AGRICULTURAL IMPACT WITH IMPROVED SUSPENSION

Description

[0001] The invention relates to an agricultural device. Furthermore, the invention relates to a method for controlling and / or regulating an agricultural device.

[0002] A wide variety of agricultural implements are used for applying materials such as fertilizers, pesticides, or seeds, for example, field sprayers. To apply the material efficiently and over a large area of ​​the field, these implements feature a spreader boom with multiple application elements, such as spray nozzles. The spreader boom extends perpendicular to the direction of travel and can have working widths of up to 50 meters. During operation, the distance between the spreader boom and the ground should remain as constant as possible across the entire working width of the boom. This means that the spreader boom should be kept as parallel to the ground as possible, even on uneven terrain.

[0003] Problems arise when the agricultural vehicle travels in ruts of varying depths, unevenly within a furrow, or on a slope of the field being cultivated. Such unevenness can cause the ends of the spreader boom to come into contact with the soil and / or vegetation, resulting in damage. Furthermore, the homogeneous distribution of the applied material is compromised due to the angled position of the spreader boom relative to the ground, which creates varying distances between the soil and individual nozzles.

[0004] To compensate for this inclination and unwanted movements around the vehicle's longitudinal axis, devices are known which have a pendulum suspension and inclination sensors or distance sensors and which attempt to adjust the constant distance to the ground via adjusting devices.

[0005] The tilt adjustment of the spreader boom's extension arms is often achieved using hydraulic cylinders and spring-damper systems connected to the respective extension arms. Examples are provided in FR 2 795 913 A1, EP 1 167 095 A1, and EP 0 922 385 A1. The measured variables in these known control systems are the distance between the extension arm and the ground and / or the relative angle between the extension arm and the tractor. These known control systems have the disadvantage of being inaccurate and not allowing for real-time control.

[0006] In contrast, the field sprayer according to EP 1 444 894 A1, for example, has a multi-link suspension system in which both the signals from the distance measurement between the boom and the ground and tilt signals, which reflect the relative inclination between the vehicle and the boom, are incorporated into the control system. The boom is rotatably mounted on a height-adjustable lifting frame about a pivot axis pointing in the direction of travel. A rotatable intermediate frame is attached to the lifting frame coaxially with the boom. The intermediate frame and the boom are coupled to each other by two centering springs and a damper. A hydraulic cylinder is provided between the intermediate frame and the lifting frame.

[0007] To adjust the tilt, the hydraulic cylinder is extended or retracted, rotating the subframe relative to the lifting frame. This lengthens one of the two centering springs and shortens the other. The spring force acting on the boom pulls the boom along in accordance with the movement of the subframe, so that it is centered again in the tilted end position relative to the subframe. The centering springs also compensate for rapid relative movements between the vehicle and the boom, ensuring that the boom remains stable during operation.

[0008] The tilt control system incorporates signals from the ground clearance measurement between the boom and the ground, as well as a tilt signal that measures the spring force acting on the boom. This allows for precise control of the hydraulic cylinder, largely preventing boom oversteer.

[0009] However, this tilt control is slow. Furthermore, the design with the intermediate frame and the springs connected between the intermediate frame and the boom is complex.

[0010] EP 3 058 820 A1 discloses an agricultural implement for spreading material. The spreading boom described therein comprises a central section with intermediate frames in the form of flange blocks, each mounted laterally on horizontal pivot axes and rotatable. A boom is attached to each of these intermediate frames. The flange blocks can be connected to each other via an actuator or, alternatively, each can be connected to the central section via two actuators.

[0011] The object of the present invention is therefore to provide an agricultural implement with improved tilt control. A further object of the invention is to provide a method for controlling an agricultural implement.

[0012] These tasks are solved by an agricultural device according to claim 1 and a method according to claim 14.

[0013] Preferred embodiments are described in the dependent claims.

[0014] The agricultural implement can be, in particular, a field sprayer. The field sprayer can be self-propelled. It can also be a trailed, hand-held, mounted, or mounted field sprayer.

[0015] Unless explicitly stated otherwise, the terms "horizontal axis / direction" and "vertical axis / direction" in the following refer to an axis / direction that points in the direction of travel of the agricultural implement and an axis / direction that is perpendicular to the direction of travel of the agricultural implement and perpendicular to the ground, respectively.

[0016] Furthermore, the following uses of the term "angle" and "angle" of a boom refer to a rotational movement of the boom around a horizontal axis of rotation, in particular the horizontal axis of rotation of the respective intermediate frame. In other words, angling or angle changes the angle of the respective boom relative to the horizontal. When angling, the boom moves away from the ground, and when angling, it moves towards the ground. Accordingly, tilting the distributor linkage refers to the angling of one boom while the other boom is angled. The movement of one or both booms around the respective horizontal axis of rotation is also referred to as a tilting movement, and the corresponding position is also referred to as a tilt.

