DE102021107311B4 - Device and method for automatically changing a wheel - Google Patents

Abstract

Changing unit (100) for automatically changing a wheel (2.1) which is rotatably mounted on a wheel arm axle (6.1) on a wheel arm (1.1), the wheel (2.1) being lockable on the wheel arm axle (6.1),wherein the exchange unit (100) - a holding unit (11, 13) with a holding element (11), - a traversing unit (14, 17) - a magazine (70), - an unlocking bolt, - a bolt traversing unit (19) and - one Stop pin (15), wherein the magazine (70) - comprises a housing (7) and an opening (18) in the housing (7) and - designed to receive at least one new wheel (2.n, 2.x). is, wherein the bolt traversing unit (19) is able to displace the stop bolt (15) in two opposite directions, wherein the bolt traversing unit (19) is designed to press the stop bolt (15) against the unlocking bolt and thereby cause that the wheel (2.1) is unlocked, wherein the holding element (11) - is designed to hold a wheel (2.n) and- s o is dimensioned so that it is able to close the opening (18) in the housing (7), the traversing unit (14, 17) being designed to hold the unit (11, 13) together with a new wheel (2.n) in such a way to move that the holding unit (11, 13) - from a starting position in which the holding element (11) closes the opening (18) and is located between the magazine (70) and the wheel arm axis (6.1) - into a Target position in which the new wheel (2.n) is on the wheel arm axis (6.1) is moved, the bolt traversing unit (19) being designed to move the stop bolt (15) away from the unlocking bolt and thereby causing the new wheel (2.n) to be locked on the wheel arm axis (6.1), and wherein the traversing unit (14, 17) is further designed to move the holding unit (11, 13) from the target position of the wheel arm Axis (6.1) to move away, so that on the wheel arm axis (6.1) located new wheel (2.n) from the holding unit (11, 13) we separated i.e.

Description

The invention relates to a changing unit and a method which are able to change a wheel automatically. The wheel is rotatably mounted on a wheel arm axle and the wheel arm axle is attached to a wheel arm.

The task of automatically changing a wheel on a wheel arm occurs, for example, with a gauge wheel unit. This gauge wheel assembly is mounted onboard a land vehicle and includes at least one gauge wheel attached to a pivotable gauge wheel arm. The land vehicle drives over a subsurface and the gauge wheel collects a soil sample from the subsurface. The wheel with this soil sample is lifted and analyzed on board the land vehicle, especially for hazardous substances.

DE 8424372 U1 shows a tracking device that is part of a tracking vehicle. At the two ends of two sensing arms 4, 5, a sensing roller 6 is attached. A drive unit 1 is able to lift the tracker arms 4 , 5 from a ground contact position in which the tracker rollers 6 roll over the ground and thereby move them to a measuring probe 7 . Two control cams 3 lead the gauge arms 4, 5, while the gauge arms 4, 5 are raised.

From time to time it is necessary to replace a gauge wheel. A replacement unit for a gauge wheel of a gauge wheel unit is used, for example, in EP 2 221 573 A2 and in DE 20 2011 003 927 U1 described. The old gauge wheel is unlocked and slipped off the gauge wheel arm axle. A gripper grips a new gauge wheel in a magazine for new gauge wheels and places the new gauge wheel on the axle. The track wheel exchange unit is mounted on board a land vehicle.

The invention is based on the object of providing a changing unit and a method for automatically changing a wheel on a wheel arm, which are constructed mechanically in a simpler manner than known changing units and methods.

The object is achieved by an interchangeable unit with the features of claim 1 and by a method with the features of claim 14. Advantageous configurations are specified in the dependent claims. Advantageous configurations of the interchangeable unit according to the invention are, insofar as they make sense, also advantageous configurations of the method according to the invention and vice versa.

The changing unit according to the invention is able to change a wheel automatically, the wheel to be changed being rotatably mounted on a wheel arm axle on a wheel arm and the wheel arm axis being fastened to a wheel arm. It is possible that the wheel can be rotated relative to the wheel arm axis. It is also possible that the wheel arm axis together with the wheel can be rotated relative to the wheel arm. The wheel can be locked on the wheel arm axle.

After replacement, a new wheel should be rotatably mounted on this wheel arm axis on this wheel arm. A wheel on a wheel arm axle is changed by the method according to the invention. The term "wheel change" describes the process of replacing a wheel on the support arm axle with a new wheel.

The interchangeable unit according to the invention comprises a holding unit with a holding element. The holding element can hold a wheel. The wheel can be separated from the holding element again.

The interchangeable unit according to the invention also includes a magazine with a housing and an opening in the housing. The magazine can accommodate at least one new wheel, preferably several new wheels, with these new wheels being particularly preferably arranged in a sequence in the magazine.

The holding element is dimensioned in such a way that the holding element is able to close the opening in the housing, preferably able to close it completely.

The method according to the invention is carried out using such an exchange unit. The wheel to be replaced is rotatably held on the wheel arm axis and is locked.

The exchange unit includes an unlocking bolt, a stop bolt and a bolt displacement unit. The bolt traversing unit is able to move the stop bolt in two opposite directions. The bolt traversing unit is able to press the stop bolt against the unlocking bolt. This causes the bolt traversing unit to unlock the wheel. Furthermore, the bolt moving unit can move the stopper bolt away from the development bolt. This causes the bolt traversing unit to lock the new wheel on the wheel arm axle

The method includes the step of the bolt traversing unit forcing the stop bolt against the unlocking bolt thereby causing the wheel to be unlocked.

The exchange unit includes a traversing unit. The traversing unit is able to move the holding unit together with a new wheel held by the holding element. The traversing unit is able to move the holding unit together with the new wheel held by the holding element from a starting position to a target position. In the starting position the holding element closes the opening in the housing of the magazine and is located between the magazine and the wheel arm axis. In the target position, the new wheel is on the wheel arm axle and is still held by the holding element.

The method according to the invention includes the step that the displacement unit moves the holding unit together with the new wheel held by the holding element from the starting position to the target position.

The traversing unit can also move the holding unit from the target position away from the wheel arm axis. This movement separates the new wheel that is on the wheel arm axle from the support member. The method according to the invention includes the step that the displacement unit moves the holding unit out of the target position and away from the wheel arm axis. This separates the new wheel from the support member.

The method includes the further step of the bolt traversing unit moving the striker bolt away from the release bolt. This will lock the new wheel onto the wheel arm axle.

Now the new wheel is rotatably held by the wheel arm axle and is able to take over the function of the wheel that has been replaced according to the invention.

The invention makes it possible to replace a wheel fully automatically. It is not necessary for a person to touch the wheel to be replaced. Such contact could be dangerous for the person, especially if the wheel to be replaced has taken a sample from a surface and the sample may contain hazardous substances.

