Soil-working implement

Abstract

The present invention relates to a soil-working implement (1), in particular a rotary harrow (2), comprising a frame (3a), arranged on which are rotationally driven soil-working tools (10) and a roller unit (14) arranged downstream thereof, wherein a levelling element (15) which is substantially in the form of a beam and is adjustable in height by an actuating system (20) is arranged in the region between the soil-working tools (10) and the roller unit (14), wherein arranged on the levelling element (15) and / or above the levelling element (15) is at least one sensor arrangement (22, 28), which is designed and set up to detect a soil material flow (18) occurring within the working width of the soil-working implement (1), wherein a control unit (21) assigned to the soil-working implement (1) is designed and set up to evaluate the data received from the at least one sensor arrangement (22, 28) and, in dependence on the evaluation, generate control signals for the setting of the levelling element (15) by the actuating system (20).

Description

[0001] Soil cultivation equipment

[0002] The present invention relates to a soil tillage implement, in particular a rotary harrow, according to the preamble of claim 1. Furthermore, the present invention relates to a method for operating a soil tillage implement according to the preamble of claim 1.

[0003] In a rotary harrow, soil clods, i.e., larger clumps of soil, are broken down by soil cultivation tools designed as rotating tines. A roller unit located downstream of the soil cultivation tools, a so-called trailing roller, serves to recompact the broken-down soil. The leveling bar is responsible for leveling the area after the soil clods have been broken up by soil cultivation tools, in preparation for subsequent cultivation by the trailing roller. Furthermore, the leveling bar holds the clods by accumulating them between the rotating tines until they are broken down.

[0004] A soil tillage implement of the type mentioned above is known from EP 0878 117 A1. A substantially beam-shaped leveling element, height-adjustable by an actuator, is arranged in the area between the rotating, driven soil tillage tools and a roller unit arranged downstream of them. The actuator comprises manually adjustable, vertically extending struts, between which the beam-shaped leveling element is arranged.

[0005] A soil tillage implement of the type mentioned above is also known from EP 3269220 A1. To adjust the height of a leveling element designed as a dozer blade, it is kinematically coupled to a trailing roller arranged on a tool frame in a height-adjustable manner by means of a four-bar linkage, so that a height adjustment of the trailing roller results in a change in the height of the dozer blade. In addition, the dozer blade is mounted on the tool frame in a height-adjustable manner. The height adjustment of the dozer blade relative to the tool frame is performed manually by an operator.

[0006] The correct height adjustment of the leveling element is particularly important. If the leveling element is set too low, it will block the soil, causing soil to be crushed and leveled to overflow the leveling element. If the leveling element is set too high, it will perform only limited or no work, with the soil passing beneath the leveling element. A leveling element set too high will cause clods of soil that have not been crushed long enough to flow under the leveling bar, thus rendering the leveling function of the leveling bar ineffective.

[0007] Based on the above-mentioned prior art, the object of the invention is to further develop a soil tillage device of the type mentioned at the outset, which is characterized by an improved adjustment of the leveling element during operation.

[0008] This object is achieved by a soil tillage device having the features of independent patent claim 1. Advantageous embodiments and further developments can be found in the dependent claims.

[0009] According to claim 1, a soil cultivation device, in particular a rotary harrow, is proposed, comprising a frame on which rotatingly driven soil cultivation tools and a roller unit arranged downstream thereof are arranged, wherein in the area between the soil cultivation tools and the roller unit a substantially bar-shaped levelling element which is height-adjustable by an actuator is arranged.According to the invention, at least one sensor arrangement is arranged on the levelling element and / or above the levelling element, which sensor arrangement is designed and configured to detect a soil material flow occurring within the working width of the soil tillage implement, wherein a control unit assigned to the soil tillage implement is designed and configured to evaluate the data received from the at least one sensor arrangement and, depending on the evaluation, to generate control signals for adjusting the levelling element by means of the actuator system.

[0010] The invention is based on the idea of ​​being able to react to changing operating conditions by adjusting the leveling element during operation, thus operating the soil tillage implement under optimized conditions. Furthermore, the sensory monitoring of the soil tillage implement according to the invention enables it to prevent or at least indicate incorrect adjustments of the leveling element.

