CN111867350B - Agricultural trench depth system and apparatus - Google Patents

Agricultural trench depth system and apparatus Download PDF

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Publication number
CN111867350B
CN111867350B CN201980016441.1A CN201980016441A CN111867350B CN 111867350 B CN111867350 B CN 111867350B CN 201980016441 A CN201980016441 A CN 201980016441A CN 111867350 B CN111867350 B CN 111867350B
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Prior art keywords
depth adjustment
depth
rack
row
row unit
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CN111867350A (en
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D·斯隆克
J·豪德尔
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Precision Planting LLC
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Precision Planting LLC
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Priority claimed from PCT/US2019/020829 external-priority patent/WO2019169412A1/en
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
    • Y02P60/20—Reduction of greenhouse gas [GHG] emissions in agriculture, e.g. CO2

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  • Soil Working Implements (AREA)

Abstract

Systems, methods, and apparatus for adjusting the depth of a trench reclaimed by a row unit of an agricultural planter. The row unit includes a furrow depth adjustment assembly configured to modify a furrow depth. In one embodiment, the depth adjustment assembly may include a gearbox having one or more gears engaged with a rack. The gear box may be pivotally connected to a depth adjustment body that supports a rocker arm that adjusts the upward travel of the gauge wheel arm. In another embodiment, the depth adjustment assembly may include a depth adjustment arm having a screw receiver cooperating with a driven screw that adjusts the position of the depth adjustment arm acting on the gauge wheel to adjust the groove depth.

Description

Agricultural trench depth system and apparatus
Background
In recent years, farmers have recognized the need to select and maintain appropriate planting depths to ensure proper seed environment (e.g., temperature and humidity) and seedling emergence. In order to improve the agronomic practice methods, farmers also desire to understand the relationship between actual planting depth and indicators such as emergence and yield. Conventional agricultural planters contain only equipment for adjusting the maximum planting depth, which may not be maintained during operation due to soil conditions or insufficient downward pressure on the planter row unit (row unit). Even in the operation of modern planters with sensors for determining whether the entire trench depth has been lost, the actual depth planted cannot be determined. Accordingly, there is a need for systems, methods, and apparatus for controlling and/or measuring the depth of a furrow that is reclaimed by an agricultural planter.
Drawings
Fig. 1 is a right side view of an embodiment of an agricultural row unit.
Fig. 2 is a right side view of another embodiment of an agricultural row unit with certain components removed for clarity.
Fig. 3 is a perspective view of the agricultural row unit of fig. 2.
Fig. 4 is a perspective view of the agricultural row unit of fig. 2 with the right gauge wheel removed for clarity.
Fig. 5 is an enlarged partial right side view of the agricultural row unit of fig. 2.
Fig. 6 is a rear view of the agricultural row unit of fig. 2.
FIG. 7 is a side view of an embodiment of a depth adjustment assembly and a secondary depth adjustment assembly.
FIG. 8 is a side view of another embodiment of the depth adjustment assembly and the secondary depth adjustment assembly.
FIG. 9 is a side view of another embodiment of the depth adjustment assembly and the secondary depth adjustment assembly.
FIG. 10 is a side view of another embodiment of the depth adjustment assembly and the secondary depth adjustment assembly.
FIG. 10A is a side view of another embodiment of a depth adjustment assembly and a secondary depth adjustment assembly.
FIG. 11 schematically illustrates an embodiment of a system for controlling furrow depth.
FIG. 12 is a side view of another embodiment of the depth adjustment assembly and the secondary depth adjustment assembly.
FIG. 13 is a perspective view of another embodiment of the depth adjustment assembly and the secondary depth adjustment assembly disposed on the row unit frame.
FIG. 13A is a side view of the depth adjustment assembly and the secondary depth adjustment assembly of FIG. 13 as viewed along line X-X of FIG. 13.
Fig. 13B is an enlarged perspective view of the depth adjustment assembly and secondary adjustment assembly of fig. 13 with the row unit frame removed.
FIG. 14 is a perspective view of another embodiment of the depth adjustment assembly and the secondary depth adjustment assembly disposed on the row unit frame.
FIG. 14A is a side view of the depth adjustment assembly and the secondary depth adjustment assembly of FIG. 14 as viewed along line Y-Y of FIG. 14.
FIG. 14B is a side view of the depth adjustment assembly and secondary depth adjustment assembly of FIG. 14 showing an alternative embodiment in which the roller is replaced with a cog.
FIG. 15 is a perspective view of another embodiment of a depth adjustment assembly having a rotary actuator disposed on the row unit frame.
Fig. I5A is a side view of the depth adjustment assembly of fig. 15.
FIG. 15B is a side view of the depth adjustment assembly of FIG. 15A including a manual adjustment.
FIG. 16 is a partial perspective view of another embodiment of a depth adjustment assembly having a rotary actuator disposed on a rack on the row unit frame.
FIG. 16A is a side and partial cross-sectional view of the depth adjustment assembly of FIG. 16.
FIG. 16B is a side and partial cross-sectional view of another embodiment of the depth adjustment assembly of FIG. 16.
FIG. 16C is a side and partial cross-sectional view of another embodiment of the depth adjustment assembly of FIG. 16.
Fig. 16D is a rear view of the embodiment of fig. 16C.
FIG. 16E is a rear view of another embodiment of a depth adjustment assembly.
FIG. 17 is a side view illustrating an example row unit adapted with another embodiment of a depth adjustment assembly.
Fig. 17A is an enlarged view of the embodiment of fig. 17.
FIG. 18 is a side and partial cross-sectional view of another embodiment of a depth adjustment assembly with a position locating system.
Fig. 18A is a rear view of the embodiment of fig. 18.
FIG. 19 is a side and partial cross-sectional view of another embodiment of a depth adjustment assembly with a position locating system.
Fig. 19A is a rear view of the embodiment of fig. 19.
FIG. 20A is a perspective view of another embodiment of a depth adjustment assembly having a position locating system shown mounted to a row unit frame member.
FIG. 20B is an enlarged perspective view of the depth adjustment assembly embodiment of FIG. 20A with the row unit frame members removed.
Fig. 20C is a perspective view of the embodiment of fig. 20B with the rack removed.
Fig. 20D is a right side view of the embodiment of fig. 20B.
Fig. 20E is a right side view of the embodiment of fig. 20C.
Fig. 20F is a rear view of the embodiment of fig. 20C.
Fig. 20G is a perspective view of the bottom of the rack of the embodiment of fig. 20A.
Fig. 20H is another perspective view of the rack and roller of the embodiment of fig. 20A.
Fig. 20I is another perspective view of the rack of fig. 20A.
FIG. 20J is a perspective view of the gearbox of the embodiment of FIG. 20A.
Fig. 20K is a perspective view of the worm and worm wheel inside the gear box of fig. 20J.
FIG. 21 is a side and partial cross-sectional view of another embodiment of a depth adjustment assembly with a position locating system.
FIG. 22 is a rear perspective view of another embodiment of a depth adjustment assembly similar to the embodiment of FIG. 20A and incorporating a position locating system.
Fig. 22A is a front perspective view of the embodiment of the depth adjustment assembly of fig. 22.
Fig. 23A and 23B are enlarged perspective views of the embodiment of fig. 22 showing a UHMW guide.
Fig. 24 is an enlarged perspective view of the embodiment of fig. 22 showing the cover removed from the motor and circuit board to show the magnet and hall effect sensor and current sensor on the circuit board.
Fig. 25 is another enlarged perspective view of the embodiment of fig. 22 showing the cover removed from the motor and circuit board to show the magnet, the hall effect sensor, another current sensor on the circuit board, and the accelerometer.
Fig. 26 is an enlarged cross-sectional view of the embodiment of fig. 22, as viewed along line 26-26 of fig. 22, showing the magnet in relation to the hall effect sensor on the circuit board within the cover.
Fig. 27 is a rear perspective view of another embodiment of a depth adjustment assembly similar to the embodiment of fig. 22 and including a homing system.
Detailed Description
Referring now to the drawings, in which like reference numerals designate identical or corresponding parts throughout the several views. Fig. 1 shows an agricultural implement (e.g., a planter) including a universal frame (toolbar)8, a plurality of row units 10 mounted to the universal frame 8 in laterally spaced relation. Each row unit 10 is preferably mounted to the universal chassis by parallel arm arrangements 16 such that the row units are allowed to translate vertically relative to the universal chassis. A downforce actuator 18 may be mounted to the universal frame 8 and the parallel arm arrangement 16 and configured to apply a supplemental downforce to the row unit 10.
