AGRICULTURAL SOIL WORKING IMPLEMENT AND METHOD FOR OPERATION THEREOF

Description

[0001] The present invention relates to a soil tillage implement for attachment to an agricultural machine, a system comprising such a soil tillage implement and an agricultural machine, and a method for operating such a soil tillage implement or system. In the present context, a soil tillage implement is understood to mean, in particular, a tine implement such as a cultivator, a harrow such as a disc harrow, in particular a compact disc harrow, or a rotary harrow, a sowing implement such as a seed drill, a precision seed drill, or a seed drill, a seedbed combination, a mulcher, or a hoe, in particular a rotary hoe. Furthermore, combinations of the aforementioned implements are also understood to be soil tillage implements. Mowers, hay tedders, or choppers, however, are not considered soil tillage implements in the present context.

[0002] The soil tillage implement has a frame which has at least two frame parts arranged adjacently transversely to a direction of travel of the soil tillage implement and which can be switched between a working position and a transport position by at least one actuator, in that at least one of the frame parts can be tilted about a rotation axis between a lowered position and a raised position in order to have a smaller extension of the soil tillage implement transversely to the direction of travel in the transport position than in the working position. The at least one actuator can be designed as a single part, e.g. a single hydraulic cylinder or electric drive, or as multiple parts, e.g. as several hydraulic cylinders or electric drives connected in parallel or also as telescopically or otherwise complementary hydraulic cylinders or electric drives.

[0003] The frame parts also each have at least one tool for soil cultivation.

[0004] Such tillage implements, such as disc harrows, cultivators, or seed drills, are used to cultivate the soil of large fields. The wider the tillage implement, the shorter the distance it needs to be pulled across the field to cultivate the entire soil, because a larger area is cultivated in a single pass.

[0005] This results in a need for larger working widths, as this allows for more efficient and therefore more cost-effective soil cultivation. However, large working widths of such soil tillage equipment have the disadvantage that they place greater demands on the evenness of the soil to be tilled. Curvatures or undulating soil relief pose an even more serious problem for soil tillage equipment the larger the working width of the soil tillage equipment. This is because a divergence between the arrangement of the tools, for example the concave discs of a disc harrow, and the contours of the soil surface means that homogeneous cultivation across the entire area is not possible. The goal, however, is to ensure the most homogeneous cultivation of the soil possible, even with a large working width.

[0006] This problem has led to the development of soil tillage equipment that offers the possibility of adapting to the soil relief transverse to the direction of travel.

[0007] In one existing solution, the large working width is covered by a two-part frame. Each of the two frame sections is suspended in a pendulum motion around a pivot axis parallel to the direction of travel. This makes it possible to follow the soil's contours during cultivation by changing the inclination of the respective frame section, achieving more uniform soil cultivation compared to a single-part frame of the same width.

[0008] However, this system cannot be easily extended to concepts with frames comprising more than two frame sections. It is therefore limited to a certain working width and a certain degree of accuracy. This system forms the starting point of the present invention.

[0009] A fundamentally independent system is known from US 2015 / 0129255 A1. This document discloses an attachment in which a multi-part frame with attached tools can be converted between a working position and a transport position by multiple actuators. The individual parts of the frame are tilted about rotation axes transverse to the direction of travel of the attachment and thus folded onto one another in order to be reduced to a lateral extent that allows use on a public road. In the design according to US 2015 / 0129255 A1, the height of the frame parts above the ground can be adjusted by targeted control of the support wheels supporting the frame part.Although this makes it possible to adapt the attachment to the relief of the ground even for frames consisting of more than two parts, this solution requires many additional actuators and lever mechanisms as well as corresponding support wheels to enable the height adjustment of the frame parts.

[0010] The documents US2015271981A1 and WO2005115124A1 describe additional known soil tillage devices.

[0011] Against the background of the prior art, one object of the present invention is to provide a soil cultivation device of the above-mentioned technical field that combines the largest possible working width with the most homogeneous soil cultivation quality possible across the entire area and the simplest possible construction. A solution to this problem is specified by claim 1 and claim 10, respectively. Advantageous developments of the invention are the subject of the dependent claims.

[0012] A further object is to operate a soil tillage implement in such a way that the largest possible working width is ensured with the most homogeneous soil tillage quality possible across the entire area, while maintaining the simplest possible design of the soil tillage implement. A solution to this problem is provided by claim 11. Advantageous developments of the invention are the subject of the dependent claims.

[0013] The soil tillage implement according to the invention is designed to raise or lower at least one of the frame parts by the actuator such that the distance or penetration depth assumes a predetermined value. This is also made possible, among other things, by the fact that the frame parts are each assigned to at least one distance-determining device for determining a distance of the tool from the ground or a penetration depth of the tool into the ground. Based on the determined distance or penetration depth, the actuator can raise or lower the frame part to achieve the predetermined distance or penetration depth.

