• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Machine adapted to plant stakes in the ground (9) in particular for a vineyard or orchard tying structure at predefined locations (P1-PN) with centimeter precision, the machine comprising an electronic control unit and a sensor (5) GPS, a nailing column (2) mounted on a vehicle chassis (1), by means of an articulated positioning adjustment system (X, Y, rotX, rotY), the column comprising a mast (3) and a slider (4) Sliding mounted substantially vertically, a nailing bell (44) mounted on the slide, a stake guide device (G), comprising a clamp (8) mounted on the slide and a guide shoe (7) mounted at the foot of the mast, the guide shoe being movable between a working position (P1) and a retracted position (P2), allowing the articulated positioning adjustment system to position the nailing bell and the guiding device in the vertical position of one of the places res predefined and drive the stake vertically there. (Machine-translation by Google Translate, not legally binding)
    公开号:ES2751753A1
    申请号:ES201930841
    申请日:2019-09-30
    公开日:2020-04-01
    发明作者:Olivier Augier；Herve Colin
    申请人:Vitisat；
    IPC主号:
    专利说明:

    [0001] Stake planting machine with high precision
    [0002] Field and context of the invention
    [0003] The present invention relates to machines for planting cuttings, these cuttings being intended in particular to form a vineyard or orchard tying structure. According to other possibilities, the stakes in question may also be intended to form a vegetable growing greenhouse framework or a solar panel support structure on a solar farm.
    [0004] Machines for planting cuttings, also known as "cuttings" or "posts", are known vertically in the art, such as that disclosed in document FR2584507. However, it is still very difficult to make well-aligned rows and to compensate for all possible irregularities in the terrain with such a machine. Therefore, the need has arisen to increase the precision of the placement of the stakes in order to facilitate the subsequent works (maintenance, weeding, cutting of leaves, mechanized harvesting) necessary in the vines and orchards and also to improve the appearance geometric aesthetic. Therefore, the need has arisen to propose new solutions.
    [0005] Brief description of the invention
    [0006] To this end, a machine (M) adapted to plant stakes (9) in the ground (in particular for a vineyard orchard tying structure) at predefined locations (P1-PN) [in particular a along a row of plants (L1) already planted] with centimeter precision, the machine comprising:
    [0007] - an electronic control unit (100),
    [0008] - at least one GPS sensor (5),
    [0009] - a nailing column (2) mounted on a vehicle chassis (1), by means of an articulated positioning adjustment system (AX, AY, rotX, rotY),
    [0010] - the nailing column comprising a mast (3) and a slider (4) mounted vertically sliding on the mast,
    [0011] - a nailing bell (44) mounted on the slide,
    [0012] - a stake guide device (G), comprising a clamp (8) mounted on the slide and a guide shoe (7) mounted on the foot of the mast,
    [0013] the guide shoe being movable between a working position (P1) and a retracted position (P2), allowing the articulated positioning adjustment system to position the nailing bell and the guiding device vertically from one of the predefined places and drive the stake vertically there.
    [0014] Thus, when the guide shoe is in the working position, it precisely guides the lower part of the stake to be nailed on at least three sides in the horizontal plane and when the guide shoe is in the retracted position, it allows that the vehicle travels after the stake is driven in, without interfering with the stake that has just been planted, nor the plants already planted on the row, if applicable.
    [0015] In this way, the machine can be used to drive stakes precisely and with good verticality, along a planting line for young vines or shrubs.
    [0016] The articulated positioning adjustment system makes it possible to compensate for the uneven terrain, and the inaccuracy of movement of the vehicle chassis. A translational and rotational correction according to X and according to Y makes it possible to compensate for positioning and orientation deviations of the vehicle chassis, to correctly and accurately position the nailing column with respect to predefined places on the predefined line.
    [0017] In addition, the use of an accurate GPS, in particular differential or RTK, allows defining and following with great precision the desired cartography for the stakes to be driven, it is called centimeter precision, since the imprecision of position is of the order of the centimeter.