[0011] The term “soil material flow” refers to the soil material that passes through the working areas of the soil tillage device when it is moved.

[0012] In particular, the control unit can be designed and configured to automatically control the actuators depending on the evaluation and / or to output information relating to the current and / or adjustable position of the leveling element on an output unit connected to the control unit. The automatic control of the actuators offers the advantage of a timely response when adjusting the working height or the distance from the ground of the leveling element. Alternatively or additionally, information relating to the adjustable position of the leveling element can be output on the output unit connected to the control unit in order to alert an operator of the soil tillage implement to the required adjustment of the leveling element, i.e., its adjustment of its distance from the ground. The information to be output by the output unit can be optical and / or acoustic.

[0013] Preferably, the at least one sensor arrangement arranged on the leveling element can be designed and configured to generate a signal indicating the current position of the leveling element as a function of contact of the leveling element with the soil material flow. This allows detection of a leveling element that is set too high, but does not make contact with the soil material.

[0014] Further preferably, the control unit can be designed and configured to evaluate the signal characteristics upon contact with the ground material, depending on the configuration of the at least one sensor arrangement arranged on the leveling element, in order to approximately determine an actually set distance from the ground. For this purpose, signal curves can be stored in a memory unit of the control unit, which can be used for comparison with the measured signal curve. According to a preferred development, the at least one sensor arrangement arranged above the leveling element can be designed and configured to detect a proportionate flow of soil material over the leveling element. In this way, it can be concluded that the leveling element is set too low.If the leveling element is set too low, clods of soil can flow over the leveling bar, preventing them from being held between the rotating soil tillage tools and thus not being crushed. Sensors detecting this incorrect adjustment of the leveling element allow the control unit to adjust the set distance to the ground by controlling the actuators accordingly.

[0015] The actuators for adjusting the distance to the ground can be hydraulically, pneumatically, or electrically operated. In particular, the actuators can include pneumatic cylinders, hydraulic cylinders, or linear motors.

[0016] In particular, the at least one sensor arrangement arranged on the leveling element and / or above the leveling element can operate according to an acoustic, electrical, mechanical, optical and / or capacitive operating principle.

[0017] Preferably, the at least one sensor arrangement arranged on the leveling element can be designed as a knock sensor arrangement, vibration probe arrangement, ultrasonic sensor arrangement, resistance sensor arrangement or capacitive sensor arrangement.

[0018] For this purpose, the at least one sensor arrangement designed as a knock sensor arrangement can preferably be arranged on the side of the leveling element facing the roller unit.

[0019] In particular, the at least one sensor arrangement designed as a vibration probe arrangement, ultrasonic sensor arrangement, resistance sensor arrangement or capacitive sensor arrangement can be arranged on the leveling element on the side of the leveling element facing the soil cultivation tools.

[0020] In particular, the at least one sensor arrangement arranged above the leveling element can be designed as a tactile sensor arrangement, ultrasonic sensor arrangement, light barrier arrangement, radar, or LiDAR. The at least one sensor arrangement arranged above the leveling element can have a measuring range that extends at least partially across the working width of the leveling element directly above the section that comes into contact with the soil material.

[0021] Furthermore, the at least one sensor arrangement arranged above the leveling element can be arranged on at least one linear guide serving to guide the leveling element in the vertical direction, or directly on an upper side of the leveling element facing away from the ground. It is essential that the at least one sensor arrangement arranged above the leveling element can change its position together with the leveling element in order to achieve precise detection of soil material that passes above the leveling element due to the leveling element's distance from the ground being set too low.

[0022] The object of the invention is further achieved by a method for operating a soil tillage device, in particular a rotary harrow, comprising a frame on which rotatingly driven soil tillage tools and a roller unit arranged downstream thereof are arranged, wherein in the area between the soil tillage tools and the roller unit a substantially beam-shaped levelling element is arranged, which is adjusted in height by an actuator for setting a distance to be maintained from the ground, according to independent claim 12.