According to the invention, a new wheel is temporarily connected to the holding element, the holding unit is moved together with the new wheel, and then the new wheel is pushed onto the wheel arm axle. The entire holding unit or at least the holding element can be designed as a purely passive mechanical component and does not necessarily have to include an actuator or a drive. The holding unit then does not need to be supplied with electrical energy and is subject to less wear. The displacement unit can be positioned spatially remote from the holding unit. This makes it possible to achieve a simpler and mechanically more robust construction.

The magazine includes a housing surrounding the new wheel, preferably a plurality of new wheels. According to the invention, the holding element closes the opening in the housing of the magazine in the starting position. As a result, the holding element in the starting position reduces the risk of dirt particles and other pollutants getting into the interior of the housing.

Some exchange units known from the prior art include a cover that is able to close an opening in a magazine for new wheels, and also a gripper that is able to grip the wheel to be exchanged and/or the new wheel. As a rule, such a gripper requires two gripper jaws or gripper arms which are able to clamp a wheel between them.

The interchangeable unit according to the invention and the method according to the invention do not require such a gripper. Rather, according to the invention, the holding unit has two functions: It closes the opening in the housing of the magazine. It holds the new wheel while the new wheel is moved from the magazine to the wheel arm axle. The holding unit thus assumes both the function of the cover and the function of the gripper, which are two separate components in the exchangeable unit known from the prior art.

• - Der Greifer muss relativ genau positioniert und bewegt werden, um das Rad sicher zu greifen und später wieder freizugeben.
• - Die Gefahr besteht, dass der Greifer ein Rad beschädigt, während er das Rad hält, insbesondere wenn zwei Greiferbacken oder Greiferarme das Rad zwischen sich einklemmen. Damit ein Greifer ein neues Rad, welches sich in dem Magazin befindet, zu greifen vermag, muss der Deckel von der Öffnung entfernt werden. Der Deckel muss also in einer Parkposition bewegt werden, damit der Greifer das Rad greifen kann. Dies erfordert in vielen Fällen mehr Platz als die erfindungsgemäße Wechseleinheit.
• - Das Gehäuse ist nach einer Seite offen, damit der Greifer ein Rad im Magazin greifen kann. Oder der Greifer muss durch eine Öffnung in das Magazin eingreifen. Oder ein zu greifendes Rad wird aus dem Magazin herausgeschoben, bevor der Greifer es greifen kann.
• - Die Bewegung des Deckels muss mit der Bewegung des Greifers synchronisiert werden, damit weder der Greifer noch das gehaltene Rad mit dem Deckel kollidieren.

In particular, the need to use a gripper and a lid has the following disadvantages, which are avoided by the invention

• - The gripper must be positioned and moved relatively precisely in order to securely grip the wheel and later release it again.
• - There is a risk that the gripper will damage a wheel while holding the wheel, especially when two gripper jaws or gripper arms pinch the wheel between them. In order for a gripper to be able to grip a new wheel located in the magazine, the cover must be removed from the opening. The cover must therefore be moved to a parking position so that the gripper can grip the wheel. In many cases, this requires more space than the interchangeable unit according to the invention.
• - The housing is open on one side so that the gripper can grip a wheel in the magazine. Or the gripper has to reach into the magazine through an opening. Or one to grab Wheel is pushed out of the magazine before the gripper can grab it.
• - The movement of the lid must be synchronized with the movement of the gripper so that neither the gripper nor the wheel being held collide with the lid.

The invention avoids these disadvantages.

According to the invention, the holding unit can be moved into an initial position in which the holding element closes the opening and is located between the magazine and the wheel arm axis. In a preferred embodiment, the exchangeable unit according to the invention comprises a feed mechanism. This feed mechanism is able to move a new wheel located in the magazine towards the holding element. This movement is performed parallel to the central axis of the new wheel. The movement is carried out until the new wheel is held by the holding element. During this movement, the holding element is in the starting position and closes the opening. The new wheel preferably remains in the magazine at least until it is held by the holding element. It is possible that the new wheel is partially or even completely pushed out of the magazine when it is held by the holding element in front of the opening.

In a preferred embodiment, the method according to the invention comprises the following step, carried out while the holding element is in the starting position: the new wheel, which is in the magazine, is moved by the feed mechanism towards the holding element, parallel to the central axis of the new bike. This movement is carried out until the new wheel is held by the holding element.

This configuration makes it possible to spatially and functionally separate the traversing unit from the feed mechanism, which moves the new wheel in the magazine. The job of the track motion is to move the holding unit, with or without a new wheel being held. The job of the feed mechanism is to move the new wheel in the magazine. The movements of the feed mechanism and the traversing unit can be performed sequentially and need only be time synchronized to the extent that the traversing unit moves the support unit away from the home position after the feed mechanism has caused the new wheel to be connected to the support member. The new wheel remains in the magazine housing until it is held by the retaining element and is therefore better protected than if it were removed from the magazine earlier.

The magazine preferably comprises a holding axle which is located inside the housing. This support axle is capable of supporting at least one new wheel, preferably a succession of new wheels, and thereby retaining the or each new wheel inside the housing. A distance preferably occurs between a lateral surface of a new wheel and a wall of the housing. The opening in the housing is in the extension of the holding axle. The or each new wheel can be pushed onto the holding axle and moved along the holding axle. The design with the retaining axle reduces the risk of a new wheel being damaged while it is being placed in the magazine or being transported inside the magazine or being displaced in the magazine.

Preferably, the feed mechanism is capable of pushing the entire succession of new wheels in the housing towards the opening along the support axis. Preferably, that new wheel on the holding axle which is closest to the holding element in front of the opening of the housing is pressed against the holding element and thereby temporarily connected to the holding element while the holding unit is in the starting position.

• - Die Halteeinheit mitsamt dem neuen Rad wird aus der Ausgangsposition von dem Magazin weg bewegt. Bei dieser Bewegung von dem Magazin weg schiebt das Halteelement das auszuwechselnde Rad von der Radarm-Achse herunter.
• - Anschließend wird die Halteeinheit in eine Zwischenposition bewegt. In der Zwischenposition der Halteeinheit befindet das neue Rad, das von dem Halteelement gehalten wird, sich zwischen dem Halteelement und der Radarm-Achse. Die Mittelachse des neuen Rades ist in der Verlängerung der Radarm-Achse des Radarms angeordnet. Das neue Rad ist noch nicht auf der Radarm-Achse gelagert. Zwischen der Radarm-Achse und dem neuen Rad tritt bevorzugt noch ein Abstand auf.
• - Anschließend wird die Halteeinheit mitsamt dem gehaltenen neuen Rad aus der Zwischenposition in die Zielposition geschoben.