    [0018] In addition, thanks to the position of the GPS sensor substantially vertically from the place where the stakes are nailed, it is possible to propose planting “round trip”, that is, without “empty return”, while scrupulously respecting the planned cartography .
    [0019] It should be noted, in the case of the present invention, that the predefined line L1 will in most cases be rectilinear (therefore a straight line), but the predefined line L1 may also have a slight curvature for example to follow a curved contour of the plot. The presented system also allows staggered tying, in false brackets, as well as bridle closures.
    [0020] In various embodiments of the invention, one or more of the following provisions may optionally be used, taken in isolation or in combination.
    [0021] According to an advantageous configuration, when the guide shoe is in the working position (P1), it guides and abuts the lower part of the stake to be nailed, preferably on three sides in the horizontal plane; therefore, it is sufficient for an operator to place the lower part of the stake in the guide shoe to obtain a simple and precise positioning. Operator foot F pushes the stake from the fourth side, and thus the position of the bottom of the stake is well defined, precisely and positively.
    [0022] According to one aspect, the guide shoe can be rotatably mounted on the foot of the mast, with an axis (X7) substantially parallel to the longitudinal axis X1, with the retracted position (P2) being raised with respect to the working position (P1 ). It is a simple and reliable retraction solution, which frees up the space for the machine to advance next without interfering with cuttings and young vegetable plants.
    [0023] According to one aspect, the guide shoe comprises a notch-shaped housing (75) delimited on 3 sides (71, 72, 73) by dowels of adjustable position and the housing being open on the fourth side opposite the foot of the mast. In this way, the size of the housing can be adapted, thanks to the dowels, depending on the section of the stakes to be nailed; positioning of the stake by an operator is thus easy and practical and the position of the bottom of the stake is well defined, precisely without substantial play.
    [0024] According to one aspect, the clamp (8) comprises a base (81) fixed to the slide (4) and a mobile clamp (82), the clamp being mobile between a closed working position (P3) and an open position (P4) . The clamp advantageously allows the upper portion of the stake to be nailed when said clamp is closed; when open, the user can comfortably carry a stake and position it correctly under the nailing bell before giving a signal to authorize or cause clamp closure. Also, when the clamp is open, it allows the machine to advance without interfering with the newly planted stake.
    [0025] According to one aspect, the movable jaw is rotatably mounted with respect to the base of the clamp, along a vertical axis (Z8). This forms a simple, rustic and reliable solution to obtain the two main clamp positions.
    [0026] According to one aspect, a play recovery system or an adjustable wedge is provided in the clamp to ensure a positive positioning of the upper portion of the stake. It is observed that the clamp holds the stake in position without necessarily exerting a strong grip, since the clamp has not been put in place to directly contribute to driving the stake.
    [0027] According to one aspect, there is further provided an upper element (52) equipped with two GPS sensors (5A, 5B) that receive the signals from the GPS satellites and coupled to a neighboring stationary base (55) for receiving the GPS signals. Thus, thanks to the stationary base, the precise GPS geolocation mode, in particular RTK, can be used; In addition, the use of two sensors allows defining a line X8 corresponding to the longitudinal direction X1 of the machine, and which must be aligned with the row of plants and the line L1 of the cartographic places for insertion of the stakes.
    [0028] According to an advantageous option, the position of the two sensors is located in the vertical position of the nailing bell; This allows the position adjustment of the machine to be easily directed so that the position of the stake in the vertical position of the nailing bell corresponds precisely to the desired position in the mapping. This facilitates operation in round trip mode, without idle return.
    [0029] According to one aspect, the nailing bell (44) is mounted on the slide (4) by means of a vibratory beating system (47). In this way, consistent section pegs can be nailed to hard ground without difficulty. According to one aspect, the machine is advantageously an automotive apparatus, preferably provided with track chains; allowing lower ground pressure than tires, and better support / grip in wet conditions.
    [0030] According to one aspect, the machine may alternatively be provided with wheels.
    [0031] According to one aspect, the machine can be formed as a high clearance apparatus that can pass over a row of vines or plants.