[0017] According to the invention, the distributor linkage of the agricultural implement comprises a central section fixed to the implement in a rotationally fixed manner and two intermediate frames connected to the central section via joints. In particular, the connection of the intermediate frames to the central section is designed such that each intermediate frame is movable about at least one horizontal axis of rotation. Furthermore, each intermediate frame is movable about a vertical axis of rotation.

[0018] The lateral arms of the distributor boom are each connected to one of the two intermediate frames. In particular, the connection of the arms to the intermediate frames is designed such that a movement of the intermediate frame, especially a rotational movement about a horizontal axis, is transmitted to the respective arm.

[0019] According to the invention, two hydraulic actuators are further provided, wherein the first hydraulic actuator connects the central section to a first of the two intermediate frames, so that the corresponding first boom can be moved about a first horizontal axis by means of the first hydraulic actuator. The second boom can be moved about a second horizontal axis by means of the second hydraulic actuator.

[0020] By separately mounting the two booms rotatably to the rotationally fixed central section via their respective intermediate frames, and by providing two hydraulic adjusting devices for tilt adjustment of the intermediate frames, improved and simplified tilt control of the respective booms can be achieved. Thus, in the agricultural implement according to the invention, changes in the tilt of the distributor linkage can be achieved, unlike in the known agricultural implements described above, via direct control of the booms.

[0021] The middle section may have a cross frame in its lower area. The first and second intermediate frames may be arranged facing upwards on the cross frame.

[0022] The first and second horizontal pivot axes can be located in the lower section of the first and second intermediate frames. In other words, with this arrangement, the respective horizontal pivot axes can be positioned close to the boom's spray nozzles in the vertical direction. To achieve coverage of the entire working width of the agricultural implement, spray nozzles are provided on both the individual boom sections and the center section. Since angling a boom creates a gap between the boom and the center section, the distance between the spray nozzles on the respective boom and those on the center section increases. This results in an area of ​​the driven-over ground that cannot be covered, or can only be covered inadequately, by the spray nozzles. By arranging the horizontal pivot axis in the lower section of the spreader boom, this gap can be kept as small as possible.

[0023] The first hydraulic actuator can be connected to the first intermediate frame in its upper region and to the middle section in its lower region, particularly to the transverse frame, and spaced apart from the first intermediate frame. In other words, the first hydraulic actuator can be arranged at an angle in the vertical direction between the first intermediate frame and the middle section. Such an arrangement ensures that the two points of application of the first actuator are each as far away as possible from the first axis of rotation. This allows for advantageous force transmission from the first actuator to the first intermediate frame.

[0024] The first and second actuating devices can be designed as hydraulic cylinders, in particular as double-acting hydraulic cylinders. Such cylinders provide a cost-effective and simple means of controlling the position of the distributor linkage. The double-acting hydraulic cylinders can, for example, each be designed with a piston that can be pressurized from both sides.

[0025] The hydraulic devices can also be equipped with one or more pressure sensors. Movements of a boom and its associated subframe can transmit forces to the respective hydraulic actuator, which in turn can result in pressure changes within the actuator. These pressure changes can be detected by the aforementioned pressure sensors. Furthermore, the pressure at the hydraulic actuator can also correspond to a boom tilt. In this case, the pressure sensors can also be used to monitor the tilt of the respective boom.

[0026] The pressure sensors can be configured as pressure sensors for direct pressure measurement, particularly as pressure transmitters. This configuration has the advantage that both relative and absolute pressure can be determined. Furthermore, the pressure sensors can preferably be configured as differential pressure transmitters for determining a differential pressure, or a pressure difference. Advantageously, the pressure transmitters can detect the pressure to be measured via a diaphragm, which is mechanically deformed depending on the pressure. This mechanical change can be measured electronically, output as an analog or digital signal, and transmitted, for example, to the control unit.

[0027] The first and second hydraulic actuators can each be assigned corresponding hydraulic valves, in particular proportional directional control valves. The hydraulic valves can be configured, in conjunction with pressure sensors, as pressure control valves to maintain a consumer-side pressure depending on an electrical control signal, in particular a control current.

[0028] The hydraulic valve can be, for example, a directly controlled, spring-loaded three-way valve of the spool type. In the de-energized state, i.e., without a control signal, the pressure at the consumer is relieved to a hydraulic reservoir. With a maximum control signal, the maximum possible pressure (either from the pressure supply or the maximum value of the hydraulic valve) is regulated to the consumer.

[0029] When a control signal is applied, the spring load in the valve is electromagnetically counteracted, and the pressure on the consumer side is thereby kept constant according to the valve's control characteristic. For example, the set pressure is then proportional to the control signal, which is typically a control current. However, such a proportional control characteristic is not strictly necessary and can be replaced by a non-proportional control, for example, for cost reasons. Any desired control characteristics can be stored in the control unit to calculate and output control signals corresponding to specific setpoint pressure values.

[0030] The valves can, in particular, comprise a valve body with a control piston, a return spring, and a solenoid coil with a magnetic armature for electrical actuation. When an electrical signal is applied via the control unit, the magnetic armature can press against the control piston with a force corresponding to the signal. This allows oil to flow through the valve and pressure to build up or release, thereby activating the actuator. This continues until the applied pressure corresponds to the set pressure according to the electrical signal.