According to the invention, the holding unit can be moved from the starting position to the target position. In the starting position, the holding element is located between the magazine and the wheel arm axis. Before changing, the wheel to be changed is on this wheel arm axis. In a preferred embodiment, the displacement unit is able to move the holding unit together with the new wheel during this movement as follows, and the method according to the invention comprises the following steps, which are carried out when the holding unit is moved from the starting position to the target position:

• - The holding unit together with the new wheel is moved away from the magazine from the starting position. With this movement away from the magazine, the holding element pushes the wheel to be changed off the wheel arm axle.
• - The holding unit is then moved to an intermediate position. In the intermediate position of the holding unit, the new wheel held by the holding member is between the holding member and the wheel arm axle. The central axis of the new wheel is arranged in the extension of the wheel arm axis of the wheel arm. The new wheel is not yet mounted on the support arm axle. There is preferably still a distance between the wheel arm axle and the new wheel.
• - Then the holding unit together with the held new wheel is pushed from the intermediate position to the target position.

In this embodiment, the holding unit not only takes on the two tasks of moving the new wheel to the wheel arm axle and closing the opening in the housing, but also the task of separating the wheel to be replaced from the wheel arm axle. A separate component to remove the wheel to be replaced is not required, in particular no gripper.

According to the embodiment just described with the intermediate position, the holding element of the holding unit is designed as a cover. The holding unit includes a lever element. The traversing unit comprises a cover traversing unit and a cover rotating unit. The interchangeable unit includes a cover holding axle. The lid is rotatably attached to the lid support shaft by the lever member. The lid rotating unit is able to rotate the lid holding axle and thus the lever element and the holding element around the central axis of the lid holding axle, specifically in two opposite directions of rotation. The cover moving unit is able to move the cover rotating unit and the cover holding axis in two opposite directions.

The method includes the following additional steps: The cover is moved away from the magazine. With this movement, the cover pushes the wheel to be replaced off the wheel arm axle. In the intermediate position, the new wheel is between the cover and the wheel arm axle.

In one embodiment, the holding unit also includes a connecting element, e.g. a lever element, which is firmly connected to the holding element. This connecting element preferably connects the holding element to an axle. This configuration avoids the need to touch the support member to move the wheel. It is sufficient to move the connecting element.

In a preferred embodiment, the changing unit includes a holding unit traversing axis. The holding element is preferably fastened to this holding unit traversing axis with the aid of the optional connecting element and is at a distance from this holding unit traversing axis. For example, the connecting element encompasses the holding unit traversing axis. On the one hand, the holding unit can be moved linearly along the holding unit travel axis, in both directions. On the other hand, the holding unit can be rotated about the holding unit travel axis, specifically in both directions of rotation. The holding unit travel axis can be designed so robustly that it securely carries the holding unit together with a wheel.

The moving unit is preferably able to move the holding unit together with a new wheel linearly along the holding unit moving axis on the one hand and to rotate about the holding unit moving axis on the other hand. This makes it easier to move the holding unit together with the wheel to any desired position that needs to be assumed while the wheel is being changed.

According to the invention, the holding unit can be brought into the starting position. When the holding unit is in the home position, the holding element closes the opening in the housing of the magazine. The displacement unit is preferably able to move the holding unit out of the target position away from the wheel arm axis and then back into the starting position. The method according to the invention preferably includes the additional step of moving the holding unit back to the starting position, this additional step being carried out after the holding unit has been moved from the target position away from the wheel arm axis and the new wheel has been separated from the holding element . The holding unit preferably remains in the starting position until a wheel is replaced again. As a result, the opening in the housing is closed for as long as possible.

In a preferred embodiment, the holding element comprises a plate and a circumferential web. The web is mechanically connected to the plate. The bridge is dimensioned in such a way that it can surround a new wheel from the outside. The plate and the surrounding web thus have the shape of a cake pan. The web is designed to hold a portion of the lateral surface or the entire lateral surface of the new wheel. Then, when the holding member is in the home position, the ridge faces the magazine. The plate is in front of the opening.

This configuration makes it easier to push a new wheel towards the holding element and temporarily connect it to the holding element while the new wheel is still in the magazine. The panel helps to at least partially close the opening. The design leads to a mechanically stable design of the holding element. The web of the holding element can hold the new wheel in particular in a non-positive manner, for example with a snap connection, or in a form-fitting manner.

The exchange unit particularly preferably has the following two properties when the holding unit is in the starting position: The plate of the Holding element completely closes the opening in the housing. The circumferential web protrudes into the magazine. As a result, a new wheel can be connected particularly easily to the holding element.

The plate preferably protrudes beyond the web. More precisely: the largest diameter of the plate is larger than the largest diameter of the space enclosed by the circumferential web. This allows the ridge to protrude into the magazine, allowing a new wheel to be slid inside the ridge, and at the same time the plate closes the opening.

The housing of the magazine preferably encloses a space for new wheels. Particularly preferably, the housing completely closes the space apart from the opening. As a result, the wheels in the magazine are well protected from environmental influences. The housing can in particular have the shape of a cuboid or a cylinder. Have a look

The exchangeable unit according to the invention preferably also includes a receiving unit, for example a bag, for exchanged wheels. After the wheel to be replaced has been pushed off the wheel arm axle, it falls or slides into this receiving unit. This means that the wheel that has been replaced can be used again after it has been refurbished. If the receiving unit is arranged vertically or diagonally below the wheel arm axis, gravity will bring the replaced wheel into the receiving unit.

The exchange unit according to the invention can be used to exchange a wheel which is able to roll over a surface. This wheel takes a sample of the ground as it rolls over the ground.

In one embodiment, the interchangeable unit according to the invention is part of an arrangement. This arrangement also includes a wheel arm with a wheel arm axle and a wheel. The wheel can be rotated relative to the wheel arm. In one embodiment, the wheel is rotatably mounted on the wheel arm axle. Alternatively, the wheel arm axis can be rotated relative to the wheel arm together with the wheel. The exchange unit of the arrangement according to the invention is able to replace the wheel on the wheel arm axle with a new wheel.

In a further development of this embodiment, the wheel arm, together with the rotatably held wheel, can be pivoted from a lowered to a raised position. When the wheel arm is in the raised position, the wheel, which is pivoted on the wheel arm axle, can be replaced. The arrangement also includes a pivoting unit. The pivoting unit is able to pivot the wheel arm together with the wheel from the lowered position to the raised position against the force of gravity.

It is possible that the arrangement comprises at least two wheel arms, each wheel arm comprising a wheel arm axle on which a wheel is mounted, the wheel being rotatable relative to the associated wheel arm. Each wheel arm can preferably be pivoted from the lowered to the raised position and back again independently of the or each other wheel arm. This refinement increases the availability compared to an arrangement that only includes a wheel arm with a wheel arm axis or in which both wheel arms can only be moved together.

In a deviation, two wheel arms carry the same wheel arm axis. This modification creates a higher mechanical stability compared to the configuration in which a wheel arm axle is carried by only one wheel arm.