    [0032] According to one aspect, the machine is configured to advance in automatic movement between the predefined places (P1-PN). This displacement is fast and does not require the intervention of a driver; This improves the efficiency of the workplace. Taking into account the nature of the terrain, the stopping precision at the end of this displacement cannot adapt to the expected centimeter precision.
    [0033] According to a complementary aspect, after advancing in automatic mode and stopping the vehicle chassis, the machine uses the articulated adjustment system to precisely position the stake guide device and the vertical nailing bell with respect to the desired location. , to drive the stake there.
    [0034] According to one aspect, the articulated positioning system for positioning the nailing column is formed by an articulation arrangement of three or four motorized degrees of freedom, specifically a translation along an axis called transversal indicated by Y, optionally with a translation along the longitudinal axis indicated by X, and also a rotation around the longitudinal axis X, and a rotation around the transverse axis Y (compensation of the local cant).
    [0035] According to one aspect, the articulated system comprises an intermediate frame (14) mounted in translation along the transverse axis and optionally along the longitudinal axis, the nailing column (2) being rotatably mounted around the transverse axis and rotationally about the longitudinal axis with respect to said intermediate frame (14).
    [0036] According to one aspect, adjustable position limit switches (48, 49) are provided on the vertical stroke of the slide.
    [0037] According to one aspect, an incremental encoder (58, 59) is provided on each of the two translational motorized degrees of freedom (AX, AY).
    [0038] According to one aspect, an inclinometer (57) is provided on each of the two rotationally motorized degrees of freedom (rotX, rotY) or a single inclinometer for the two degrees of freedom.
    [0039] According to one aspect, the machine may further comprise a tank (69) for the stakes to be nailed. Thus the machine is autonomous including in terms of provisioning.
    [0040] According to one aspect, the machine may further comprise a motor and a hydraulic pump.
    [0041] According to one aspect, the machine may further comprise hydraulic motors, preferably one for each side of the vehicle when it is in the track chain configuration.
    [0042] According to one aspect, the machine further comprises at least one cycle validation push button (25) (after the stake is placed by the operator and the clamp is closed) to authorize the nailing cycle.
    [0043] According to one aspect, the machine may further comprise at least one display screen (72), which may optionally be tactile.
    [0044] Description of the figures
    [0045] Other characteristics and advantages of the invention will become apparent throughout the following description provided by way of non-limiting example, in view of the attached drawings, in which:
    [0046] figure 1 represents a profile view of a work place for tying cuttings for an orchard or vineyard,
    [0047] - figure 2 represents in a top view the desired cartography of the tying stakes,
    [0048] figure 3 represents a perspective view of the machine according to the invention,
    [0049] figure 4 represents a rear elevation view of the machine of figure 3,
    [0050] figures 5A 5B represent elevational views of the machine of figure 3, respectively left side view and right side view,
    [0051] Figures 6A to 6D illustrate different stages of nailing a stake, in a profile view,
    [0052] Figures 7A to 7E illustrate different stages of nailing a stake, in front view,
    [0053] figure 8 illustrates a stake to be nailed, formed as a metal profile,
    [0054] figure 9 represents in greater detail the clamp,
    [0055] figure 10 represents in greater detail the guide shoe,
    [0056] figure 11 represents in greater detail the nailing bell,
    [0057] figure 12 illustrates a functional diagram of control of the system that directs the machine,
    [0058] - Figure 13 illustrates an example of the sequence of the operations carried out thanks to the machine, - Figure 14 shows the retracting and removal of the shoe to advance the machine.
    [0059] Detailed description of the invention
    [0060] In the different figures, the same references designate identical or similar elements.
    [0061] Workplace and generalities yes
    [0062] In Figure 1, a young vine or shrub planting workplace has been depicted, either for a completely new vineyard or orchard, or for a complete renovation of the bundle of an existing vineyard or orchard. existing.