[0031] In general, proportional pressure control valves operate by regulating a pressure differential. If a preset pressure level is undershot, the valve automatically supplies oil from the hydraulic reservoir until the setpoint is reached again. Conversely, if the pressure level is too high, oil is released. Proportional pressure control valves offer efficient control and stability characteristics, as well as low valve hysteresis, which can occur due to friction and magnetization. Furthermore, proportional valves allow for space-saving installation, easy assembly, and replacement.

[0032] The hydraulic valves can be electronically controlled and adjusted to a setpoint based on a known characteristic curve. These characteristic curves describe, for example, the relationship between a given pressure and the corresponding electrical current required at a control coil of the valve. Using the pressure sensors described above, a setpoint for the hydraulic valves can be determined, and a control current is then applied to the valves based on the characteristic curve to adjust the corresponding pressure. This has the advantage that the pressure on the manifold can be precisely adjusted to a setpoint using the characteristic curve of the hydraulic valves.

[0033] Furthermore, each of the first and second actuators can be equipped with a shut-off valve associated with its respective hydraulic valve. Such a shut-off valve prevents hydraulic fluid from flowing out of the actuator, thus locking the respective booms in a desired position. This can be desirable, for example, in situations such as road transport or when folding and unfolding the distributor boom, where the distributor boom needs to be rigidly connected to the agricultural implement via the actuator.

[0034] The hydraulic actuators can still be connected to a hydraulic circuit via hydraulic valves. The hydraulic circuit can be an open circuit, including, for example, a pump and a hydraulic tank.

[0035] The booms can be designed in multiple sections. They can include foldable segments that can be moved around an axis perpendicular to the direction of travel. The booms can also be folded in and out segment by segment, and can assume intermediate positions. This makes it possible to adjust the working width of the agricultural implement by unfolding a specific number of segments. This can be done independently for each boom section. Sensors, particularly potentiometers, can be attached to joints located between the foldable segments to determine their folding positions. These sensors can detect fully folded / unfolded segments as well as intermediate positions at the joints between adjacent segments and transmit the respective folding status to the control unit.Furthermore, the described segmentation makes it possible to fold the booms compactly, for example into a transport position.

[0036] The second hydraulic actuator connects the subframes to each other, particularly in the upper area of ​​the subframes.

[0037] In this embodiment, the tilt control of the respective booms can be achieved through the interaction of the two hydraulic actuators. For example, extending or retracting the piston of the first actuator can tilt the first boom downwards or upwards. Since the two intermediate frames are coupled via the second actuator in this embodiment, the resulting movement of the first intermediate frame can be transferred to the second. Depending on the desired position of the second boom, the piston of the second actuator can also be extended or retracted.

[0038] If, for example, only the first boom is to be angled, the piston of the first actuating device can be retracted in this embodiment. To prevent the resulting movement of the first intermediate frame from being transferred to the second intermediate frame, the piston of the second actuating device can also be retracted. This can be achieved, for example, by actively controlling the second actuating device.

[0039] If, for example, only the second boom is to be angled, the piston of the second actuator can be retracted in this embodiment. The piston position of the first actuator, however, can be maintained. This can be achieved, for example, by actively controlling the first actuator, but also by locking the first actuator, for example, via a locking valve. In this case, the first intermediate frame is thus fixed by means of the first actuator.

[0040] For example, if the entire distributor linkage is to be tilted, the piston of the first actuating device can be extended or retracted depending on the desired tilting direction in this embodiment. The piston position of the second actuating device, however, can remain constant. This can be achieved, for example, by actively controlling the second actuating device, or by locking the second actuating device, for example, via a locking valve. This allows the movement of the first intermediate frame to be transferred to the second intermediate frame, and both booms can move in the same direction around their respective axes of rotation. This results in one of the booms being angled and the other being angled accordingly, thus tilting the linkage.

[0041] This design therefore allows for flexible and simple tilt control of the entire distributor linkage. It is understood that any desired tilt position of the booms is possible through appropriate control of the respective adjusting devices.

[0042] Alternatively, the second hydraulic actuator can connect the second of the intermediate frames to the central section. In this unclaimed embodiment, the tilt control of the first and second booms can be performed independently. The first actuator can be responsible for tilt control of the first boom, and the second actuator for tilt control of the second boom. For example, extending or retracting the piston of the first actuator can tilt the first boom downwards or upwards. Similarly, extending or retracting the piston of the second actuator can tilt the second boom downwards or upwards. In particular, the hydraulic actuators can be arranged such that movement of the first intermediate frame does not affect the second intermediate frame, and vice versa.

[0043] To angle the first boom, for example, the piston of the first adjusting device can be extended or retracted in this embodiment. The second adjusting device and the second intermediate frame can remain unchanged. Therefore, the position of the second boom also remains unchanged. Similarly, to angle the second boom, the piston of the second adjusting device can be extended or retracted. The first adjusting device and the first intermediate frame can remain unchanged. Therefore, the position of the first boom also remains unchanged.

