Patent ID: 12246570

DETAILED DESCRIPTION

The illustrations presented herein are not actual views of any vehicle or portion thereof, but are merely idealized representations to describe example embodiments of the present disclosure. Additionally, elements common between figures may retain the same numerical designation.

The following description provides specific details of embodiments. However, a person of ordinary skill in the art will understand that the embodiments of the disclosure may be practiced without employing many such specific details. Indeed, the embodiments of the disclosure may be practiced in conjunction with conventional techniques employed in the industry. In addition, the description provided below does not include all elements to form a complete structure or assembly. Only those process acts and structures necessary to understand the embodiments of the disclosure are described in detail below. Additional conventional acts and structures may be used. The drawings accompanying the application are for illustrative purposes only, and are thus not drawn to scale.

As used herein, the terms “comprising,” “including,” “containing,” “characterized by,” and grammatical equivalents thereof are inclusive or open-ended terms that do not exclude additional, unrecited elements or method steps, but also include the more restrictive terms “consisting of” and “consisting essentially of” and grammatical equivalents thereof.

As used herein, the term “may” with respect to a material, structure, feature, or method act indicates that such is contemplated for use in implementation of an embodiment of the disclosure, and such term is used in preference to the more restrictive term “is” so as to avoid any implication that other, compatible materials, structures, features, and methods usable in combination therewith should or must be excluded.

As used herein, the term “configured” refers to a size, shape, material composition, and arrangement of one or more of at least one structure and at least one apparatus facilitating operation of one or more of the structure and the apparatus in a predetermined way.

As used herein, the singular forms following “a,” “an,” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise.

As used herein, the term “and/or” includes any and all combinations of one or more of the associated listed items.

As used herein, spatially relative terms, such as “beneath,” “below,” “lower,” “bottom,” “above,” “upper,” “top,” “front,” “rear,” “left,” “right,” and the like, may be used for ease of description to describe one element's or feature's relationship to another element(s) or feature(s) as illustrated in the figures. Unless otherwise specified, the spatially relative terms are intended to encompass different orientations of the materials in addition to the orientation depicted in the figures.

As used herein, the term “substantially” in reference to a given parameter, property, or condition means and includes to a degree that one of ordinary skill in the art would understand that the given parameter, property, or condition is met with a degree of variance, such as within acceptable manufacturing tolerances. By way of example, depending on the particular parameter, property, or condition that is substantially met, the parameter, property, or condition may be at least 90.0% met, at least 95.0% met, at least 99.0% met, or even at least 99.9% met.

As used herein, the term “about” used in reference to a given parameter is inclusive of the stated value and has the meaning dictated by the context (e.g., it includes the degree of error associated with measurement of the given parameter).

FIGS.1through4illustrate an agricultural vehicle having an adjustable chassis height. In particular, the vehicle is pictured as an applicator10including a chassis12, a plurality of wheels14or other ground-engaging elements supporting the chassis12above a ground surface, an application system16, an operator cabin18, and an engine compartment20. A plurality of support assemblies22interposed between the wheels14and the chassis12support the chassis12on the wheels14and provide suspension, height adjustment, and/or steering functions, as discussed in greater detail below.

Certain components of the applicator10have been omitted from the figures for simplicity of illustration and to show certain features of the applicator10that would otherwise be concealed. The engine, for example, has been omitted to illustrate components of the applicator frame, including portions of the front axle24. Certain hydraulic lines, such as hydraulic lines running to and from the assemblies22, are also omitted. The applicator10is illustrated and discussed herein as an exemplary machine with which the support assemblies22may be used. It will be appreciated by those skilled in the art that the support assemblies22may be used with other machines including other types of applicators or other vehicles or mobile machines that would benefit from the advantages of the support assemblies disclosed herein, such as chassis height adjustment, independent suspension, and independent wheel control.

