CN107432233A - High precisely nursery stock support bar implanter - Google Patents

Abstract

The machine (10) is used to plant the support poles of the plants in the preset positions (P ₁ -P _N ) along the preset working route (L1). The machine comprises a traction frame (1), a working chassis (3) mounted on the traction frame with a rotational movement about a longitudinal axis X and a translational movement along a transverse axis Y perpendicular to the X axis, a computer (7, 72 ), a display screen (7, 71), a support rod insertion device (4), a differential GPS sensor, which is located perpendicular to the support rod insertion device, and the support rod insertion device includes a moving carriage (6), which is inserted into a hydraulic cylinder (8) Control, insert the hydraulic cylinder and connect with the position sensor of the slide frame relative to the guide rail, and control the hydraulic cylinder by the proportional hydraulic valve (18) to ensure the lowering of the moving slide frame and the combined retreat and forward movement of the traction frame Synchronized so that the support rod can be inserted vertically.

Description

High-precision seedling support rod implantation machine

technical field

The invention relates to a nursery stock support bar implanter, in particular to a seedling support bar implanter for vines and fruit trees.

Background technique

In the field of planter technology, "les tuteurs" are also known as "piquets" or "marquants" (see document FR2897235). However, with conventional planting machines, it is still difficult to arrange the seedlings in neat rows and to compensate for possible terrain inclinations.

Therefore, it is necessary to improve the accuracy of the implantation of support rods and corresponding seedlings, so as to facilitate the subsequent necessary operations (maintenance, weeding, leaf trimming, mechanized grape picking) on vines and fruit trees, and improve the geometric beauty of the orchard. Therefore, new solutions need to be proposed.

Contents of the invention

Based on the above considerations, the inventor hereby proposes a machine with centimeter-level accuracy, suitable for implanting the support rods of vines or shrubs into the soil (preset line (L1), preset implantation point ( P ₁ -P _N )). The machine includes the following parts:

- traction frame (1), longitudinally advancing in the X direction, with a preset advancing speed between 1 and 3 km/h,

- the chassis (3), mounted on the traction frame by means of an articulation with two degrees of mechanical freedom (rotational movement about the longitudinal axis X and translational movement along the transverse axis Y perpendicular to the longitudinal axis),

- computer for control and a display (capable of indicating path alignment with respect to a preset working path),

- the support rod (9) is inserted into the device (4),

- the upper part, equipped with a GPS sensor (5), which receives the GPS satellite signal and transmits it to the adjacent GPS signal receiving base station,

-The installation position of the GPS sensor is basically perpendicular to the support rod insertion device,

- The support rod insertion device (4) comprises a mobile carriage (6). The mobile carriage is installed on the chassis through guide rails, and the preset inclination angle (β) of the guide rails relative to the X-axis is between 50° and 65°, preferably about 55°.

- Insert hydraulic cylinders for controlling the position of the moving carriage,

- The mobile carriage consists of a hollow structure for gripping the support rod in a preset insertion position and a push head for inserting the support rod into the soil as the carriage moves down.

The insertion hydraulic cylinder (8) is connected to the position sensor of the carriage relative to the guide rail. The control of the hydraulic cylinders is performed by a proportional hydraulic valve, which synchronizes the lowering of the mobile carriage and its combined retraction with the advancement of the drawbar in order to insert the support rod vertically to the preset point.

In this way, the rotational movement around the X-axis can compensate for the inclination of the terrain, and the translational movement along the Y-axis can calibrate the deviation of the position of the traction frame relative to the preset working route.

In addition, using differential GPS, the ideal mapping of grape plants can be determined and tracked with high precision. It is called "centimeter-level accuracy" because the position deviation can be controlled within the centimeter range.

Furthermore, since the position of the GPS sensor is roughly perpendicular to the implantation point of the support rod, as long as the operation is strictly followed the pre-made map, the "round-trip" implantation can be performed, that is, the "empty return" situation will not occur.

It should be noted that, as far as the present invention is concerned, the preset line L1 is straight (ie, a straight line) in most cases. However, the preset operation route L1 may also present a slight curvature, for example, when it is necessary to travel along a certain curved contoured operation plot.

Note also that the pre-made maps may include specificities such as "fermeture à la bordelaise" at the edge of the field or at the end of a trail.

In various embodiments of the present invention, if necessary, one and/or another of the following configurations can be additionally selected.

According to one possible configuration, the machine can be mounted and the tongue is connected to the 3-point coupling of the agricultural tractor; alternatively, the machine can be connected to any agricultural tractor equipped with a standard coupling.