[0044] This embodiment thus allows for simple, individual tilt control of the two booms. Tilting the entire distributor linkage can be achieved in this embodiment by individually angling one boom and simultaneously individually angling the other. It is understood that any desired tilt position of the booms is possible through appropriate individual control of the respective adjusting devices.

[0045] In this embodiment, the second hydraulic actuator can be connected to the second intermediate frame in its upper region and to the central section in its lower region, particularly to the transverse frame, and spaced apart from the second intermediate frame. In other words, the second hydraulic actuator can be arranged at an angle in the vertical direction between the second intermediate frame and the central section. Such an arrangement ensures that the two points of application of the second actuator are each as far away as possible from the second axis of rotation. This allows for advantageous force transmission from the second actuator to the second intermediate frame.

[0046] The intermediate frames can each be connected to the central section by means of a ball joint. Such a connection allows for easy movement of the intermediate frames around both a horizontal and a vertical axis.

[0047] The agricultural implement may further include a third hydraulic actuator, wherein the third hydraulic actuator connects a first boom to the corresponding first intermediate frame, and the first boom can be moved about a first vertical axis of rotation by means of the third hydraulic actuator. Furthermore, the agricultural implement may include a fourth hydraulic actuator, wherein the fourth hydraulic actuator connects the second boom to the corresponding second intermediate frame, and the second boom can be moved about a second vertical axis of rotation by means of the fourth hydraulic actuator.

[0048] The third and fourth hydraulic actuators are particularly suitable for moving the boom arms from a transport position to a working position, and vice versa. In field sprayers like those described above, such actuators, also known as folding cylinders, typically connect the respective boom arms directly to a central section of the boom. This has the disadvantage that when tilting a boom arm relative to the central section, the folding cylinders must always be actuated as well. This can be advantageously avoided by the described connection of the folding cylinders to the intermediate frame and the boom.

[0049] The agricultural implement may further include a damping arrangement for damping movements of the first and second booms, particularly in the direction of travel. By damping such movements, which can occur, for example, due to the inertia of the booms when the agricultural implement is cornering, the forces transmitted to the central section are reduced. Conversely, the damping device also suppresses the transmission of movements of the agricultural implement to the respective booms. In other words, the damping device helps to decouple the movements of the respective booms on the one hand and the agricultural implement on the other.

[0050] The damping arrangement can connect the intermediate frames independently of the central section. This means, in particular, that the damping arrangement is designed to transmit a rotational movement of one boom around a vertical axis to the other boom in a damped manner. This prevents torques, such as those resulting from vibrations of the spreader linkage in or against the direction of travel, from being transmitted to the central section and thus to the agricultural implement. Simultaneously, this damping of such vibrations of the spreader linkage is achieved.

[0051] Alternatively, the damping arrangement can connect the respective intermediate frames to the central section. This can be achieved, for example, by two individual damping elements, each connecting an intermediate frame to the central section. Such an embodiment can be particularly advantageous with active damping control, as it allows for targeted influence on the respective booms. With suitable active damping control, this embodiment can largely suppress force transmission from the respective boom to the central section.

[0052] The damping arrangement can comprise at least one mechanical and / or hydraulic damping element, in particular a hydraulic cylinder. A hydraulic valve, in particular a proportional directional control valve, can also be associated with the at least one hydraulic damping element. Thus, the "spring constant" of the hydraulic damping element can be regulated by the pressure set at the damping element. Furthermore, active damping control can be achieved in this way. The hydraulic valves can be designed as described above.

[0053] Alternatively or additionally, the damping element can include one or more mechanical spring elements. For example, the damping element can include rubber buffers. It is also possible for the hydraulic damping elements to include an additional mechanical spring element. This allows for additional passive damping.

[0054] The agricultural implement can include sensors that allow the detection of vibrations of the respective booms around a vertical axis. In this case, it is possible to react to the detected vibrations by controlling the pressure regulating valve associated with the damping element, thus actively damping the vibrations. In particular, the pressure sensors can be configured to detect pressure and / or pressure changes in the at least one hydraulic damping element and / or in the third and fourth hydraulic actuators. The force exerted on the at least one hydraulic damping element and / or on the third or fourth hydraulic actuator by the movement of a boom around the respective vertical axis of rotation manifests itself as a pressure change inside the hydraulic damping element or the respective hydraulic actuator.This allows vibrations of a boom, both in and against the direction of travel of the agricultural implement, to be detected via pressure measurement at the hydraulic damping element. Vibrations occurring in and against the direction of travel can therefore be determined with such sensors by detecting pressure changes.

[0055] Alternatively or additionally, the sensor system can include acceleration and / or motion sensors, with the acceleration and / or motion sensors being arranged on the respective booms. Such sensors allow for the direct detection of boom movements.