[0023] According to the invention, a soil material flow occurring within the working width of the soil tillage implement is detected by at least one sensor arrangement arranged on the leveling element and / or above the leveling element. A control unit associated with the soil tillage implement evaluates the data received from the at least one sensor arrangement and, depending on the evaluation, generates control signals for adjusting the leveling element by the actuator system. Reference may be made to the advantages of the soil tillage implement according to the invention.

[0024] The present invention is explained in more detail below with reference to embodiments shown in the drawings.

[0025] Shown are: Fig. 1 schematically a representation of a soil tillage implement designed as a rotary harrow;

[0026] Fig. 2 shows a schematic and exemplary highly simplified representation of the operation of a rotary harrow;

[0027] Fig. 3 shows schematically and by way of example a highly simplified representation of a levelling element of the rotary harrow according to Fig. 2 which is set too high;

[0028] Fig. 4 shows a schematic and exemplary side view of a soil tillage implement in transport position;

[0029] Fig. 5 shows schematically and by way of example a side view of the soil tillage implement according to Fig. 4 with two alternative embodiments of sensor arrangements for detecting a levelling element that is set too high;

[0030] Fig. 6 shows a schematic and exemplary highly simplified representation of a levelling element of the rotary harrow according to Fig. 2 that is set too low; and

[0031] Fig. 7 shows schematically and by way of example a highly simplified representation of a levelling element of the rotary harrow according to Fig. 6 which is set too low with a preferred embodiment of a sensor arrangement.

[0032] Fig. 1 shows a soil tillage implement 1 designed as a rotary harrow 2, which is connected as an attachment via a three-point headstock 3 and pivot points 4 and 5 to an upper link 6 and lower links 7 of a three-point linkage 8 of a tractor 9. The rotary harrow 2 has rotatingly driven tines 11 on a frame 3a as soil tillage tools 10. The working depth of the tines 11 of the rotary harrow 2 can be changed by an adjustment device 12. The tines 11 are only partially visible, as they are mostly concealed by a side plate 13. In the working direction AR, behind the tines 11 and in front of a roller unit 14, a leveling element 15 is arranged on the frame 3a of the rotary harrow 2. The leveling element 15 serves to support the work intensity of the tines 11. The leveling element 15 is essentially beam-shaped and is height-adjustable by an actuator 20, as shown by way of example in Fig. 2.The roller unit 14 has scrapers 16 designed to prevent soil particles from settling on the roller unit 14. The leveling element 15 is preferably designed as a leveling beam. The actuators 20 for adjusting the height of the leveling element 15 can be designed as linear actuators. Preferably, the actuators 20 can be designed as double-acting hydraulic cylinders. The actuators 20 can also be designed as linear motors or threaded rod drives.

[0033] Fig. 2 shows a schematic and exemplary, highly simplified representation of the operation of a rotary harrow 2. During operation of the rotary harrow 2, clods of earth 17, i.e. larger clumps of soil material resulting from previous soil cultivation, plowing or basic soil cultivation, are crushed by the rotating tines 11. In Fig. 2, reference numeral 18 designates a flow of soil material of clods 17 crushed by the rotating tines 11, which are located between the tines 11 and the leveling element 15. The leveling element 15 arranged behind the tines 11 has the task of temporarily holding the clods of earth 17 to be crushed between the rotating tines 11 until they are crushed. Furthermore, the task of the leveling element 15 is to create a substantially flat surface 19 after the crushing of the clods of earth 17.

[0034] To control the actuator 20, a control unit 21 is assigned to the soil tillage implement 1. Using the control unit 21, an operator of the soil tillage implement 1 can specify the height of the leveling element 15, i.e., the distance of the lower edge of the leveling element 15 from the ground B, and adjust it by controlling the actuator 20. In an autonomous version of the tractor 9, the height of the leveling element 15 can be specified by an automation unit in order to adjust the height by controlling the actuator 20.

[0035] At least one sensor arrangement 22 is arranged on the leveling element 15, which is designed and configured to detect the soil material flow 18 occurring within the working width of the soil cultivation device 1. In the illustrated embodiment, the sensor arrangement 22 is designed as a knock sensor arrangement 23. The sensor arrangement 22 designed as a knock sensor arrangement 23 is arranged on the leveling element 15 on its side facing the roller unit 14. A further sensor arrangement 28 is arranged above the leveling element 15, the function and design of which are described further below.

