US-12622344-B2 - Frame adjustment control system and method for downforce

US12622344B2US 12622344 B2US12622344 B2US 12622344B2US-12622344-B2

Abstract

An agricultural machine includes a main frame, a rotate frame, and a row unit. A control method for the machine includes: selecting at least one of: (i) a desired position-based relationship between a portion of the rotate frame and the row unit, and (ii) a desired downforce of the row unit; determining at least one of: (i) an actual position-based relationship defined between the rearward portion of the rotate frame and the row unit, and (ii) an actual downforce of the row unit; and adjusting at least one of: (i) the actual position-based relationship toward the desired position-based relationship, and (ii) the actual downforce of the row unit toward the desired downforce of the row unit; wherein adjusting the actual position-based relationship and adjusting the actual downforce of the row both include moving the rotate frame relative to the main frame of the agricultural machine.

Inventors

Randall A. Maro

Assignees

DEERE & COMPANY

Dates

Publication Date: 20260512
Application Date: 20210728

Claims (15)

1 . A method for an agricultural machine including a main frame, a rotate frame coupled to the main frame, and a row unit coupled to the rotate frame, the method comprising: (g) selecting a desired frame-to-arm angle defined between a rearward portion of the rotate frame and an arm extending between the rearward portion of the rotate frame and the row unit; (h) determining an actual frame-to-arm angle defined between the rearward portion of the rotate frame and the arm; (i) adjusting a downforce exerted by the rotate frame on the row unit based on the position of the arm relative to the rotate frame; (j) selecting a desired row unit downforce that is exerted by the row unit on the soil; (k) determining the actual row unit downforce that is exerted by the row unit on the soil; and (l) adjusting the actual row unit downforce toward the desired row unit downforce; wherein steps (k) and (l) collectively are completed at a faster rate than are steps (h) and (i) collectively.
2 . The method of claim 1 , wherein adjusting a downforce exerted by the rotate frame on the row unit includes: decreasing the rotate-frame downforce when the actual frame-to-arm angle is greater than the desired frame-to-arm angle; and increasing the rotate-frame downforce when the actual frame-to-arm angle is less than the desired frame-to-arm angle.
3 . The method of claim 1 , wherein adjusting a downforce exerted by the rotate frame on the row unit based on the position of the arm relative to the rotate frame includes: sending a first downforce signal to a first group of one or more actuators coupled to the rotate frame and the main frame; and adjusting the pressure within actuators of the first group of one or more actuators from a first pressure to a second pressure based on the downforce signal.
4 . The method of claim 3 , wherein at the first pressure the actual frame-to-arm angle is not equal to or within an acceptable range of the desired frame-to-arm angle, and at the second pressure the actual frame-to-arm angle is equal to or within an acceptable range of the desired frame-to-arm angle.
5 . The method of claim 4 , wherein adjusting a downforce exerted by the rotate frame on the row unit based on the position of the arm relative to the rotate frame further includes: sending at least one additional downforce signal to a corresponding at least one additional group of one or more actuators coupled to the rotate frame and the main frame; and adjusting the pressure within actuators of the at least one additional group of one or more actuators from a third pressure to a fourth pressure based on the at least one additional downforce signal.
6 . The method of claim 5 , wherein at the third pressure the actual frame-to-arm angle is not equal to or within an acceptable range of the desired frame-to-arm angle, and at the fourth pressure the actual frame-to-arm angle is equal to or within an acceptable range of the desired frame-to-arm angle.
7 . A method for an agricultural machine including a main frame, a rotate frame coupled to the main frame, and a plurality of row units coupled to the rotate frame along a lateral length of the rotate frame, the method comprising: selecting a desired row unit downforce that is exerted by each row unit of the plurality of row units; determining, from the desired row unit downforce for each row unit of the plurality of row units, a total desired downforce; determining, from an actual row unit downforce exerted by each row unit of the plurality of row units to the ground, a total accumulated downforce; adjusting, based on a result of a comparing of the total accumulated downforce to the total desired downforce, a rotate frame downforce that is exerted by the rotate frame; wherein adjusting the rotate frame downforce that is exerted by the rotate frame includes pivoting the rotate frame relative to the main frame to adjust the downforce of the plurality of row units, the main frame being supported above the ground by ground engaging mechanisms configured to propel the agricultural machine along the ground.
8 . The method of claim 7 , further comprising: selecting a maximum downforce limit of a row unit of the plurality of row units.
9 . The method of claim 8 , further comprising: rotating a rearward portion of the rotate frame upward if the actual row unit downforce of the row unit is greater than the maximum downforce limit of the row unit.
10 . The method of claim 7 , further comprising: selecting a minimum downforce limit of a row unit of the plurality of row units.
11 . The method of claim 10 , further comprising: moving at least the rearward portion of the rotate frame downward if the actual row unit downforce of the row unit is less than the minimum downforce limit of the row unit.
12 . An agricultural machine comprising: a main frame supported above the ground by ground engaging mechanisms configured to propel the agricultural machine along the ground; a rotate frame pivotably coupled to the main frame; an actuator having a first end coupled to the main frame and a second end coupled to the rotate frame; a row unit coupled to the rotate frame and configured to deliver commodity to the soil; a linkage assembly including an arm having a first end pivotably coupled to the rotate frame and a second end pivotably coupled to the row unit; a sensor configured to identify a position of the arm; a downforce gauge configured to determine the downforce exerted by the row unit; a controller configured to: (i) send a first signal to the actuator causing adjustment of the downforce exerted by the rotate frame on the row unit based on the position of the arm and (ii) send a second signal to the actuator causing adjustment of the actuator based on the downforce exerted by the row unit, wherein the adjustment of the actuator in response to the second signal is implemented faster than the adjustment of the downforce in response to the first signal.
13 . The agricultural machine of claim 12 , wherein the actuator is included in a first group of one or more actuators each having a first end coupled to the main frame and a second end coupled to the rotate frame; wherein the controller is configured to send the first signal to each actuator of the first group of one or more actuators to adjust the pressure within each actuator of the first group of one or more actuators from a first pressure to a second pressure to cause movement of the rotate frame from a first position to a second position.
14 . The agricultural machine of claim 13 , further comprising: a second group of one or more actuators each having a first end coupled to the main frame and a second end coupled to the rotate frame; wherein the controller is configured to send a third signal to each actuator of the second group of one or more actuators to adjust the pressure within each actuator of the second group of one or more actuators from a third pressure to a fourth pressure to cause movement of the rotate frame from the first position to the second position.
15 . The agricultural machine of claim 14 , further comprising: a third group of one or more actuators each having a first end coupled to the main frame and a second end coupled to the rotate frame; wherein the controller is configured to send a fourth signal to each actuator of the third group of one or more actuators to adjust the pressure within each actuator of the third group of one or more actuators from a fifth pressure to a sixth pressure to cause movement of the rotate frame from the first position to the second position.