[0056] The agricultural implement can also include sensors that allow the detection of vibrations of the respective booms around a horizontal axis. In this case, it is possible to react to the detected vibrations by controlling the first and / or second hydraulic actuators, thus actively dampening the vibrations. The sensors can be, for example, accelerometers. They can also be pressure sensors that detect the pressure in the first and second hydraulic actuators. Any vertical vibrations that occur can be determined with such sensors by detecting pressure changes.

[0057] The invention further provides a method according to claim 14 for controlling an agricultural implement. The agricultural implement may have one or more of the features described above. The method comprises the following steps: Actuate the first hydraulic actuator to move the corresponding first boom around the first axis of rotation pointing in the direction of travel of the agricultural implement. Actuate the second hydraulic actuator to move the corresponding second boom around the second axis of rotation pointing in the direction of travel of the agricultural implement.

[0058] Further features and advantages of the invention are explained below with reference to the exemplary figures. These show: Figures 1a to 1c schematically show the rear view of an agricultural implement; Figure 2 schematically shows a detail of an agricultural implement in perspective view; Figure 3 schematically shows the rear view of a detail of an agricultural implement; Figures 4a to 4c schematically show the rear view of a detail of an agricultural implement; Figure 5 schematically shows the rear view of a detail of an agricultural implement in a non-claimed embodiment; and Figures 6a and 6b schematically show the top view of a detail of an agricultural implement; and Figures 7a and 7b schematically show the frontal view of a detail of an agricultural implement.

[0059] Figures 1a to 1cFigure 1 shows a rear view of an agricultural implement 1, designed as a field sprayer. It can be seen that the implement 1 comprises a spreader boom 10 with a central section 11. Furthermore, the spreader boom 10 has two arms 13a and 13b, which are connected to the central section 11 by hinges. It is also shown that arms 13a and 13b each have several boom sections connected to each other by folding hinges. The individual boom sections can be folded about a vertical axis, thus allowing the working width of the agricultural implement to be adjusted. The boom sections can be folded independently for each arm 13a and 13b.

[0060] Figure 1a shows a state in which the booms 13 a and 13 b are fully extended. Figure 1bshows a state in which only the innermost linkage section of the booms 13 a and 13 b is unfolded, while the remaining linkage sections are folded in. Figure 1c shows a state in which all linkage sections of the boom 13 a are unfolded, while only the innermost linkage section of the boom 13 b is unfolded.

[0061] Figure 2 Figure 1 schematically shows a detailed section of a first embodiment of the agricultural implement 1. The arrow indicates the direction of travel of the agricultural implement 1. It can be seen that the central section 11 has an upright, rectangular frame section 11a in its front area, i.e., in the direction of travel. The frame section 11a can, for example, be used to connect the central section 11 to the agricultural implement 1 in a rotationally fixed manner. The frame section 11a can also be connected to the agricultural implement 1 in a height-adjustable way.

[0062] Furthermore, the central section 11 has a transverse frame 16 in its rear, lower area. Two intermediate frames 12a and 12b are arranged upwards on the transverse frame 16. The intermediate frames 12a and 12b are pivotally connected to the central section 11, allowing them to rotate about horizontal axes h1 and h2 and vertical axes v1 and v2. The connection of the intermediate frames 12a and 12b to the transverse frame 16 can be achieved, for example, via ball joints (not shown here), which enable the described rotational movements. The intermediate frames 12a and 12b are thus arranged on the central section 11 such that their respective horizontal axes of rotation h1 and h2 run in the lower area of ​​the distributor linkage 10.

[0063] Figure 2Figure 1 further shows that the intermediate frame 12a is connected to the intermediate section 11 by means of a first hydraulic actuator 14. One end of the hydraulic actuator 14 is connected to the intermediate frame 12a in its upper region. The other end of the actuator 14 is connected to the intermediate frame in its lower region, on the side closer to the intermediate frame 12b. In other words, the hydraulic actuator 14 is arranged obliquely between the intermediate frame 12a and the intermediate section 11. The respective connection points with the intermediate frame 12a and the intermediate section 11 are spaced apart from the horizontal axis of rotation h1 of the intermediate frame 12a. This enables advantageous force transmission from the hydraulic actuator to the intermediate frame 12a to achieve a rotational movement of the intermediate frame 12a about its horizontal axis of rotation h1.

[0064] It can also be seen that the subframe 12a and the subframe 12b are connected to each other by means of a second hydraulic actuator 15. The second hydraulic actuator 15 is arranged horizontally in the upper area of ​​the subframes 12a and 12b. By appropriately controlling the actuators 14 and 15, a rotational movement of the subframe 12b about its horizontal axis of rotation h2 can be achieved. This will be discussed further below with reference to the Figures 4a to 4c Described in more detail.

[0065] The actuating devices 14 and 15 are designed as hydraulic cylinders 14 and 15 in the embodiment shown.