[0014] A frame part can be assigned to a distance determination device in that the distance determination device is arranged on the frame part. In addition, the frame part can also be assigned to the distance determination device in that a signal output by the distance determination device relates to the assigned frame part, i.e., relates to an actuation of the actuator of the assigned frame part. The frame part can also be assigned to a distance determination device through a direct or indirect operative connection. In addition to a direct coupling as an operative connection, this can also be realized via one or more elements that are arranged between the frame part and the distance determination device and / or form or form an operative connection between the frame part and the distance determination device.A chassis or frame element arranged between the frame part and the distance determination device does not prevent an assignment between the frame part and the distance determination device.

[0015] According to the invention, the actuator provided on the soil tillage implement for switching between the working position and the transport position by raising or lowering one of the frame sections is designed to also raise or lower the frame section so that the distance of the tool from the ground or the depth of penetration of the tool into the ground assumes a predetermined value. Thus, it is not necessary to install or integrate an additional actuator or lever mechanism for raising or lowering the frame section. This saves weight and costs.

[0016] The agricultural machine is usually a tractor, but it can also be a combine harvester or other agricultural machine to which a tillage implement can be attached.

[0017] The frame can furthermore preferably have more than two, and therefore at least three, frame sections arranged adjacently transversely to the direction of travel of the soil tillage implement. With an odd number of frame sections, a central section can preferably be provided, the width of which is dimensioned such that folding the frame onto the central section results in an overall width of the soil tillage implement that at most reaches the width permitted for use on public roads.

[0018] The actuator can, in particular, be a hydraulic cylinder as a preferred embodiment of a working cylinder. In addition to a hydraulic cylinder, a pneumatic cylinder is also conceivable as a possible embodiment of a working cylinder. As an alternative to a working cylinder, an electric drive, for example, an electric motor in the form of a linear motor or the like, can also be provided.

[0019] The working position of the soil tillage implement is usually a position in which the soil tillage implement reaches its maximum lateral extension, i.e. extending transversely to the direction of travel. This horizontal extension essentially corresponds to the working width of the soil tillage implement and is therefore maximized as much as possible in the working position. This serves to achieve the most efficient cultivation of the soil. The frame, and in particular individual frame sections, can deviate from the strictly horizontal alignment, especially if this serves to better follow the ground relief. This will occur primarily on hilly terrain or when the soil to be worked is naturally uneven. In this case, the frame sections are still essentially aligned horizontally in the working position, although deviations from the horizontal are permitted due to the ground relief.

[0020] In contrast, in the transport position the frame is folded as far as possible transversely to the direction of travel. This can be achieved, for example, by having individual frame sections essentially upright. These frame sections can be set up at an angle of more than 90° so that they are inclined inwards in the transport position to enable safer transport and further reduce lateral expansion in the upper area of the soil tillage implement. It is also possible for individual frame sections to be placed on top of one another during rearrangement, thus forming a stack of more or less horizontally aligned frame sections. The exact position of the individual frame sections in the transport position depends in particular on how many frame sections the frame is divided into.

[0021] In one embodiment, the frame comprises three frame parts: a central part and two side parts. The two side parts are essentially vertically aligned, and the width of the soil tillage implement transverse to the direction of travel essentially corresponds to the lateral extent of the central part. Such embodiments are generally known from the prior art, although they are not equipped with the mechanism according to the invention.

[0022] In such designs, the rotation axis around which the frame sections can be tilted to switch between the transport position and the working position runs essentially parallel to the direction of travel of the soil tillage implement. With such a rotation axis, it is particularly easy to reduce the lateral expansion of the soil tillage implement by tilting it around the rotation axis. However, it is also possible for the frame sections to be tilted around more than one rotation axis or an offset rotation axis in order to switch between the lowered and raised positions, thus switching back and forth between the working position and the transport position.

[0023] The at least one soil cultivation tool that the frame parts each have is, for example, the hollow discs of a disc harrow, the cultivator tines of a cultivator, or similar tools. Each frame part has at least one tool; preferably, several tools are arranged on the frame part. The tools can be arranged laterally spaced apart.

[0024] The distance determining device according to the present invention can be a device that determines a distance of a tool from the ground or a penetration depth of the tool into the ground. An example of such a device is a trailing roller that is mounted on the respective frame part via a lever mechanism or a depth adjustment cylinder or is assigned to the frame part in another way, for example by its position substantially (in the direction of travel) behind the respective frame part. Due to the depth adjustment cylinder, which follows the movement of the trailing roller when it changes its relative position to the frame part or another element of the soil cultivation device, e.g. due to uneven ground, it is possible for the relative distance between the trailing roller and the frame part to change generally or locally.

[0025] This is to be distinguished from a rigidly or movably mounted support wheel, which defines the distance between the frame part and thus also the tool and the ground, but does not determine this distance because the support wheel cannot provide feedback as to whether the support wheel is in contact with the ground or not. Only when the support wheel is in contact with the ground does the distance of the tool from the ground, or its penetration depth into the ground, correspond to the setting set by the support wheel. The support wheel is therefore not a distance-determining device, but rather a spacing device that maintains a specific minimum distance. This does not prevent the actual distance from being greater than the minimum distance.