    [0063] For this, thanks to the machine M according to the present invention, cuttings 9 will be inserted on a line L1 in which 39 vegetable plants (young vine or young bush) are already planted. If necessary, a new vine strain 39 has been planted with an associated tutor that will support the progression of the young vine plant. It is observed that there is a tutor associated with each plant, while the 9 stakes mentioned above have a larger size (1.5 m or more) and are more spaced, normally one every 5 m or even more.
    [0064] Once the stakes 9 are positioned, tying threads (not shown) will be laid and supported by said stakes as known per se, and therefore not described in detail herein. The stakes 9 ready for use are stored in a tank or container 69 provided on the machine.
    [0065] Stakes 9 must be nailed precisely at predefined locations, with the predefined locations indicated by P1, P2, Pi ...
    [0066] As illustrated in Figure 2, the predefined locations (P1, P2, ...) where a stake 9 is to be driven are defined by precise mapping, it is desired that the plantation and its tying meet this objective with precision. one centimeter, hence the name "centimeter precision plantation".
    [0067] Furthermore, as already mentioned, it is important to insert the stakes 9 well vertically, compensating for the different possible cant of the ground.
    [0068] In the figures, the axes and directions are named as follows:
    [0069] X is the forward direction corresponding to the longitudinal direction, X1 is the longitudinal direction of the machine, Y1 is the transverse direction corresponding to the axis of the machine's driving wheels, perpendicular to X1, YT is the transverse direction corresponding to the horizontal local, that is, the perpendicular to X corrected with the local cant,
    [0070] Z is the vertical direction,
    [0071] W1 is the machine elevation direction, perpendicular to X1 and Y1,
    [0072] ZT is the elevation direction of the machine compensated with the cant of the terrain, that is to say compensated in roll, but not necessarily in pitch.
    [0073] The direction of advance X is contiguous locally to a predefined line L1 on which the predefined places (P1, P2, Pi, P¡ + 1 ...) where the stakes 9 will be planted are located.
    [0074] As illustrated in Figure 2, the vineyard (or young orchard) usually comprises rows of vineyards that are parallel to each other (at least locally) and spaced a distance ER which in practice is often between 2m and 2m 50 which allows a farm tractor to pass between rows for further work. However, it is not excluded that the distance ER is less than 2 m, for example 1 m in certain wine-growing regions.
    [0075] Each row is made up of a succession of planting points P1, P2, Pi, Pi + i of cuttings 9, which are spaced along the row direction by a predefined distance indicated by EP, which in practice is close at 5 meters, often within an interval [4m, 6m].
    [0076] For a given row, the predefined line L1 is often rectilinear, but there are cases where the predefined line L1 has a curvature and is therefore not rectilinear. For each of the rows, a predefined line L1, L2, L3, etc. is defined.
    [0077] Usually, for a vineyard plot, a single and homogeneous EP distance is preserved, except at the edges of the plot (which will be seen later). Similarly, the distance between rows ER can normally be chosen once for all in a given parcel.
    [0078] Machine
    [0079] The machine M presented herein is of the automotive type (or "automotive apparatus", "motor vehicle"), that is, it does not need to be towed by another apparatus. Furthermore, the machine in question has, as will be seen later, a great degree of autonomy, only some operations are intended to be carried out by a human operator indicated by U.
    [0080] Machine M is configured to drive stakes into the ground in a stationary position, that is, it does not advance at that time. After the effective nailing of a stake at point Pi, the machine performs operations in automatic mode to position itself in the vicinity of the next predefined place, therefore Pi + 1.
    [0081] Moving the machine from point Pi to point Pi + 1 can be relatively fast with a cruising speed greater than 15 km / h on the order of 20 km / h. With regard to the velocity profile of this displacement, an acceleration ramp and a deceleration and stop ramp can be provided.
    [0082] The precision sought for the positioning of the stakes is not obtained by the stopping precision of the automotive apparatus, but thanks to an articulated adjustment system that will be described later.
    [0083] The feed rate of the machine is indicated by VM.
