SYSTEM AND METHODS FOR ENHANCING MOVEMENT AND ARTICULATION OF SEED DRILL AND SEED DRILL ROWS UNDER CONDITIONS OF USE AND TRANSPORT

Description

SYSTEM AND METHODS FOR ENHANCING MOVEMENT AND ARTICULATION OF SEED DRILL AND SEED DRILL LINES IN TERMS OF USE AND TRANSPORT Field of invention

[001] The present invention is situated in the fields of engineering and agriculture. More specifically, the present invention relates to a system and methods for enhancing movement and articulation for the rows of a planter or seeder, in order to provide opening, closing and control of the contact of the tools with the soil (terrain copying) with greater efficiency compared to machines already known in the state of the art. Background of the invention

[002] To cover larger areas with fewer passes over the field, planters and seeders currently have increased widths and a large number of attached tools.

[003] Due to their large dimensions and the large number of components, the operation and transport of such machines become complex, and there may be reduced productivity and damage to the components if not carried out properly.

[004] For example, to change the machine's position from an operating position to a transport position, in known state-of-the-art machines, it is necessary to remove some of the tools and components so that it is within the legally permitted width limits for circulation on highways, such as the 3.2-meter limit stipulated by Brazilian legislation.

[005] Furthermore, the operations of opening or closing the machine to a known transport or operating position in the prior art comprise a sequence of operations and control steps necessary for them to be carried out safely, without damage to the components, and are time-consuming and require a high level of technical knowledge. Petition 870250004650, dated 01 / 21 / 2025, page 19 / 29 2 / 10 of the operators.

[006] The increased width also makes it difficult to control the height and position of the tools along the entire cross-section of the machine, so that they remain in contact with the ground and perform their functions properly. State of the art

[007] Agricultural machines equipped with articulated chassis that can be folded from a working position to a transport position, and vice versa, are already known, as well as machines equipped with means for controlling the contact of the tools with the ground.

[008] Document US3830313 describes an implement equipped with disc frames for ground work, whose wing sections are raised vertically and folded to be aligned with the direction of travel of the implement when in transport position. However, the document does not present means to control the position of the tools and ensure their contact with the ground along the entire cross-section of the machine, in addition to making the implement quite long when in transport position and presenting manual locks of the wing sections, not allowing fully automatic opening and closing.

[009] Document US10888044 discloses an agricultural planting implement whose lateral wing ends fold 180 degrees forward when in transport position, and which is equipped with a central chassis that is raised and rotated 90 degrees. However, the document also does not describe means for controlling the position of the tools and ensuring their contact with the ground, and uses pantographic linkages in the row units, which allow limited angular displacements (and consequently height adjustments) when compared to pivot articulations.

[0010] Document US20110315410 refers to an agricultural planter with side wing sections composed of a main bar and articulated toolbars to which the units are attached. Petition 870250004650, dated 01 / 21 / 2025, p. 20 / 29 3 / 10 of the row. The wing sections can be rotated forward and the row units can be raised when the planter is placed in a transport position. However, the document does not describe the use of the toolbar linkage to control terrain copying, only for lifting to perform maneuvers or transport, and it uses pantograph linkages on the row units, which allow limited angular displacements (and consequently, height adjustments) when compared to pivot linkages, in addition to not describing control systems and methods based on the use of controllers, sensors and actuators.

[0011] Document BR112021025985 describes an agricultural implement equipped with row units articulated by means of pantographic links to the toolbar, in order to guarantee adequate contact with the ground, by means of depth, angle and height sensors, and actuators that communicate with a processor. However, the document does not describe systems and methods for articulating the toolbars in relation to the chassis, nor systems for reducing the width and dimensions of the implement for transport, in addition to using pantographic links in the row units, which allow limited angular displacements (and, consequently, height adjustments) when compared to pivot articulations.

[0012] Document BR112015004169 describes an agricultural planter whose toolbar is fixed to an articulated arm, which can rotate the toolbar 90 degrees horizontally and raise it to a transport position, with the aid of position sensors and actuators, controlled by software. The row units are connected to the toolbar by pantographic links, and their height can be adjusted. However, the use of the toolbar lifting and rotation mechanism for automatic or manual adjustments to the operating height of the row units, in order to enhance the movement of the rows during planting and terrain tracking, is not described, nor is the use of angle sensors for control. Petition 870250004650, dated 01 / 21 / 2025, page 21 / 29 4 / 10 of the row units and toolbar, in addition to using pantograph linkages in the row units, allow for limited angular displacements (and consequently, height adjustments) when compared to pivot joints. Objectives of the invention

[0013] The objective of the present invention is to provide a system and methods that allow the opening and closing of the seeder or planter in an automated, fast manner and without the need to remove components.