[0026] Alternatives to a trailing roller with a depth-adjusting cylinder could include other mechanical or optical devices that can determine the distance between a frame part or tool on the one hand and the ground on the other. Suitable devices include radar sensors, infrared sensors, cameras, inclination sensors, or similar devices. The distance-determining device must be capable of determining the distance of the tool from the ground or the depth of penetration of the tool into the ground directly or indirectly, e.g., via the distance and / or inclination of the frame part from the ground, so that information about this distance can be obtained.

[0027] The soil tillage implement can be configured to raise or lower at least one of the frame parts by the actuator such that the distance or penetration depth assumes a predetermined value, by providing a control on the soil tillage implement. Alternatively, such a control can also be arranged on the agricultural machine or provided at a remote, separate location. It is only necessary that the distance of the tool from the ground or the penetration depth of the tool into the soil be determined, and based on this information, the at least one actuator can be actuated to assume the preset or desired value.

[0028] Particularly preferably, this predetermined value is not only assumed but also maintained by the actuator continuously or at intervals adjusting the distance of the tool from the ground or the depth of penetration of the tool into the ground. In this case, the distance or penetration depth is regulated to a predetermined value in the control-engineering sense, not just controlled.

[0029] The control does not have to be a separate element; its function can also be performed by an existing electronic component. Neither the arrangement nor the precise structural design of the control is of crucial importance for the present invention.

[0030] In order for the soil tillage implement to be designed to raise or lower at least one of the frame parts by the actuator in such a way that the distance or the penetration depth assumes a predetermined value, a connection is sufficient as an alternative to a separate control unit, via which information about the distance of the tool from the ground or the penetration depth of the tool into the ground can be read out and actuation commands for the at least one actuator can be received.

[0031] The frame parts preferably comprise at least three frame parts, namely a center part, a left side part, and a right side part. The center part is arranged centrally with respect to the direction of travel, the left side part is arranged to the left of the center part with respect to the direction of travel, and the right side part is arranged to the right of the center part with respect to the direction of travel. The frame can be adjusted between the working position and the transport position by at least two actuators, in that the left side part and the right side part can each be tilted about a rotation axis between the lowered position and the raised position.

[0032] This is a particularly preferred embodiment because the three frame sections can be easily adjusted between the transport position and the working position. This can be achieved in particular by simply erecting the two side sections, namely when the middle section has a width that is smaller than the maximum permissible width of a device moved on public roads. At the same time, a three-section soil tillage device already enables a considerable working width, for example a working width of 9 m, with reasonable adaptability to uneven ground. The entire frame can, for example, be divided into more or less equal sections, each approximately 3 m wide. In this context, it is also possible to make the middle section slightly smaller than the two side sections in order to achieve a smaller lateral extension of the soil tillage device in its transport position.With this design, the actuators can also be used particularly easily to raise and lower at least the two side panels, as these can simply be folded up to switch between the working and transport positions. This exact mechanism can be adopted to respond to uneven ground.

[0033] Preferably, the frame parts each have a plurality of tools for soil cultivation arranged at a distance transversely to the direction of travel, and the distance determining device is designed to determine the distance or the penetration depth of at least two of the tools of the respective frame part, preferably all tools of the respective frame part, approximately, preferably mechanically.

[0034] The distance-determining device preferably comprises a roller, in particular a trailing roller, that is vertically movable relative to the respective frame part in order to determine this distance or the penetration depth. In addition to a roller, other scanning devices or similar devices are also suitable for mechanically determining the distance or penetration depth. As an alternative to mechanically determining the distance or penetration depth, it is also possible to determine the distance or penetration depth based on electromagnetic radiation or optically using sensors.

[0035] The tools can be, for example, cultivator tines, hollow discs, rotary hoes, or similar. However, other tools are also conceivable. The present invention can, in principle, be applied to a very wide variety of different tools mounted on a multi-part frame, with soil tillage tools and other tools for which maintaining a precise distance from the ground or a precise penetration depth into the soil is of particular importance deriving particularly great benefit from the invention.

[0036] However, the use of a roller that is movable relative to the frame part, in particular a trailing roller, is particularly preferred because this provides a particularly simple and inexpensive solution that does not require complex evaluation of measuring signals and offers the accuracy required for the soil tillage device.

[0037] Preferably, the distance determining device is designed to at least approximately determine an inclination of the floor relative to at least one of the frame parts.

[0038] The approximate determination of the distance or penetration depth of two tools can be achieved by approximately determining the inclination of the ground relative to the respective frame part. If the respective frame part on which the two tools are mounted is inclined approximately parallel to the ground, the distances or penetration depths of the two tools are approximately equal. This can be achieved in several ways.