In one embodiment, the arrangement with the interchangeable unit according to the invention is part of a land vehicle. This land vehicle can have its own drive or be pulled or pushed by another vehicle. When the wheel arm or at least one wheel arm of the arrangement is in the lowered position, the wheel which is rotatably mounted on this wheel arm rolls over a ground and is able to take a sample from the ground. Furthermore, an analysis unit is preferably mounted on board the land vehicle. When a wheel arm is in the raised position, this analysis unit is able to analyze a soil sample, which soil sample has been taken by the wheel on the raised wheel arm. In particular, the analysis unit is able to identify substances in the soil sample that can be dangerous for humans. It is possible that the wheel arm can be moved into a raised analysis position and into a raised exchange position, with the two positions differing, in particular in terms of the angle of rotation. In the analysis position, the analysis unit is able to analyze a soil sample on the wheel. In the changing position, the changing unit according to the invention can change the wheel.

It is possible that the arrangement with the interchangeable unit according to the invention comprises at least two wheel arms, with each wheel arm being pivotable independently of the or each other wheel arm. This makes it possible for at least one wheel arm to be in the lowered position at all times and for the wheel on this wheel arm to take a sample from the ground. The other or another wheel arm may be in the raised position, allowing the wheel on that other wheel arm to be swapped out.

• 1 eine erste Ausgestaltung einer Spürrad-Einheit mit zwei Spürrad-Armen und zwei Spürrädern;
• 2 eine zweite Ausgestaltung einer Spürrad-Einheit mit zwei Spürrad-Armen und einem Spürrad;
• 3 eine Spürrad-Wechseleinheit sowie zwei Spürrad-Arme in der Wechsel-Position;
• 4 eine Spürrad-Wechseleinheit vor dem Wechsel eines Spürrads, wobei die Halteeinheit in der Ausgangsposition ist;
• 5 den Deckel des Spürrad-Magazins aus zwei verschiedenen Betrachtungsrichtungen;
• 6 Austausch eines Spürrads: Bolzen-Verfahreinheit hat Anschlagbolzen positioniert;
• 7 Austausch eines Spürrads: Kugelsperrbolzen für das Spürrad ist entriegelt, Deckel ist aus der Öffnung des Spürrad-Magazins herausgeschoben;
• 8 Austausch eines Spürrads: verschobener Deckel hat altes Spürrad von der Achse geschoben;
• 9 Austausch eines Spürrads: Deckel mit neuem Spürrad vor die Achse verbracht;
• 10 Austausch eines Spürrads: Deckel hat neues Spürrad auf die Achse geschoben, wobei die Halteeinheit in der Zielposition ist;
• 11 Austausch eines Spürrads: Bolzen-Verfahreinheit hat Anschlagbolzen verschoben, Kugelsperrbolzen arretiert das neue Spürrad, wobei die Halteeinheit wieder in der Ausgangsposition ist.

The invention is described below using an exemplary embodiment. This shows:

• 1 a first embodiment of a gauge wheel unit with two gauge wheel arms and two gauge wheels;
• 2 a second embodiment of a gauge wheel unit with two gauge wheel arms and a gauge wheel;
• 3 a gauge wheel changing unit and two gauge wheel arms in the changing position;
• 4 a gauge wheel changing unit before changing a gauge wheel, the holding unit being in the home position;
• 5 the cover of the gauge wheel magazine from two different viewing directions;
• 6 Replacement of a gauge wheel: bolt track has stop bolts positioned;
• 7 Replacing a tracker wheel: ball lock pin for the tracker wheel is unlocked, cover is pushed out of the opening of the tracker wheel magazine;
• 8th Replacing a gauge wheel: shifted cover pushed old gauge wheel off axle;
• 9 Replacement of a gauge wheel: cover with a new gauge wheel placed in front of the axle;
• 10 Replacement of a gauge wheel: Lid has pushed new gauge wheel onto the axle with the holding unit in the target position;
• 11 Replacement of a gauge wheel: bolt track has displaced stop pin, ball lock pin locks the new gauge wheel with the holding unit back in the home position.

In the exemplary embodiment, the invention is used to replace a gauge wheel of a gauge wheel unit. This gauge wheel unit is attached to a land vehicle, preferably at the rear of the land vehicle. The land vehicle drives or rolls over a subsoil, with the subsoil being examined for toxic or otherwise dangerous substances.

The gauge wheel assembly includes at least one gauge wheel arm. The gauge wheel arm is movably attached to the land vehicle at one end. At its free end, this gauge wheel arm has an axle. A feeler wheel is rotatably mounted on this axle and is preferably locked on the axle in such a way that the feeler wheel cannot be displaced along the axle. When the gauge wheel arm is in a gauge position, the gauge wheel rolls over the ground, even if it is not level, and takes a sample from the ground. The running surface of the gauge wheel is preferably coated with silicone and the soil sample sticks to the running surface. A vehicle with such a gauge wheel is used, for example, in DE 42 38 399 C1 , in EP 2 221 573 A2 and in DE 10 2009 015 828 A1 described.

The gauge wheel exchange unit has a pivoting unit which is able to lift the gauge wheel arm together with the gauge wheel from the ground and lower it again against gravity. The gauge wheel arm can be raised into an evaluation position in which the gauge wheel no longer rolls over the ground but is brought close to a sensor system. An evaporation unit of the sensor system preferably evaporates the soil sample. A sensor examines the vaporized soil sample without contact, with the sensor preferably carrying out a spectral analysis. Other types of evaluation are also possible.

• - zwei Spürrad-Arme 1.1 und 1.2, die sich um dieselbe horizontale Drehachse drehen lassen, welche senkrecht auf der Fahrtrichtung des Landfahrzeug stehen,
• - eine Verschwenkeinheit 4, welche die Spürrad-Arme 1.1 und 1.2 um die gemeinsame Drehachse nach oben und nach unten drehen kann (in 1 vom Gehäuse 5 verdeckt),
• - ein Gehäuse 5 für die Verschwenkeinheit 4 und
• - zwei Balge 3.1 und 3.2, welche das jeweilige obere Ende der Spürrad-Arme 1.1 und 1.2 umgeben (in 2 nicht gezeigt).

1 and 2 show two configurations of a gauge wheel unit. This gauge wheel unit includes in both configurations

• - two gauge wheel arms 1.1 and 1.2, which can be rotated about the same horizontal axis of rotation, which are perpendicular to the direction of travel of the land vehicle,
• - a pivoting unit 4, which can turn the gauge wheel arms 1.1 and 1.2 up and down about the common axis of rotation (in 1 covered by housing 5),
• - A housing 5 for the pivoting unit 4 and
• - two bellows 3.1 and 3.2 surrounding the respective upper ends of the gauge wheel arms 1.1 and 1.2 (in 2 Not shown).

In the exemplary embodiment, the two gauge wheel arms 1.1, 1.2 can be pivoted. It is also possible that they can be moved linearly up and down, as is the case, for example, in DE 10 2009 020 700 A1 is described.