    [0084] VM = 0 during the stake pre-positioning and stake nailing sequence. According to a variant, a very low speed X offset (forward and / or backward) can be used to fix the position according to X (this replaces the degree of freedom AX that will be discussed later).
    [0085] A precision GPS-type geolocation system, in particular of the RTK type, is used. In practice, an on-board GPS receiver 5 is installed on the moving machine, and a reference receiver 55 is installed on a ground-fixed base, each receiving GPS signals from satellites 50. Receiver 55 Reference transmits the signals received to the moving machine, which allows correcting errors due to transmission, and which allows obtaining a precision of one centimeter.
    [0086] The differential GPS and / or RTK real-time GPS systems known per se will not be described in further detail herein.
    [0087] In the example illustrated herein, two GPS receivers indicated by 5a and 5b are used. The two sensors can be mounted on a bracket 52.
    [0088] In the illustrated example, the machine M is in charge of carrying out the inserting and nailing of the stakes with the assistance of an operator U. The role of the operator is to extract a stake in the deposit of stakes 9 9 and present it in the caliper and the guide shoe, then validate by pressing the button 25 cycle start button.
    [0089] According to the invention, the machine M comprises a chassis marked as 1 which can also be called "traction platform" or "vehicle platform". Machine M is an almost autonomous vehicle.
    [0090] In the illustrated example, the machine chassis comprises track chains 11 that serve to support and advance the machine, thanks to hydraulic motors (respectively 13D and 13D). Safety bumpers 16 are provided around the track chains, particularly on the side where the planting operation takes place. An emergency stop function can be provided in case of substantial contact with safety bumpers.
    [0091] One of the essential elements of the machine is the nailing column 2. The nailing column 2 is mounted on the chassis thanks to an articulated positioning adjustment system.
    [0092] In the illustrated example, a kinematics of three or four motorized degrees of freedom is provided between chassis 1 and nailing column 2. In particular, a frame called intermediate support 14 is provided which is mounted on the chassis with one or two degrees of freedom, specifically a translation along the transverse axis Y, and if appropriate a translation along a longitudinal axis X .
    [0093] The nailing column 2 is mounted on the intermediate support 14 with two degrees of freedom, specifically one rotation around the longitudinal axis X of axis X3, and one rotation around the transversal axis Y of axis Y3. The set of controlled movements between the chassis 1 and the nailing column 2 forms an articulated positioning adjustment system with three or four degrees of freedom.
    [0094] Each of the controlled movements is driven by a double-acting hydraulic cylinder, as will be discussed in more detail later.
    [0095] The nailing column 2 comprises a mast 3 and a slide 4 with a nailing bell 44. The mast 3 extends substantially in the Z1 direction particularly when the rotY setting and the rotY setting are in the neutral position.
    [0096] The slide 4 is slidably mounted on the mast 3 thanks to a sliding element 34 system. The nailing bell 44 is mounted on the slide, by means of the optional interposition of a churning system 47. The churning system 47 is known per se and therefore will not be described in detail herein. The nailing bell 44 is illustrated in FIG. 11. It has a flat bottom face 44a with a protruding edge 44b. Thanks to the flat face, together with a good verticality of the stake, even with the whipping system 47, the support is produced very flat, and therefore the top of the stake is not damaged, thus avoiding the use of a wear part, that is, a martyr part.
    [0097] Stake guidance
    [0098] A stake guide device G 9 is provided, comprising a clamp 8 to guide the upper or middle portion of the stake and a guide shoe 7 to guide the lower part of the stake.
    [0099] The guide shoe 7 is mounted on the foot of the mast 3. In the present case, it is mounted movable between a working position P1 and a retracted position P2 (or retracted).
    [0100] When the guide shoe 7 is in the working position P1, it forms a guide for the lower part of the stake to be nailed on three sides in the horizontal plane. When the guide shoe 7 is in the retracted position P2, it allows the machine M to advance without interfering with the stake 9 that has just been planted or the plants 39 already present in the row.