[0066] Figure 2The figure further shows that the intermediate frames 12a and 12b are articulated at their upper and lower ends to the outriggers 13a and 13b, respectively. The outriggers 13a and 13b can each rotate about a vertical axis relative to the intermediate frames 12a and 12b. With respect to horizontal rotation, the outriggers 13a and 13b are fixed to the intermediate frames 12a and 12b. Thus, a rotational movement of the intermediate frames 12a and 12b about their horizontal axes of rotation h1 and h2 is transmitted to the outriggers 13a and 13b. In other words, the outriggers 13a and 13b can be moved about the horizontal axes of rotation h1 and h2 of the intermediate frames 12a and 12b by means of the hydraulic actuators 14 and 15. This allows the inclination of the booms 13a and 13b to be controlled by means of the adjusting devices 14 and 15. This can be used, on the one hand, to adjust the inclination of the booms 13a and 13b to the ground.On the other hand, damping of oscillating movements of the booms 13a and 13b in the vertical direction can also be achieved by suitable control of the actuators 14 and 15. Furthermore, it is possible to largely decouple the movements of the booms 13a and 13b from the movements of the agricultural implement 1 by suitable control of the hydraulic actuators 14 and 15.

[0067] Furthermore, in Figure 2It can be seen that two hydraulic actuators 17a and 17b each connect the booms 13a,b to the intermediate frames 12a,b. Due to the articulated arrangement of the booms 13a,b on the respective intermediate frames 12a,b, it is possible to move the booms 13a and 13b about their respective vertical axes of rotation using the actuators 17a,b. In particular, the actuators 17a,b can be used to move the distributor linkage 10 from a working position to a transport position, or vice versa. It is also possible to control the actuators 17a,b to dampen vibrations of the booms 13a,b in or against the direction of travel of the agricultural implement 1.

[0068] It can also be seen that the intermediate frames 12 a,b each have a curved pivot plate 18 a,b at their respective upper ends. One outer end of each pivot plate 18 a,b is connected to the actuating device 17 a,b, while the other outer end of the pivot plate 18 a,b is connected to the boom 13 a,b. This design of the intermediate frames 12 a,b allows for advantageous force transmission between the intermediate frames 12 a,b and the booms 13 a,b.

[0069] Figure 3 schematically shows a detailed section of the Figure 2 The first embodiment of the agricultural device 1 is shown in a rear view. Figure 3a state of the distributor boom 10 in which both arms 13 a,b are at an angle of 90° to the vertical. This state can, for example, correspond to a normal working position of the distributor boom 10 on level ground, in which both arms 13 a,b are guided parallel to the ground.

[0070] In contrast, in the Figures 4a to 4c In the rear view, various tilt states of the distributor linkage 10 are shown, corresponding to the one in Figure 2 The embodiment shown is illustrated.

[0071] Figure 4a Figure 1 shows an inclined state of the distributor linkage 10, in which the boom 13b is angled, while the boom 13a has an angle of 90° to the vertical. It can be seen that the adjusting device 15, which connects the intermediate frames 12a and 12b, is positioned differently from the one shown in Figure 1. Figure 3The shown state is shortened, i.e., the piston of the hydraulic cylinder 15 has been retracted. In contrast, the length of the actuating device 14 is longer than that shown in Figure 3The depicted state remains unchanged. For example, the piston of the hydraulic cylinder 14 may have been locked in its position by closing a locking valve. It is also possible that the pressure acting on the hydraulic cylinder 14 has been dynamically adjusted to prevent movement of the intermediate frame 12a. In any case, the boom 12a is fixed relative to the central section 11 and therefore does not move about its horizontal axis of rotation. Thus, the intermediate frame 12a acts as a rigid element, and the shortening of the actuating device 15 exerts a force on the intermediate frame 12b, causing a torque about its horizontal axis of rotation. This, in turn, leads to an angling of the boom 13b. Similarly, extending the piston of the hydraulic cylinder 15 (not shown) while maintaining the piston position of the hydraulic cylinder 14 results in an angling of the boom 13b.

[0072] Figure 4bFigure 1 shows an inclination state of the distributor linkage 10 in which the boom 13a is angled, while the boom 13b has an angle of 90° to the vertical. It can be seen that the adjusting device 14, which connects the intermediate frame 12a to the central section 11, is located in a different position than shown in Figure 1. Figure 3 The depicted state is shortened, meaning the piston of the hydraulic cylinder 14 has been retracted. This exerts a force on the intermediate frame 12a, resulting in a torque about its horizontal axis of rotation. This, in turn, causes the boom 13a to angle. Furthermore, it can be seen that the adjusting device 15 is also in the position shown in the diagram. Figure 3The depicted state has been shortened, i.e., the piston of hydraulic cylinder 15 has been retracted. Retracting the piston of hydraulic cylinder 15 prevents the movement of the intermediate frame 12a from being transferred to the intermediate frame 12b. Similarly, extending the pistons of both hydraulic cylinders 14 and 15 (not shown) results in the boom 13a being angled.

