CN107432233A - High precisely nursery stock support bar implanter - Google Patents
High precisely nursery stock support bar implanter Download PDFInfo
- Publication number
- CN107432233A CN107432233A CN201710380990.XA CN201710380990A CN107432233A CN 107432233 A CN107432233 A CN 107432233A CN 201710380990 A CN201710380990 A CN 201710380990A CN 107432233 A CN107432233 A CN 107432233A
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- CN
- China
- Prior art keywords
- support bar
- balladeur train
- hydraulic cylinder
- machine
- hitch frame
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G17/00—Cultivation of hops, vines, fruit trees, or like trees
- A01G17/04—Supports for hops, vines, or trees
- A01G17/06—Trellis-work
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G17/00—Cultivation of hops, vines, fruit trees, or like trees
- A01G17/04—Supports for hops, vines, or trees
- A01G17/14—Props; Stays
- A01G17/16—Devices for driving-in or pulling-out props
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/006—Other parts or details or planting machines
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G13/00—Protecting plants
- A01G13/02—Protective coverings for plants; Coverings for the ground; Devices for laying-out or removing coverings
- A01G13/025—Devices for laying-out or removing plant coverings
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G17/00—Cultivation of hops, vines, fruit trees, or like trees
- A01G17/04—Supports for hops, vines, or trees
- A01G17/06—Trellis-work
- A01G17/08—Tools e.g. clips for attaching hops, vines, or boughs to trellis-work; Tying devices
- A01G17/085—Espalier machines; Tying machines
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G25/00—Watering gardens, fields, sports grounds or the like
- A01G25/02—Watering arrangements located above the soil which make use of perforated pipe-lines or pipe-lines with dispensing fittings, e.g. for drip irrigation
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H17/00—Fencing, e.g. fences, enclosures, corrals
- E04H17/26—Devices for erecting or removing fences
- E04H17/261—Devices for erecting or removing fences for post and wire handling
- E04H17/263—Devices for erecting or removing fences for post and wire handling for erecting posts
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Botany (AREA)
- Engineering & Computer Science (AREA)
- Soil Sciences (AREA)
- Architecture (AREA)
- Water Supply & Treatment (AREA)
- Toxicology (AREA)
- General Health & Medical Sciences (AREA)
- Health & Medical Sciences (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Transplanting Machines (AREA)
- Agricultural Machines (AREA)
- Guiding Agricultural Machines (AREA)
- Soil Working Implements (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Machine（10）For along default work route（L1）By the support bar implantation predeterminated position (P of plant1‑PN) in.Machine includes hitch frame（1）, work chassis（3）, it is arranged on hitch frame by a rotary motion around longitudinal axis X and a translational motion along the transverse axis Y vertical with X-axis, computer（7、72）, display screen（7、71）, support bar insertion apparatus（4）, differential GPS sensor, it is located at the position vertical with support bar insertion apparatus, and support bar insertion apparatus includes mobile balladeur train（6）, it is by insertion hydraulic cylinder（8）Control, insertion hydraulic cylinder is connected with balladeur train relative to the position sensor of guide rail, by proportional hydraulic valve（18）It is synchronous with the advance of hitch frame to ensure to move the decline of balladeur train and retrogressing in connection so that support bar can be perpendicularly inserted to be controlled to hydraulic cylinder.
Description
Technical field
Present invention relates to nursery stock support bar implanter, is particularly applied to the nursery stock support bar implantation of vine and fruit tree
Machine.
Background technology
In planting machine technical field, " support bar (les tuteurs) " is also referred to as " standing tree (piquets) " or " stake
(marquants) " (referring to file FR2897235).However, using in general planting machine, still it is difficult to fitly arrange nursery stock
Row, which are embarked on journey and possible landform is tilted, to be compensated.
Therefore, it is necessary to support bar and the implantation precision of corresponding nursery stock are improved, after being carried out to vine and fruit tree
Continuous necessary operation (maintenance, weeding, repairing leaf, the harvesting of mechanization grape), and lift the geometry aesthetic feeling in orchard.Therefore, it is necessary to carry
Go out new solution.