[0039] The approximate determination of the inclination can be carried out particularly easily by means of a roller which is arranged on the associated frame part or an element of the soil tillage implement assigned to it and which is vertically movable and tiltable relative to the frame part. If the inclination of the ground changes, the roller can follow the ground and thus provide feedback on the relative inclination of the frame part to the ground and thus also on the approximate local distance from the ground or the penetration depth into the ground of at least two tools on the associated frame part. Alternatively, the inclination of the ground to a reference plane, e.g. the horizontal, and the inclination of the frame part to this or another known reference plane can also be determined.

[0040] In the context of the present invention, an approximate determination of the distance, penetration depth, or inclination is understood to mean, in particular, a linear approximation of the respective measured variable. In other words, for example, the ground in the region of a frame part is assumed to be straight, i.e., linear in at least one direction, and its course is thus approximated by a linear approximation. The inclination of the thus approximated ground to the frame part is determined, and, if necessary, the distance or penetration depth of the tools is deduced from this.

[0041] The accuracy of the approximation can be improved by increasing the number of frame sections or reducing the size of the individual frame sections and, if applicable, the associated rollers. This improves the degree of approximation in the approximate determination of the relative inclination of the soil to the frame section and thus the distance between at least two of the tools, because the deviations of the actual soil profile from the sectionally linear approximation are overall smaller.

[0042] The distance-determining device preferably comprises one, preferably several, working cylinders, in particular hydraulic cylinders. Working cylinders are a preferred option for determining the distance between the frame part and the ground. A wheel, roller, or carriage in contact with the ground is connected to the frame part via the working cylinder, so that information about the local contour of the ground in relation to the respective frame part can be obtained by extending and retracting the working cylinder. Such a working cylinder makes it possible to couple the information directly into a hydraulic or pneumatic system, which can also be used to raise or lower the frame parts of the soil cultivation device.

[0043] Alternatively, sensors can help determine the distance between the frame part and the ground or the tool to the ground or the penetration depth of the tool into the ground, and other actuators can be used as working cylinders.

[0044] In a preferred embodiment, the actuator comprises a working cylinder, in particular a hydraulic cylinder. This means that the actuator, which moves the frame between the working position and the transport position, is designed as a working cylinder. In addition to a hydraulic cylinder, a pneumatic cylinder is available as a preferred working cylinder. As an alternative to a working cylinder, an electric motor with a corresponding gear, for example, a linear motor, can also be used as the actuator.

[0045] Preferably, the soil tillage implement is a harrow such as a disc harrow, in particular a compact disc harrow, or a rotary harrow, a cultivator, a seedbed combination, or a sowing implement such as a seed drill, a precision seed drill, a seed drill, a mulcher, or a rotary hoe. The invention can be used particularly advantageously in these soil tillage implements because great importance is placed on a precise distance of the tools from the soil and a precise penetration depth of the tools into the soil, while at the same time, particularly large working widths are desired in order to cultivate the soil efficiently. However, other soil tillage implements can also be designed within the meaning of the invention.

[0046] Preferably, the actuator and the distance determining device each comprise a hydraulic cylinder, wherein the hydraulic cylinder of the actuator and the hydraulic cylinder of the distance determining device are hydraulically coupled to one another in such a way that the at least one frame part is always raised or lowered in such a way that the distance or the penetration depth remains constant.

[0047] By means of a suitable hydraulic connection of the hydraulic cylinder of the distance determination device on the one hand and that of the actuator on the other hand, electronic control or regulation effort can be minimized and a reliable and low-maintenance design of the soil tillage device can be achieved.

[0048] The invention further relates to a system comprising an agricultural machine and a soil cultivation implement, as described above. The system further comprises a control device, wherein the control device is configured to receive data from the distance-determining device and to send data to the actuator in order to actuate the actuator such that at least one of the frame parts is raised or lowered in order to adjust the local distance of the frame part from the ground, preferably to maintain a predetermined local distance.

[0049] The control device can be part of the soil tillage implement, but it can also be part of the agricultural machine, for example, a tractor. Finally, the control device can also be arranged independently of the soil tillage implement and the agricultural machine, or it can be designed as a virtual control device provided on one or more servers accessible via a data connection.

[0050] Data in this sense also includes information about an increasing or decreasing pressure of a pressure medium, in particular hydraulic fluid or gas, insofar as this allows direct or indirect conclusions to be drawn about the distance of the tool from the ground or the depth of penetration of the tool into the ground or, if applicable, the inclination.

[0051] In a method according to the invention for operating a soil tillage implement mounted on an agricultural machine, having a frame which has at least two frame parts and at least one actuator for raising or lowering at least one of the frame parts, in order to thereby convert the frame between a working position and a transport position in which the soil tillage implement has a smaller extent transversely to a direction of travel than in the working position, wherein the frame parts each have at least one tool for tilling the soil, a distance of the tool from the ground or a penetration depth of the tool into the ground is determined and at least one of the frame parts is raised or lowered by the actuator in such a way that the distance or the penetration depth assumes a predetermined value.