The applicator10includes a pair of front wheels14b,14cand a pair of rear wheels14a,14d(rear wheel14dhidden from view) of the appropriate size and shape to allow the applicator10to travel among row crops with minimal crop disturbance. As used herein, a “wheel” includes an inner, rigid wheel and an outer, flexible tire mounted on the wheel unless otherwise specified. Each wheel14may exhibit, for example, an outer diameter of between 60 inches (152 cm) and 85 inches (216 cm) and a width of between 10 inches (25.3 cm) and 25 inches (63.5 cm). More specifically, wheels14designed for use with row crops may exhibit an outer diameter of about 70 inches (178 cm) or about 80 inches (203 cm) and a width of about 15 inches (38.1 cm). Alternatively, the wheels14may exhibit a width of up to 25 inches (63.5 cm) (or more) for pre-emergent applications, for use on soft terrain, or both to maximize flotation and minimize soil compaction. Each of the wheels14may weigh between 600 pounds (272 kg) and 1,000 pounds (454 kg) and may specifically weigh about 700 pounds (318 kg) or about 800 pounds (363 kg). In one exemplary embodiment, each of the wheels14is about 70 inches (178 cm) tall, about 15 inches (38.1 cm) wide, and weighs about 700 pounds (318 kg).

The particular size, shape, and configuration of the wheels14may vary substantially from one embodiment to another. In some embodiments, the vehicle may include ground-engaging elements other than wheels, such as tracks, skis, etc. Hereinafter, reference will be made to a “wheel” or “wheels” with the understanding that the illustrated wheels14may be replaced with other types of ground-engaging elements.

One or more drive motors26(FIG.2) may be associated with one or more of the wheels14for driving rotation of the wheel or wheels relative to the chassis12to propel the applicator10in forward and reverse directions. In the illustrated embodiment, a separate hydraulic motor26is drivingly connected to each wheel14such that each of the wheels14may be driven independently to propel the applicator10. Either two or all four of the wheels14may be steerable. In some embodiments, the steering functionality of some of the wheels14may be selectively enabled and disabled. By way of example, the front wheels14b,14cmay always be steerable, and supplemental steering provided by the rear wheels14a,14dmay be selectively enabled and disabled. An operator may control the drive motors26and steering functions of the wheels14, including enabling and disabling the steering ability of certain of the wheels14, from one or more of the user interface elements of the cabin illustrated inFIG.4.

The applicator10may include mechanisms for adjusting the track width of the wheels14to accommodate, for example, different spacing needs for row crops. In the illustrated embodiment, the applicator10includes telescoping axles with an outer axle28and an inner axle30associated with each wheel14, wherein the inner axle30slidingly engages the outer axle28and allows the wheel14to shift laterally relative to the chassis12. A hydraulic piston or similar actuator may drive the inner axle30inward and outward to shift the position of the wheel14. The inner30and outer28axles form part of the chassis12and, in the illustrated embodiment, the outer axles28are rigidly connected to another portion of the chassis, such as one or more frame elements. U.S. Patent Application Publication 2020/0130741, “Mounting Assembly for a Steerable Wheel with Variable Track Width,” published Apr. 30, 2020, discloses an example of a telescopic axle with an actuator disposed inside the outer axle and arranged to drive the inner axle inward and outward to shift the lateral position of the associated support assembly and wheel.

The application system16is supported on the chassis12and may be conventional in nature. In the illustrated embodiment, the application system16includes a liquid holding tank32and a delivery system34for applying a liquid from the holding tank32to a crop or field. The holding tank32may have a capacity of between 200 gallons (757 l) and 2,000 gallons (7,570 l) and, more specifically, may have a capacity of 700 gallons (2,650 l), 900 gallons (3,410 l), 1,100 gallons (4,160 l), or 1,300 gallons (4,920 l). The delivery system34includes a pair of booms36supporting hoses, pumps, and spray nozzles35or similar components for dispersing or otherwise applying the contents of the tank32to a crop. Alternatively, the application system16may be configured to apply dry material to a field and therefore may include a hopper and a mechanism for dispersing particulate material from the hopper, such as a pneumatic spreader or one or more spinners.

