the at least one sensor is part of a drone. Haymaking machine (10) according to one of claims 1 to 6, characterized in that the at least one sensor is arranged to detect the ground contour of the surface to be worked in the direction of travel in front of the respective rotary head (11). Haymaking machine (10) according to one of claims 1 to 7, characterized by a control unit which is configured to receive a measurement signal from the at least one sensor or to extract the ground contour from a topology map and to control the actuators (26) depending on the ground contour. Haymaking machine (10) according to claim 8, characterized in that the control unit is configured to control the actuators (26) depending on a steering angle and / or depending on GPS data and / or depending on the measurement signal of an inclination sensor. Haymaking machine (10) according to claim 8 or 9, characterized in that the control unit is configured to control the actuators (26) in the sense of a control or in the sense of a regulation. Haymaking machine (10) according to one of the preceding claims, characterized in that at least one stop (31) is provided which limits the displacement of the respective feeler and support wheels (23a, 23b) relative to the swath bell (18). Method for operating a haymaking machine according to one of claims 1 to 11, comprising the following steps: Detecting the ground contour of the subsoil to be worked, depending on the detected ground contour; adjusting the distance of the sensing and support wheels (23a, 23b) of the respective rotary rake chassis (22) of the respective rotary rake (11) to the respective swath bell (18) in order to adjust the distance of the raking tines (22) of the respective rotary rake (11) from the subsoil to be worked.

Images