Row unit 10 includes a frame 14 that supports reclamation disc assembly 60. Reclamation assembly 60 may include two angled reclamation disks 62 rollably mounted to downwardly extending stem 15 of frame 14. As the row unit 10 advances through the field in the forward direction of travel, the reclamation disc 62 reclaims the v-groove 3 (i.e., furrow, seed furrow) in the soil surface 7. The row unit 10 includes a gauge wheel assembly 50, which may include two gauge wheels 52 pivotally mounted to either side of the frame 14 by two gauge wheel arms 54. The gauge wheels 52 roll along the surface of the soil. A depth adjustment assembly 90 pivotally mounted to the frame 14 at pivot 92 contacts the cam arm 54 to limit the upward travel of the cam arm 54, thereby limiting the depth of the channel reclaimed by the reclamation disc assembly 60. Closure assembly 40 is preferably pivotally coupled to frame 14 and is configured to move soil back into trench 3.
With continued reference to fig. 1, the seed 5 is transferred from the hopper 12 to a seed meter 30 configured to singulate the supplied seed. The gauge 30 may be a vacuum type gauge, such as that disclosed in applicant's international patent publication No. WO/2012/129442, the disclosure of which is incorporated herein by reference in its entirety. In operation, the seed meter 30 preferably arranges the supplied seed into a seed tube 32, which may be removably mounted to the frame 14. In operation, seeds 5 arranged by the meter 30 fall through the seed tube 32 into the trench 3.
Turning to fig. 2-6, the depth adjustment assembly 90 is shown in greater detail. The depth adjustment assembly 90 includes a rocker arm 95 pivotally mounted to a depth adjustment body 94. The depth adjustment body 94 is pivotally mounted to the row unit frame 14 about the pivot 92. The handle 98 is slidably received within the depth adjustment body 94 such that a user may selectively engage and disengage the handle (e.g., such that the corresponding left and right hook portions 99-1 and 99-2, which may be formed as part of the handle 98) with one of a plurality of depth adjustment slots 97 (fig. 6) formed within the row unit frame 14. Referring to fig. 7, the handle 98 is slidably received partially within a cavity 710 of the depth adjustment body 94, and an optional spring 730 engages an annular lip 740 disposed on a bottom end of the handle 98. The spring 730 exerts a resilient force to retain the hook 99 (fig. 6) in the selected slot 97, but allows the user to withdraw the handle 98 to temporarily disengage the hook 99 from the slot 97. In operation, the upward travel of the gauge wheel 52 is limited by the contact of the gauge wheel arm 54 with the rocker arm 95. When one of the wheels (e.g., the left wheel 52-1) encounters an obstacle, the rocker arm 95 allows the left wheel arm 54-1 to travel upward while lowering the right wheel 52-2 by the same absolute displacement so that the row unit 10 rises by half the height of the obstacle.
It should be appreciated that the handle 98 and depth adjustment body 94 include a primary depth adjuster subassembly configured to allow a user to select one of a plurality of preselected furrow depths. The preselected furrow depths each correspond to one of the depth adjustment slots 97. In some embodiments, as described in detail later, the position of the handle 98 may be adjusted using an actuator rather than using the handle 98 to manually select a depth adjustment slot; for example, a linear actuator (not shown) mounted to the row unit frame 14 may be provided to adjust the position of the handle 98. Alternatively, the rotary actuator may turn a gear, which adjusts the position of the handle relative to the depth adjustment slot 97.
In each of the embodiments shown in fig. 7-10A and 12, the secondary depth adjustment assembly is configured to modify one or more of the preselected furrow depths. The secondary depth adjustment assembly can modify the preselected furrow depth by adjusting (e.g., by a smaller adjustment step) more precisely than the depth modification enabled by the primary depth adjustment assembly (e.g., by selecting which depth adjustment slot 97 is engaged by the handle 98). For example, referring to fig. 7, the depth adjustment assembly 90A includes an actuator 720 that adjusts the effective length of the depth adjustment assembly 90A. In the illustrated embodiment, the extension of the actuator 720 determines the position of the rocker arm 95 relative to the depth adjustment body 94. As shown, the rocker arm 95 is pivotally mounted to a movable member 770 having a cavity 775 for receiving a projection 760 mounted to (or formed as one piece with) the depth adjustment body 94. The projection 760 and cavity 775 maintain alignment of the movable member relative to the depth adjustment body 94, but allow the actuator 720 to modify the position along an axis parallel to the pivot axis of the swing arm 95. It should be appreciated that for any given depth setting of the handle 98, modification of the extension of the actuator 720 (and thus the effective length of the depth adjustment assembly) will modify the depth of the furrow. Any of the secondary depth adjustment assemblies described herein may be used as the only depth adjuster such that there is no need to set the primary depth adjuster, whereby the secondary depth adjuster can adjust the depth adjustment body 94 throughout a range of depth settings.
Fig. 8 illustrates another embodiment of a depth adjustment assembly 90B having a secondary depth adjustment assembly, wherein the actuator 800 modifies the angular position at which one or more gauge wheel arms 54 are stopped by the depth adjustment assembly 90B for any given setting of the depth adjustment handle 98. The actuator 800 adjusts the position of a surface 810 pivotally mounted to the gauge wheel arm 54; the surface 810 is positioned to contact the rocker arm 95 at the point of maximum upward travel of the gauge wheel arm 54. The extension of the actuator 800, and thus the modification of the position of the surface 810, thus modifies the point of maximum upward travel of the wheels, and thus modifies the furrow depth determined by the wheels. In certain embodiments, a functionally similar actuator 800 and pivotally mounted surface 810 may be mounted to both gauge wheel arms 54.
Fig. 9 illustrates another embodiment of a depth adjustment assembly 90C having a secondary depth adjustment assembly, wherein a modified rocker arm 900 is configured to modify its shape to modify the furrow depth for any given depth setting of the handle 98. Rocker arm 900 includes portions 910-1, 910-2 that contact gauge wheel arms 54-1 and 54-2, respectively, to limit the upward travel of the gauge wheel arms. The actuator 950 changes the angle between the portions 910-1 and 910-2 and thus changes the shape of the rocker arm 900. Retraction of actuator 950 raises member 910 and thus modifies the maximum height of wheel arm 54 and the furrow depth.
Fig. 10 shows another embodiment of a depth adjustment assembly 90D having a secondary depth adjustment assembly, wherein a rocker arm 95 is pivotally mounted to the depth adjustment body 94, preferably about a laterally extending axis defined by a pivot 1010. The actuator 1000 preferably determines the angular position of the rocker arm 95 about pivot 1010 relative to the depth adjustment body 94 to modify the maximum upward travel and furrow depth of the gauge wheel arm 54.
Fig. 10A shows an alternative to the embodiment shown in fig. 10. In this embodiment, pivot 1010 from fig. 10 is removed and rocker arm 95 is attached to connector 1011, which pivots about pivot 92.
FIG. 12 illustrates yet another embodiment of a depth adjustment assembly 90E having a secondary depth adjustment assembly, wherein an actuator 1230 advances a depth adjustment member 1210 (e.g., a wedge) that is slidingly secured to the gauge wheel arm and is disposed to slide along the length of the gauge wheel arm 54. An actuator 1230 (e.g., a linear actuator, such as an electric, hydraulic, or pneumatic actuator) selectively modifies (e.g., by extending or retracting) the position of the depth-adjustment member 1210 (e.g., the position of the depth-adjustment member along the length of the gauge wheel arm 54). The position of the depth adjustment member 1210 along the length of the wheel arm modifies the angular position of the wheel arm relative to the uppermost portion of the rocker arm 95 and, thus, the depth of the furrow reclaimed by the row unit in operation. The actuator 1230 may be mounted to the gauge wheel arm 54, for example, by being fixed to a plate 1225 mounted to the gauge wheel arm 54.
In some embodiments, the actuator 1230 can adjust the position of the depth adjustment member 1210 by means of a biasing mechanism. The biasing mechanism may increase or decrease the biasing force on the wedge 1210 as the actuator 1230 extends. For example, as shown in fig. 12, the actuator 1230 may modify the position of a biasing member (such as plate 1220) relative to the depth adjustment member 1210. Alternatively, the first spring 1215a may be fixed at a first end thereof to the depth adjustment member 1210 and may be fixed at a second end thereof to the plate 1220. Optionally, second spring 1215b may be fixed at its first end to plate 1220 and may be fixed at its second end to plate 1225. In the unbiased position shown in fig. 12, neither spring 1215a, 1215b exerts a significant force on the biasing member 1210. As the actuator 1230 advances from the undeflected position, the spring exerts a progressively increasing advancing force on the biasing member 1220 (e.g., generally toward the rocker arm 95). As the actuator 1230 retracts from the undeflected position, the spring exerts a progressively increasing retraction force on the biasing member 1220 (e.g., generally away from the rocker arm 95).
In operation, when the component of force transmitted from the actuator 1230 (e.g., via spring 1215a of the biasing mechanism shown in fig. 12) to the rocker arm 95 exceeds the opposing force of the rocker arm 95 on the gauge wheel arm (or on the depth adjustment member if the rocker arm has contacted the depth adjustment member), the depth adjustment member 1210 advances, forcing the rocker arm 95 further away from the gauge wheel arm and reducing the furrow depth. It should be appreciated that the biasing force may be gradually increased by extension of the actuator 1230 but not enough to advance the depth adjustment member 1210 until sufficient extension of the actuator or until a decrease in the depression force.