According to another possible configuration, the machine can be self-propelled, the tongue being connected or integrated with the chassis of the self-propelled machine. The functions and specifications of this self-propelled machine can be adjusted to the greatest extent possible according to the needs of the support pole and the planting operation of grape/bush plants.

In addition, it is also possible to equip self-propelled machines with tracks. This results in less pressure on the ground and better lift/grip when the ground is wet compared to fitting tires.

An articulation with two kinetic degrees of freedom consisting of: an intermediate support (2) rotatably mounted on the tongue frame (1) for rotational movement about the X-axis; a chassis mounted in translation on the intermediate support (2) , forming a translation along the horizontal axis. Both movements are controlled by a double-acting hydraulic cylinder. Thus, both terrain inclinations and lateral/lateral track deviations of the tractor can be compensated by relatively simple kinematic principles.

Advantageously, ramp response time is also provided to control plunge cylinders to reduce or even eliminate shock at end of stroke to reduce noise impact to the operator.

Advantageously, the computer controls the speed of insertion of the hydraulic cylinder in real time according to the forward speed of the tongue. Therefore, the inventor considered the situation of skidding in advance.

In addition, the machine is equipped with a furrow plow and cover rollers. This results in an exceptionally clean closed line.

Advantageously, water storage tanks, nozzles and distributors are also provided to simultaneously spray the plants when the support poles are inserted. In this way, the right amount of water can be sprayed in the right place at the right time.

According to one configuration, the moving carriage position sensor is an incremental encoder. This is a reliable solution for measuring the position of the moving carriage on the stroke of the movement controlled by the hydraulic cylinder.

The upper support forms a canopy that provides protection from the sun and inclement weather; this provides comfort and protection for the operator when performing non-automated operations.

Description of drawings

In the following description, only some other features and advantages of the present invention are listed, please refer to the accompanying drawings, in which:

- Figure 1 is an outline drawing of a newly planted vineyard,

- Figure 2 is an ideal top view of the plant to be planted,

- Figure 3 illustrates the kinematic compensation of the machine according to the invention,

- Figure 4 is a top view tracking diagram of the trajectory of the tractor relative to the preset working route,

- Figure 5 is an axial sectional view of the main elements of the machine,

- Figure 6A shows the support rod insertion device (sledge in high position),

- Figure 6B is similar to Figure 6A, showing the strut insertion device (sledge in low position),

- Figures 7A and 7B show another embodiment of the mobile carriage, similar to Figures 6A and 6B,

- Figure 8 presents the display for visualization and indication of trace calibration,

- Figure 9A shows in detail the profile of the coulter, Figure 9B is a top view of the coulter,

- Figure 10 is a functional diagram of the control system of the machine,

- Figure 11 shows the configuration of the self-propelled model,

- Figure 12 presents the graph for the specific case,

- Figures 13A and 13B are detailed views of the strut insertion device,

- Figure 14 is a timing diagram of the hydraulic control of the inserted hydraulic cylinder,

- Figure 15 shows the geometry of the vertical insertion of the support bar under the condition of continuous advancement,

- Figure 16 is a specific embodiment of the traction frame and the intermediate support,

- Figure 17 is similar to Figure 16 with the addition of elements of the chassis.

detailed description

In the various figures, the same reference numerals designate the same or similar elements.

In Fig. 1, a grape seedling plantation is shown, which can be a newly reclaimed vineyard, or a vineyard where new seedlings are replaced with old ones.

For this purpose, by using the machine 10 according to the invention, it is possible to insert new vine plants and corresponding support poles (in order to support the vine seedlings during their growth) at predetermined positions.

As shown in Figure 2, accurate mapping determines the preset positions (P1, P2, ...) for implanting grape plants. It is hoped that the actual implanting operation and the ideal mapping will be within the error range of centimeters, so It is called "centimeter-level precision implantation".

Also, as mentioned earlier, it is important to insert the support poles vertically, especially if the rows of vine trees are perpendicular to the slope, to compensate for the inclination of the terrain.

In the accompanying drawings, the axes and directions are named as follows:

X is the longitudinal forward direction,

Y1 is the transverse direction corresponding to the axle of the bearing wheel, perpendicular to the X direction,

YT is the transverse direction corresponding to the local level, i.e. the vertical line of the local tilt calibrated X,

Z is the vertical direction,

W1 is the tilting direction of the tractor, perpendicular to X and Y1,

ZT is the pitching direction of the tractor that has obtained local tilt compensation (θ1), that is, roll compensation, not necessarily pitch compensation.