Description

RELATED APPLICATIONS This application claims priority to U.S. Provisional Application Ser. No. 63/066,922, filed Aug. 18, 2020, the disclosure of which is hereby incorporated by reference in its entirety. FIELD OF THE DISCLOSURE The present disclosure relates to an agricultural machine, such as a planter with a toolbar or rockshaft frame, and more particularly to control systems and methods for adjusting the toolbar or rockshaft frame. BACKGROUND OF THE DISCLOSURE Work machines, such as those in the agricultural, construction and forestry industries perform a variety of operations. In some instances, the machines are provided with a toolbar frame or a rockshaft frame that may be rotated relative to a main frame of the machine. In some instances, the work machine may be an agricultural planter or row crop planter having row units configured to distribute a commodity to the soil. The row units may be configured to follow the rockshaft frame or the toolbar frame along the ground. Tires and track sizes of row crop planters continue to grow such that they can no longer be mounted in their prior locations on the machine. There is a tendency to move the tires or tracks forward relative to the main frame of the machine. This means that the pivot point about which the rockshaft or toolbar frame rotates must move as well. Additionally, as the terrain changes and becomes more challenging, the row units need to travel further in the vertical direction relative to the toolbar or rockshaft frame in order to stay engaged with the soil. These obstacles and other considerations create a need for more effective systems and methods for controlling adjustment of the toolbar or rockshaft frame on agricultural machines. SUMMARY In an illustrative embodiment of the present disclosure a method for an agricultural machine including a main frame, a rotate frame coupled to the main frame, and a row unit coupled to the rotate frame comprises: (a) selecting a desired frame-to-arm angle defined between a rearward portion of the rotate frame and an arm extending between the rearward portion of the rotate frame and the row unit; (b) determining an actual frame-to-arm angle defined between the rearward portion of the rotate frame and the arm; and (c) adjusting the actual frame-to-arm angle toward the desired frame-to-arm angle, wherein adjusting the actual frame-to-arm angle includes moving the rotate frame relative to the main frame of the agricultural machine. In some embodiments, moving the rotate frame relative to a main frame includes: rotating the rearward end of the rotate frame upward when the actual frame-to-arm angle is greater than the desired frame-to-arm angle; and rotating the rearward end of the rotate frame downward when the actual frame-to-arm angle is less than the desired frame-to-arm angle. In some embodiments, the method further comprises: (d) selecting a desired row unit downforce that is exerted by the row unit on the soil; (e) determining the actual row unit downforce that is exerted by the row unit on the soil; and (f) adjusting the actual row unit downforce toward the desired row unit downforce. The steps (e) and (f) collectively are completed at a faster rate than are steps (b) and (c) collectively. In some embodiments, adjusting the actual frame-to-arm angle toward the desired frame-to-arm angle includes: sending a first signal to a first group of one or more actuators coupled to the rotate frame and the main frame; and moving the first group of one or more actuators from a first position to a second position based on the first signal, wherein in the first position the actual frame-to-arm angle is not equal to or within an acceptable range of the desired frame-to-arm angle, and in the second position the actual frame-to-arm angle is equal to or within an acceptable range of the desired frame-to-arm angle. As used herein, the term “group” includes one or more objects. In some embodiments, adjusting the actual frame-to-arm angle toward the desired frame-to-arm angle further includes: sending a second signal to a second group of one or more actuators coupled to the rotate frame and the main frame; and moving the second group of one or more actuators from a third position to a fourth position based on the second signal; wherein in the third position the actual frame-to-arm angle is not equal to or within an acceptable range of the desired frame-to-arm angle, and in the fourth position the actual frame-to-arm angle is equal to or within an acceptable range of the desired frame-to-arm angle. In some embodiments, adjusting the actual frame-to-arm angle toward the desired frame-to-arm angle further includes: sending a third signal to a third group of one or more actuators coupled to the rotate frame and the main frame; and moving the third group of one or more actuators from a fifth position to a sixth position based on the third signal; wherein in the fifth position the actual frame-to-arm angle is not equal to or with