The operator cabin18or “cab” is supported on the chassis12and positioned forward of the application system16. The cabin18presents a control environment38(FIG.4) including a steering wheel40, one or more pedals42, a drive lever44, one or more electronic instrument panels46, and a control panel48including buttons, switches, levers, gauges, and/or other user interface elements. The various components of the control environment38enable the operator to control the functions of the applicator10, including driving and operating the application system16. The various user interface elements are positioned around and proximate a seat50for easy access by an operator during operation of the applicator10. The control environment38may include a touchscreen display. One or both of the electronic instrument panels46, for example, may be or include a touchscreen, or a display terminal with a touchscreen may be mounted on or near the control panel48.

As mentioned above, the applicator10includes a support assembly22interposed between each of the wheels14and the chassis12. Each support assembly22connects to a hub of one of the wheels14and to one of the inner axles30such that the wheel14and the support assembly22shift laterally as a single unit relative to the chassis12when the inner axle30is shifted relative to the outer axle28to adjust the applicator's track width. The support assemblies22include height adjustment components for raising and lowering the chassis12of the vehicle between various operating positions. One or more of the support assemblies22(or portions thereof) may be selectively pivotable relative to the chassis12to steer the applicator10.

Each of the support assemblies22includes one or more actuators for adjusting a height of the chassis, for steering the associated wheel14, or both. In some embodiments, the actuators are hydraulic actuators such as linear or rotary hydraulic actuators.FIG.3Aillustrates an exemplary hydraulic control system52for operating hydraulic actuator sections54(i.e.,54a,54b,54c, and54d) in which a centralized hydraulic pump56, driven by an internal combustion engine58or other power source, communicates pressurized hydraulic fluid to a hydraulic controller60that regulates fluid flow between the pump56and the hydraulic actuator sections54associated with the support assemblies via a plurality of hydraulic transfer lines62. The hydraulic controller60may include, for example, a hydraulic manifold or similar device.

Each of the hydraulic transfer lines62communicates hydraulic power between the hydraulic controller60and one or more hydraulic actuator sections54and, thus, may include one or more hydraulic pressure lines and one or more hydraulic return lines. Each of the hydraulic transfer lines may communicate hydraulic power to more than one actuator, and each of the actuator sections54may include a group of actuators associated with each wheel14and/or support assembly22. By way of example, a first actuator associated with the actuator section54may drive steering of the wheel14, a second actuator may drive rotation of the wheel14, and a third actuator may adjust a height of the chassis12. It will be appreciated that the actuator sections54are exemplary in nature and that the various hydraulic actuators may not be grouped as described herein.

The system52includes a control interface64in communication with the hydraulic controller60. The control interface64may be part of a user interface that includes one or more physical or virtual user interface elements66, such as buttons, switches or dials, and may be part of the control environment38(FIG.4).

Various different types of technology may be used to actuate the support assemblies22. Though the actuators are illustrated and described herein as hydraulic actuators, it will be understood that other types of actuators may be used in place of, or in connection with, the hydraulic actuators. By way of example, electro-mechanical actuators may be used in place of at least some of the hydraulic actuators illustrated and discussed herein.

FIG.3Billustrates another exemplary control system68similar to the system52but that includes a computerized controller70with a control module72for controlling the hydraulic controller60. The system68may also include a wireless interface element74in wireless communication with the controller60for allowing a user to remotely control the actuator sections54. The wireless interface element74may be a dedicated device, such as a device similar to a key-fob commonly used with cars and other vehicles, or a computing device such as smart phone, tablet computer, or wearable computing device programmed or configured for use with the system68. The wireless interface element74may be configured to communicate with the hydraulic controller60and/or the computerized controller70via short-range wireless communications, such as Wi-Fi or Bluetooth, or via a communications network such as a cellular network.

The controller70may include one or more integrated circuits programmed or configured to control the hydraulic controller60to actuate the support assemblies22. By way of example, the controller70may include one or more general purpose microprocessors or microcontrollers, programmable logic devices, or application specific integrated circuits. The controller70may also include one or more discrete and/or analog circuit components operating in conjunction with the one or more integrated circuits, and may include or have access to one or more memory or storage elements operable to store executable instructions, data, or both. The control module72may be a hardware or software module specifically dedicated to enabling the controller70to control the hydraulic controller60as described herein.