The content of the invention
Considered based on above-mentioned, inventor suggested a kind of precision as Centimeter Level herein, suitable for by vine or filling
The machine of the support bar implantation soil of wooden class plant (default circuit (L1), presets implantation point (P1-PN)).The machine includes following
Part：
- hitch frame (1), in X direction longitudinal direction advance, preset pace between 1 between 3km/h,
- chassis (3), by the articulated mountings of two motor-driven frees degree (i.e. around longitudinal axis X rotary motion and along
The transverse axis Y perpendicular with longitudinal axis translational motion) it is arranged on hitch frame,
- be used for control computer and a display screen (be able to indicate that the path school relative to default work route
It is accurate),
- support bar (9) insertion apparatus (4),
- upper component, GPS sensor (5) is configured with, it receives gps satellite signal and be sent to neighbouring gps signal and connects
Receive base station,
The installation site of-GPS sensor is substantially vertical with support bar insertion apparatus,
- support bar insertion apparatus (4) includes a mobile balladeur train (6).Mobile balladeur train is arranged on chassis by guide rail, is led
Rail relative to the predetermined inclination angle (β) of X-axis between 50 ° to 65 °, preferably 55 ° or so.
- insertion hydraulic cylinder, for controlling the position of mobile balladeur train,
- movement balladeur train includes a hollow structure, for catching the support bar on default insertion position, in addition to one
Pusher head, when balladeur train moves down, support bar can be inserted in soil.
Insertion hydraulic cylinder (8) is connected with balladeur train relative to the position sensor of guide rail.Control to hydraulic cylinder is by one
Proportional hydraulic valve is realized, can so make the decline for moving balladeur train and its retrogressing combined with the advance of hitch frame synchronous, so as to
Support bar is perpendicularly inserted on preset.
So, the rotary motion around X-axis can just compensate to the inclination of landform, along the translational motion of Y-axis with regard to energy
Hitch frame is calibrated relative to the position deviation of default work route.
In addition, using differential GPS, can high accurancy and precision preferable drawing to grapevine seedling be determined and track.Claim
Be " centimetre class precision ", be because the deviation of position can be controlled in cm range.
Furthermore because the position of GPS sensor is substantially vertical with support bar implantation point, as long as so in strict accordance with advance system
Figure operate, can just carry out " round " implantation, i.e., the situation of " sky returns " will not occur.
It is noted that for the present invention, it is in most cases straight (i.e. straight line) to preset circuit L1.It is but default
Slight curvature may also be presented in work route L1, such as when needing to advance along the operation plot of certain block crooked outline.
Seem in operation block edge or path it should also be noted that the figure made in advance may include some particularity
" Bordeaux closes (fermeture à la bordelaise) " at the end.
In the various embodiments of the present invention, if it is necessary, can be in addition from following a kind of and/or another configuration.
According to a kind of possible configuration, machine can be suspension type, 3 point type connector phases of hitch frame and farm tractor
Even；Alternatively, it is also possible to which machine is connected with being equipped with any farm tractor of AN connector.
According to alternatively possible configuration, machine can be self-propelled, and hitch frame is connected or collected with the chassis of self-propelled machine
Into.The function and specification of this self-propelled machine can be needed to enter according to support bar and the implant procedure of grape/shrub plant
Row adjusts to greatest extent.
In addition, can also be that self-propelled machine assembles crawler belt.Compared with fit a tyre, this can reduce the pressure to ground, and
On ground during humidity, more preferable lift/grip can be obtained.
With two motor-driven frees degree it is be hinged including：The intermediate support being rotationally mounted on hitch frame (1)
(2) rotary motion around X-axis, is formed；The chassis being translationally arranged in intermediate support (2), forms the translation along transverse axis.
The two motions are all manipulated by a dual-effect hydraulic cylinder.Therefore, can be compensated simultaneously by relatively simple kinematic principle
The inclination of landform and tractor laterally/lateral trajector deviation.
Advantageously, ramp response time is additionally provided to be controlled to insertion hydraulic cylinder, to subtract at the end of stroke
Low or even elimination impact, to reduce the noise effect to operator.
Advantageously, computer can control the speed of insertion hydraulic cylinder in real time according to the pace of hitch frame.Therefore, send out
A person of good sense considers the situation of skidding in advance.
In addition, machine is also taken turns with a ditching plow and suppression of soil.An especially clean and tidy closure thus can be obtained
OK.
Advantageously, storage tank, nozzle and distributor are additionally provided, so that when support bar is inserted, synchronization is to plant
Sprayed.So, just to appropriate place, appropriate water can be sprayed appropriate when.