[0052] The method according to the invention utilizes the actuator already present for switching between the working position and the transport position to also adjust the distance of the tool from the ground or the penetration depth of the tool into the soil. This enables a particularly efficient design and use of the soil tillage implement. On the one hand, no additional actuators are required to adjust the distance or penetration depth, which keeps the weight, structural complexity, and associated costs low. On the other hand, the use of the actuators allows for relatively precise control of the distance or penetration depth, which enables significantly more homogeneous soil tillage by the soil tillage implement than with rigid soil tillage implements extending a similar distance transversely to the direction of travel.

[0053] Preferably, an inclination of the at least one frame part relative to the ground is adjusted by the actuator such that it is aligned approximately parallel to the inclination of the ground. In this way, it can be achieved particularly efficiently that the tools on the relevant frame part have essentially the same distance from the ground or the same penetration depth into the ground, which leads to particularly homogeneous soil cultivation. The inclination of the ground can be determined in different ways and the inclination of the frame part can be adjusted in different ways. Alternatively, instead of the relative inclination of the frame part with respect to the ground, the distance of the frame part can be determined, preferably at different points on the frame part, and the inclination or height of the frame part can be adjusted from this information.

[0054] Preferably, the soil tillage implement is a soil tillage implement as described above. However, the method can in principle also be applied to other soil tillage implements.

[0055] In a preferred embodiment of the system described above, the control device is designed to carry out the method described herein.

[0056] Further preferred features and advantages of the invention and its particular embodiments emerge from the following description of the figures and the entirety of the claims. Fig. 1 is a perspective oblique rear view of a preferred embodiment of a soil tillage implement for attachment to an agricultural machine. Fig. 2 shows the embodiment of Fig. 1in a perspective oblique front view. Fig. 3a-3c show a schematic representation of the operation of a preferred embodiment. Fig. 4a-4c show a concrete representation of the embodiment from Fig. 3a-3c .

[0057] Figure 1 shows a preferred embodiment of a soil tillage implement 10 for attachment to an agricultural machine. In the present embodiment, the agricultural machine is preferably a tractor, although this is not shown in the figures. The tractor is connected to the soil tillage implement 10 via a coupling 30 in order to pull it both for soil tillage and for transport.

[0058] When the soil tillage implement 10 is pulled by the tractor for transport, e.g., over a public road, the soil tillage implement 10 is typically in its transport position, which is not shown in the present figures. In the transport position, wheels mounted in particular on a separate axle 32 are lowered to support the weight of the soil tillage implement 10, provided the soil tillage implement 10 is not carried by the tractor. The soil tillage implement 10 can thus be safely transported on a public road without damaging the road and without the need for escort vehicles or special permits for extra-wide vehicles or the like. In order to transfer part of its weight to these wheels, the soil tillage implement 10 has a hydraulic cylinder 34 with which the axle 32 and the wheels can be lowered or raised.

[0059] Figure 1shows the working position of the soil tillage implement 10. The soil tillage implement 10 has a frame 12, which in the present embodiment has three frame parts 12.1, 12.2, 12.3 arranged adjacently transversely to a direction of travel F of the soil tillage implement 10. These frame parts 12.1, 12.2, 12.3 are formed in the present case by a central part 12.2, a left side part 12.1, and a right side part 12.3. However, it is also possible to construct the soil tillage implement 10 from only two frame parts or more than three frame parts.

[0060] In the present embodiment, the frame 12 can be adjusted between the illustrated working position and a transport position by four hydraulic cylinders 14.1, 14.2, 14.3, 14.4 upon appropriate actuation by the operator. In the illustrated working position, all hydraulic cylinders 14.1 to 14.4 are almost fully extended, so that the three frame sections 12.1 - 12.3 extend essentially horizontally and have a maximum extension transverse to the direction of travel F in order to cover the largest possible working area. The wider the working width of the soil tillage implement 10, the fewer trips are required to till the soil of a field or the like with the soil tillage implement.

[0061] To convert the frame between the working position and the transport position, the left side section 12.1 and the right side section 12.3 are tilted into a substantially vertical orientation. The tilting movement is effected by the hydraulic cylinders 14.1 - 14.4 and takes place around rotation axes 16.1, 16.2 running essentially parallel to the direction of travel F. The individual frame sections 12.1 - 12.3 are arranged adjacent to one another along these rotation axes 16.1, 16.2. This is where the transition between the left side section 12.1 and the center section 12.2, or between the right side section 12.3 and the center section 12.2, lies.

[0062] Each of the frame parts 12.1-12.3 comprises a plurality of hollow discs 18, which are an example of a soil cultivation tool in the present embodiment. In addition to hollow discs, all possible other soil cultivation tools are also conceivable, in particular cultivator tines. The hollow discs 18 are attached to their respective frame part 12.1-12.3 in such a way that raising or lowering the frame parts 12.1, 12.3 also causes a corresponding raising or lowering of the tool, in this case the hollow discs 18 on this frame part 12.1, 12.3. By raising and lowering the frame part 12.1, 12.3, the position of the respective tool, in this case the hollow disc 18, can be adjusted in the vertical direction.