[0014] Another objective of the present invention is to provide a system and a method that enable the control of tools during operation, so that they remain in contact with the ground along the entire cross-section of the machine. Summary of the invention

[0015] An object of the present invention is a system for enhancing the movement and articulation of the rows of a planter or seeder, comprising a chassis equipped with side sections pivoting in relation to a central section, tool modules arranged in each section of the chassis in a pivoting manner, planting rows, electronic control units (ECUs), processor and sensor assemblies, which include sensors arranged on the rows for enhancing movement under working conditions and other sensors arranged at the articulation points of the machine (on the modules, wheels and header) for the tasks of articulating the rows for transport.

[0016] The present invention also includes methods for performing the opening and closing operations of the machine, by means of the motion enhancement and articulation system of the lines.

[0017] Yet another object of the present invention is a method for controlling the contact of the tools with the ground during operation, by means of a motion enhancement and articulation system for the lines. Petition 870250004650, dated 01 / 21 / 2025, page 22 / 29 5 / 10 Brief Description of the Figures

[0018] Figure 1 is a partial side view of a planter in a fixed position.

[0019] Figure 2 is a partial side view of a planter in active position.

[0020] Figure 3 is a side view of a planting row on a planter.

[0021] Figure 4 is a detailed side view of the planter.

[0022] Figure 5 is a flowchart representing the steps for opening the planter.

[0023] Figure 6 is a perspective view of a planter in working position.

[0024] Figure 7 is a top view of a planter in working position.

[0025] Figure 8 is a perspective view of a planter in transport position.

[0026] Figure 9 is a front view of a planter in transport position.

[0027] Figure 10 is a side view of a planter in transport position. Detailed description of the invention

[0028] Figures 1, 2, 6, 7, 8, 9 and 10 show a planter (1), being a self-transportable planter structure, towed by a tractor (not shown) connected to a header (13) equipped with a lock and angle sensor (not shown), and comprising a chassis divided into a fixed central section (11) and two pivoting side sections (12), which articulate to become perpendicular to the central section when the planter (1) is moved to a transport position. The system and methods could also be adapted to a seeder equipped with a chassis and structure. Petition 870250004650, dated 01 / 21 / 2025, pages 23 / 29 6 / 10 similar, not being restricted only to planters, and can also be adapted to implements equipped with more than two pivoting side sections.

[0029] A plurality of tool modules (2) is affixed to each section of the planter (1). By way of example only, the planter (1) is equipped with three modules (2), although the system and methods may be adapted to other planters (1) and implements, provided they have three or more modules.

[0030] Each tool module (2) comprises a plurality of planting lines (3) fixed to a toolbar (4) composed of the union of two stringers (4a) and (4b), interconnected to the sections (11, 12) of the chassis by means of a joint (5), illustrated in detail in Figure 4, wherein each line has its height and angle controllable by sensors positioned on some of the planting lines (3), wherein only some of the planting lines (3) have sensors.

[0031] The articulation (5) has the principle of a pantographic articulation, but with two non-parallel bars (51, 52) of different lengths, attached to each other, to the machine chassis (11, 12) and to the toolbar (4) at four articulation points (53), in order to have a greater range of motion compared to a pantographic articulation with equal and parallel arms, enhancing the movement of the planting lines (3) and allowing the tool modules (2) to be raised by approximately 90 degrees to the transport position. The position and height of the planting lines (3) can be adjusted by means of a hydraulic cylinder (6), connected to the articulation (5) and to the planter chassis, which is activated by detecting readings taken by a planting line position sensor (9).

[0032] The planting line (3) comprises tools already known from the state of the art, being represented in detail in Figure 3, in addition to sensors positioned to enhance movement. Connected closer to the toolbar (4) is a set of cutting discs (31), already known from the state of the art, each set of discs being Petition 870250004650, dated 01 / 21 / 2025, pages 24 / 29 7 / 10 cutting disc (31) connected by means of a joint (311), which allows it to move on the ground and perform the cut precisely and efficiently. Because it is connected to the toolbar (4), the cutting disc assembly (31) suffers less angular variation compared to cutting discs connected by pivot joints, ensuring greater efficiency in cutting operations.