Configured according to one kind, mobile sledge position sensor is incremental encoder.This is a kind of reliable scheme, can be with
Measure position of the mobile balladeur train on the stroke of the motion controlled by hydraulic cylinder.
Upper support element constitutes the masking sun and boisterous ceiling；This can be the behaviour for carrying out non-automated operation
Work person provides comfort level and protection.
Brief description of the drawings
In the following description, the part further feature and advantage of this invention are only listed, refer to accompanying drawing, wherein：
- Fig. 1 is the profile diagram in the vineyard newly opened up wasteland,
- Fig. 2 is the preferable top view for treating plant,
- Fig. 3 illustrates the kinematic compensation carried out to machine of the present invention,
- Fig. 4 is vertical view tracing figure of the tractor relative to the track of default work route,
- Fig. 5 is the axial section of machine main element,
- Fig. 6 A illustrate support bar insertion apparatus (balladeur train is positioned at a high position),
- Fig. 6 B are similar with Fig. 6 A, it is shown that support bar insertion apparatus (balladeur train is located at low level),
- Fig. 7 A and 7B illustrate another embodiment of mobile balladeur train, similar with Fig. 6 A and Fig. 6 B,
- Fig. 8 illustrates the display screen for visualizing and indicating track calibration,
The profile diagram of colter has been shown in detail in-Fig. 9 A, and Fig. 9 B are the top view of colter,
- Figure 10 is the functional diagram of the control system of machine,
- Figure 11 is the configuration of self-propelled type,
- Figure 12 illustrates the figure of concrete condition,
- Figure 13 A and 13B are the detail view of support bar insertion apparatus,
- Figure 14 is the hydraulic control timing diagram of insertion hydraulic cylinder,
- Figure 15 is is continuously advanced under situation, the geometry that support bar is inserted perpendicularly into,
- Figure 16 is the specific embodiment of hitch frame and intermediate support,
- Figure 17 is similar with Figure 16, adds the element on chassis.
Embodiment
In the various figures, same reference numerals indicate same or analogous element.
In Fig. 1, a grape seedling plantation is illustrated, can be the vineyard completely newly opened up wasteland, or with new
Seedling changes the vineyard of old strain.
Therefore, by using the machine 10 according to the present invention, new grapevine seedling and corresponding can be inserted in predeterminated position
Support bar (to provide support in the developmental process of grape seedling for it).
As shown in Fig. 2 accurately drawing determines the position (P1, P2 ...) of default implantation grapevine seedling, it is desirable to actual
Implant procedure is limited in the error range of Centimeter Level with the degree of being consistent of ideal drawing, therefore is referred to as " Centimeter Level is precisely implanted into ".
In addition, as mentioned before, it is important that support bar is inserted perpendicularly into, it is especially perpendicular in grape seedlingses lumber yard and slope
In the case of, it is necessary to compensate the inclination of landform.
In the accompanying drawings, the name in each axle and direction is as follows：
X is longitudinal forward movement direction,
Y1 is the transverse direction corresponding to load-bearing wheel shaft, vertical with X-direction,
YT is the vertical line corresponding to the transverse direction, the i.e. calibrated X of local dip of local horizontal,
Z is vertical direction,
W1 is the direction of steeving of tractor, perpendicular to X and Y1,
ZT is the direction of steeving for obtaining the tractor that local dip compensates (θ 1), i.e. rolling compensates, differs and be set to pitching
Compensation.
Direction of advance X is adjacent with default work route L1 on local plot, and predeterminated position (P is set on L11、P2、
Pi…)
In former accompanying drawings, according to the present invention, the configuration that machine 10 is connected with conventional farm tractor type 95 is employed.
However, it may be noted that machine 10 can be self-propelled, as shown in figure 11, according to the present invention, employ self-propelled type 96 with it is self-propelled
The connected configuration of machine 10, can be that type 96 configures crawler belt 98 in this case.
For the configuration for employing tractor, the default pace of tractor 95 is very constant, will not be default
Position is stopped, and nursery stock and support bar can be implanted into " in the air " during advance.
Advantageously, in plantation, the pace FT of machine pre-set value between 1km/h between 3km/h, it is best
It is set as 1.5km/h between 2km/h.
Inventor employs differential GPS geo-positioning system.In fact, vehicle-mounted (movement) gps receiver 5 can be pacified
On mobile machine, a receiver 55 can be installed on the pedestal for being fixed on ground.The two gps receivers all can
Receive the gps signal from satellite 50.Receiver 55 can send the signal received in mobile machine, be transmitted across with correction
Mistake in journey, it is ensured that obtain the precision of Centimeter Level.