[0063] In addition to the hollow discs 18, the frame parts 12.1-12.3 also have trailing rollers 20. In the present embodiment, the trailing rollers 20 serve, in particular, to reconsolidate the soil loosened by the hollow discs 18. According to the present invention, the trailing rollers 20 are mounted such that they are movable in the vertical direction relative to the respective frame part 12.1-12.3, so that they can move up and down and also tilt relative to the frame part 12.1-12.3. The respective vertical position and the inclination of the trailing rollers 20 are determined by a depth adjustment cylinder 22, which is articulated by the trailing roller 20.

[0064] In the present embodiment, each of the frame parts 12.1 - 12.3 has two depth adjustment cylinders 22, which are arranged at opposite end sections of the respective frame part 12.1 - 12.3. In the present embodiment, the trailing rollers 20 are not only vertically displaceable parallel to the respective side part 12.1 - 12.3, but can also be moved vertically on one side only, i.e., they can change their orientation from a state parallel to the respective side part to a non-parallel state by inclining themselves to follow the contour of the ground. In this way, it is possible for the trailing roller 20 to transmit, via the depth adjustment cylinders 22, information about the relative orientation, i.e., the inclination, of the soil beneath the trailing roller 20 compared to the orientation, i.e., the inclination, of the respective frame part 12.1 - 12.3.Alternatively, more or fewer trailing rollers 20 can be provided, and the trailing rollers 20 do not have to be attached to the frame parts 12.1 - 12.3, but can also be mounted separately from the frame parts 12.1 - 12.3, as long as one or more trailing rollers are at least partially assigned to each frame part 12.1 - 12.3. This can also be achieved, for example, by two trailing rollers 20.

[0065] Based on the information about the inclination of the trailing roller 20 relative to the respective frame section 12.1 - 12.3, one or more of the frame sections 12.1, 12.3 are tilted relative to the adjacent central section 12.2 via the hydraulic cylinders 14.1 - 14.4, i.e., moved in the same way as during the movement between the working position and the transport position. However, the extent of the movement is only proportional to the inclination of the ground beneath the respective frame section 12.1, 12.3. In other words, the inclination of the respective frame section 12.1, 12.3 adapts to the inclination of the underlying ground.

[0066] Figure 1 shows a perspective view of an embodiment of the soil tillage device 10 from the right rear. Figure 2 shows the same embodiment from the front left, so that with regard to the Figure 2 shown elements, which have the same reference numerals as in Figure 1 refer to the above description of the Figure 1is referred to.

[0067] Figures 3a - 3c show a schematic representation of the operation of a preferred embodiment of the invention, as shown for example in Figure 1 and 2 is shown. The Figure 1 and 2 The reference symbols used are also used in Figures 3a - 3c and 4a - 4c , which are described below.

[0068] Figure 3a shows how the follower rollers 20 are mounted on the frame parts 12.1 - 12.3 via depth adjustment cylinders 22. The depth adjustment cylinders 22 of the right half in Figure 3a are designed as "master", while those depth adjustment cylinders 22, which are located on the left half of the Figures 3a - 3c are designed as "slave" cylinders. Figures 3a - 3c also show a schematic representation of the hydraulic coupling of the depth adjustment cylinders on the left and right sides.

[0069] Furthermore, in the Figures 3a - 3c two hydraulic cylinders 14.1 and 14.2 are shown, which are arranged and designed to raise and lower the left and right frame parts 12.1, 12.3 relative to the central part 12.2.

[0070] Figure 3a shows a state in which the soil tillage implement 10 is being pulled across a flat surface. This can be seen in the fact that all three trailing rollers 20 are resting on the ground, all six depth adjustment cylinders 22 are extended to the same extent, and the three frame sections 12.1 - 12.3 are aligned horizontally parallel to one another. This is also reflected in the identical extension positions of the two hydraulic cylinders 14.1 and 14.2 for adjusting the frame sections 12.1 and 12.3.

[0071] Figure 3bshows a condition in which the ground on the left side is slightly inclined compared to the center and the right side. This inclination is transmitted to the left follower roller 20. This means that the two depth adjustment cylinders 22 on the left side of the Figure 3b , i.e. the depth adjustment cylinders 22 which connect the left trailing roller 20 with the left side part 12.1, are retracted differently. Since the inclined ground in the Figure 3b In the state shown, the entire soil tillage implement 10 is tilted slightly to the right, the retraction states of the depth adjustment cylinders 22 of the middle trailing roller 20 and the right trailing roller 20 are also different from one another. However, the retraction states of the two left depth adjustment cylinders 22 make it clear that the soil on the left side is only, or at least more, inclined than on the right side.