Fig. 13 and 14 are perspective views of the row unit frame 14 showing alternative embodiments of depth adjustment assemblies 90F and 90G, respectively, disposed on the row unit 14.
Referring to FIG. 13A, a side view of depth adjustment assembly 90F is shown as viewed along line X-X of FIG. 13. Fig. 13B is an enlarged perspective view of the depth adjustment assembly 90F with the row unit frame 14 removed and the handle 98 shown in phantom for clarity.
The depth adjustment assembly 90F includes a housing 1494 that is received between the side walls of the row unit frame 14. By engaging the handle 98 in one of the plurality of depth adjustment slots 97, the housing 1494 can be adjustably positioned along the depth adjustment slot 97 of the row unit frame 14 to achieve an initial preselected furrow depth. The handle 98 includes hook portions 99-1, 99-2 that extend into the slots 97 to position the housing 1494 at the desired slot 97.
The secondary depth adjustment assembly of the depth adjustment assembly 90F includes an actuator 1450 (such as an electric motor), a drive screw 1410, a drive member 1420, a cam arm 1460, and a cog 1430, all of which cooperate to adjustably position the rocker arm 95 relative to the row unit frame 14 as described below.
As shown in fig. 13A, the drive screw 1410 extends into a housing 1494 and is driven by an actuator 1450. Drive screw 1410 is threadably received by drive member 1420. The cog wheel 1430 is rotatably provided on the drive member 1420. Cam arm 1460 has a proximal end 1461 and a distal end 1462. A distal end 1462 of the cam arm 1460 is pivotally mounted about a pivot 92. The proximal end 1461 of the cam arm includes teeth 1463 that engage the cog wheel 1430. The rocker arm 95 is pivotally attached to a distal end 1462 of the cam arm 1460. Stops 1470-1 and 1470-2 may be provided in the housing 1494 on both sides of the cam arm 1460 to limit rotational movement of the cam arm 1460 in both clockwise and counterclockwise rotation.
In operation, the actuator 1450 rotates the drive screw 1410, thereby screwing the drive member 1420 threadably attached thereto up or down the drive screw 1410 to raise and lower the drive member within the housing 1494. If the actuator 1450 rotates the drive screw 1410 in a direction that causes the drive member 1420 to screw up along the drive screw 1410, the cogwheel 1430 engages the teeth 1463 of the cam arm 1460, causing the cam arm 1460 to pivot counterclockwise about the pivot 92 (as shown in fig. 13A), which raises the rocker arm 95 relative to the row unit frame 14, allowing the gauge wheel arm 54 to be raised relative to the frame member 14, increasing the furrow depth. Conversely, if the actuator 1450 rotates the drive screw 1410 in the opposite direction to thread the drive member 1420 down the drive screw 1410, the cogwheel 1430 engages the teeth 1463 of the cam arm 1460, causing the cam arm 1460 to pivot clockwise (as viewed in fig. 13A) about the pivot 92, which forces the rocker arm 95 to lower relative to the frame member 14, thereby pushing the wheel arm 54 downward relative to the frame member 14 and, in turn, reducing the furrow depth.
Referring to FIG. 14A, a side view of depth adjustment assembly 90G is shown as viewed along line Y-Y of FIG. 14. Similar to the embodiment of 90F, the depth adjustment assembly 90G includes a housing 1594 received between the sidewalls of the row unit frame 14. The housing 1594 can be adjustably positioned along the depth adjustment slot 97 of the row unit frame 14 by engaging the handle 98 in one of the plurality of depth adjustment slots 97 to achieve an initial preselected furrow depth. The handle 98 includes hooks or spikes 99-1, 99-2 that extend into the slot 97 to secure the housing 1594 at the desired slot 97.
The secondary depth adjustment assembly of the depth adjustment assembly 90G includes an actuator 1550 (such as an electric motor), a drive screw 1510, a drive member 1520, a cam arm 1560, and a roller 1565 (fig. 14A) or cog wheel 1530 (fig. 14B) that cooperate to adjustably position the rocker arm 95 relative to the row unit frame 14, as described below.
As shown in fig. 14A, the drive screw 1510 extends into a housing 1594 and is driven by an actuator 1550. Drive screw 1510 is threadably received by drive member 1520. The drive member 1520 has angled sides 1521 that engage a roller 1565 rotatably attached to the proximal end 1561 of the cam arm 1560. The distal end 1562 of the cam arm 1560 is pivotally mounted about the pivot 92. The rocker arm 95 is pivotally attached to a distal end 1562 of the cam arm 1560. In an alternative embodiment shown in fig. 14B, the roller 1565 is replaced with a rotatable cog wheel 1530 and the inclined side 1521 contains teeth 1563 that engage the cog wheel 1530 as the cog wheel 1530 rotates. Stops 1570-1 and 1570-2 may be provided in the housing 1594 on both sides of the cam arm 1560 to limit rotational movement of the cam arm 1560 in both clockwise and counterclockwise rotation.
In operation, the actuator 1550 rotates the drive screw 1510, thereby screwing the drive member 1520 threadably attached thereto up or down the drive screw 1510 to raise and lower the drive member within the housing 1594. If actuator 1550 rotates drive screw 1510 in a direction that screws drive member 1520 up drive screw 1510, roller 1565 will roll down along angled side 1521, causing cam arm 1560 to pivot counterclockwise about pivot 92 (as shown in FIG. 14A), which raises rocker arm 95 relative to row unit frame 14, allowing gauge wheel arm 54 to be raised relative to frame member 14, increasing the furrow depth. Conversely, if actuator 1550 rotates drive screw 1510 in the opposite direction to thread drive member 1520 down drive screw 1510, roller 1565 will roll along curved surface 1521, causing cam arm 1560 to pivot clockwise about pivot 92 (as shown in fig. 14A), which forces rocker arm 95 to lower relative to frame member 14, thereby pushing gauge wheel arm 54 downward relative to frame member 14 and in turn reducing the furrow depth. It should be appreciated that the same effect is achieved with respect to the embodiment shown in fig. 14B, wherein the roller 1565 and the inclined surface 1521 are replaced with a cogwheel 1530 that engages the teeth 1563 on the inclined surface 1521.
In an alternative embodiment to any of embodiments 90A, 90B, 90C, 90D, 90E, 90F, and 90G, the depth adjustment body 94, 1494, or 1594 need not be adjustable. The depth adjustment body 94, 1494, or 1594 can remain fixed relative to the frame 14, and the secondary adjustment assembly of any of the embodiments 90A, 90B, 90C, 90D, 90E, 90F, and 90G will provide the entire depth adjustment range. Instead of pivoting at pivot 92, depth adjustment body 94, 1494, or 1594 is fixed to frame 14.
Any of the actuators (720, 800, 950, 1000, 1230, 1450, 1550) can be an electric, hydraulic, or pneumatic actuator.
Fig. 15 and 15A illustrate another embodiment of a depth adjustment assembly 90H in which a rotary actuator 1650 (such as an electric motor) turns gears 1640-1 and 1640-2 that adjust the position of depth adjustment body 1694 relative to depth adjustment slot 97. Gears 1640-1 and 1640-2 have teeth 1641-1 and 1641-2, respectively, engaged in slot 97. The rotary actuator 1650 is connected to a depth adjustment body 1694 that is pivotally mounted to the frame 14 at pivot 92. The rocker arm 95 is pivotally mounted to the depth adjustment body 1694. The rotary actuator may be geared down (e.g., 300: 1) to allow for smaller rotations of gears 1640-1 and 1640-2. In this embodiment, the rotary actuator 1650 replaces the handle 98. This embodiment may be used as the sole depth adjustment assembly, or it may be used as the primary depth adjustment assembly and in combination with any of the other secondary depth adjustment assemblies previously described.
FIG. 15B shows an alternative embodiment of a depth adjustment assembly 90H-1 that is similar to the depth adjustment assembly 90H, but in which the depth adjustment body 1694 is replaced with a depth adjustment body 1695, a handle shaft 1698, and a spring 1630. The handle shaft 1698 is attached to the actuator 1650 and is slidably received partially within the cavity 1696 of the depth adjustment body 1695. The spring 1630 engages an annular lip 1680 disposed on the bottom end of the handle shaft 1698. Thus, the spring 1630 applies a resilient force to retain the gear 1640 in the selected slot 97, but allows the user to withdraw the actuator 1650 using the handle 1660 attached to the actuator 1650 to temporarily separate the gear 1640 from the slot 97 to a desired preset depth to minimize the amount of travel of the actuator 1650 required to reach the selected depth.