[0033] Connected by a pivot joint (8) close to and independent of the cutting disc assembly (31), is a planting unit (32), already known in the state of the art, comprising a metering device, seed deposition means and furrowing and covering discs, having springs and shock absorbers that ensure the contact of the respective tools with the soil in a constant and impact-free manner. Because it is connected by a pivot joint (8), the planting unit (32) can be moved with a greater angular amplitude compared to planting units connected only by pantographic joints, allowing it to maintain contact with the soil on uneven terrain, with a range of motion at an angle α, as illustrated in Figure 3.

[0034] The planting rows (3) are divided into long rows (3a) and short rows (3b), with the long rows (3a) positioned further back in relation to the length of the planter (1) than the short rows (3b), as can be seen in Figure 7.

[0035] The planter (1) moves across the terrain by means of a plurality of wheels (7), already known in the state of the art, arranged along the chassis in order to provide easy movement and adequate weight distribution.

[0036] A controller (not shown), an electronic control unit (ECU) for the motion enhancer (not shown) and an opening and closing ECU (not shown) are responsible for sending signals to actuate the electro-hydraulic valves and cylinders responsible for opening, closing and terrain copying of the planter (1), as well as receiving and processing signals from sensors located at the articulation points of the Petition 870250004650, dated 01 / 21 / 2025, pages 25 / 29 8 / 10 machine, more precisely, in modules (2), wheels (7) and header (13). The controller is equipped with an interface to receive commands and display information to an operator.

[0037] Figure 3 illustrates a row position sensor (9), responsible for enhancing row movement during operation. At least two row position sensors (9) are provided per module (2), which are arranged only on the two short planting rows (3b) that are preferably at the ends of each module (2), ensuring a reduced number of data acquisition elements and, consequently, simplification of the electronic circuits and reduction of planter costs (1).

[0038] A plurality of sensors, including position and angle sensors, are arranged in the modules (2), header (13), wheels (7) and articulation points (53), sending data from the readings to the ECUs, in order to allow the opening and closing of the machine between working, maneuvering and transport positions.

[0039] In order for the planter (1) to be folded from a working position to a transport position, and vice versa, a method is implemented to perform these operations in an automated and efficient manner, the steps of which are represented in Figure 5, by means of data capture by sensors positioned in the modules (2), header (13) and wheels (7).

[0040] To open the machine, step (A) involves moving the wheels (7), lowering them until they are fully open, followed by lowering the header (13) until the tires of the wheels (7) make contact with the ground, causing the header chassis (13) to unlock. Then, step (B) involves activating an automatic command in the controller to open the planter (1), wherein the controller sends commands to the opening and closing ECU to check a signal from a wheel position sensor (7), so that they are Petition 870250004650, dated 01 / 21 / 2025, pages 26 / 29 9 / 10 correctly positioned and fully lowered, then the motion enhancer ECU sends signals to the electro-hydraulic valves of the modules (2) to actuate the hydraulic cylinders (6) to lower the modules (2) to a desired maneuvering position, when the sensors of the planting lines (3) send signals to the motion enhancer ECU to turn off the valves and, finally, the opening and closing ECU actuates the central directional electro-hydraulic valve so that the hydraulic cylinders of the side sections move them until they are in the fully open position, when the opening and closing ECU receives signals from sensors in the joints of the side sections to turn off the central directional valve. Finally, step (C) involves closing the header lock (13), so as not to allow movement of the side sections (12) and wheels (7) in relation to the central section (11).

[0041] For closing the planter (1), steps (B) and (A) occur in sequence.

[0042] First, step (B) occurs, in which the header (13) is unlocked, followed by the closing of the chassis and the raising of the lines (3) to a transport position. Then, step (A) occurs, raising the header (13), followed by the retraction of the side wheels (7).

[0043] Due to the construction of the joints (5, 8), the modules (2) and the planter sections (1), both opening and closing can be performed without the need to remove components, automatically.

[0044] The control of terrain copying by the tools is carried out automatically, through the exchange of data between the sensors (9) installed on the planter line (1) with the motion enhancement ECU, which sends, if necessary, actuation signals to the hydraulic valves and cylinders (6) to adjust the height and angle of the planting lines (3) of each module (2). Due to the construction of the articulations (5, 8) and the fact that Petition 870250004650, dated 01 / 21 / 2025, pages 27 / 29 10 / 10 the planting lines (3) being arranged in different modules (2) with sensors (9) placed in some lines, preferably located at the ends of each module, it is possible to automatically adjust each module (2) individually, with high precision.