Known differential global positioning system generally also referred to as D-GPS, will not be repeated here.
It should be noted that by GPS " receiver " 5 or GPS " sensor " 5, antenna function (passing through remote processing) can be used only
Or realize antenna function by being formatted processing or even decoding to signal on the spot.
Machine 10 can aid in one or more operators to insert a support bar 9 in soil, and by a grape children
Seedling 91 is implanted to the side of support bar.
In the subsequent content of this document, predeterminated position (P1, P2 ...) is considered as the implantation position of support bar 9, it is known that Portugal
Grape plant will be implanted to the side of the support bar.
As shown in Fig. 2 the predeterminated position figure for grape seedlingses to be implanted；The drawing content generally comprises parallel to each other
Each row of (at least local parallel to each other), line space are ER (generally between 2m to 2.5m in practical application, to allow agriculture
With tractor in the ranks by carrying out subsequent job).It is, however not excluded that line space ER is less than 2m situation.
Continuous plantation point P1, P2, Pi, the Pi often to go all by being arranged along line direction+1Form, between default between plantation point
It it is 1 meter or so in practical application, generally between 95cm to 110cm away from EP is designated as.
For specific a line, it is typically straight to preset work route L1, but default work route L1 can be in sometimes
Now certain curvature, i.e., it is not straight line (referring to Figure 12).
Work route is preset per a line and is denoted as L1, L2, L3 etc..
For a certain operation plot in vineyard, single and uniform EP distances can be kept, except this
(subsequently it will be described) beyond the marginal position in operation plot.Likewise, it can be determined by the precomputation of drawing
Specific line space ER, once calculate all plantation rows for determining to finish and being applied in the operation plot.
According to the present invention, machine includes one and marks the work chassis for being, by two motions of automobile with being labeled as 1
Hitch frame is connected, and is again referred to as this " two motions of automobile are hinged " or " two motor-driven frees degree are hinged " in text.
Hitch frame 1 is also referred to as " traction pedestal ".
In the example shown, two motor-driven free degree motions include the intermediate support being rotatably mounted on hitch frame 1
2, to realize the rotary motion around X-axis；And work domain is translationally arranged in the intermediate support 2, to realize along horizontal stroke
Axle Y translational motion.
The two motions are all controlled by a dual-effect hydraulic cylinder, will be described below.
In the example shown, particularly in fig. 3 it can be seen that the rotary motion around X-axis passes through the rotation labeled as θ X
Turn that landform can be tilted and compensate, labeled as θ 1；Can be (also referred to as " lateral inclined to lateral deviation along the translation of YT axles
Difference ") compensate, labeled as Δ Y, because, in fact, never may be with automatic Pilot system labeled as TT tractor track
Unite completely the same, several centimetres of lateral shift always be present.
Lateral deviation calibrates stroke Δ Y generally between 50mm to 120mm.
Inclined angle compensation calibration stroke RolX is generally +/- between 15 degree.
Alternatively it is also possible to using reverse mounting means, i.e., intermediate support is translationally arranged on hitch frame along Y-axis
On, work chassis is rotationally mounted in intermediate support.
Hitch frame 1 also includes height-adjustable roller 13.Can manually or hydraulic control adjusts their height.
Certainly, it have also been devised a ditching plow 12.The band tooth of plough 12, can be excavated to ground S.The width of plough is less than
10cm.In addition, it have also been devised suppression of soil wheel 14 and small preceding ploughshare (not shown).
In addition, it have also been devised a plane sprinkling system.The system (may be mounted at tractor including a storage tank 97
Front), lead to the water supply line (being not shown) of positive-displacement piston pump, extend to plough 12 inside pipeline 17
(there is the delivery port 17S for leading to rear portion).
Especially as shown in Figure 10, machine includes computer 71, and it is configured to control and is connected with the hydraulic cylinder of control motion
Electro-hydraulic distributor.Controlled motion includes：Tilt calibration, also referred to as " Rol X " (are controlled by the dual-effect hydraulic cylinder labeled as 82
System)；Lateral deviation calibration Δ Y (being controlled by the dual-effect hydraulic cylinder labeled as 83)；And support bar insertion motion, also referred to as
" insertion ".In these controlled motions, also include certainly by a proportion magnetic valve 18 the insertion hydraulic cylinder 8 that controls.