Fig. 16 and 16A show another embodiment of a depth adjustment assembly 90I in which a rack 1710 is disposed on the row unit 14 above a depth adjustment slot 97. The radius R (fig. 16A) from the pivot 92 to the rack 1710 remains constant along the rack 1710 with two rows of teeth 1716-1, 1716-2. A rotary actuator 1750 is disposed above the rack 1710 and connected to the handle shaft 1798 at the gearbox 1720. The rotary actuator 1750 includes a motor 1730 connected to a gearbox 1720. In the rear perspective view of fig. 16, the rotary actuator 1750 is removed for clarity to better illustrate the rack 1710. The gearbox 1720 has a gear 1740 with teeth 1741 for engaging with the rack 1710. Only one gear is visible in fig. 16A, but it should be understood that the respective gear 1740-1, 1740-2, with the respective teeth 1741-1, 1741-2, will rotatably engage with the respective teeth 1716-1, 1716-2 of the rack 1710. A handle 1799 may be provided on the motor 1730 to allow the rotary actuator 1750 to be disengaged from the rack 1710 for movement to different positions on the rack 1710 in order to preset a selected depth. The rotary actuator 1750 may be geared down (e.g., 300: 1) to allow for smaller rotations of the gears 1740-1 and 1740-2. In this embodiment, a rotary actuator 1750 replaces the handle 98 described in the previous embodiment. A handle shaft 1798 is attached to the actuator 1750 at the gear box 1720 and is partially slidingly received within a cavity 1796 of the depth adjustment body 1794. The spring 1791 engages an annular lip 1795 disposed on the bottom end of the handle shaft 1798. A spring 1791 applies a resilient force to keep the gear 1740 engaged with the rack 1710, but allows the user to withdraw the actuator 1750 using a handle 1799 attached to the actuator 1750 to temporarily disengage the gear 1740 from the rack 1710. A depth adjustment body 1794 is pivotally mounted to the frame 14 at pivot 92. The rocker arm 95 is pivotally mounted to the depth adjustment body 1794.
FIG. 16B shows an alternative embodiment of a depth adjustment assembly 90I-1, the depth adjustment assembly 90I-1 being similar to the depth adjustment assembly 90I, but wherein the handle 1799 is replaced with a manual adjustment 1780. The manual adjustment 1780 may be a knob, bolt head, or other suitable device to allow a user to manually move the motor 1730 with a hand or tool to adjust the depth adjustment assembly 90I-1 when the motor 1730 cannot be powered.
Fig. 16C is a side and partial cross-sectional view of another embodiment of a depth adjustment assembly 90J, the depth adjustment assembly 90J further including a rotary actuator 1750A. Fig. 16D is a rear view of the embodiment of 16C. In this embodiment, the rack 1710 includes shelves 1714-1 and 1714-2 laterally inward of the respective teeth 1716-1 and 1716-2. The rollers 1712-1 and 1712-2 are secured to axles 1715 that extend through the gearbox 1720. The rollers 1712-1 and 1712-2 ride on (ride) the respective shelves 1714-1 and 1714-2. The force applied by the spring 1791 to the gears 1740-1 and 1740-2 is reduced because the force is acted upon by the rollers 1712-1 and 1712-2 on the shelves 1714-1 and 1714-2, allowing the gears 1740-1 and 1740-2 to more easily move on the teeth 1716-1 and 1716-2. In addition, it is easier to maintain the center distance of gear mesh. Similar to fig. 16B, the handle 1799 can be replaced with a manual adjuster 1780. FIG. 16E shows an alternative embodiment of a depth adjustment assembly 90J-1, which is similar to depth adjustment assembly 90J, but has rollers 1712-1 and 1712-2 coaxial with gears 1740-1 and 1740-2. This simplifies the embodiment shown in fig. 16C and 16D to allow the depth adjustment assembly 90J-1 to have a full range of motion across the teeth 1716.
Fig. 17 is a side view of a conventional example row unit 1810 such as disclosed in U.S. patent No. 6,827,029 ("the example' 029 patent"), which is incorporated herein by reference, the example row unit 1810 being compatible with another embodiment of a depth adjustment assembly 90X, as described hereinafter. Fig. 17A is a partially enlarged view of fig. 17. The conventional example row unit includes an adjustment handle (identified by reference numeral 90 in fig. 2 of the "example '029 patent) that is removed and replaced with an actuator 1850 that is coupled to a screw 1841 (corresponding to rod 92 in fig. 2 of the example' 029 patent) that engages adjustment lever 1860. The depth adjustment assembly 90X is mounted to the row units 1810 via a bracket 1870 having bracket arms 1870-1 and 1871-2 attached to the channel member 1814. The actuator 1850 includes a motor 1830 and a gearbox 1820 that drives a shaft 1821 that is coupled to a threaded rod 1841 via a coupling 1840. The threaded rod 1841 threadably engages the adjustment rod 1860 that extends through the channel member 1814. The adjustment rod 1860 has a receiver end 1861 with a threaded nut 1862 for threadably receiving a threaded rod 1841. The adjustment lever 1860 extends through the channel member 1814 and is connected at its distal end to a rocker arm 1895. Rocker arms 1895 are pinned to the distal end of adjustment lever 1860 and act on respective gauge wheel arms 1894-1 and 1894-2. Wheel arms 1894-1 and 1894-2 are pivotally connected to frame members of row elements 1810 via pivots 1892-1 and 1892-2, respectively. The gauge wheels 52-1 and 52-2 are connected to gauge wheel arms 1894-1 and 1894-2, respectively.
For any of the depth adjustment assemblies described herein (which have a motor as part of their actuators 1450, 1550, 1650, 1750, 1850, 1950, 2050), the set depth may be determined by the actuator/ motor 1450, 1550, 1650, 1730, 1830, 1930, 1984, 2030 based on their rotation in either direction. If the actuators/ motors 1450, 1550, 1650, 1730, 1830, 1930, 1984, 2030 are stepper motors, the number of steps taken in either direction can be tracked by the depth control and soil monitoring system 300.
Fig. 18 and 18A illustrate another embodiment of a depth adjustment assembly 90K that utilizes a rack 1710 and a distance sensor 1717 to determine the position of an actuator 1750B along the rack 1710. Fig. 18A is a rear view of fig. 18. In this embodiment, the distance sensor 1717 is disposed on the bottom of the gear box 1720 and above a ledge (ridge) 1721 disposed on an inner surface 1722 of the rack 1710. In this embodiment, the ledge 1721 has a constantly changing distance relative to the constant radius of the teeth 1716. Sensing this change in distance, distance sensor 1717 communicates with depth control and soil monitoring system 300.
Fig. 19 and 19A illustrate another embodiment of a depth adjustment assembly 90L that utilizes a rack 1710 and a distance sensor 1717 to determine the position of an actuator 1750C along the rack 1710. Fig. 19A is a rear view of fig. 19. In this embodiment, the distance sensor 1717 is disposed on the handle shaft 1798. An inner wall 1718 of the ledge 1723 adjacent to the distance sensor 1717 has a width that varies continuously transverse to the direction of travel of the handle shaft 1798. Changes in distance to the interior wall 1718 are sensed by a distance sensor 1717, which is in communication with the depth control and soil monitoring system 300.
The distance sensor 1717 may be any sensor capable of measuring distance. Examples of distance sensors include, but are not limited to, hall effect sensors and inductive sensors.
Fig. 20A-20K illustrate another embodiment of a depth adjustment assembly 90M that utilizes a rack 1910 and a distance sensor 1917 to determine the position of an actuator 1950 along the rack 1910. In this embodiment, the distance sensor 1917 is disposed above the ledge 1921 of the rack 1910. In one embodiment, the distance sensor 1917 is attached to the gearbox 1920. In this embodiment, the ledge 1921 has a constantly changing distance relative to the constant radius of the teeth 1916. Sensing this change in distance, distance sensor 1917 communicates with depth control and soil monitoring system 300. Alternatively, the rack 1910 may have an inner wall similar to the inner wall 1718 on the rack 1710, with a distance sensor arranged to sense changes in distance to the inner wall (not shown).
In the depth adjustment assembly 90M, the actuator 1950 is disposed on and engages the rack 1910. The actuator 1950 includes an electric motor 1930 that is connected to and drives a gearbox 1920. The gearbox 1920 drives the gears 1940-1 and 1940-2. Gears 1940-1 and 1940-2 have teeth 1941-1 and 1941-2, respectively, for engaging the teeth 1916(1916-1 and 1916-2) on the rack 1910.
As best seen in fig. 20F, the gearbox 1920 is connected via an axle 1998 to a depth adjustment body 1994 which pivots about pivot 92 to adjust the rocker arm 95. In one embodiment, the shaft 1998 is connected to the gearbox 1920 via a connection 1922 (fig. 20E). The shaft 1998 terminates in an annular lip 1995 inside the depth adjustment body 1994 (fig. 20F). A force member 1991 (such as a spring) is provided in the depth adjustment body 1994 to push the shaft 1998 away from the depth adjustment body 1994 via the annular lip 1995. In embodiments where the force member 1991 is a spring, the annular lip 1995 can have a nub 1997 and the depth adjustment body 1994 can have a nub 1996 around which the spring 1991 is disposed to help retain the spring 1991 within the depth adjustment body 1994.