Another control system76, illustrated inFIG.3C, is similar to the system68but includes additional hydraulic circuit components, such as hydraulic accumulators78. In some embodiments, each of the support assemblies22may include a single hydraulic actuator that both raises and lowers the chassis12and provides suspension functions, as explained below. Such hydraulic systems may require specialized hydraulic circuit components such as the hydraulic accumulators78.

One of the support assemblies22is illustrated in greater detail inFIGS.5through10. It should be understood that the support assembly22is one example, and many alternative constructions may be used instead. For example, U.S. Pat. No. 9,180,747, “System and Method of Adjusting the Chassis Height of a Machine,” granted Nov. 10, 2015, discloses a number of different support assembly configurations that may be used.

The support assembly22broadly includes a chassis attachment component80for attaching to the vehicle chassis12; a wheel attachment component82for attaching to a wheel14or other ground engaging element; a suspension component84operably interposed between the chassis attachment component80and the wheel attachment component82for regulating motion transfer between the two attachment components80,82; a plurality of strut bars86,88connecting the wheel attachment component82to the suspension component84; and a height-adjustment mechanism90comprising a plurality of height-adjustment actuators92,94for shifting the wheel attachment component82between a plurality of operating positions relative to the chassis attachment component80. The chassis attachment component80may include a pivot element96for allowing the support assembly22to pivot relative to the chassis12, and a pivot actuator may drive the pivoting motion to steer a wheel or other ground engaging element connected to the wheel attachment component82. In the illustrated embodiment, the pivot element96is or includes a rotary actuator.

The wheel attachment component82has a generally cylindrical body98and a pair of upwardly-opening receptacles100for receiving and connecting to the strut bars86,88. The receptacles100are positioned on opposite sides of and above the cylindrical body98. Pivot torque is transferred to the wheel attachment component82by the strut bars86,88via the receptacles100. The wheel attachment component82includes a plurality of apertures or other features spaced angularly around the body98for connecting to a hub of a wheel, a hydraulic motor and/or a gear reduction hub, a caliper disc brake assembly, a parking brake assembly, and/or similar components.

The suspension component84includes a lower suspension member102, an upper suspension member104, and a pneumatic spring106or similar motion-regulating element positioned between and attached to the upper102and lower104suspension members. The upper suspension member104is connected to a top side or portion of the spring106and the lower suspension member102is connected to a lower side or portion of the spring106. Each of the upper104and lower102suspension members has an elongated shape and includes a plurality of apertures or other features for attaching to the spring106. The lower suspension member102includes apertures or other features located proximate end portions thereof to facilitate connection to the strut bars86,88, and the upper suspension member104includes apertures or other features located proximate outer portions thereof to facilitate connection to the adjustment mechanism90. In the illustrated embodiment, the upper suspension member104is longer than the lower suspension member102, enabling attachment to the height-adjustment actuators92,94positioned outboard of the lower suspension member102.

The pneumatic spring106uses trapped or compressed air or other fluid to regulate motion transfer between the chassis attachment component80and the wheel attachment component82. The pneumatic spring106may contain air, water, nitrogen, antifreeze, or other fluid and may be single, double, or triple convolute. A pair of flexible straps108may be positioned on opposite sides of the spring106to limit extension of the spring and a bumper may be positioned inside or outside the spring to limit spring compression. Other mechanisms may be used in place of the pneumatic spring106, including, for example, a coil-type compression spring, or a shock-absorbing cylinder and piston assembly.

The suspension components84of the assemblies22may be the only components of the applicator10configured to regulate vertical motion transfer between the wheels14(or other ground engaging element) and the chassis12. The outer axles28, for example, may be rigidly connected to portions of the frame of the applicator10. Furthermore, the suspension components84regulate motion transfer between the wheels14and the chassis12regardless of the operating position of the assemblies22. Thus, the suspension components84perform essentially the same function regardless of whether the chassis21is in a lowered position, a raised position, or somewhere in between.