[0036] Fig. 3 shows a schematic and exemplary highly simplified representation of a leveling element 15 of the rotary harrow 2 according to Fig. 2 that is set too high. The clods of earth 17 are only crushed to a small extent by the rotating tines 11. The flow of soil material 18 can pass unhindered over the lower edge of the leveling element 15. There is no or only slight damming of the flow of soil material 18 or of the clods of earth 17. The reduced residence time of the clods of earth 17 in the area between the tines 11 and the leveling element 15 leads to insufficient crushing of the clods of earth 17, which influences the quality of the crumbling, i.e. the desired clod size after cultivation by the soil cultivation tools 10. A leveling element 15 that is set too high can also affect the creation of a level surface 19 by the soil tillage device 1.The flatness of the surface 19 results from the accumulation of material flowing into the tracks of the tractor 9. This is not achieved or only insufficiently achieved by a leveling element 15 that is set too high.

[0037] To detect if the leveling element 15 is set too high, the signals generated at the leveling element 15 by the knock sensor arrangement 23 are transmitted to the control unit 21, which evaluates them. Based on the change in the amplitude of the structure-borne sound signals transmitted by the leveling element 15, it can be determined whether the leveling element 15 is in contact with the earth clods 17. While contact with the earth clods 17 results in a smaller amplitude being measured due to the damping effect of the earth clods 17, a lack of contact with the earth clods 17 leads to the measurement of high amplitudes, since the vibration of the leveling element 15 is merely dampened by the air.

[0038] Fig. 4 shows a schematic and exemplary side view of the soil tillage implement 1, designed as a rotary harrow 2, in the raised transport position. According to the embodiment shown in Fig. 4, the sensor arrangement 22 for detecting a leveling element 15 that is set too high is designed as a vibration probe arrangement 24. For this purpose, the vibration probe arrangement 24 comprises two vibration probes that are arranged at a distance from one another on the side of the leveling element 15 facing the soil tillage tools 10. The vibration probe arrangement 24 functions as a fill level limit switch. If, due to the leveling element 15 being set too high, no signal is generated indicating the presence of clods 17 or a signal that falls below a limit value, the fill level limit has been exceeded.The signals provided by the vibration probe assembly 24 are transmitted to the control unit 21, which evaluates them for amplitude attenuation and frequency change. An ultrasonic sensor assembly can be provided as an alternative or supplement to the knock sensor assembly 23 or the vibration probe assembly 24. The signals generated by the ultrasonic sensor assembly can be evaluated by the control unit 21 for amplitude attenuation and frequency change in a similar way to the signals generated by the knock sensor assembly 23 or the vibration probe assembly 24. Alternatively or additionally, the distance of the leveling element 15 from the ground B can be detected using the ultrasonic sensor assembly, so that an excessively low setting of the leveling element 15 can also be detected.

[0039] The illustration in Fig. 5 shows a schematic and exemplary side view of the soil tillage implement 1 according to Fig. 4 with two alternative embodiments of sensor arrangements 22 for detecting a leveling element 15 that is set too high. For this purpose, the sensor arrangement 22 can be designed as a resistance sensor arrangement 25 or as a capacitive sensor arrangement 26. In both embodiments, at least two electrodes 27 are attached to the leveling element 15. The position of the paired electrodes 27 on the leveling element 15 is selected such that they are located between two adjacent soil tillage tools 10.

[0040] Fig. 6 shows a schematic and exemplary highly simplified representation of a leveling element 15 of the rotary harrow 2 according to Fig. 2 that is set too low. In contrast to a leveling element 15 that is set too high, as shown by way of example in Fig. 3, a setting that is too low results in the accumulating clods of earth 17 being pushed partly over the leveling element 15 without being crushed. The uncrushed clods of earth 17 end up on the crushed clods of earth 17 behind the leveling element 15. This affects the working quality of the soil cultivation tools 10, since the desired crumbling may only be approximately achieved during cultivation. To detect a leveling element 15 that is set too low, a further sensor arrangement 28 is arranged above the leveling element 15.