    [0101] According to the illustrated solution, the guide shoe is rotatably mounted on the foot of the mast, with an axis X7 substantially parallel to the longitudinal axis X1, with the retracted position P2 being raised with respect to the working position P1. However, it should be noted that another kinematics is possible.
    [0102] According to the illustrated solution, the guide shoe is formed as a thick plate with a shaft tube. Furthermore, the guide shoe comprises a notch-shaped housing 75 delimited on 3 sides by dowels (71, 72, 73) of adjustable position. The position of each block can be regulated by lights and bolts as illustrated in figure 10.
    [0103] The enclosure is open on the fourth side opposite the foot of the mast. It is the operator's foot F that pushes the stake against the opposite block 73.
    [0104] It is observed that the block marked 73 is located below the thick plate while the wedges or blocks 71, 72 are located above the thick plate.
    [0105] The clamp 8 is fixed on the slide 4. As illustrated in figure 9, the clamp 8 comprises a base 81 fixed to the slide 4 and a movable clamp 82.
    [0106] The movable jaw 82 is movable between a closed working position P3 and an open position P4. Maintenance in a horizontal position is sufficient, since it is the nailing bell that causes the vertical effort.
    [0107] The movable jaw is rotatably mounted with respect to the clamp base along a vertical axis Z8. Optionally, a play recovery system is provided (V-piece 83 pushed by a spring 85), or an adjustable wedge to ensure a positive positioning of the upper portion of the stake.
    [0108] Also, when the gripper is open, it allows the machine to advance without interfering with the newly planted stake (see Figure 9).
    [0109] The clamp 8 and the guide shoe 7 allow different types of stakes to be positioned. In general, only one type of stake is used at a given job site, but from one job site to another, metal profile type (see Figure 8), wood stake type, stake type stakes can be used. made of plastic polymer with high mechanical properties. In the illustrated example, a metal profile of length H9 between 2 m and 2.6 in practice has been shown, with holes and hooks 90 to support and maintain the tying threads.
    [0110] Procedure and control
    [0111] As illustrated in FIGS. 6A and 7A (step S4 in FIG. 13), once the machine has completed precise positioning, the clamp 8 is opened and the guide shoe 7 is lowered to the working position P1. Operator U can then install a stake 9 taken from the tank against the base 81 of the clamp and in the notch 75 of the shoe.
    [0112] When this positioning is correct, the operator U presses on a control lever to close the clamp; thus, as illustrated in figure 6B (step S5 in figure 13), the machine controls the closing of the movable jaw 82 of the clamp (step S6 in figure 13), by means of cylinder 98.
    [0113] When the clamp is closed, the operator U presses the validation button 25 (step S6 in figure 13) to start the automatic nailing cycle of the stake.
    [0114] Next, as illustrated in figures 6C and 7B (step S7 in figure 13), the machine controls the nailing of the stake by lowering the slide 4, nailing the bell 44 with the beating system the stake in the ground . An adjustable position limit switch (or detector) 48 allows the machine to stop movement as soon as the desired nailing height is reached.
    [0115] Subsequently, as illustrated in figure 7C (step S8 in figure 13), the machine controls the opening of the clamping jaw 81 by means of cylinder 98 and the raising (retracting) of the guide shoe 7 by means of cylinder 97 .
    [0116] The machine then controls the rise of slide 4 (Figures 6D and 7D). An adjustable position limit switch (or detector) 49 allows the machine to stop the raising movement at a height high enough to insert an upright stake, i.e. slightly above height H9 under bell 44.
    [0117] At this time, with the gripper jaw 82 movable in front of the stake and the shoe raised, there is nothing to prevent the machine from advancing, which can then advance according to X without interfering with the stake 9 that has just been planted or the plants already present on row L1 (steps S1 and S9 in figure 13). In this document, the machine controls the hydraulic motors 13G, 13D of the track chains to reach the next mapping point (figure 7E).
    [0118] More precisely, the machine is controlled with the aim of matching the center of gravity of the two GPS sensors (cunningly in the same position as the axis of the nailing bell) with the objective Pi + 1 point. In automatic feed and travel mode, the machine aligns the X8 direction obtained from the sensors (corresponding to the longitudinal direction X1 of the machine) with the intended path (X with eventual correction).