As best seen in fig. 20G, in one embodiment, the rack 1910 can have one or more protrusions 1929 that can engage with depth adjustment notches 97 on the frame 14, which can be typically found on most frames (not shown).
The gearbox 1920 includes wheels 1913-1 and 1913-2 attached to its sides (see fig. 20H, where the gearbox 1920 is removed for clarity). Wheels 1913-1 and 1913-2 engage shelves 1919-1 and 1919-2, respectively, on rack 1910. The engagement of the wheels 1913-1 and 1913-2 can best be observed in FIGS. 20H and 20I. FIG. 20I is a perspective view of the rack 1910 showing the varying radius of the ledge 1921 relative to the teeth 1916-2 and the shelves 1919-2.
Fig. 20J illustrates the gearbox 1920, and fig. 20K illustrates the internal components of the gearbox 1920 with the gearbox housing 1925 removed to illustrate the worm 1927, the worm gear 1928 (or 1928-1 and 1928-2), and the shaft 1926. A worm 1927 coupled to a rotatable shaft 1931 driven by a motor 1930 turns a worm gear 1928 and a shaft 1926. Gears 1940-1 and 1940-2 are disposed about shaft 1926. In one embodiment, the worm 1927 and worm gear 1928 are made of powdered metal. In one embodiment, for ease of assembly, the worm gear 1928 is made of two parts, a left worm gear 1928-1 and a right worm gear 1928-2, all of which may be made of powdered metal.
Fig. 21 is a side view of another embodiment of a depth adjustment assembly 90N. Assembly 90N is an alternative to assembly 90M in which the worm wheel/pinion is replaced with one or more worms. In this embodiment, gearbox 1980 is connected via shaft 1998 to a depth adjustment body 1994 which pivots about pivot 92 to adjust rocker arm 95. A worm 1981 is disposed on either or both sides of the gear box 1980 and is positioned above the rack 1910, the worm having threads 1982 that engage the teeth 1916 of the rack 1910. The worm 1981 has a shaft 1983 which is rotatably driven by an electric motor 1984. The shaft 1983 is supported within a U-shaped bracket 1985 supported by a gear box 1980. In order to be consistent with the previous embodiment, it should be understood that depth adjustment assembly 90N may include corresponding left and right worms 1981, threads 1982, shafts 1983, motors 1984, and brackets 1985, distinguished by the suffixes "-1" and "-2", as these components are disposed over the left and right gear teeth 1916-1, 1916-2, respectively, of rack 1910. However, since FIG. 21 is a side view, only the "-2" components are visible.
Fig. 22-26 illustrate another embodiment of a depth adjustment assembly 90P. As with the previously described embodiment 90M, the depth adjustment assembly 90P utilizes an actuator 2050 that includes an electric motor 2030. For this embodiment 90P, the interaction of the gearbox, rack and depth adjustment body and corresponding components is the same as previously described in connection with embodiment 90M. Thus, in the drawings showing the embodiment 90P, the same reference numerals as those used for the embodiment 90M are used for the same or corresponding parts. Accordingly, for the sake of brevity, since the gear case 1920, the rack 1910, and the depth adjustment body 1994 are the same for both embodiments 90P and 90M, the description, operation, and interaction of the various components will not be repeated here.
Unlike embodiment 90M, however, the 90P embodiment utilizes a different method to sense the position of the depth adjustment body 1994 relative to the rack 1910. Referring to fig. 24, 25, and 26, the ring magnet 2010 and hall effect sensor 2012 are used to count motor rotations to detect the position of the depth adjustment body 1994 relative to the rack 1910. The accelerometer 2014 also measures the angle (i.e., position) of the depth adjustment body 1994 relative to the rack 1910. The current sensors 2016, 2018 detect both directions of rotation of the motor 2030 or motor shaft 1931 with a worm 1927 engaged with one or more worm gears 1928, as shown in fig. 20K and as previously described in connection with embodiment 90M. The ring magnet 2010 is arranged to rotate with the motor 2030 or the motor shaft 1931. The hall effect sensor 2012, the accelerometer 2014 and the current sensors 2016, 2018 are mounted to a circuit board 2020 within a protective housing 2022 and are in data communication with a planter monitor 50, discussed later.
Optionally, manual buttons 2023 and 2024 may be mounted to circuit board 2020 for manually advancing depth adjustment assembly 90P in either direction. Each manual button 2023 and 2024 may be configured to move depth adjustment assembly 90P in a direction opposite to the other manual button 2023 or 2024. Each manual button 2023 and 2024 may be configured to move the depth adjustment assembly 90P a predetermined distance if the button is pushed. For example, pushing may advance the depth adjustment assembly 90P 1/8 inches (0.32 centimeters). Additionally, holding down either manual button 2023 or 2024 will continuously advance depth adjustment assembly 90P. A manual adjustment may be used to manually calibrate the depth adjustment assembly 90P or to move the depth adjustment assembly 90P to a position that does not interfere with the operator's work on any part of the device. In another embodiment, pushing both manual buttons 2023 and 2024 may be programmed to perform a selected function, such as moving the depth adjustment assembly 90P to a shallowest or deepest setting.
Calibration
In one method of calibrating the depth adjustment assembly 90P, the actuator 2050 is "parked" or "zeroed" relative to a starting position. The zero or starting position may be associated with the shallowest setting, with the deepest setting, with both the shallowest and deepest settings, or with a known depth between the shallowest and deepest settings (such as, for example, a two inch depth).
For example, to zero or reposition the actuator 2050 to the shallowest depth, the motor 2030 is commanded via the planter monitor 50 to actuate to engage and rotate the gears to move the depth adjustment body 1994 along the rack 2010 toward the shallowest position until the gearbox 1920 or the depth adjustment body 1994 abuts the active stop on the rack 1910. When the active stop is reached, the current detected by one of the current sensors 2016, 2018 will begin to spike, indicating that the gearbox 1920 or depth adjustment body 1994 is at the shallowest possible setting, which establishes the zero position or starting position. The detected current spike associated with the zero or starting position may be 5% to 20% of the full motor current. For example, if the motor 2030 is an 18 amp motor, when the current reaches 2 amps (i.e., 10% of the motor's full current), the motor is commanded off and this position is associated with a "zero" position or "home" position. In other words, the motor may be commanded to shut down before the current reaches full current to avoid over-operation of the motor. In other embodiments, the current spike may be no more than 95% of the full current of the motor, or no more than 90% of the full current, or no more than 80% of the full current, or no more than 70% of the full current, or no more than 60% of the full current, or no more than 50% of the full current, or no more than 40% of the full current, or no more than 30% of the full current, or no more than 25% of the full current.
Once the starting or zero position is established, a block of known thickness (e.g., two inches) is placed under each of the wheels 52-1, 52-2 to simulate the known groove depth setting (i.e., the allowed travel distance of the wheels relative to the reclamation disc). The motor 2030 is then commanded to actuate to engage and rotate the gear to move the depth adjustment body 1994 toward the deepest groove depth setting until another spike in current is detected by one of the current sensors 2016, 2018, indicating that the gauge wheel is firmly pressed against the block and establishing that the predetermined groove depth setting (e.g., a depth corresponding to 2 inches of block thickness) has been reached. When the depth adjuster moves from the shallowest position until a predetermined block depth setting is reached, the number of revolutions of the motor 2030 or motor shaft 1931 is counted via a hall effect sensor that detects the rotation of the magnet 2010 (which rotates with the motor 2030 or motor shaft 1931). The count of rotations (whether of motor 2030 or motor shaft 1931) is referred to hereinafter as the "rotation count". The number of revolution counts will thus correspond to a predetermined depth setting (which in this example is a depth of 2 inches based on the known thickness of the block placed under the gauge wheel). Thus, after calibration to a known block thickness, the relationship between the rotation count and the depth change (linear or non-linear, depending on the shape of the row unit 10) can be applied to determine the depth over the entire range of motion of the actuator 2050 or the depth adjustment body 1994 relative to the rack 1910 based on the rotation count.