[0041] Fig. 7 shows a schematic and exemplary highly simplified representation of a leveling element 15 of the rotary harrow 2 according to Fig. 6 that is set too low, with a preferred embodiment of the sensor arrangement 28. For this purpose, the sensor arrangement 28 is arranged above the leveling element 15 on the latter. The at least one sensor arrangement 28 arranged above the leveling element 15 can be arranged on at least one linear guide 33 that serves to guide the leveling element 15 in the vertical direction, or directly on an upper side of the leveling element 15 facing away from the ground B. The sensor arrangement 28 is here and preferably designed as a touch sensor arrangement 29 and is configured to detect a setting of the leveling element 15 that is too low. The touch sensor arrangement 29 can have one or more touch elements 30 that can be pivoted or rotated about a longitudinal axis 31 running parallel to the working direction AR.By means of a sensor 32, which is designed to detect the rotational or pivoting movement of the sensing element(s) 30, a signal is generated and transmitted to the control unit 21 for evaluation. The rotational or pivoting movement of the sensing element(s) 30 is caused by clods of earth 17 flowing over the leveling element 15 if the leveling element 15 is set too low. For example, a sensing mat can be provided as a sensing element 30, which extends essentially across the entire width of the leveling element 15. The sensing element 30 designed as a sensing mat is pivotable about the longitudinal axis 31, so that a flow of soil material 18 flowing partially over the leveling element 15 leads to a deflection of the sensing mat. Alternatively, several equidistantly arranged sensing levers can be arranged as sensing elements 30 above the leveling element 15.

[0042] As alternatives to the design of the sensor arrangement 28 as a tactile sensor arrangement 29 or in addition to this, an ultrasonic sensor arrangement, a light barrier arrangement, radar or LiDAR can be provided.

[0043] The sensor arrangement 28, designed as a light barrier arrangement, is arranged above the leveling element 15 and detects the free area between the leveling element 15 and the frame 3a, in which clods of earth 17 can flow over the leveling element 15 if it is set too low.

[0044] If the sensor arrangement 28 is configured as an ultrasonic sensor arrangement, radar, or LiDAR, it is also provided that these are arranged on the leveling element 15. However, unlike the light barrier arrangement, this design of the sensor arrangement 28 detects the set distance of the leveling element 15 from the ground B, so that the sensor arrangement must change its absolute position relative to the ground B together with the height-adjustable leveling element 15.

[0045] A combination of both sensor arrangements 22, 28 is advantageous in order to detect an excessively low or excessive setting of the leveling element 15 by evaluating the provided signals using the control unit 21. The control unit 21 can be designed and configured to automatically control the actuator 20 depending on the evaluation and / or to output information relating to the position of the leveling element 15 on an output unit 34 connected to the control unit 21. In this case, an operator of the soil cultivation device 1 can be shown both the currently set distance of the leveling element 15 and a suggestion for an optimized, adjustable distance of the leveling element 15.

Claims

List of reference symbols 1 tillage implement 33 linear guide 2 rotary harrow 34 output unit 3 three-point tower AR working direction 3a Frame B Floor 4 Pivot point 5 Pivot point 6 top links 7 lower links 8 three-point linkage 9 tractor 10 Soil cultivation tools 11 prongs 12 Adjustment device 13 Side plate 14 roller unit 15 Leveling element 16 scrapers 17 earth clods 18 Soil material flow 19 area 20 Actuators 21 Control unit 22 Sensor arrangement 23 Knock sensor arrangement 24 Vibration probe arrangement 25 resistance sensor arrangement 26 Capacitive sensor arrangement 27 electrodes 28 Sensor arrangement 29 Tactile sensor arrangement 30 button element 31 Longitudinal axis 32 sensors Patent claims 1. Soil cultivation device (1), in particular a rotary harrow (2), comprising a frame (3a) on which rotatingly driven soil cultivation tools (10) and a roller unit (14) arranged downstream thereof are arranged, wherein in the area between the soil cultivation tools (10) and the roller unit (14) a substantially bar-shaped leveling element (15) which is height-adjustable by an actuator (20) is arranged, characterized in that at least one sensor arrangement (22, 28) is arranged on the leveling element (15) and / or above the leveling element (15), which is designed and configured to detect a soil material flow (18) occurring within the working width of the soil cultivation device (1), wherein a control unit (21) assigned to the soil cultivation device (1) is designed and configured to receive the signals from the at least one sensor arrangement (22,28) and, depending on the evaluation, to generate control signals for adjusting the levelling element (15) by the actuator (20).