According to the design 1 a gauge wheel 2.1, 2.2 is rotatably mounted on an axle 6.1, 6.2 on each gauge wheel arm 1.1, 1.2. Each gauge wheel arm 1.1, 1.2 can be raised and lowered independently of the other gauge wheel arm 1.2, 1.1. According to the design 2 the two gauge wheel arms 1.1 and 1.2 form a V-shaped mount for a single gauge wheel 2. This gauge wheel 2 is rotatably mounted on the axle 6.

In each embodiment, a gauge wheel 2.1, 2.2, 2 is preferably held rotatably on the axle 6.1, 6.2, 6 at the free end of the gauge wheel arm 1.1, 1.2 and is locked on a bolt of the gauge wheel arm 1.1, 1.2 using a ball lock pin. The gauge wheel 2.1, 2.2, 2 can therefore rotate about the axis 6.1, 6.2, 6. It is also possible that the axis 6.1, 6.2, 6 together with the gauge wheel 2.1, 2.2, 2 can rotate relative to the gauge wheel arm 1.1, 1.2.

In both configurations, the locked gauge wheel 2.1, 2.2, 2 cannot move along the axis 6.1, 6.2, 6. A locking bolt in the form of a ball lock bolt can be brought into a position in which the ball lock bolt is unlocked. When the ball locking pin is unlocked, the gauge wheel 2.1, 2.2, 2 can be pulled off the axle 6.1, 6.2, 6.

From time to time a gauge wheel 2.1, 2.2, 2 needs to be replaced. An exchange is required in particular when the sensor system has detected that the soil sample which the wheel 2.1, 2.2, 2 has picked up from the soil contains at least one toxic substance. Therefore, a track wheel exchange unit is mounted on board the land vehicle. This gauge wheel exchange unit automatically exchanges a gauge wheel 2.1, 2.2, 2 that may be contaminated by removing the gauge wheel 2.1, 2.2, 2, which is contaminated or has to be replaced for another reason, from the gauge wheel arm 1.1, 1.2, and takes a new gauge wheel 2 from a magazine .n is removed and placed on the axis 6.1, 6.2, 6.

The pivoting unit 4 is able to raise each gauge wheel arm 1.1, 1.2 from the gauge position to a change position in which the gauge wheel exchange unit replaces the gauge wheel 2.1, 2.2, 2 (hereinafter referred to as "old gauge wheel") that may be contaminated with a new one Able to replace gauge wheel 2.n. The change position can match the evaluation position or differ from it, in particular due to different angles of rotation.

• - ein Magazin 70 für neue Spürräder,
• - einen optionalen Beutel 8 für ausgewechselte („alte“) Spürräder,
• - eine fest montierte Gabel 9,
• - eine Adaptionsplatte 10,
• - einen Anschlagbolzen 15,
• - eine Abdampfeinheit 26 und
• - ein datenverarbeitendes Steuergerät 25.

3 and 4 show a gauge wheel exchange unit 100 according to the invention, wherein in 3 the two gauge wheel arms 1.1, 1.2 are in the change position and in 4 are omitted. The following components of the gauge wheel exchange unit 100 are shown:

• - a magazine 70 for new gauge wheels,
• - an optional bag 8 for replaced ("old") gauge wheels,
• - a fixed fork 9,
• - an adaptation plate 10,
• - a stop pin 15,
• - an evaporation unit 26 and
• - a data processing control unit 25.

The track wheel changing unit 100 is fastened to the rear of the land vehicle (not shown) using the adaptation plate 10 . The control unit 25 is able to receive commands from an operating unit, with the aid of which a user on board the land vehicle is able to activate the pivoting unit 4 and the gauge wheel changing unit 100 . It is also possible that the land vehicle is unmanned and controlled remotely. The control unit 25 controls the actuators of the gauge wheel changing unit 100 described below.

When the pivoting unit 4 lifts a gauge wheel arm 1.1, 1.2 into the changing position, the gauge wheel arm 1.1, 1.2 is pushed into the fixed fork 9 during or after the lifting. This fork 9 keeps the gauge wheel arm 1.1, 1.2 in the changing position. The stop bolt 15 actuates an unlocking bolt, not shown. This unlocking bolt unlocks the ball locking bolt that holds the gauge wheel 2.1, 2.2, 2 on the axle 6.1, 6.2, 6 of the gauge wheel arm 1.1, 1.2. The old gauge wheel 2.1, 2.2, 2 is now pulled from the axle 6.1, 6.2, 6 and falls into the bag 8. A new gauge wheel 2.n is pushed onto the axle 6.1, 6.2, 6. The ball locking pin locks itself and prevents the new gauge wheel 2.n from being displaced laterally or even slipping off the axis 6.1, 6.2, 6.

• - ein zylinderförmiges oder quaderförmiges Gehäuse 7, welches eine Mantelfläche und eine geschlossene Stirnfläche umfasst und auf der gegenüberliegenden Stirnfläche wenigstens teilweise offen ist und daher eine Runde Öffnung 18 in dieser Stirnseite aufweist, wobei der Durchmesser der Öffnung bevorzugt um maximal 10 % größer ist als der Durchmesser eines Rads 2.n, 2.x und wobei in den Figuren der Öffnung 18 links gezeigt wird,
• - einen runden Deckel 11 für das Gehäuse 7, wobei der Deckel 11 als das Halteelement fungiert, in einer verschließenden Position die Öffnung 18 in der Stirnfläche abdeckt und in einer freigebenden Position die Öffnung 18 freigibt,
• - eine Spürrad-Halteachse 16, die im Inneren des Gehäuses 7 angeordnet ist, fest mit dem Gehäuse 7 verbunden ist und dazu ausgestaltet ist, neue Spürräder 2.n, 2.x zu tragen,
• - ein Schlitten 24, welcher die Spürrad-Halteachse 16 umgibt und entlang der Spürrad-Halteachse 16 beweglich ist, und
• - eine nicht gezeigte Vorschubeinheit für den Schlitten 24.

The magazine includes 70

• - A cylindrical or cuboid housing 7, which comprises a lateral surface and a closed end face and is at least partially open on the opposite end face and therefore has a round opening 18 in this end face, with the diameter of the opening preferably being a maximum of 10% larger than that diameter of a wheel 2.n, 2.x and where in the figures the opening 18 is shown on the left,
• - a round cover 11 for the housing 7, the cover 11 acting as the holding element, in a closing position covering the opening 18 in the end face and in a releasing position opening 18 free,
• - a gauge wheel support axle 16 placed inside the casing 7, fixed to the casing 7 and adapted to support new gauge wheels 2.n, 2.x,
• - a carriage 24 surrounding the gauge wheel support axle 16 and movable along the gauge wheel support axle 16, and
• - A feed unit, not shown, for the carriage 24.

The new gauge wheels 2.n, 2.x are pushed onto the gauge wheel holding axle 16 in a sequence. The gauge wheel holding axle 16 is pushed through a recess in the center of each new gauge wheel 2.n, 2.x.