Alternatively, insertion hydraulic cylinder is connected with position sensor 81, and the position sensor, which measures, moves balladeur train relative to leading
The stroke of rail.Preferably, the position sensor 81 is incremental encoder.
It may be noted that the magnetic valve of control inclination/lateral deviation compensating hydraulic cylinder 82,83, preferably with proportional solenoid valve,
To form effective and stable servo loop.
Hydraulic power source can be the hydraulic power unit of tractor itself, or be driven by the PTO of tractor
Machine on vehicle-mounted hydraulic power unit.
Computer control display screen 72.In bottom of screen, a track calibration marker is provided for operator on the tractor,
In illustrated example, 74 represent track target and 75 expression deviations to be calibrated.When tractor employ it is unpiloted " automatic
When driving " system is to control, it can be used with track calibration marker by the steering of automatic servo.
In the example shown, computer and display screen only mark the unit for being to represent by same, but can be by the two point
Open.
Support bar 9 to be implanted is stored in groove 19, and grape seedlingses to be implanted be then stored in machine relative to
(do not shown in accompanying drawing) in one groove of the another side of center vertical plane (X, ZT).
By the 4th hydraulic cylinder (84) as depicted or other devices, the distribution that computer 71 can also be to spray water is lived
Plug is controlled.
The input information of computer 71 has：Information from Airborne GPS receiver 5, from the GPS near pilot frequency locations
The calibration information received at base station 55, the signal provided by tilt sensor 57, by the institute of infeed stroke position sensor 58
The signal of offer, the signal provided by the position sensor 59 of mobile balladeur train.In the example shown, the position sensor of mobile balladeur train
59 be incremental encoder, using the teaching of the invention it is possible to provide reliable and accurately information.
As shown in Fig. 5, Fig. 6 A, Fig. 6 B, a support bar insertion apparatus (being generally referenced as 4) is additionally provided.The insertion fills
Put and tilted including a mobile balladeur train 6 being installed to by guide rail 40 on chassis, the guide rail relative to X-axis, predetermined inclination angle beta exists
Between 50 ° to 65 °, preferably 55 ° or so.As can be seen that β angles are the compensation angle of α angles (being herein 35 °), wherein α angles are guide rail
Angle between plane and the local direction ZT that steeves.
In the scheme shown in Fig. 6 A, 6B, guide rail is made up of two sleeves 48, and in movement, each sleeve can receive one
The sleeve pipe that root is coupled with mobile balladeur train 6, control hydraulic cylinder (inserting hydraulic cylinder) is among two sleeves.In Fig. 7 A, 7B institute
In the alternative dispensing means shown, employ multiple rollers 49 to realize single translational motion, can also with some rollers from
Mobile balladeur train is guided in multiple directions；It is noted that two hydraulic control cylinders 8,8 ' can also be used.
A part for forming mechanical interface on mobile balladeur train with support bar to be implanted is illustrated in Figure 13 A and 13B.Have one
Block steel plate 60, and hollow top guiding element 61 (advantageously, its section be V-type to after-opening), and it is designed to sit
Operator on machine can catch the support bar 9 being placed in herein.
A pusher head 62 is provided thereon, when mobile sledge tilt moves down, support bar can be inserted into soil
In earth.
Second V-type guiding element 63 may be mounted on mobile balladeur train, can also be fixedly mounted on the chassis of more lower position.
It is responsible for that a support bar 9 is fixed to the operator of support member progress operation with hand M the bottom of V-type guiding element, so
After waiting pusher head 62 to begin to decline motion afterwards, support member is decontroled, then next support member is picked up from groove 19 with hand.
On machine 10, during carrying out implant procedure, at least a bit manipulation person is sitting on seat 25；Putting into practice
In, two bit manipulation persons are often had, a bit manipulation person can be responsible for the advance piece-root grafting of support member before automatic implant procedure is carried out
One ground place in place, and another one operator be responsible for by the support bar 9 just behind grape seedlingses 91 be placed on beat
In the groove opened.
Furthermore it is possible to it is noted that vehicle GPS receiver 5 is arranged on a upper component, in the example shown, this top structure
Part forms ceiling 15, i.e. a hard being placed in above operator's seat or soft horizontal wallboard.Advantageously, this ceiling can
Think that operator blocks precipitation and sunlight, also enable machine to be grasped in wider range of weather conditions and time range
Make.