The first strut bar86and the second strut bar88are rigidly connected to the receptacles100of the wheel attachment component82and are rigidly coupled with the suspension component84such that movement of the wheel attachment component82relative to the chassis attachment component80is communicated through the suspension component84via the strut bars86,88. More specifically, a first end of the first strut bar86is connected to a first receptacle100of the wheel attachment component82, and a first end of the second strut bar88is connected to a second receptacle100of the wheel attachment component82. A second end of the first strut bar86is connected to a first side of the lower suspension member102, and a second end of the second strut bar88is connected to a second side of the lower suspension member102. As explained above, the lower suspension member102is an elongated, rigid member with outer apertures on opposing ends thereof for connecting to the strut bars86,88and one or more inner apertures between the outer apertures for rigidly attaching to a first side or portion of the spring106. Thus, the lower suspension member102interconnects the spring106and the strut bars86,88.

The first and second strut bars86,88are parallel or substantially parallel and are separated by a space. The strut bars86,88slidingly engage the chassis attachment component80to allow the wheel attachment component82to move relative to the chassis attachment component80while also transferring pivot torque between the wheel attachment component82and the chassis attachment component80. The strut bars86,88may be separated by a space of between about 3 inches (7.6 cm) and 20 inches (51 cm) and, more specifically, may be separated by a space of between about 8 inches (20 cm) and about 15 inches (38 cm). The length of each of the strut bars86,88may be between about 12 inches (30 cm) and about 36 inches (91 cm) and, more specifically, between about 20 inches (51 cm) and about 30 inches (76 cm). The strut bars86,88may be positioned symmetrically about a center of the wheel attachment component82and a center of the chassis attachment component80.

The chassis attachment component80has a lower chassis attachment member110and an upper chassis attachment member112separated by a space. The pivot element96is interposed between, and rigidly connected to, the attachment members110,112. Each of the lower110and upper112chassis attachment members includes a pair of spaced through-holes in axial alignment for slidingly receiving the strut bars86,88. Each of the lower110and upper112chassis attachment members also includes a pair of apertures or other features positioned outboard of the through-holes for engaging the height-adjustment actuators92,94.

The chassis attachment component80is rigidly but adjustably coupled with the upper suspension member104via the height-adjustment actuators92,94such that actuating the adjustment mechanism90causes the upper suspension member104to shift relative to the chassis attachment component80, shifting the wheel attachment component82relative to the axle30. The lower suspension member102is rigidly connected to the wheel attachment component82via the strut bars86,88, as explained above, such that motion transfer between the chassis attachment component80and the wheel attachment component82passes through, and is regulated by, the suspension component84. Such motion transfer may correspond to up-and-down movement of the wheels14relative to the chassis12such that the suspension component84may provide a spring or shock-absorbing function and may, for example, dampen motion transfer between the wheels14and the chassis12.

The height-adjustment mechanism90, comprising the height-adjustment actuators92,94, is configured to shift the wheel attachment component82between a plurality of operating positions relative to the chassis attachment component80. As used herein, an “operating position” is a selectable position of the wheel attachment component82relative to the chassis attachment component80in which the distance between the attachment components80,82is rigidly or flexibly fixed. If the distance between the attachment components80,82is flexibly fixed, the relative positions of the attachment components may fluctuate but will return to the same operating position. Stated differently, the average distance between the attachment components80,82will remain approximately the same even though the instantaneous distance may fluctuate above and/or below the average distance. Fluctuations in the relative positions of the attachment components80,82may result, for example, from operation of the suspension component84, operation of a hydraulic component, or both.

In operation, shifting the wheel attachment component82between operating positions relative to the chassis attachment component80will raise and lower the vehicle's chassis12between various operating positions relative to the ground surface. Each support assembly22is operable to shift between two or more operating positions, such as between two, three, four, five, six, seven, eight, nine, ten, twelve, fourteen, or sixteen operating positions. Additionally, each support assembly22may be infinitely adjustable between a first extreme operating position (FIG.9) and a second extreme operating position (FIG.10). The difference between the first extreme operating position and the second extreme operating position may be within the range of about 5 inches (13 cm) to about 50 inches (130 cm). More specifically, the difference may be about 10 inches (25 cm), about 20 inches (51 cm), about 30 inches (76 cm), or about 40 inches (102 cm).