[0072] To adapt the cultivation device to the contour of the soil, as shown in Figure 3c As shown, the left hydraulic cylinder 14.1 is retracted further than the right hydraulic cylinder 14.2. This causes the left side part 12.1 to tilt about the rotation axis 16.1, so that the depth adjustment cylinders 22 of the left trailing roller 22 arranged thereon return to a state in which they are extended essentially to the same extent. At the same time, this movement also causes the center part 12.2 and the right side part 12.3 to be aligned horizontally again and thus run parallel to the respective trailing rollers 20, so that the four right depth adjustment cylinders 22 are also retracted to the same extent.

[0073] Figure 3c thus shows a state in which the working field of the soil tillage device 10 is adapted to the contour of the soil.

[0074] The Figures 4a - 4c correspond to the Figures 3a - 3c, where the example of the design of the Figure 1 and 2 This means that hollow discs 18 of a disc harrow with corresponding trailing rollers 20 are used as tools. Figure 4a shows the status of the Figure 3a , Figure 4b shows the status of the Figure 3b and Figure 4c shows the status of the Figure 3c , each for a soil tillage implement 10 according to the Figure 1 and 2 .

[0075] The embodiment shown above allows for adaptation to the contours of the soil via the rotation axes 16.1, 16.2, which are also required for converting the frame 12 from the working position to the transport position. The tools, i.e., the wood discs 18 in the present embodiment, are guided by the multi-part frame 12 in such a way that even soil cultivation can be achieved.

[0076] The raising or lowering of the respective frame parts 12.1, 12.3 can be accomplished by means of an external control or regulation system and be hydraulically assisted. The relative height of the trailing rollers 20 to the frame 12 is measured at one or preferably several points, and based on these values, the hydraulic cylinders 14.1 - 14.4, which are designed as folding cylinders for converting the frame between the working position and the transport position, are moved so that the soil tillage implement 10 adapts optimally to the contours of the soil.

[0077] As an alternative to external control with hydraulic support, a purely hydraulic control system is also conceivable. For this, the depth adjustment cylinders 22 would have to be coupled to the folding cylinders 14.1, 14.2 in such a way that the alignment of the frame parts 12.1 and 12.3 is automatically controlled based on the retracted states of the depth adjustment cylinders 22.

[0078] The previously illustrated embodiment also makes it possible to exert uniform pressure on the soil through the trailing rollers 20, resulting in homogeneous soil reconsolidation. Furthermore, the positions and thus the spacing or penetration depth of the working tools, such as the hollow discs 18, cultivator tines, or rotary hoes, can be adapted to the soil profile. This enables particularly homogeneous soil cultivation.

[0079] Compared to more complicated solutions for adapting the contour of the working position of a soil tillage implement to the soil profile, the soil tillage implement 10 described above enables a simple frame design because no additional hinge points or actuators are required beyond those already present for switching between the transport position and the working position. Thus, the present invention makes it possible to use the hinge points and hinges already present for switching between the working position and the transport position for adapting to the soil contour.

[0080] In this context, it should also be noted that the inventive concept can be extended to basically any working width and any number of frame parts, i.e. it is not limited to the three-part frame construction according to the embodiment described above.

[0081] Particularly in connection with disc harrows, the prior art was plagued by the problem of significant lateral forces of the concave discs. These incalculable lateral forces meant that a pendulum suspension, as previously known in two-part frames, could not be applied to three-part or multi-part frames. In the present invention, and in particular the embodiment described above, the lateral forces of the tools have no influence on the control and pressure of the trailing rollers and therefore do not hinder the adaptation of the soil tillage implement to the soil relief.

[0082] In particular, the outer working tools can always work at an ideal depth thanks to the invention, and especially in the present embodiment, thus enabling better connection behavior than in the prior art. This leads to more homogeneous cultivation not only within the working width of the soil tillage implement, but also between adjacent working strips, each of which is worked by a soil tillage implement.

Claims

1. A soil cultivation implement (10) for attachment an agricultural machine having a frame (12), which comprises at least two frame parts (12.1, 12.2, 12.3) arranged adjacently transversely to a travelling direction (F) of the soil cultivation implement (10), wherein the frame (12) can be changed over through at least one actuator (14.1, 14.2, 14.3, 14.4) between a working position and a transport position, in that at least one of the frame parts (12.1, 12.2, 12.3) can be tilted about an axis of rotation (16.1, 16.2) between a lowered position and a raised position, in order to have in the transport position a smaller extent of the soil cultivation implement (10) transversely to the travelling direction (F) than in the working position, wherein the frame parts (12.1, 12.2, 12.3) each comprise at least one tool (18) for soil cultivation and are each assigned at least to one distance determination device (20, 22) for determining a distance of the tool (18) to the ground or a penetration depth of the tool (18) into the ground and characterised in that the soil cultivation implement (10) is configured, based on a certain distance or the certain penetration depth to raise or lower at least one of the frame parts (12.1, 12.2, 12.3) through the actuator (14.1, 14.2, 14.3, 14.4) in such a manner that the distance or the penetration depth assumes a predetermined value.