[0045] In Figure 1, the module (2) is in a fixed position, where the planting line discs (3) are aligned and horizontal in relation to the ground, without automatic height adjustments, allowing work on flat and regular terrain.

[0046] In Figure 2, in turn, module (2) is in an active position, with automatic and instantaneous control of the height of the tools, with the joints (5, 8) allowing movement in case of irregularities, inclines or declines in the terrain, in order to guarantee adequate contact with the ground.

[0047] Thus, a system and methods are described for enhancing the movement and articulation of the rows of a planter (1), with automatic and precise control of the opening, closing and tracking of the terrain.

Claims

CLAIMS 1. A system for enhancing the movement and articulation of rows of planters (1) and seeders in use and transport conditions, CHARACTERIZED in that it comprises: a chassis consisting of a fixed central section (11) and two or more pivoting side sections (12), which articulate to be perpendicular to the central section (11) when in transport position; a header (13) equipped with a lock and angle sensor; a plurality of wheels (7) arranged along the chassis; a plurality of modules (2) attached to the chassis sections, wherein each module (2) comprises: a plurality of planting rows (3) comprising a cutting disc assembly (31) and a planting unit (32), which is connected close to and independently of the cutting disc assembly (31) by means of a pivot articulation (8), wherein the planting rows (3) are divided into long rows (3a) and short rows (3b);wherein the planting lines (3) are fixed to a toolbar (4) composed of two longitudinal beams (4a) and (4b), and articulated to the sections (11,12) of the chassis by means of a joint (5) provided with two non-parallel bars (51, 52) of different lengths, fastened together at four articulation points (53); and a hydraulic cylinder (6) connected to the joint (5) and to the sections (11, 12) of the planter chassis (1); electro-hydraulic valves for actuating hydraulic cylinders; a controller, equipped with an interface to receive commands and display information to an operator; an ECU for the motion enhancer and an ECU for opening and closing; and a plurality of sensors arranged along the chassis and Petition 870250004650, of 21 / 01 / 2025, page. 16 / 29 2 / 3 articulations (5, 8), including: a plurality of line position sensors (9), with at least two sensors (9) per module (2), arranged only on the first and last short line (3b) of each module (2);a plurality of sensors arranged in the modules (2), in the header (13) and in the wheels (7); and sensors arranged at the articulation points (53).; 2. System for enhancing movement and articulation of rows of planters (1) and seeders in use and transport conditions, according to claim 1, CHARACTERIZED in that the sensors include position and angle sensors.

3. System for enhancing movement and articulation of rows of planters (1) and seeders in use and transport conditions, according to any of claims 1 or 2, CHARACTERIZED in that it comprises three or more modules (2).

4. Method for enhancing the articulation of planter (1) and seeder rows in use, using the motion enhancement system of any of claims 1 to 3, CHARACTERIZED in that it consists of: a step (A) of moving the wheels (7), lowering them until they are fully open, followed by lowering the header (13) until the tires of the wheels (7) come into contact with the ground, causing the chassis to be unlocked;a stage (B), involving the activation of an automatic planter opening command (1) in the controller, where the controller sends commands for the opening and closing ECU to communicate with the wheel sensors (7) to verify if they are fully lowered, the motion enhancer ECU sends signals to the electro-hydraulic valves to activate the hydraulic cylinders (6) to lower the modules (2) to a maneuvering position, and the opening and closing ECU Petition 870250004650, dated 01 / 21 / 2025, page 17 / 29 3 / 3 activates an electro-hydraulic valve to move the hydraulic cylinders of the side sections (12) so that they are in a fully open position; and a stage (C) of closing the header lock (13).

5. Method for enhancing the articulation of planter (1) and seeder rows under transport conditions, using the motion enhancement system of any of claims 1 to 3, CHARACTERIZED in that it consists of: a step (B) of unlocking the header (13), followed by closing the chassis and raising the rows (3) to a transport position; and a step (A) of raising the header (13), followed by retracting the side wheels (7).

6. Method for enhancing the movement of planter (1) and seed drill lines in use, using the movement enhancement system of any of claims 1 to 3, CHARACTERIZED in that it consists of: automatically controlling the terrain copying by the planting line tools (3), by means of data exchange from sensors (9) positioned in two lines of each module (2) with the movement enhancement ECU and the actuation of hydraulic valves and cylinders (6) of the planting lines (3) of each module (2).

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