As illustrated, the height-adjustment actuators92,94are connected to the upper and lower chassis attachment members110,112and to the upper suspension member104, such that extending or retracting the height-adjustment actuators92,94causes the upper suspension member104(and a top end or portion of the spring106to which it is connected) to shift up or down relative to the chassis attachment component80. The height-adjustment actuators92,94may include fluid actuators and/or electro-mechanical actuators. By way of example, the height-adjustment actuators92,94may include hydraulic cylinders that drive piston rods between retracted and extended positions.

As used herein, the suspension component84is “operably interposed” between the wheel attachment component82and the chassis attachment component80if it regulates motion transfer between the two components80,82. Thus, the suspension component84need not be positioned physically between the attachment components80,82in order to be operably interposed therebetween. As illustrated, the suspension component84may be positioned above (and in line with) both the wheel attachment component82and the chassis attachment component80and yet be operably interposed therebetween.

The support assembly22is configured to pivot relative to the axle30to pivot a wheel coupled with the wheel attachment component82and steer the applicator10. The support assembly22may pivot between a first extreme position (FIG.7) and a second extreme position (FIG.8) about an axis of rotation passing through, and defined by, the pivot element96. The extreme pivot positions may correspond to an angular separation of between, for example, about 90° and about 300°. The support assembly22pivots as a single unit such that the wheel attachment component82, the chassis attachment component80, and the suspension component84pivot in unison, regardless of the position of the wheel attachment component82relative to the chassis attachment component80.

In the illustrated embodiment, the pivot element96attaches to an outer end of the axle30, the suspension component84is positioned above the axle30, and the wheel attachment component82is positioned below the axle30opposite the suspension component84. Furthermore, the wheel attachment component82, the chassis attachment component80, and the suspension component84lie on a line that corresponds to, or is parallel with, the axis of rotation of the support assembly22.

The pivot element96may include a rotatory hydraulic actuator connected to the axle30and to the lower110and upper112chassis attachment members. The rotary hydraulic actuator selectively drives pivoting movement of the support assembly22relative to the chassis12, and may be controlled by a vehicle operator or an automated guidance system to steer the applicator10.

By way of example, the rotary actuator may be a Helac L30 series helical hydraulic rotary actuator, available from Parker Hannifin, Cylinder Division, of Des Plaines, Illinois, or a similar device. A rotary hydraulic actuator is a device manufactured to drive or induce rotational movement in response to hydraulic input. Thus, a portion of the rotary actuator rotates relative to another portion of the rotary actuator and does not require external connections or components to generate rotational motion. A rotary actuator may be designed, for example, to internally translate linear motion into rotational motion. In one exemplary embodiment, the rotary hydraulic actuator may generate output torque of between 3,000 foot-pounds (4,070 N-m) and 32,000 foot-pounds (43,400 N-m) at a hydraulic pressure of between 2,000 psi (138 bar) and 4,000 psi (276 bar) or, more specifically, may generate torque of between 10,000 foot-pounds (13,600 N-m) and 25,000 foot-pounds (33,900 N-m) at a hydraulic pressure of between 2,000 psi (138 bar) and 4,000 psi (276 bar). The rotary actuator may have a total angular displacement of between about 90° and about 360°.

The illustrated rotary hydraulic actuator96includes a plurality of spaced mounting feet or flanges114for securing to the axle30or other part of the chassis12and a cylindrical housing116with opposing ends that mount to, and rotate, the lower and upper chassis attachment members110,112. In the illustrated embodiment, the mounting feet114are configured to attach to a plurality of attachment points arranged in a planar configuration, such as on a single planar surface. Thus, the rotary actuator96may function both to mount the chassis attachment component80to the axle30and to rotate the support assembly22relative to the axle30and, therefore, may simplify the design, manufacture, maintenance, and repair of the support assembly22and related components. The housing116may have a diameter of between about 5 inches (13 cm) and 12 inches (30 cm) and a length of between about 11 inches (28 cm) and about 40 inches (102 cm). The rotary actuator116and the connections between the rotary actuator96and the support assembly22and the axle30may be selected to be sufficiently strong to sustain the shock and rigors of routine use.