5 shows the lid 11 from a viewing direction in which the central axis of the lid 11 is perpendicular to the plane of the drawing ( 5 a ), and from a viewing direction in which the central axis lies in the plane of the drawing, two configurations of the cover 11, cf. 5 b ) and 5 c ). In addition, the position of the opening 18 relative to the lid 11 is indicated with dashed lines.

The cover 11 has the shape of a flat cylinder and, in both configurations, comprises a disk 11.1 and a peripheral web 11.2 which is firmly connected to the disk 11.1. The diameter of the disk 11.1 is slightly larger than the diameter of the space enclosed by the web 11.2, so that the disk 11.1 protrudes slightly. The disk 11.1 is dimensioned in such a way that it is able to close the opening 18, which in 5b) and 5 c ) is indicated.

A plurality of projections 11.3 are mounted on the web 11.2 and point inwards. These projections 11.3 are able to hold a new gauge wheel 2.n in a non-positive but detachable manner. The web 11.2 surrounds the lateral surface of the new gauge wheel 2.n. In a preferred embodiment, the cover 11 also includes a bead 11.4, which surrounds the web 11.2 and rests against the pane 11.1. The bead 11.4 rests on the inside of the edge of the opening 18 and helps to seal the opening 18 in a fluid-tight manner when the cover 11 is in front of the opening 18.

In one embodiment (cf. 5 b) the web 11.2 protrudes into the magazine 7. This further reduces the risk of moisture penetrating the magazine 7 . In another configuration (cf. 5c) the web 11.2 projects beyond the magazine 7 on the outside. This configuration saves space in the magazine 70.

• - eine Deckel-Halteachse 12,
• - eine Deckel-Dreheinheit 14,
• - eine Deckel-Verfahreinheit 17,
• - eine Deckel-Verfahrachse 20,
• - einen Bolzen-Verfahreinheit 19 und
• - eine Bolzen-Verfahrachse 21.

The gauge wheel changing unit 100 further comprises

• - a lid support axle 12,
• - a cover rotating unit 14,
• - a cover moving unit 17,
• - a cover traversing axis 20,
• - a bolt traversing unit 19 and
• - a bolt traversing axis 21.

The cover traversing axis 20 is attached to the adaptation plate 10 with the aid of a bracket 22 . The bolt traversing axis 21 is attached to the inside of the lateral surface of the housing 7 with the aid of a bracket 23 . The cover holding axis 12 runs parallel to the cover travel axis 20 and can be moved in both directions along the cover travel axis 20 .

The lid 11 is non-rotatably attached to the lid holding axle 12 with the aid of a rod-shaped lever element 13 , so that there is a distance between the lid 11 and the lid holding axle 12 . The free surface of the disc 11.1 is attached to the lever element 13. If the lid holding shaft 12 is rotated about its own central axis, the lever element 13 and the lid 11 are also rotated about this central axis. The lid 11 and the lever member 13 function together as the holding unit of the embodiment.

The lid rotating unit 14 is able to rotate the lid holding axle 12 and thus the lever element 13 and the lid 11 about the central axis of the lid holding axle 12, specifically in both directions of rotation. The cover displacement unit 17 is supported on the cover displacement axis 20 and is able to move the cover rotating unit 14 and the cover holding axis 12 and thus the lever element 13 and the cover 11 along the central axis of the cover rotation axis 12, specifically in the two opposite directions. The bolt traversing unit 19 is able to move the stop bolt 15 along the bolt traversing axis 21, specifically in the two opposite directions.

The following describes how the gauge wheel exchange unit 100 automatically replaces the old gauge wheel 2.1 with a new gauge wheel 2.n from the gauge wheel magazine 70. Preferably, a user or also a higher-level control device of the land vehicle has previously activated the track wheel changing unit 100 .

Before or at the beginning of the replacement, the new gauge wheel 2.n is pressed into the cover 11, as is shown in 5 is shown. In one embodiment, a not-shown drive of a feed mechanism moves the carriage 24 along the gauge wheel holding axle 16 in the direction of the cover 11. As a result, that gauge wheel 2.n on the gauge wheel holding axle 16, which is closest to the cover 11, in the cover 11 pushed in. The cover 11 is designed in such a way that it holds exactly one new gauge wheel 2.n. The circumferential web 11.2 surrounds the new gauge wheel 2.n. The carriage 24 is then moved away from the cover 11 again. The figures show the carriage 24 in a position moved away from the cover 11 .

4 shows the starting position in which the holding unit 11, 13 is before replacing a gauge wheel. The gauge wheel arm 1.1 with the old gauge wheel 2.1 is still in the gauge position and is therefore in 4 Not shown. The new gauge wheel 2.n is held by the cover 11.

The gauge wheel arm 1.1 with the gauge wheel 2.1 is pivoted into the changing position. The bolt movement unit 19 pushes the stop bolt 15 out of the housing 7 and thereby positions the stop bolt 15. 6 shows the current situation.

The stop bolt 15 presses against the axis 6.1 and thereby against the unlocking bolt, not shown. The unlocking bolt unlocks the ball locking bolt that holds the old gauge wheel 2.1 on the axis 6.1. In addition, the lid displacement unit 17 moves the lid rotating unit 14 and thus the lid axis of rotation 12, the lever element 13 and the lid 11 together with the new gauge wheel 2.n away from the housing 7 and thereby out of the opening 18 and onto the gauge wheel arm 1.1 to. The situation that has now arisen will 7 shown. The cover 11 shows the old gauge wheel 2.1.

The cover rotating unit 14 rotates the cover axis of rotation 12, the lever element 13 and the cover 11 together with the new sensing wheel 2.n about the cover axis of rotation 12 upwards. Subsequently, the cover moving unit 17 shifts the cover rotation axis 12 parallel to the gauge wheel axis 6.1 further away from the housing 7. As a result of this linear movement, the cover 11 wipes the old gauge wheel 2.1 off the axis 6.1. 8th shows the current situation. The old gauge wheel 2.1 preferably falls into the bag 8, cf. 3 .

The cover displacement unit 17 moves the cover rotation axis 12 and thus the cover 11 further away from the housing 7 if necessary. The cover rotating unit 14 rotates the cover 11 into a position in which the central recess in the hub of the new gauge wheel 2 .n is an extension of the axis 6.1. This situation shows 9 . The holding unit 11,13 is now in the intermediate position. There is preferably still a distance between the new gauge wheel 2.n and the gauge wheel axle 6.1.

The cover displacement unit 17 moves the cover axis of rotation 12 and thus the cover 11 back towards the housing 7 . As a result, the new gauge wheel 2.n is pushed onto the axle 6.1. 10 shows this situation. The holding unit 11, 13 is now in the target position.

The bolt displacement unit 19 moves the stop bolt 15 back towards the housing 7, namely into the also in 4 position shown. As a result, the stop bolt 15 no longer presses against the axis 6.1 and thus no longer against the unlocking bolt. The ball locking pin locks the new gauge wheel 2.n on the axle 6.1 so that the new gauge wheel 2.n can rotate but no longer slip off the axle 6.1. 11 shows the resulting situation. The new gauge wheel 2.n is now rotatably mounted and locked on the axis 6.1. The holding unit 11,13 is preferably returned to the starting position ( 4 ) moved back.