    [0119] After stopping the advance of the chassis 1, the machine then uses the articulated positioning adjustment system of the nailing column to position the nailing column in a precise vertical position and also in the vertical position Pi + 1. For this, the corrections in AX, AY, rotX, rotY are carried out thanks to the control of the hydraulic cylinders 93, 94, 95, 96 (step S2 in figure 13).
    [0120] Subsequently, as illustrated in FIG. 6A, the machine controls the lowering of the guide shoe 7, by means of cylinder 97.
    [0121] And so on until the end of the row.
    [0122] The half turn at the end of the row can be done in manual mode or in autonomous automatic mode.
    [0123] As illustrated in particular in Figure 12, the machine comprises a control computer 100, configured to control the 30D, 30G, 31, 32, 33, 34, 35, 36, 37, 38 electrohydraulic distributors, which are respectively coupled to the hydraulic control cylinders or motors of the following movements:
    [0124] 13D: Right track chain forward / reverse
    [0125] 13G: Left track chain forward / reverse
    [0126] 91: slide rise (descent can be controlled or simply performed by gravity under beat), 42: stake beat,
    [0127] 93: AX correction,
    [0128] 94: AY correction,
    [0129] 95: rotX correction,
    [0130] 96: rotY correction
    [0131] 97: guide shoe raise / lower 7
    [0132] 98: clamp opening / closing 8.
    [0133] The hydraulic pressure source is a hydraulic pump installed on the machine and powered by a small displacement heat engine, hydraulic motors are also provided, one for each 13D, 13G side of the vehicle when it is in the track chain configuration.
    [0134] The control calculator 100 controls a display screen 72.
    [0135] In the illustrated example, the control calculator 100 and the display 72 are dissociated; but they could form a single unit.
    [0136] Therefore, it is understood that the control computer 100 directs the movements of advance, of positioning correction (AX, AY, rotX, rotY), of maneuvering of the clamp and of the guide shoe, as well as the descent of the slide . This is done on a recurring basis, for each stake to be driven, according to the planned planting mapping.
    [0137] Manual controls 26 are provided for each of the degrees of freedom, arranged in a control cabinet 85.
    [0138] As illustrated in Figure 12, the control computer activates the descent of the slide 4 by means of a cylinder 91. An incremental encoder 58, 59 is provided on each of the two linear degrees of freedom (translation AX, AY). An inclinometer 57 is provided on each of the two rotationally motorized degrees of freedom (rotX, rotY). A single 2-axis inclinometer can be provided to manage the two degrees of freedom (rotX, rotY).
    [0139] It can be seen that the machine is equipped with cable paths and telescopic tubes, in this case the type of folding chain.
    [0140] In the figures, the two cable paths are shown in particular, a first 86 associated with the AY correction (up to 50 cm wide), and a second 87 associated with the descent of the slide 4 (adjustable stroke between 60 cm and 1 m for nailing, with a total possible stroke up to 2.5m and even 3 meters to adapt to all types of stakes).
    [0141] It should be emphasized that the nailing of a stake is done without previously making a guide hole.
    [0142] It should be emphasized that instead of track chains, the automotive appliance may be equipped with wheels. According to one configuration, it can be formed as a high clearance apparatus.
    权利要求:
    Claims (10)
    [1]
    i. Machine (M) adapted to plant stakes (9) in the ground (for a vineyard or orchard tying structure) at predefined locations (P1-PN) with centimeter precision, the machine comprising:
    - an electronic control unit (100),
    - at least one GPS sensor (5),
    - a nailing column (2) mounted on a vehicle chassis (1), by means of an articulated positioning adjustment system (AX, AY, rotX, rotY),
    - the nailing column comprising a mast (3) and a slide (4) mounted sliding in a substantially vertical manner,
    - a nailing bell (44) mounted on the slide,
    - a stake guide device (G), comprising a clamp (8) mounted on the slide and a guide shoe (7) mounted on the foot of the mast,
    the guide shoe being movable between a working position (P1) and a retracted position (P2), allowing the articulated positioning adjustment system to position the nailing bell and the guiding device vertically from one of the predefined places and drive the stake vertically there.