Rather than including a rotary actuator, the support assembly22may include, or may be coupled with, another type of actuator such as a linear hydraulic actuator for driving pivoting motion. Alternatively, the support assembly22may be configured to rigidly attach to the vehicle chassis12and not pivot relative to the chassis, wherein the chassis attachment component80is rigidly attached to the inner axle30or other portion of the chassis12. This may be desirable, for example, when the support assembly22supports a ground engaging element that is not intended to steer the applicator10. The chassis attachment component80may be rigidly attached to the axle30by replacing the pivot element96with a casting of the same size and shape as the pivot element96to rigidly connect to the chassis attachment component80and to the axle30. The support assembly22may be configured to facilitate interchanging a rotary actuator configured to pivot the assembly and a static component configured to secure the assembly in a fixed position. Bolts or other easily removable attachment elements may be used to secure the rotary actuator96to the axle30and to the support assembly22and may be positioned to facilitate access thereto. Thus, an actuator and a fixed element may both be provided with each of the assemblies22such that a user may interchange the actuator and the fixed element as desired.

In operation, the assemblies22raise and lower the chassis of the applicator10. More specifically, an operator may remotely control operation of the assemblies22to raise and lower the chassis12using, for example, one of the user interface elements forming part of the control environment38illustrated inFIG.4. Thus, the operator may raise and lower the chassis12while seated in the cabin18.

In one exemplary scenario, the operator fills the holding tank32at a central location, such as a local cooperative facility, and drives the applicator10to a field in a lowered operating position. Once at the field, the operator controls the assemblies22to raise the chassis12to a desired height to apply the product. The operator raises the chassis12while seated in the cabin18. When the application is complete or before the applicator10returns to the cooperative for additional product, the operator lowers the chassis12and drives the applicator10to the cooperative or to another field. Adjusting the height of the chassis12allows for safer travel to and from the field by lowering the applicator's center of gravity and overall height.

In another exemplary scenario, the applicator10and a tender vehicle are taken to an area of application, such as a field or group of fields. The applicator10is placed in a lowered chassis position and prepared by filling it with liquid chemical or other product to be applied to a crop. The tender vehicle may be configured to interface with the applicator10only when the applicator10is in a lowered chassis position. When the applicator10is prepared, the operator may drive the applicator10to a starting position, raise the chassis12to a desired height using one or more interface elements within the cabin18, and begin the application process. The operator refills the applicator10by returning to the tender vehicle, lowering the applicator chassis12to interface with the tender vehicle, then raising the chassis12after the applicator10has been refilled, to resume the application operation. When application for a first crop is complete, the applicator10may be used to apply a chemical to a second crop of a different height than the first crop. The operator may adjust the chassis height of the applicator10for application on the second crop, wherein a selected height for application on the second crop may be different than a selected height for application on the first crop.

The controller60or70may be configured to control the height of each support assembly22individually. Such control may enable certain benefits, such as to raise an individual wheel14, or to transfer a load from one wheel14to others.

In one exemplary scenario, the applicator10is placed in a raised chassis position. The operator may provide a command to raise one of the wheels14(e.g., wheel14bshown inFIG.1) relative to the chassis12using one or more interface elements within the cabin18. This may lift that wheel14off the ground, or may simply transfer a load from that wheel14to the other wheels14. If the wheel14is lifted off the ground, the wheel14may be removed for service or replacement. In some embodiments, a jack stand or other support may be placed to support a portion of the chassis12while the wheel14is off the ground.

In certain conditions, at least one wheel14may be in a low-traction situation (e.g., the applicator10may be stuck in mud). The operator may transfer load from one wheel14(e.g., a wheel14with poor traction) to the others by adjusting the height-adjustment actuators92,94to apply an upward force on the wheel14relative to the chassis12. The chassis12may or may not change position relative to the ground as load is transferred to the other wheels14, depending on the weight distribution of the applicator10, the positions of the other wheels14, or other factors. By transferring some or all of the load from one wheel14to the other wheels14, the operator may be able to move the applicator10in a low-traction situation that might otherwise require towing or other measures.