Reference List

1.1, 1.2

Gauge wheel arms on which the gauge wheels 2.1, 2.2 are rotatably mounted

2, 2.1,

Track wheels on the axles 6, 6.1, 6.2 at the free ends of the

2.2

Gauge wheel arms 1.1, 1.2 are rotatably mounted

2.n

new gauge wheel, is removed from the gauge wheel magazine 70 by the gauge wheel changing unit 100

2.x

another new gauge wheel in the gauge wheel magazine 70

3.1, 3.2

Bellows over the upper ends of the gauge wheel arms 1.1, 1.2

4

Pivoting unit for pivoting the gauge wheel arms 1.1, 1.2

5

Housing for the pivoting unit 4

6, 6.1,

Axles at the free ends of the gauge wheel arms 1.1, 1.2 on which

6.2

the gauge wheels 2, 2.1, 2.2 are rotatably mounted

7

Housing of the gauge wheel magazine 70, has the opening 18, carries the gauge wheel holding axle 16 and the carriage 24 inside

8th

Bags for old gauge wheels 2, 2.1, 2.2

9

Fork that triggers the locking pin to unlock a ball lock pin

10

Adaptation plate on which the housing 7, the cover axis 20 and the axis axis 21 bolts are attached

11

Cover for the housing 7, includes the disk 11.1 and the circumferential web 11.2 with the projections 11.3 and optionally the bead 11.4, acts as a holding element which accommodates the new gauge wheel 2.n

11.1

Disk 11.1 of the cover 11 firmly attached to the lever element 13

11.2

Circumferential web 11.2 of the cover 11, firmly attached to the disk 11, holds a new gauge wheel 2.n with the aid of the projections 11.3

11.3

Projections inside the circumferential web 11.2 hold a new gauge wheel 2.n

11.4

optional bead on the surrounding bar 11.2

12

The cover holding axis, to which the lever element 13 is attached, can be moved in both directions along the cover travel axis 20 and rotated about its own central axis

13

Lever member to which the lid 11 is attached is fixed to the lid support axis 12, can be moved in both directions along the lid travel axis 20, functions as a connecting element

14

Lid rotating unit, is able to rotate the lever element 13 with the lid 11 about the lid holding axis 12, can be moved in both directions along the lid traversing axis 20

15

Stop bolt, can be moved linearly along the bolt travel axis 21

16

Gauge wheel support axle, extending centrally along the housing 7, carries a succession of new gauge wheels 2.n, 2.x

17

Lid traversing unit, can be moved in both directions along the lid traversing axis 20

18

Opening in an end face of the housing 7, closed by the cover 11

19

Bolt traversing unit is able to move the stop bolt 15 along the bolt traversing axis 21

20

Lid traversing axis, along which the lid holding axis 12, the lever element 13 with the lid 11, the lid rotating unit 14 and the lid traversing unit 17 can be moved linearly, is held by the bracket 22 on the adaptation plate 10

21

The axis of movement of the bolt, along which the stop bolt 15 can be moved linearly, is held by the holder 23 on the outer surface of the housing 7

22

Bracket that holds the cover traversing axis 20 on the adaptation plate 10

23

Bracket which holds the bolt traversing axis 21 on the lateral surface of the housing 7

24

Carriage holding the axle 16 and capable of moving the succession of tracking wheels 2.n, 2.6 towards the cover 11

25

Control unit of the gauge wheel exchange unit 100

26

evaporation unit

70

Magazine for new gauge wheels 2.n, 2.x, includes the housing 7 with the opening 18, the cover 11 and the gauge wheel holding axle 16

100

Tracker wheel change unit, includes the adaptation plate 10, the cover 11, the cover rotating unit 14, the cover traversing unit 17, the cover traversing axis 20, the bolt traversing unit 19, the bolt traversing axis 21, the brackets 22 and 23, the carriage 24 and the control unit 25

Claims (16)