[0073] Figure 4c Figure 1 shows a tilted position of the distributor linkage 10, in which the boom 13a is angled and the boom 13b is angled. In other words, the distributor linkage 10 is tilted clockwise when viewed in the direction of travel. It can be seen that the adjusting device 14 is opposite to the one shown in Figure 1. Figure 3 The shown state is shortened, i.e., the piston of hydraulic cylinder 14 has been retracted. As above with reference to Figure 4bAs described, this leads to an angling of the boom 13a. Furthermore, it can be seen that the length of the adjusting device 15 is different from that described in Figure 3 The depicted state remains unchanged. For example, the piston of the hydraulic cylinder 15 may have been locked in its position by closing a locking valve. It is also possible that the pressure acting on the hydraulic cylinder 15 has been dynamically adjusted to keep the piston's position constant. In any case, the actuating device 15 thus acts as a rigid element. Consequently, the rotational movement of the intermediate frame 12a about its horizontal axis of rotation results in a force on the intermediate frame 12b, which leads to a corresponding rotational movement of the intermediate frame 12b about its horizontal axis of rotation. This causes the boom 13b to flex.

[0074] In light of the above, it is understood that it is possible to produce any desired tilt state of the booms 13a and 13b by adjusting the hydraulic actuators 14 and 15, in particular the piston position of the hydraulic cylinders 14 and 15, accordingly. For example, the piston of hydraulic cylinder 14 can be retracted to angle the boom 13a. If, at the same time, the piston of hydraulic cylinder 15 is extended further than in Figure 4b As shown, the boom is retracted, and the boom 13b is also angled.

[0075] In the Figures 4a to 4cIt can further be seen that the length of the adjusting devices 17 a,b does not need to be changed, regardless of the inclination state of the booms 13 a,b, since the inclination of the booms 13 a and 13 b is controlled directly via the inclination of the intermediate frames 12 a and 12 b, with the adjusting devices 17 a and 17 b connecting the intermediate frames 12 a and 12 b to the booms 13 a and 13 b. This eliminates the need to carry the adjusting devices 17 a and 17 b along when checking the inclination of the booms 13 a and 13 b.

[0076] Figure 5 Figure 1 schematically shows a detail section of a second, unclaimed embodiment of the agricultural device 1 in a rear view. The second embodiment shown differs from the one described in the following figures. Figures 2 to 4In the illustrated embodiment, the second actuating device 15 connects the central section 11 to the second intermediate frame 12b. In this embodiment, the arrangement of the second actuating device 15 is symmetrical to the arrangement of the first actuating device 14. This decouples the intermediate frames 12a and 12b with respect to rotational movements about their horizontal axes. The extension and retraction of the booms 13a and 13b are thus achieved directly by extending and retracting the pistons of the hydraulic cylinders 14 and 15, respectively.

[0077] Figure 6a and 6bFigure 1 schematically shows a detailed section of the agricultural implement 1 in a top view. In addition to the elements of the distribution linkage described above, a damping arrangement 19 is shown, which is arranged at the front in the direction of travel between the intermediate frames 12a and 12b. The damping arrangement 19 can comprise one or more damping elements 20. The damping elements 20 can, for example, comprise one or more, in particular hydraulic, thrust cylinders and / or rubber elements, as shown in Figure 1. Figure 7a and 7b shown in more detail.

[0078] This shows Figure 6a a state in which both booms 13a and 13b are at an angle of 90° to the direction of travel of the agricultural implement 1. In contrast, Figure 6b a condition in which the boom 13a is deflected in the direction of travel, while the boom 13b is deflected against the direction of travel. The in Figure 6bThe condition shown can occur, for example, due to vibrations of the spreader linkage in the direction of travel caused by yaw movements of the agricultural implement 1. It can be seen how the oscillating movement of the booms 13a and 13b is converted into rotary movements of the intermediate frames 12a and 12b by the actuating devices 17a and 17b and the curved pivot plates 18a,b. It can also be seen that the damping arrangement 19 in Figure 6b compared to the in Figure 6a The depicted state is horizontally displaced. In the case shown, the intermediate frames 12a and 12b are coupled in the horizontal direction via the damping arrangement 19. Movement in the horizontal direction is dampened and transmitted from one boom to the other. This reduces the transmission of forces resulting from such vibrations to the rigid central section 11 and the agricultural implement 1.

[0079] Figure 7aand 7b The figures schematically show a detailed section of the agricultural implement 1 in a frontal view, i.e., viewed against the direction of travel of the agricultural implement.

[0080] In Figure 7aA first embodiment of the damping arrangement 19 is shown, which includes a hydraulic cylinder 20 as a damping element. When one of the booms 13 a, b moves in or against the direction of travel of the agricultural implement, the piston of the cylinder 19 can move horizontally, thus transmitting the movement to the other boom. The hydraulic fluid in the cylinder 20 simultaneously dampens this movement passively. It is also possible to actively control the pressure applied to the chambers of the cylinder 20 to achieve active damping. In particular, it is possible to detect an oscillating movement of the booms 13 a, b using sensors (not shown). These sensors can, for example, be accelerometers arranged on the booms 13 a, b.However, it is also possible to measure pressure changes in the chambers of cylinder 20 and / or adjusting devices 17a and 17b in order to detect such vibrations. Then it is possible to regulate the pressure in the chambers of cylinder 20 in such a way that the vibration is dampened.