It should also be understood that the actuator may be zeroed or repositioned to the deepest depth instead of the shallowest depth. In such a method, the motor 2030 is commanded to actuate via the planter monitor 50 to engage and rotate the gears to move the depth adjustment body 1994 along the rack 2010 toward the deepest position until the gear box 1920 or the depth adjustment body 1994 abuts the positive stop on the rack 1910. When the active stop is reached, the current detected by one of the current sensors 2016, 2018 will begin to spike, indicating that the gearbox 1920 or depth adjustment body 1994 is at the deepest possible setting, which establishes the zero position or starting position. Once the zero or start position is determined, a block of known thickness (e.g., two inches) is placed under each of the wheels 52-1, 52-2 to simulate the known groove depth setting (i.e., the allowed travel distance of the wheels relative to the reclamation disc). The benefit to the deepest possible setting is that the weight of the planter is carried by the reclamation trays 62 on each row unit 10 so that the planter need not be raised. This enables a block to be placed under each gauge wheel 52. The motor 2030 is then commanded to actuate to engage and rotate the gear to move the depth adjustment body 1994 toward the shallowest groove depth setting until another spike in current is detected by one of the current sensors 2016, 2018, indicating that the gauge wheel is firmly pressed against the block, indicating that the predetermined groove depth setting (e.g., a depth corresponding to two inches of block thickness) has been reached. When the depth adjustment body 1994 moves from the deepest position until a predetermined block depth setting is reached, the number of rotations of the motor 2030 or motor shaft 1931 is counted via a hall effect sensor that detects the rotation of the magnet 2010 (which rotates with the motor 2030 or motor shaft 1931). The number of revolution counts will thus correspond to a predetermined depth setting (which in this example is a depth of two inches based on the known thickness of the block placed beneath the gauge wheel). Thus, after calibration to a known block thickness, the relationship between motor rotation and depth change (linear or non-linear, depending on the shape of the row unit 10) can be applied to determine depth over the entire range of motion of the actuator 2050 or the depth adjustment body 1994 relative to the rack 1910 based on the rotation count. After calibration, the depth may again be set to maximum so that the block can be removed without having to raise the planter.
It should also be understood that the zero or starting position need not be at the shallowest or deepest position. Alternatively, the zero position or starting position may be associated with a known depth (e.g., a two inch depth) between the shallowest and deepest settings. For example, if it is desired to correlate the zero or start position with a two inch groove depth (i.e., the allowed travel distance of the wheels relative to the reclamation plate), the actuator 2050 or depth adjustment body 1994 may be initially placed at the shallowest or deepest setting, and then a two inch thick block may be placed under each of the wheels 52-1 and 52-2. The motor 2030 may then be commanded to advance the depth adjustment body 1994 toward the shallowest or deepest position. As the depth adjustment body 1994 moves toward the shallowest or deepest position, the motor rotations are counted until a current spike is observed as the gauge wheels 52-1, 52-2 begin to contact the block. The location of the depth adjustment body 1994 where the current spike is detected (i.e., in this example, at a depth of two inches) is established as the zero or starting location. As the actuator 2050 or depth adjustment body 1994 moves from the established zero position or starting position toward a deeper or shallower setting, the number of rotations (in the direction of increasing or decreasing depth) of the motor 2030 or motor shaft 1931 is counted from the established zero position or starting position. As previously described, a linear relationship between the rotation count and the change in depth can be applied to determine depth over the entire range of motion of the actuator 2050 or the depth adjustment body 1994 based on the rotation count.
The calibration process described above may be repeated for each row unit of the planter, may be performed sequentially for each row unit, or may calibrate all row units simultaneously. It will be appreciated that only the zero or start position need be set, as the thickness of the block used under the gauge wheel (which sets the groove depth) is known. It should also be understood that it is not necessary to zero all rows using the above method. A subset of rows (e.g., any number of 50%, 33%, 25%, 20%, or less than 100%) may be zeroed or zeroed according to any of the methods described above. The subset of rows that are zeroed out are then averaged to provide an average zero position or starting position, which can then be applied equally to all rows or to rows that have not been zeroed out.
During the calibration process in any of the above examples for detecting current spikes as the gauge wheels contact the block, downforce sensors may be utilized to ensure consistent loads on the gauge wheels 52-1 and 52-2 across the various row units 10. For example, such as available from Precision placement LLC of Townline Road 23207 (zip code 61568), Tremont, Ill
Figure BDA0002659813130000211
The downforce system of the system (described in international publication No. WO 2014/018716) to ensure consistent loading on the gauge wheels 52-1 and 52-2 at each row unit 10 in order to ensure uniform results throughout the agricultural implement.
It should also be appreciated that the depth adjustment assembly 90P may be manually calibrated by moving the depth adjustment assembly 90P to a zero or starting position by activating the manual button 2023 or 2024 to move the depth adjustment assembly 90P, as previously described.
When operating in a field, particularly a no-till field, the rack 1910 can become filled with debris, which can limit travel of the actuator 2050 on the rack 1910, resulting in an earlier current spike due to the depth-adjusting body 1994 or gearbox 1920 abutting debris filling the rack 1910 instead of the depth-adjusting body or gearbox 1920 abutting an active stop on the rack 1910. This early or premature current spike due to abutment with debris will cause an erroneous or incorrect starting or zero position. Accordingly, it may be desirable to park or zero the actuator 2050 or depth adjustment body 1994 at the midpoint of the rack 1910 or at some other point between the ends of the rack 1910 where debris is unlikely to accumulate in order to avoid a wrong or incorrect starting or zero position.
Fig. 27 is a rear perspective view of another embodiment of a depth adjustment assembly 90Q. In this embodiment, the depth adjustment assembly 90Q is substantially the same as the depth adjustment assembly 90P previously described, but includes a parking system 1970 for parking the actuator 2050 or the depth adjustment body 1994 relative to a position of the rack 1910 between the ends of the rack 1910. Homing system 1970 comprises sensor 1971 and target 1972. Target 1972 may be a magnet and sensor 1971 may be a hall effect sensor. Alternatively, sensor 1971 may be an inductive sensor and target 1972 may be a metal block capable of being detected by the inductive sensor. The sensor 1971 may be disposed on the gearbox housing 1925 and the target 1972 may be disposed on the rack 1910, such as on one edge 1912-1, 1912-2 of the shelves 1919-1, 1919-2 at a midpoint of travel along the rack 1910 or at another point not at either end of the rack 1910. Sensor 1971 may be connected to a circuit board 2020, which may be in data communication with monitor 50. When sensor 1971 is positioned over target 1972, a home or zero position is established. Thus, if the target 1972 is at the midpoint of rack 1910, the starting or zero position would be the midpoint of rack 1910. As previously described, a linear relationship between the rotation count and the change in depth can be applied to determine depth over the entire range of motion of the actuator 2050 or the depth adjustment body 1994 based on the rotation count in either direction from a zero position or starting position.
It should be understood that homing system 1970 may be used in conjunction with or as an alternative to the above-described homing or homing method.
As a verification or check of depth based on the number of rotation counts as described above, the rotation counts may be correlated to the angle detected by the accelerometer 2014 of the actuator 2050 or the depth adjustment body 1994. Correlating the rotation count with the actual measured angle detected by the accelerometer 2014 will ensure proper depth calibration to account for variations in geometry of the components from the manufacturer as well as to account for components of wear on the row unit. Since there are a predetermined number of pulses from the magnet and hall effect sensor correlated to a predetermined depth change, standard calibration equations can be used to correlate the depth settings (based on the revolution count). For example, testing has shown that 250 revolution counts (250 pulses from a magnet rotating past a hall effect sensor) correlate to a change in furrow depth of about 0.11 inches (0.28 centimeters), and that this change in furrow depth is substantially linear over the entire depth range relative to the revolution counts. Thus, after calibration to a known block thickness or starting position using the homing system 1970, a linear relationship between the rotation count and the depth change can be applied to determine the depth over the entire range of motion of the actuator 2050 or the depth adjustment body 1994. Similarly, if the change in planting depth is substantially linear with respect to the rotation count, standard calibration equations may also be used to correlate the angle detected by the accelerometer 2014 of the actuator 2050 or the depth adjustment body 1994.
In addition, it is known that different soils, farming practices, and field conditions may affect the actual trench depth as compared to the trench depth setting. Thus, for example, if the commanded depth is 2 inches (5 centimeters), but a measurement of the actual depth in the field shows that the seed grooves are only 1.5 inches (3.8 centimeters), a calibration offset can be applied to "tune" the position of the actuator 2050 or the depth adjustment body 1994 with the actual groove depth to account for field conditions.
However, it should be understood that if the relationship between the rotation count and the change in depth is not linear over the entire range of motion of the actuator 2050 or the depth adjustment body 1994, a non-linear relationship may be required to correlate depth to the rotation count and the measured angle detected by the accelerometer 2014. One of ordinary skill in the art will appreciate such non-linear correlations.
Diagnosis
The angle detected by the accelerometer 2014 may be used as a diagnostic tool for the hall effect sensors on the row units by comparing the angle detected by the depth adjustment body 1994 for one row unit with the readings of the accelerometers of the other row units on the planter. For example, if the angle detected by the accelerometer 2014 of one row unit is significantly different than the angle detected by the accelerometer 2014 of the other row unit, there may be a faulty hall-effect sensor that does not accurately count the rotations of the motor 2030 or the motor shaft 1931.