Have also been devised illuminating lamp, so as in the morning or it is late at night when use machine.In fact, driver is not required to through the glass that keeps out the wind
Glass visits road conditions, because had enough information on display screen 72 to aid in its direction to tractor to calibrate.
In example shown in Figure 12, drawing can by the barrier 37 being present in advance on the operation plot, electric pole,
Penthouse etc. is taken into account.
Another is with the example for crossing path 38.It is noted that criterion, the edge of path are closed according to Bordeaux
It is equipped with a support bar.
As shown in figure 14, computer can start the decline of insertion balladeur train 6 appropriate when by solenoid electric valve 18,
What pressure oil was transported in one of chamber of dual-effect hydraulic cylinder to make to be ready for by wherein solenoid electric valve 18 inserts
Enter device and support bar declines.
It can be seen that proportion magnetic valve 18 is not controlled in a manner of all-or-nothing, but provide
One starting 87, one, slope platform 89 and another more obvious slope 88 are impacted to avoid producing at the end of stroke.
When hydraulic cylinder rises again, similar slope is also provided to avoid producing too big rush in stroke destination county
Hit.
Shown in Figure 15, decrease speed can be adjusted for use ratio control magnetic valve 18.In fact, illustrating
In, in order to reach not only simple but also reliable effect structure, the slope of guide rail is arranged to fixed value.Guide rail draws along default
Leading direction, (in figure, i.e., along a β angle (55 °) relative to X-direction, being also both (is tilted relative to ZT directions
The vertical line of calibration) 35 ° of slopes) carry out guide carriage 6.
Under these conditions, surface condition and drawing determine the pace (being labeled as FT) of permission.Thus can also lead to
Cross following equation and release average decrease speed of the mobile balladeur train on guide rail：
Ct=FT/cos β
According to speed Ct, in computer 71, it is necessary to the control parameter of proportion magnetic valve is adjusted, to obtain support bar
It is inserted perpendicularly into.
Advantageously, if tractor skids suddenly, pace FT is reduced, then the decrease speed Ct for moving balladeur train also may be used
Correspondingly to reduce, so as to keep being inserted perpendicularly into.
Figure 16 shows an industrial examples of hitch frame 1.Hitch frame 1 includes being respectively labeled as being used for for 1AD and 1AG
The connector 1AS of lift arm on two connectors of lift arm, and the 3rd point of tractor.
Herein it is noted that as it was noted above, because ZT directions are for vertically planting in the row on local maxima inclined-plane
Slope compensation is obtained, so when grapevine seedling row rises or falls, will not typically be compensated, but still can be passed through
Lift arm is set to be adjustable to carry out part compensation to the row risen or fallen on three points in length.
Bearing around the rotary motion of X-direction is labeled as 11.
Intermediate support 2 is included in the cylindrical part 20 received in bearing 11, and with the cylindrical part into
One parallelepiped part 21 of one.
Two sleeves that slide laterally for being respectively labeled as 44 and 45, and hydraulic pressure control are mounted with the parallelepiped part
The main body of cylinder 83 processed.
Referring to figs. 16 and 17, labeled as 82 RolX slope compensation hydraulic cylinders a part pass through fastener 82A with traction
Frame 1 is connected, and another part is connected by fastener 82B with intermediate support 2.
Work chassis 3 includes a main frame for carrying left wing beam 30G and right flank beam 30D, and left and right spar is mainly along longitudinal X
Direction extends, and there are the transverse projections labeled as 31G and 31D respective end respectively, and they are used for supporting suppression of soil to take turns 14.
Between two spars, longitudinal seam 32 be present to install plough 12.It is noted that also have one block of steel plate 40 here,
It supports the installation of the guide rail of mobile balladeur train 6.
Support bar 9 can typically select preset diameters between 5mm to 10mm, length is between 50cm to 150cm
The metal bar of (being preferably set between 80cm to 100cm).Support bar 9 can also select sticking plaster, synthetic material rod, or even by
Rod made of the composite obtained with biodegradation is recycled in 5 years.
So-called " support bar ", and often it is referred to as " standing tree " or " timber ".
It is noted that the semi-automatic support bar insertion system being set forth above and grapevine seedling 91 is semi-automatic or full-automatic
Insertion system is not incompatible.Indeed, it is possible to an operator being controlled by control unit, the operator are set
For grapevine seedling is taken out from accumulator tank, and it is implanted into the opening in the dead astern for being usually located at support bar that colter plows.