FIG.11is a simplified flow chart illustrating a method300of operating an agricultural machine such as the applicator10. Block302represents receiving a command to transfer a load from a first ground-engaging element (e.g., a wheel14) to other ground-engaging elements. The command may be based on an operator input, such as to initiate service (e.g., change a tire) or to overcome a low-traction condition (e.g., vehicle stuck in mud). The command may be received from an operator via interface elements within the cabin18, or by another device (e.g., a mobile device via wireless link).

Block304represents adjusting at least one height-adjustment actuator to transfer a load from the first ground-engaging element to the other ground-engaging elements. The first ground-engaging element may be raised above the ground surface while the chassis is supported by the other ground-engaging elements. In some embodiments, a load may be transferred from a portion of the ground surface providing a first traction (e.g., low traction, at the area under the first ground-engaging element) to another portion of the ground surface providing a second traction greater than the first traction (e.g., at the areas under the other ground-engaging elements). Put another way, the load may be transferred from an area having a low coefficient of friction between the ground-engaging element and the ground, to an area having a higher coefficient of friction between ground-engaging elements and the ground.

In some embodiments, at least two of the height-adjustment actuators may extend to raise the chassis12, which extension may be in unison or in sequence. The height-adjustment actuator corresponding to the first ground-engaging element may not move while the others extend. Alternatively, all of the height-adjustment actuators may first extend to raise the chassis relative to the ground, then the height-adjustment actuator corresponding to the first ground-engaging element may retract while the others do not move. In still other embodiments, the height-adjustment actuator corresponding to the first ground-engaging element may retract while the others extend. The actuators may move in any sequence that enables the height-adjustment actuator corresponding to the first ground-engaging element to be in a position to cause load transfer from the first ground-engaging element.

Block306represents placing an external support under a portion of the chassis adjacent the first ground-engaging element. Such an external support may be in the form of a block, a jack stand, or other support. In some embodiments, the support may be placed under the axle to keep the first ground-engaging element off the ground. In other embodiments, a support (e.g., a board) may be placed under the first ground-engaging element itself, such as to improve traction. In some embodiments, the control environment38may include a notification on a user interface instructing the operator to place the external support.

Block308represents removing the first ground-engaging element from the vehicle. Typically, this action is performed while the chassis is supported by the external support and the first ground-engaging element is suspended. In some embodiments, the control environment38may include a notification on a user interface instructing the operator to remove the first ground-engaging element.

Though depicted as a flow chart, the actions inFIG.11may be performed concurrently, and in some embodiments, some actions may be omitted.

Still other embodiments involve a computer-readable storage medium (e.g., a non-transitory computer-readable storage medium) having processor-executable instructions configured to implement one or more of the techniques presented herein. An example computer-readable medium that may be devised is illustrated inFIG.12, wherein an implementation400includes a computer-readable storage medium402(e.g., a flash drive, CD-R, DVD-R, application-specific integrated circuit (ASIC), field-programmable gate array (FPGA), a platter of a hard disk drive, etc.), on which is computer-readable data404. This computer-readable data404in turn includes a set of processor-executable instructions406configured to operate according to one or more of the principles set forth herein. In some embodiments, the processor-executable instructions406may be configured to cause a computer associated with the applicator10(FIG.1) to perform operations408when executed via a processing unit, such as at least some of the example method300depicted inFIG.3. In other embodiments, the processor-executable instructions406may be configured to implement a system, such as at least some of the example applicator10depicted in FIG.11. That is, the control environment38may include or be connected to the implementation400ofFIG.12. Many such computer-readable media may be devised by those of ordinary skill in the art that are configured to operate in accordance with one or more of the techniques presented herein.

All references cited herein are incorporated herein in their entireties. If there is a conflict between definitions herein and in an incorporated reference, the definition herein shall control.

While the present disclosure has been described herein with respect to certain illustrated embodiments, those of ordinary skill in the art will recognize and appreciate that it is not so limited. Rather, many additions, deletions, and modifications to the illustrated embodiments may be made without departing from the scope of the disclosure as hereinafter claimed, including legal equivalents thereof. In addition, features from one embodiment may be combined with features of another embodiment while still being encompassed within the scope as contemplated by the inventors. Further, embodiments of the disclosure have utility with different and various machine types and configurations.