2. Soil cultivation device (1) according to claim 1, characterized in that the control unit is designed and configured to automatically control the actuator (20) as a function of the evaluation and / or to output information relating to the current and / or to-be-adjusted position of the leveling element (15) on an output unit (34) connected to the control unit (21).

3. Soil cultivation device (1) according to claim 1 or 2, characterized in that the at least one sensor arrangement (22, 28) arranged on the leveling element (15) is designed and configured to generate a signal representing the current position of the leveling element (15) as a function of contact of the leveling element (15) with the soil material flow (18).

4. Soil cultivation device (1) according to one of claims 1 to 3, characterized in that the at least one sensor arrangement (28) arranged above the leveling element (15) is designed and configured to detect a soil material flow (18) leading partially over the leveling element (15).

5. Soil cultivation device (1) according to one of the preceding claims, characterized in that the at least one on the leveling element (15) and / or The sensor arrangement (22, 28) arranged above the levelling element (15) operates according to an acoustic, electrical, mechanical, optical and / or capacitive operating principle.

6. Soil cultivation device (1) according to claim 5, characterized in that the at least one sensor arrangement (22) arranged on the leveling element (15) is designed as a knock sensor arrangement (23), vibration probe arrangement (24), ultrasonic sensor arrangement, resistance sensor arrangement (25) or capacitive sensor arrangement (26).

7. Soil cultivation device (1) according to claim 6, characterized in that the at least one sensor arrangement (22) designed as a knock sensor arrangement (23) is arranged on the side of the leveling element (15) facing the roller unit (14).

8. Soil cultivation device (1) according to claim 6, characterized in that the at least one sensor arrangement (22) designed as a vibration probe arrangement (24), ultrasonic sensor arrangement, resistance sensor arrangement (25) or capacitive sensor arrangement (26) is arranged on the leveling element (15) on the side of the leveling element (15) facing the soil cultivation tools (19).

9. Soil cultivation device (1) according to claim 5, characterized in that the at least one sensor arrangement (28) arranged above the leveling element (15) is designed as a tactile sensor arrangement (29), ultrasonic sensor arrangement, light barrier arrangement, radar or LiDAR.

10. Soil cultivation device (1) according to claim 9, characterized in that the at least one sensor arrangement (28) arranged above the leveling element (15) has a measuring range which extends at least in sections across the working width of the leveling element (15) immediately above the section coming into contact with the soil material (17).

11. Soil cultivation device (1) according to claim 9 or 10, characterized in that the at least one sensor arrangement (28) arranged above the leveling element (15) is mounted on at least one linear guide (33) serving to guide the leveling element (15) in the vertical direction or directly on a guide (33) facing away from the ground (B). top of the leveling element (15).

12. Method for operating a soil tillage implement (1), in particular a rotary harrow (2), comprising a frame (3a) on which rotatingly driven soil tillage tools (10) and a roller unit (14) arranged downstream thereof are arranged, wherein in the area between the soil tillage tools (10) and the roller unit (14) a substantially bar-shaped levelling element (15) is arranged, which is adjusted in height by an actuator (20) to set a distance to the ground (B) to be maintained, characterized in that a soil material flow (18) occurring within the working width of the soil tillage implement (1) is detected by at least one sensor arrangement (22, 23) arranged on the levelling element (15) and / or above the levelling element (15), wherein the soil material flow (18) detected by the at least one sensor arrangement (22,28) received data are evaluated and, depending on the evaluation, control signals for adjusting the levelling element (15) are generated by the actuator (20).

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