[0081] It is also possible for the hydraulic cylinder 20 to have multiple hydraulic chambers, with the hydraulic pressure in each chamber being individually controlled. Furthermore, it is possible for additional mechanical spring elements to be arranged in the hydraulic chambers. This allows for an additional passive damping effect. Figure 7b Figure 1 shows an alternative embodiment of the damping arrangement 19. Here, the damping arrangement 19 is formed in the form of two rubber buffer elements between the central part and the intermediate frames 12a and 12b. This represents a simple and cost-effective variant of a damping arrangement 19.

[0082] Alternatively, the damping arrangement 19 can comprise two hydraulic cylinders arranged between the central section and the intermediate frames 12a and 12b. This allows for active damping of vibrations, as described above.

Claims

1. Agricultural machine (1) for spreading material such as fertilizer, plant protectant or seed, which agricultural machine comprises a distributor boom (10) which is foldable on both sides, comprising a central part (11), wherein the central part (11) is connected to the agricultural machine (2) in a rotationally fixed manner; two subframes (12 a,b) which are connected to the central part (11); two lateral arms (13 a,b) which are connected to the respective subframes (12 a,b); a first hydraulic actuating device (14) which connects a first of the subframes (12 a) to the central part (11), wherein the corresponding first arm (13 a) can be moved about a first axis of rotation (h1) pointing in the direction of travel of the agricultural machine (1) by means of the first hydraulic actuating device (14); and a second hydraulic actuating device (15) which connects the subframes (12 a,b) to one another, wherein the corresponding second arm (13 b) can be moved about a second axis of rotation (h2) pointing in the direction of travel of the agricultural machine (1) by means of the second hydraulic actuating device (15).

2. Agricultural machine according to claim 1, wherein the central part (11) has a transverse frame (16), wherein the first subframe (12 a) and the second subframe (12 b) are arranged orientated upward on the transverse frame (16), wherein the first axis of rotation (h1) pointing in the direction of travel of the agricultural machine (1) is arranged in a lower region of the first subframe (12 a), and wherein the second axis of rotation (h2) pointing in the direction of travel of the agricultural machine (1) is arranged in a lower region of the second subframe (12 b).

3. Agricultural machine according to any of the preceding claims, wherein the first hydraulic actuating device (14) is connected to the first subframe (12 a) in an upper region of the first subframe (12 a), and is connected to the central part (11) in a lower region of the central frame (11), in particular is connected to the transverse frame (16) and spaced from the first subframe (12a).

4. Agricultural machine according to any of the preceding claims, wherein the subframes (12 a,b) are each connected to the central part (11) by means of a ball joint.

5. Agricultural machine according to any of the preceding claims, further comprising a third hydraulic actuating device (17 a), wherein the third hydraulic actuating device (17 a) connects a first of the subframes (12 a) to the corresponding first arm (13 a), wherein the first arm (13 a) can be moved about a first vertical axis of rotation by means of the third hydraulic actuating device (17 a); and a fourth hydraulic actuating device (17 b), wherein the fourth hydraulic actuating device (17 b) connects the corresponding second subframe (12 b) to the corresponding second arm (13 b), wherein the second arm (13 a) can be moved about a second vertical axis of rotation by means of the fourth hydraulic actuating device (17 b).

6. Agricultural machine according to any of the preceding claims, further comprising an absorption arrangement (19) for absorbing movements of the first arm (13 a) and of the second arm (13 b) in the direction of travel of the agricultural machine (1).

7. Agricultural machine according to claim 6, wherein the absorption arrangement (19) connects the subframes (12 a,b) to one another independently of the central part (11).

8. Agricultural machine according to either of claims 6 or 7, wherein the absorption arrangement (19) comprises at least a mechanical and / or hydraulic absorption element (20), in particular a hydraulic cylinder.

9. Agricultural machine according to claim 8, when dependent on claim 6, wherein the absorption arrangement (19) comprises at least two absorption elements (20), wherein each absorption element (20) connects a subframe (12 a,b) to the central part (11).

10. Agricultural machine according to any of claims 6-9, wherein the absorption arrangement (19) further comprises a mechanical spring element.

11. Agricultural machine according to any of the preceding claims, further comprising sensors which are designed to detect vibrations of the respective arms about a vertical and / or a horizontal axis.

12. Agricultural machine according to any of the preceding claims, wherein the subframes (12 a,b) are connected to the central part (11) via joints.

13. Agricultural machine according to any of the preceding claims, wherein the second hydraulic actuating device (15) connects the subframes (12 a,b) to one another in the upper region of the subframes (12 a,b).

14. Method for controlling an agricultural machine according to any of the preceding claims, comprising controlling the first hydraulic actuating device (14) in order to move the corresponding first arm (13 a) about the first axis of rotation (h1) pointing in the direction of travel of the agricultural machine (1); and controlling the second hydraulic actuating device (15) in order to move the corresponding second arm (13 b) about the second axis of rotation (h2) pointing in the direction of travel of the agricultural machine (1).