    [2]
    2. Machine according to claim 1, such that when the guide shoe is in working position (P1), it forms a guide for the lower part of the stake to be nailed on three sides in the horizontal plane.
    [3]
    Machine according to one of Claims 1 to 2, in which the guide shoe is rotatably mounted on the foot of the mast, with an axis (X7) substantially parallel to the longitudinal axis X1, the position being retracted (P2) raised from the working position (P1).
    [4]
    Machine according to one of Claims 1 to 3, in which the guide shoe comprises a notch-shaped housing (75) delimited on 3 sides (71, 72, 73) by adjustable position lugs and the housing being open on the fourth side opposite the foot of the mast.
    [5]
    Machine according to one of Claims 1 to 4, in which the clamp (8) comprises a base (81) fixed to the slide (4) and a movable jaw (82), the jaw being movable between a closed position of work (P3) and an open position (P4).
    [6]
    6. Machine according to claim 5, in which the movable jaw is rotatably mounted with respect to the base of the clamp, along a vertical axis (Z8).
    [7]
    Machine according to one of Claims 1 to 6, in which there is further provided an upper element (52) equipped with two GPS sensors (5A, 5B) that receive the signals from the GPS satellites and coupled to a neighboring stationary base of GPS signal reception.
    [8]
    Machine according to one of Claims 1 to 7, in which the nailing bell (44) is mounted on the slide (4) by means of a vibratory beating system (47).
    [9]
    Machine according to one of Claims 1 to 8, formed as a self-propelled track chain apparatus (11).
    [10]
    Machine according to one of Claims 1 to 6, in which the machine is configured to advance in automatic movement between the predefined places (P1-PN).
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    同族专利:
    公开号 | 公开日
    WO2020070418A1|2020-04-09|
    FR3086502B1|2020-12-18|
    FR3086502A1|2020-04-03|
    ES2751753B2|2021-12-20|
    US20210352857A1|2021-11-18|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    FR990118A|1949-07-05|1951-09-18|Device for placing and removing oars, stakes and other similar rods|
    US2826392A|1954-11-26|1958-03-11|Kohorst Joseph|Post pulling device|
    FR2554669A1|1983-11-10|1985-05-17|Fontan Andre|Machine for pushing plants and/or stakes into the ground according to an alignment, a constant spacing and a precise squaring between regularly parallel rows|
    FR2721047A1|1994-06-13|1995-12-15|Sebille Xavier|Post driving machine, used for erecting vine trellis posts|
    ES1046907U|2000-08-03|2001-02-01|Servicios Y Maquinarias Poma S|Nailer machine poles, posts and the like improved. |
    FR2897235A1|2006-02-14|2007-08-17|Georges Mandrafina|Plant e.g. vine stock, planting device for use with e.g. tractor, has actuator translating movable part of stake driver to front of device in synchronized manner, and hammer sliding with respect to movable part so as to drive stake|
    ES2645211A2|2016-05-26|2017-12-04|Vitisat|MACHINE FOR PLANTING IN THE GROUND PLANTS TUTORS |
    CN108353726A|2018-02-23|2018-08-03|冯勇|A kind of quick fixed equipment of seedling growth auxiliary timber|
    FR2584507B1|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|
    FR2811695A1|2000-07-11|2002-01-18|Rabaud Sa|MACHINE FOR PLANTATION OF STAKES, STAKES OR THE LIKE|WO2022006631A1|2020-07-08|2022-01-13|Clipex IP Limited|Method of anchoring posts|
    法律状态:
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    优先权:
    申请号 | 申请日 | 专利标题
    FR1859071A|FR3086502B1|2018-10-01|2018-10-01|HIGH PRECISION PILOT PLANT MACHINE|
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