Changing unit (100) for automatically changing a wheel (2.1) which is rotatably mounted on a wheel arm axle (6.1) on a wheel arm (1.1), the wheel (2.1) being lockable on the wheel arm axle (6.1), wherein the changing unit (100) - a holding unit (11, 13) with a holding element (11), - a moving unit (14, 17) - a magazine (70), - an unlocking bolt, - a bolt traversing unit (19) and - a stop bolt (15), the magazine (70) comprising - a housing (7) and an opening (18) in the housing (7) includes and - is designed to accommodate at least one new wheel (2.n, 2.x), the bolt traversing unit (19) being able to move the stop bolt (15) in two opposite directions, the bolt traversing unit (19) is designed to press the stop pin (15) against the unlocking pin and thereby cause the wheel (2.1) to be unlocked, the retaining element (11) - being designed to close a wheel (2.n). hold and - is dimensioned in such a way that it is able to close the opening (18) in the housing (7), the traversing unit (14, 17) being designed to hold the holding unit (11, 13) together with a new wheel (2nd n) to move such that the holding unit (11, 13) - from a starting position in which the holding element (11) the Opening (18) closes and is located between the magazine (70) and the wheel arm axis (6.1), - moves to a target position in which the new wheel (2.n) is on the wheel arm axis (6.1). is, wherein the bolt traversing unit (19) is designed to move the stop bolt (15) away from the unlocking bolt and thereby cause the new wheel (2.n) to be locked on the wheel arm axle (6.1), and wherein the displacement unit (14, 17) is further designed to move the holding unit (11, 13) away from the target position of the wheel arm axis (6.1), so that the new wheel (6.1) located on the wheel arm axis (6.1) 2.n) is separated from the holding unit (11, 13). Exchange unit (100) after claim 1 , characterized in that the changing unit (100) comprises a feed mechanism (24) and the magazine (70) comprises a holding axle (16) which - is arranged inside the magazine (70) and - for carrying at least one new wheel (2nd .n, 2.x), the feed mechanism (24) being designed to move at least one new wheel (2.n, 2.x) towards the opening (18) relative to the holding axle (16), until the new wheel (2.n) is held by the holding member (11) while the holding member (11) is in the home position. Exchange unit (100) after claim 2 characterized in that the or each new wheel (2.n, 2.x) is displaceable along the support axis (16) and the opening (18) is located in the extension of the support axis (16). Exchange unit (100) according to one of the preceding claims, characterized in that the holding element (11) is designed as a cover, the holding unit (11, 13) comprises a lever element (13), the displacement unit (14, 17) - a cover Traversing unit (17) and - a cover rotating unit (14), the changing unit (100) comprises a cover holding axle (12), the cover (11) being non-rotatably attached to the cover holding axle (12) with the aid of the lever element (13). is fixed, wherein the lid rotating unit (14) is able to rotate the lid holding axle (12) and thus the lever element (13) and the holding element (11) in two opposite directions of rotation about the central axis of the lid holding axle (12), wherein the cover displacement unit (17) is able to move the cover rotation unit (14) and the cover holding axis (12) in two opposite directions, the displacement unit (14, 17) is designed so that when the holding unit (11, 13 ) from the starting position to the target position - moving the holding unit (11, 13) in the initial position away from the magazine (70) in such a way that the cover (11) pushes the wheel (2.1) to be replaced off the wheel arm axis (6.1) during this movement, - the holding unit (11 , 13) to then move to an intermediate position in which the new wheel (2.n) is located between the cover (11) and the wheel arm axle (6.1) and the central axis of the new wheel (2.n) is in the extension the wheel arm axis (6.1) of the wheel arm (1.1) is arranged, and - subsequently moving the holding unit (11, 13) from the intermediate position to the target position. Interchangeable unit (100) according to one of the preceding claims, characterized in that the holding element (11) comprises a plate (11.1) and a peripheral web (11.2), the web (11.2) being firmly connected to the plate (11.1), wherein the web (11.2) is designed to surround a new wheel (2.n) and to hold it on an area of the lateral surface of the new wheel (2.n), and when the holding element (11) is in the starting position is located, - the web (11.2) points towards the magazine (70) and - the plate (11.1) is located in front of the opening (18). Exchange unit (100) after claim 5 , characterized in that when the holding element (11, 13) is in the initial position, - the plate (11.1) closes the opening (18) and - the web (11.2) projects into the magazine (70). Exchange unit (100) according to one of the preceding claims, characterized in that the exchange unit (100) comprises a holding unit travel axis (20), the holding unit (11, 13) being displaceable both linearly along the holding unit travel axis (20) and by the holding unit traversing axis (20) is rotatable and wherein the traversing unit (14, 17) is designed to linearly displace the holding unit (11, 13) along the holding unit traversing axis (20) and about the holding unit traversing axis (20). rotate. Use of an interchangeable unit (100) according to one of the preceding claims for exchanging a wheel (2.1) which is designed to - to roll over an underground and - take a sample from the subsoil while rolling over the subsoil. Arrangement comprising - an interchangeable unit (100) according to one of Claims 1 until 7 , - a wheel arm (1.1) with a wheel arm axle (6.1) and - a wheel (2.1) which is rotatably mounted on the wheel arm axle (6.1), the interchangeable unit (100) being designed to move the wheel (2.1 ) on the support arm axle (6.1) with a new wheel (2.n). arrangement according to claim 9 , characterized in that the arrangement comprises a pivoting unit (4) which is designed to pivot the wheel arm (1.1) together with the wheel (2.1) from a lowered position against gravity into a raised position, the wheel (2.1) can be replaced by the new wheel (2.n) in the raised position. Land vehicle comprising an arrangement according to claim 10 , wherein the land vehicle is designed such that when the wheel arm (1.1) is in the lowered position, the wheel (2.1) rolls over a ground and picks up a sample from the ground, the wheel (2.1) then when the Wheel arm (1.1) is in the raised position, has a distance to the ground. land vehicle after claim 11 , characterized in that the wheel (2.1) is designed to, when the wheel (2.1) rolls over a subsoil, take up a soil sample from the subsoil. land vehicle after claim 12 , characterized in that an analysis unit is arranged on board the land vehicle, which is designed to analyze a soil sample taken from the subsoil by the wheel (2.1). Method for automatically changing a wheel (2.1), the wheel (2.1) to be changed being held rotatably on a wheel arm axle (6.1) of a wheel arm (1.1) and being locked, the method being carried out using a changing unit (100), which - a holding unit (11, 13) with a holding element (11), - a traversing unit (14, 17), - a magazine (70), - an unlocking bolt, - a bolt traversing unit (19) and - a stop bolt (15 ), wherein the magazine (70) - comprises a housing (7) and an opening (18) in the housing (7) and - accommodates at least one new wheel (2.n, 2.x), the holding element ( 11) dimensioned to be able to close the opening (18) in the housing (7), the bolt moving unit (19) being able to move the stop bolt (15) in two opposite directions and the method comprising the steps that - the bolt movement unit (19) pushes the stop bolt (15) against the unlocking bolt zen and thereby causes the wheel (2.1) to be unlocked, - the moving unit (14, 17) moves the holding unit (11, 13) together with a new wheel (2.n) relative to the wheel arm axis (6.1), wherein the new wheel (2.1) was in the magazine (70) before this movement and wherein during this movement the holding unit (11, 13) moves from an initial position in which the holding element (11) closes the opening (18) and between the magazine (70) and the wheel arm axis (6.1), is moved to a target position in which the new wheel (2.n) is on the wheel arm axis (6.1), - the bolt traversing unit (19 ) moves the stop bolt (15) away from the unlocking bolt and thereby causes the new wheel (2.n) to be locked on the wheel arm axle (6.1), and - the traversing unit (14, 17) then holds unit (11, 13) is moved away from the wheel arm axle (6.1) and as a result the new wheel (2.n) located on the wheel arm axle (6.1) is separated from the holding unit (11, 13). procedure after Claim 14 , characterized in that the changing unit (100) comprises a feed mechanism (24) and before the step of moving the holding unit (11, 13) from the starting position to the target position, the step is performed that the feed mechanism (24) the new Wheel (2.n), which is in the magazine (70), by a movement parallel to the central axis of the new wheel (2.n) moves in the direction of the holding element (11) until the new wheel (2.n) of is held by the holding member (11) while the holding member (11) is in the home position. procedure after Claim 14 or claim 15 , characterized in that the holding element (11) is designed as a cover, the holding unit (11, 13) comprises a lever element (13), the traversing unit (14, 17) - a cover traversing unit (17) and - a cover rotary unit (14), the changing unit (100) comprises a cover holding axle (12), the cover (11) being fastened to the cover holding axle (12) in a rotationally fixed manner with the aid of the lever element (13), the cover rotating unit ( 14) the cover holding axle (12) and thus the lever element (13) and the holding element (11) can rotate about the central axis of the cover holding axle (12) in two opposite directions of rotation, the cover moving unit (17) rotating the cover - able to move the turning unit (14) and the cover holding axle (12) in two opposite directions, and the step of moving the holding element (11, 13) together with the new wheel (2.n) from the starting position to the target position, comprises the steps that the traversing unit (14, 17) the holding unit (11, 13) together with the new wheel (2.n) is moved in such a way that - the cover (11) is moved away from the magazine (70) and during this movement the wheel (2.1) to be replaced is lifted from the wheel arm axis (6.1 ) pushes down, - the holding unit (11, 13) is then moved to an intermediate position in which the new wheel (2.n) is located between the cover (11) and the wheel arm axis (6.1) and the central axis of the new wheel (2.n) is arranged in the extension of the wheel arm axis (6.1) of the wheel arm (1.1), and - the holding unit (11, 13) is then pushed from the intermediate position into the target position.

Images