2. The soil cultivation implement (10) according to Claim 1, wherein the frame parts (12.1, 12.2, 12.3) comprise at least three frame parts, namely, a middle section (12.2), a left side part (12.1) and a right side part (12.3), wherein the middle section (12.2) based on the travelling direction (F) is arranged centrally, the left side part (12.1) based on the travelling direction (F) is arranged left of the middle section (12.2) and the right side part (12.3) based on the travelling direction (F) is arranged to the right of the middle section (12.2), wherein the frame (12) can be changed over by way of at least two actuators (14.1, 14.2, 14.3, 14.4) between the working position and the transport position in that the left side part (12.1) and the right side part (12.3) can be tilted between the lowered position and the raised position about an axis of rotation (16.1, 16.2) each.

3. The soil cultivation implement (10) according to any one of the preceding claims, wherein the frame parts (12.1, 12.2, 12.3) each comprise multiple tools (18) for soil cultivation arranged spaced apart transversely to the travelling direction (F) and wherein the distance determination device (20, 22) is designed for approximately determining the distance or the penetration depth at least of two of the tools (18) of a frame part (12.1, 12.2, 12.3), preferably of all tools (18), preferably mechanically, wherein the distance determination device (20) preferably comprises a roller (22) that is vertically moveable relative to the respective frame part (12.1, 12.2, 12.3), in particular a trailing roller.

4. The soil cultivation implement (10) according to any one of the preceding claims, wherein the distance determination device (20, 22) is designed for determining an inclination of the ground relative to at least one of the frame parts (12.1, 12.2, 12.3) at least approximately.

5. The soil cultivation implement (10) according to any one of the preceding claims, wherein the distance determination device (20, 22) comprises a, preferably multiple working cylinders (22), in particular hydraulic cylinders.

6. The soil cultivation implement (10) according to any one of the preceding claims, wherein the actuator (14.1, 14.2, 14.3, 14.4) includes a working cylinder (14.1, 14.2, 14.3, 14.4), in particular a hydraulic cylinder.

7. The soil cultivation implement (10) according to any one of the preceding claims, wherein the soil cultivation implement is a harrow such as a disc harrow, in particular a compact disc harrow, or a rotary harrow, a grubber, a seedbed combination, or a sowing device such as a sowing machine, an individual grain sowing machine, or a seed drill, a mulcher, or a rotary hoe.

8. The soil cultivation implement (10) according to any one of the preceding claims, wherein the tool (18) is a hollow disc, a rotary hoe, or a grubber tine.

9. The soil cultivation implement (10) according to any one of the preceding claims, wherein the actuator (14.1, 14.2, 14.3, 14.4) includes a hydraulic cylinder and the distance determination device (20, 22) includes a hydraulic cylinder (22), wherein the hydraulic cylinder of the actuator (14.1, 14.2, 14.3, 14.4) and the hydraulic cylinder (22) of the distance determination device (20, 22) are hydraulically coupled to one another in such a manner that the at least one frame part (12.1, 12.2, 12.3) is always raised or lowered so that the distance or the penetration depths remains constant.

10. A system of an agricultural machine and a soil cultivation implement (10) according to any one of the preceding claims, which further comprises a control device, characterised in that the control device is designed in order to receive data of the distance determination device (20, 22) and to send data to the actuator (14.1, 14.2, 14.3, 14.4) in order to actuate the actuator (14.1, 14.2, 14.3, 14.4) based on the determined distance or the determined penetration depth in such a manner that the at least one of the frame parts (12.1, 12.2, 12.3) is raised or lowered in order to adjust the local distance of the frame parts (12.1, 12.2, 12.3) to the ground, preferentially maintain a predetermined local distance.

11. A method for operating a soil cultivation implement (10) attached to an agricultural machine, having a frame (12) which comprises at least two frame parts (12.1, 12.2, 12.3) and at least one actuator (14.1, 14.2, 14.3, 14.4) in order to raise or lower at least one of the frame parts (12.1, 12.2, 12.3) to thereby change over the frame (12) between a working position and a transport position, in which the soil cultivation implement (10) has a smaller extent transversely to a travelling direction (F) than in the working position, wherein the frame parts (12.1, 12.2, 12.3) each comprise a tool (18) for soil cultivation, wherein a distance of the tool (18) to the ground or a penetration depth of the tool (18) into the ground is determined, characterised in that at least one of the frame parts (12.1, 12.2, 12.3) is raised or lowered through the actuator (14.1, 14.2, 14.3, 14.4) based on the determined distance or the determined penetration depth in such a manner that the distance or the penetration depth assumes a predetermined value.

12. The method according to Claim 11, wherein an inclination of the at least one frame part (12.1, 12,2, 12.3) relative to the ground is adjusted by way of the actuator (14.1, 14.2, 14.3, 14.4) in such a manner that it is approximately oriented parallel to the inclination of the ground.

13. The method according to Claim 11 or 12, wherein the soil cultivation implement (10) is a soil cultivation implement according to any one of the Claims 1-9.

14. A system according to Claim 10, wherein the control device is designed for carrying out the method according to any one of the Claims 11-13.