Additionally, if a repair or change is made to a row unit and the actuator 2050 is installed in a position other than its starting position, the accelerometer 2014 will detect such a difference in relation to the readings of the accelerometers 2014 of the other row units and can display the difference to the operator on the planter monitor to inform the operator that an adjustment is required.
Additionally, the SRM accelerometer can be referenced to verify the position of the actuator 2050. For example, assuming that the planter is running on flat ground and the accelerometer 2014 and actuator 2050 are angled at 30 degrees on rack 1910, but then the terrain changes to an uphill grade of 10 degrees, this change in grade will cause the accelerometer 2014 to signal: actuator 2050 has undesirably moved away from its commanded position, but in practice this is true only if the terrain has changed. To avoid such erroneous readings, the signal generated by the accelerometer 2014 is compared to the signal generated by the accelerometer on the SRM. Thus, as the terrain changes, the gravity vector from the SRM changes and can be referenced relative to the accelerometer 2014 to confirm that the actuator 2050 is not moving.
Additionally, when the depth adjustment body 1994 is not near either end of travel on the rack 1910 and the hall effect sensors fail to pick up any pulses indicating that the motor 2030 has stopped, the current sensors 2016, 2018 can detect if a disturbance condition exists in the actuator 2050 if the current spikes.
It should be understood that there are other row units having manual adjustments similar to those described herein. Non-limiting examples may be found in US publication nos. US20170000003 and US20170006757, both incorporated herein by reference. The depth adjustment assembly described herein works with a similar system having a rocker arm, a pivot shaft, and an adjustment arm.
Depth control system
The depth adjustment actuator/motor (e.g., secondary depth adjustment actuator/motor) disclosed herein (e.g., actuator/ motors 720, 800, 950, 1000, 1230, 1450, 1550, 1650, 1750, 1850, 1950, 1984, 2030, 2050) may be in data communication with a depth control and soil monitoring system 300 as shown in fig. 11 and described herein.
In the system 300, the monitor 50 may be in electrical communication with components associated with each row unit 10, including the seed meter driver 315, the seed sensor 305, the GPS receiver 53, the depression pressure sensor 392, the depression pressure valve 390, the depth adjustment actuator 380, and the depth actuator encoder 382 (and in certain embodiments, the actual depth sensor 385, such as those described in applicant's international patent publication No. WO2014/066654, which is incorporated herein by reference). In certain embodiments, particularly those in which each seed meter 30 is not driven by a separate driver 315, the monitor 50 may also be in electrical communication with a clutch 310 configured to selectively operably couple the seed meter 30 to the driver 315.
With continued reference to FIG. 11, the monitor 50 is in electrical communication with a cellular modem 330 or other component configured to place the monitor 50 in data communication with the Internet, represented by reference numeral 335. Via an internet connection, monitor 50 receives data from soil data server 345. Soil data server 345 may contain a soil map file (e.g., a shape file) that associates a soil type (or other soil characteristic) with a GPS location, an RTK (Real Time Kinematic) data layer, elevation, or terrain. In certain embodiments, the soil map file is stored in a memory of monitor 50.
The monitor 50 can also be in electrical communication with one or more temperature sensors 360 mounted to the planter and configured to generate signals related to the temperature of the soil being treated by the planter row units 10. In certain embodiments, one or more of the temperature sensors 360 comprise a thermocouple configured to engage soil, as disclosed in applicant's international patent publication No. WO2014/153157, the disclosure of which is incorporated herein by reference in its entirety. In such embodiments, temperature sensor 360 may engage the soil at the bottom of trench 38. In other embodiments, one or more of the temperature sensors 360 may include a sensor arranged and configured to measure the temperature of the soil without contacting the soil, as disclosed in international patent publication No. WO2012/149398, the disclosure of which is incorporated herein by reference in its entirety.
Referring to fig. 11, the monitor 50 may be in electrical communication with one or more humidity sensors 350 mounted to the planter and configured to generate signals related to the temperature of the soil being treated by the planter row units 10. In certain embodiments, the humidity sensor 350 comprises a reflectance sensor, such as the reflectance sensor disclosed in U.S. patent No. 8,204,689, which is incorporated herein by reference in its entirety. In such an embodiment, a moisture sensor 350 may be mounted to the handle 15 of the row unit 10 and arranged to measure the soil moisture at the bottom of the trench 38, preferably at a location longitudinally forward of the seed tube 32. Monitor 50 may also be in electrical communication with one or more second depth humidity sensors 352. The second depth wetness sensor 352 may comprise a reflectance sensor, such as disclosed in the previously referenced U.S. patent No. 8,204,689, that is configured to measure soil wetness at a depth at which a consistent wetness reading is expected. In certain embodiments, second depth wetness sensor 352 is configured to measure soil wetness at a depth greater than the depth used for planting (such as 3 to 6 inches and preferably about 4 inches below the soil surface). In other embodiments, second depth wetness sensor 352 may be configured to measure soil wetness at a depth less than the depth used for planting, such as 0.25 inches to 1 inch (0.64 centimeters to 2.54 centimeters) and preferably about 0.5 inches (1.3 centimeters) below the soil surface. The second depth wetness sensor 352 may be positioned to reclaim a trench that is laterally offset from the trench 38 reclaimed by the row unit 10.
Referring to fig. 11, monitor 50 may be in electrical communication with one or more conductivity sensors 365. Conductivity sensor 365 may include one or more electrodes configured to cut into the soil surface, such as the sensors disclosed in U.S. patent nos. 5,841,282 and 5,524,560, which are incorporated herein by reference in their entirety.
Referring to fig. 11, monitor 50 may also be in electrical communication with one or more pH sensors 355. In certain embodiments, the pH sensor 355 is towed by a tractor or another implement (e.g., a farming implement) such that the data is stored in the monitor 50 for later use. In certain such embodiments, the pH sensor 355 may be similar to those disclosed in U.S. patent No. 6,356,830. In certain embodiments, the pH sensor 355 is preferably mounted to the universal stand 8 at a position laterally offset from the row unit 10.
Depth control method
According to certain exemplary processes for controlling depth using the depth adjustment assemblies described herein, a user may manually adjust the primary and/or secondary depth adjustment assemblies.
According to certain exemplary procedures, a user may manually adjust the primary depth adjustment assembly and may use the monitor 50 to command a depth adjustment of the secondary depth adjustment assembly.
According to certain exemplary processes, a user may manually adjust the primary depth adjustment assembly, and the monitor 50 may command a secondary depth adjustment assembly (e.g., one of the actuators/ motors 720, 800, 950, 1000, 1230, 1450, 1550, 1650, 1750, 1850, 1950, 1984, 2030, 2050) to make a desired depth adjustment by receiving an agronomic variable from a sensor (e.g., sensors 350, 355, 360, 365, 352, 385) or from the soil data server 345, and determine the desired depth adjustment by querying a database or algorithm that correlates one or more agronomic variables to a desired furrow depth.
According to certain example processes, the monitor 50 may command a desired depth adjustment by the primary and/or secondary depth adjustment components (e.g., one of the actuators/ motors 720, 800, 950, 1000, 1230, 1450, 1550, 1650, 1750, 1850, 1950, 1984, 2030, 2050) by receiving one or more agronomic variables from sensors (e.g., sensors 350, 355, 360, 365, 352, 385) or from the soil data server 345, and determine the desired depth adjustment by querying a database or algorithm that correlates the one or more agronomic variables to the desired furrow depth.
According to certain exemplary processes, the monitor 50 may command a primary depth adjustment component and/or a secondary depth adjustment component (e.g., one of the actuators/ motors 720, 800, 950, 1000, 1230, 1450, 1550, 1650, 1750, 1850, 1950, 1984, 2030, 2050) to make a desired depth adjustment by determining a GPS-reported location of the row unit 10 and querying a depth indication (depth description) map that associates the location and/or area in the field with the desired furrow depth space.
Depth indication is based on placing the seeds at a suitable depth to obtain the desired germination and emergence. Factors used to determine the appropriate depth include, but are not limited to, soil type, organic matter content, moisture, soil temperature, soil texture, terrain, and elevation. The depth indication may be a combination of predicted temperature and humidity provided based on current temperature and humidity conditions in the field and weather forecasts. This process is described in U.S. patent publication No. 2016/0037709, which is incorporated herein by reference.
In another embodiment, the minimum and maximum depths set by the operator may be input into the monitor 50 to control the desired depth within a range specified by the operator. The operator-set minimum depth may be greater than the actual minimum depth achievable by the depth adjustment assembly, and the operator-set maximum depth may be less than the actual maximum depth achievable by the depth adjustment assembly. This may be useful for limiting the depth to a desired depth range. For a given seed type, there may be a desired range of depths for planting the seed so that the seed can germinate and emerge. When the depth is adjusted based on measured conditions in the field (such as humidity, soil temperature, organic matter content, soil type, or soil texture) using a sensor such as that described in U.S. patent publication No. US2016/0037709, the sensor may signal a change in depth to achieve a depth with the selected soil characteristic, but may be outside of the selected range when attempting to change to a depth to achieve the selected characteristic. Let the operator set the minimum and maximum depths to keep the seeds in the desired depth range. As an example, an operator may wish to plant corn seeds between 1.75 inches and 2.5 inches. If the sensor is measuring humidity and at a shallower depth the humidity is insufficient, the depth adjustment mechanism will receive a signal to change to a deeper depth, but may be limited to remain within the operator selected range.