Naturally, in this case, the execution for extract, operating and inserting is full-automation.
Claims (10)
1. machine（10）, suitable for according to default work route (L1), by grapevine seedling（Or sapling）Support bar be implanted to it is pre-
If position（P1-PN）Soil in, its precision is Centimeter Level, and the machine includes：
- hitch frame（1）, it is configured to be moved along being referred to as longitudinal direction of advance X, between 1 to 3 km/h
Pre-set velocity（FT）Advance,
- work chassis（3）, it is arranged on by the articulated mounting with two motor-driven frees degree on the hitch frame, wherein described
Two motor-driven frees degree are a rotary motion and a translation along the transverse axis Y with the axis oriented normal for surrounding longitudinal axis X
Motion,
- control computer（7、72）And display screen（7、71）, it can be provided relative to the default work route calibration track
Instruction,
- support bar（9）Insertion apparatus（4）,
- upper component, it, which is equipped with, receives gps satellite signal and is sensed with the GPS that neighbouring gps signal reception base station is connected
Device（5）,
The position of-the GPS sensor is substantially vertical with the support bar insertion apparatus,
- support bar the insertion apparatus（4）Including the mobile balladeur train being arranged on by guide rail on work chassis（6）, the guide rail
Tilted relative to X-axis with the predetermined angle between 50 ° to 65 °, be preferably selected 55 ° or so,
- be used to control the insertion hydraulic cylinder of the mobile sledge position（8）,
- mobile the balladeur train includes hollow structure, to catch support bar on position is inserted into, is also equipped with pusher head, works as institute
Stating can insert the support bar in soil when balladeur train moves down,
The hydraulic cylinder is by proportional hydraulic valve（18）To be controlled, to ensure the decline of the mobile balladeur train and in connection
Retreat synchronous with the advance of the hitch frame so that the support bar can be perpendicularly inserted at one of preset place.
2. machine according to claim 1, it is characterised in that the machine can be suspension type, the hitch frame with it is agricultural
Tractor（95）3 point type connectors be connected.
3. machine according to claim 1, it is characterised in that the machine is self-propelled（96）, crawler belt is preferably equipped with, and
The hitch frame is connected or integrated with the chassis of the self-propelled machine.
4. machine according to any one of claim 1 to 3, it is characterised in that described that there is two motor-driven frees degree
Articulated mounting includes being rotatably mounted to the hitch frame（1）Intermediate support（2）, to realize the rotary motion around X-axis；
And the work domain is translationally arranged on the intermediate support（2）On, to realize the translational motion along transverse axis Y, this two
Individual motion is all controlled by a dual-effect hydraulic cylinder.
5. machine according to any one of claim 1 to 4, it is characterised in that ramp response time is provided（87、88）,
For controlling the insertion hydraulic cylinder.
6. machine according to claim 1, it is characterised in that the control computer is fast according to the advance of the hitch frame
Degree（FT）To control the speed of the insertion hydraulic cylinder in real time.
7. machine according to any one of claim 1 to 6, it is characterised in that additionally provide ditching plow（12）And earthing
Press wheel.
8. machine according to any one of claim 1 to 7, it is characterised in that while the support bar is inserted, lead to
Cross storage tank（97）, nozzle（17S）The plant is sprayed with distributor.
9. machine according to any one of claim 1 to 8, it is characterised in that the insertion hydraulic cylinder（8）Relative to institute
State the position sensor of guide rail and the balladeur train（81）It is connected, and the position sensor of the mobile balladeur train is preferably that incremental is compiled
Code device.