In certain embodiments, the monitor 50 may record changes in depth in the field by correlating the commanded actuation of the actuators/ motors 720, 800, 950, 1000, 1230, 1450, 1550, 1650, 1750, 1850, 1950, 1984, 2030, 2050 with the GPS position reported by the GPS receiver 52. In certain such embodiments, the monitor 50 may record changes in depth concurrently with the commanded actuation of the actuators/ motors 720, 800, 950, 1000, 1230, 1450, 1550, 1650, 1750, 1850, 1950, 2030, 2050. However, in operation, the force between the swing arm 95 and the gauge wheel arm and/or depth adjustment member may vary, for example, as the row unit moves across uneven terrain. Thus, in certain embodiments, the monitor 50 may monitor the force on the gauge wheel arm and/or the depth adjustment rocker arm and record the change in depth only when the force is below a predetermined threshold. For example, with respect to the embodiment of fig. 12, the monitor 50 may monitor the force on the gauge wheel arm and/or the depth adjustment rocker arm and record the change in depth only when the force is below a predetermined threshold where the depth adjustment member may be advanced for a given position of the actuator 1230. The force on the gauge wheel arm and/or the depth adjustment rocker arm may be recorded by a load cell (such as a strain gauge) mounted to the gauge wheel arm or other location through which the force is transmitted, or by a load sensing peg integrated into a row unit as is known in the art.
In other embodiments, the monitor 50 may command a temporary change (e.g., a decrease) in the row unit downforce applied by the actuator 18 simultaneously with (or before or after) a change in the commanded elongation of the actuator/ motor 720, 800, 950, 1000, 1230, 1450, 1550, 1650, 1750, 1850, 1950, 1984, 2030, 2050 in order to allow for depth adjustment. Monitor 50 may then command the row unit down force applied by actuator 18 to return to its previously commanded level.
Various modifications to the embodiments of the devices, systems, and methods described herein, as well as general principles and features, will be apparent to those skilled in the art. Thus, the appended claims should not be limited to the embodiments of the apparatus, system, and method described herein and shown in the accompanying drawings, but should be accorded the widest scope consistent with their general teachings.

Claims (17)

1. An agricultural row unit comprising:
a row unit frame;
a furrow reclamation disc rotatably supported by the row unit frame and for reclaiming furrows in the soil surface as the row unit frame advances in a forward direction of travel;
a scale wheel disposed adjacent to the furrow reclamation tray and pivotably supported from the row unit frame by a scale wheel arm such that the scale wheel is displaceable relative to the furrow reclamation tray;
a depth adjustment assembly, comprising:
a depth adjustment body pivotally connected to the row unit frame via a pivot;
a rack disposed on the row unit frame;
a gear box connected to the depth adjustment body;
an electric motor operably coupled to drive a gear of the gearbox that engages the rack;
a magnet rotatably coupled with the electric motor or motor shaft;
a Hall effect sensor configured to detect rotation of the magnet relative to the Hall effect sensor;
the depth adjustment assembly further includes one or both of the following features (a) and (b):
(a) a stopper provided on the rack and a current sensor configured to detect a current spike occurring in the electric motor when one of the gear box and the depth adjustment body abuts the stopper; and/or
(b) A homing system comprising a sensor and a target, wherein the sensor of the homing system is disposed on the gearbox and the target is disposed on the rack, and wherein the sensor of the homing system senses the target when the sensor of the homing system is proximate to the target;
wherein driving the gear engaged with the rack by the electric motor adjustably positions the depth adjustment body relative to the rack so as to control a depth of a furrow reclaimed by the furrow reclamation disc by limiting an amount of upward travel of the gauge wheel relative to the furrow reclamation disc.
2. The agricultural row unit of claim 1, wherein the gear is a pinion gear.
3. The agricultural row unit of claim 1 or 2, wherein the gear is a worm.
4. The agricultural row unit of claim 1 or 2, wherein a biasing member is provided in the depth adjustment body, the depth adjustment body being connected to the gearbox via a shaft connected to the gearbox and extending into the depth adjustment body, the biasing member biasing the gearbox towards the rack.
5. The agricultural row unit of claim 1 or 2, wherein the gearbox comprises a worm and a worm gear.
6. The agricultural row unit of claim 5, wherein the worm gear comprises a right wheel and a left wheel.
7. The agricultural row unit of claim 1 or 2, further comprising:
a rocker arm connected to the depth adjustment body and engaging the gauge wheel arm.
8. The agricultural row unit of claim 1 or 2, wherein the gearbox further comprises a button for activating the electric motor.
9. A method of selecting a starting position for a depth adjustment body in an agricultural row unit of claim 1, wherein the depth adjustment assembly includes only feature (a) with respect to feature (a) and feature (b), the method comprising:
(i) actuating the electric motor;
(ii) driving the gearbox along the rack until the current sensor detects a current spike;
(iii) causing the electric motor to be turned off when the current spike is detected, whereby the gearbox is at a position along the rack; and
(iv) setting a starting position of the depth adjustment body based on the position of the gearbox along the rack.
10. The method of claim 9, wherein the current spike is less than a full current of the electric motor.
11. The method of claim 9 or 10, wherein the current spike is 5% to 20% of full current of the electric motor.
12. The method of claim 9 or 10, the method further comprising:
(ii) prior to step (i), positioning the depth adjustment assembly at a maximum depth; and
a block is placed under the gauge wheels.
13. The method of claim 9 or 10, the method further comprising:
actuating the electric motor from the starting position, wherein actuating the electric motor rotates the electric motor or motor shaft;
counting, via the magnet in cooperation with the hall effect sensor, a number of rotations of the electric motor or motor shaft to produce a rotational count;
commanding the electric motor to stop when the revolution count corresponds to a desired furrow depth.
14. A method of setting a starting position for a plurality of row units on an agricultural planter having the plurality of row units, wherein each row unit is the agricultural row unit of claim 1, wherein the depth adjustment assembly includes only feature (a) with respect to feature (a) and feature (b), the method comprising:
(i) selecting a subset of row cells from the plurality of row cells, the subset of row cells being less than the plurality of row cells;
(ii) actuating the electric motor on each row unit in the subset of row units;
(iii) driving the gearbox along the rack on each row unit in the subset of row units until the current sensor detects the current spike;
(iv) on each row unit in the subset of row units, turning off the electric motor when the current spike is detected, whereby the gearbox is at a position along the rack;
(v) determining an average starting position for the subset of row units by averaging the positions of the gearboxes along the rack for each row unit in the subset of row units; and
(vi) applying the average starting position to all of the plurality of row units or any of the plurality of row units that does not include the subset of row units.
15. A method of selecting a starting position of the depth adjustment body in an agricultural row unit of claim 8, the method comprising:
actuating the electric motor with the button;
driving the gearbox along the rack until the gearbox reaches a selected position along the rack; and
setting a starting position of the depth adjustment body at the selected position of the gearbox along the rack.
16. A method of setting a starting position for a plurality of row units on an agricultural planter having the plurality of row units, wherein each row unit is the agricultural row unit of claim 8, the method comprising:
(i) selecting a subset of row cells from the plurality of row cells, the subset of row cells being less than the plurality of row cells;
(ii) actuating the electric motor with the button on each row unit in the subset of row units;
(iii) driving the gear box along the rack until the gear box reaches a selected position along the rack on each row unit in the subset of row units;
(iv) determining an average starting position for the subset of row units by averaging the selected positions of the gearboxes along the rack for each of the subset of row units; and
(vi) applying the average starting position to all of the plurality of row units or any of the plurality of row units that does not include the subset of row units.
17. A method of selectively positioning a depth adjustment body in an agricultural row unit of any one of claims 1-8 relative to a rack to achieve a desired furrow depth, the method comprising:
actuating the electric motor from a first predetermined starting position, wherein actuating the electric motor rotates the electric motor or motor shaft;
counting, via the magnet in cooperation with the Hall effect sensor, a number of rotations of the electric motor or the motor shaft to produce a rotation count;
commanding the electric motor to stop when the revolution count corresponds to a desired furrow depth.
CN201980016441.1A 2018-06-11 2019-03-05 Agricultural trench depth system and apparatus Active CN111867350B (en)

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PCT/US2019/020829 WO2019169412A1 (en) 2018-03-01 2019-03-05 Agricultural trench depth systems, and apparatus

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