10. machine according to any one of claim 1 to 6, it is characterised in that the upper support element forms masking too
Positive and boisterous ceiling（15）.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| FR1654727 | 2016-05-26 | ||
| FR1654727A FR3051624B1 (en) | 2016-05-26 | 2016-05-26 | MACHINE FOR PLANTING TUTORS WITH HIGH PRECISION |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107432233A true CN107432233A (en) | 2017-12-05 |
Family
ID=56322229
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710380990.XA Pending CN107432233A (en) | 2016-05-26 | 2017-05-25 | High precisely nursery stock support bar implanter |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN107432233A (en) |
| ES (1) | ES2645211B2 (en) |
| FR (2) | FR3051624B1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108930270A (en) * | 2018-07-06 | 2018-12-04 | 苏州千层茧农业科技有限公司 | A kind of self-propelled ornamental trees and shrubs piling machine |
| WO2021205069A1 (en) * | 2020-04-06 | 2021-10-14 | Ponsse Oyj | Planting apparatus |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR3086502B1 (en) | 2018-10-01 | 2020-12-18 | Vitisat | HIGH PRECISION PILOT PLANT MACHINE |
| JP7173858B2 (en) * | 2018-12-21 | 2022-11-16 | 株式会社クボタ | Planting system work machine and automatic travel control system for planting system work machine |
| JP7175743B2 (en) * | 2018-12-21 | 2022-11-21 | 株式会社クボタ | Automatic travel control system for planting and seeding equipment |
| IT202000000049A1 (en) * | 2020-01-03 | 2021-07-03 | Idrogeo Tec Srl | Machine for dosing granular products |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2002004769A1 (en) * | 2000-07-11 | 2002-01-17 | Rabaud | Machine for planting stakes, poles or the like |
| US6591919B1 (en) * | 1999-09-02 | 2003-07-15 | Timothy P. Herrmann | Automated post driver |
| FR2897235B1 (en) * | 2006-02-14 | 2011-03-11 | Georges Mandrafina | DEVICE FOR PLANTING THE FEET OF VINES COMPRISING A PARTICULAR PIQUET ENFONCE |
| CN205567305U (en) * | 2016-04-20 | 2016-09-14 | 元谋绿缘农业发展有限公司 | A automatic staking out device for vineyard |
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|---|---|---|---|---|
| FR2506557A1 (en) * | 1981-06-01 | 1982-12-03 | Cavaille Rene | Implement for planting in spaced rows - has offset sights to follow reference line as counter offset tool marks next reference line |
| FR2520402A1 (en) * | 1982-01-26 | 1983-07-29 | Groleau Edouard | Drive for pile driving hammer - has double effect hydraulic jack linkage allowing post driving on inclined ground |
| FR2584507B1 (en) * | 1985-07-03 | 1987-12-24 | Materiels Tech Indls | SYSTEM FOR ADJUSTING THE ORIENTATION OF A TOOL HOLDER OF A MOBILE VEHICLE RELATIVE TO THE VERTICAL |
| FR2721047B1 (en) * | 1994-06-13 | 1996-09-06 | Sebille Xavier | Device for driving piles into the ground. |
| FR2811197B1 (en) * | 2000-07-04 | 2002-10-04 | Philippe Lacoste | AUTOMATIC TRACTED MACHINE FOR BURIING PLANTS AND / OR STAKES INTO THE GROUND |
-
2016
- 2016-05-26 FR FR1654727A patent/FR3051624B1/en active Active
-
2017
- 2017-05-25 ES ES201730729A patent/ES2645211B2/en active Active
- 2017-05-25 CN CN201710380990.XA patent/CN107432233A/en active Pending
-
2018
- 2018-09-14 FR FR1858280A patent/FR3070820B1/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6591919B1 (en) * | 1999-09-02 | 2003-07-15 | Timothy P. Herrmann | Automated post driver |
| WO2002004769A1 (en) * | 2000-07-11 | 2002-01-17 | Rabaud | Machine for planting stakes, poles or the like |
| FR2897235B1 (en) * | 2006-02-14 | 2011-03-11 | Georges Mandrafina | DEVICE FOR PLANTING THE FEET OF VINES COMPRISING A PARTICULAR PIQUET ENFONCE |
| CN205567305U (en) * | 2016-04-20 | 2016-09-14 | 元谋绿缘农业发展有限公司 | A automatic staking out device for vineyard |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108930270A (en) * | 2018-07-06 | 2018-12-04 | 苏州千层茧农业科技有限公司 | A kind of self-propelled ornamental trees and shrubs piling machine |
| WO2021205069A1 (en) * | 2020-04-06 | 2021-10-14 | Ponsse Oyj | Planting apparatus |
Also Published As
| Publication number | Publication date |
|---|---|
| FR3070820A1 (en) | 2019-03-15 |
| ES2645211R1 (en) | 2018-01-23 |
| FR3051624B1 (en) | 2018-11-02 |
| ES2645211B2 (en) | 2018-05-24 |
| FR3051624A1 (en) | 2017-12-01 |
| ES2645211A2 (en) | 2017-12-04 |
| FR3070820B1 (en) | 2020-03-20 |
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Application publication date: 20171205 |