The forward direction X is adjacent to the preset operation route L1 on the local plot, and preset positions (P ₁ , P ₂ , Pi...) are set on L1

In the previous figures, an arrangement of machine 10 connected to a conventional agricultural tractor 95 has been used in accordance with the invention. It should be noted, however, that the machine 10 may be self-propelled, as shown in FIG. Type 96 is equipped with 98 tracks.

For the configuration using a tractor, the preset forward speed of the tractor 95 is very constant, it will not stop at the preset position, and the seedlings and support poles will be planted "in the air" during the forward process.

Advantageously, in plantations, the forward speed FT of the machine is preset at a value between 1 km/h and 3 km/h, preferably between 1.5 km/h and 2 km/h.

The inventors have employed a differential GPS geolocation system. In practice, a vehicle-mounted (mobile) GPS receiver 5 would be mounted on the mobile machine and a receiver 55 would be mounted on a base fixed to the ground. Both GPS receivers receive GPS signals from satellites 50 . The receiver 55 transmits the received signal to the moving machine to correct errors in the transmission and ensure centimeter-level accuracy.

The known differential GPS system is usually also called D-GPS, which will not be repeated here.

It is to be noted that with the GPS "receiver" 5 or GPS "sensor" 5 the antenna function can be implemented using only the antenna function (by remote processing) or by formatting or even decoding the signal in situ.

The machine 10 can assist one or more operators to insert a support pole 9 into the soil and plant a grape seedling 91 next to the support pole.

In the remainder of this document, the preset positions (P1, P2, . . . ) are considered as the implanted positions of the support poles 9, next to which it is known that the grape plants will be implanted.

As shown in Figure 2, a map has been made for the preset position of the grape seedlings to be implanted; the content of the map generally includes each row parallel to each other (at least partially parallel to each other), and the row spacing is ER (usually between 2m and 2m in practical applications). 2.5m to allow agricultural tractors to pass between rows for subsequent operations). However, the case where the row spacing ER is less than 2m is not excluded.

Each row is composed of continuous planting points P1, P2, Pi, Pi ₊₁ arranged along the row direction. The preset spacing between planting points is recorded as EP, which is about 1 meter in practical applications, usually between 95cm and 110cm between.

For a specific row, the preset working route L1 is usually straight, but sometimes the preset working route L1 may present a certain curvature, that is, not a straight line (see FIG. 12 ).

Each row of preset operation routes is denoted as L1, L2, L3 and so on.

Usually, a single and uniform EP distance is maintained for a certain plot in the vineyard, except for the edge of the plot (which will be explained later). Similarly, the specific row spacing ER can be determined through the pre-calculation of the map, and once the calculation is completed, it will be applied to all the planting rows in the operation plot.

According to the invention, the machine comprises a working chassis, referenced 3, connected to the draw frame, referenced 1, by two motorized motions, also referred to herein as "two motorized motion articulation" or "two motorized degrees of freedom articulation" .

The traction frame 1 may also be referred to as a "traction base".

In the example shown, the two motorized degrees of freedom of movement include an intermediate support 2 rotatably mounted on the traction frame 1 for rotational movement about the X-axis; and a working platform mounted in translation on this intermediate support 2, To realize the translational movement along the horizontal axis Y.

Both movements are controlled by a double-acting hydraulic cylinder, described in detail below.

In the example shown, particularly in Figure 3, it can be seen that rotational motion around the X-axis compensates for terrain inclination via a rotation denoted θX, denoted θ1; translation along the YT axis compensates for lateral deviations (also known as "lateral deviation") is compensated, denoted ΔY, because, in practice, the tractor trajectory denoted TT can never be exactly the same as the autopilot system, there will always be a lateral offset of a few centimeters.

The lateral misalignment calibration stroke ΔY is usually between 50mm and 120mm.

The tilt angle compensation calibration stroke RolX is usually between +/-15 degrees.

Optionally, a reverse installation method can also be adopted, that is, the intermediate support is installed on the traction frame in translation along the Y axis, and the working chassis is installed on the intermediate support in a rotatable manner.

The traction frame 1 also includes height-adjustable rollers 13 . Their height can be adjusted by manual or hydraulic control.

Of course, a furrow plow 12 is also designed. The plow 12 has teeth and can excavate the ground S. The width of the plow is less than 10cm. In addition, soil covering pressing wheel 14 and small front share (not shown) are also designed.

In addition, a flat sprinkler system was designed. The system consists of a water storage tank 97 (which may be mounted on the front of the tractor), a water supply line (not shown) leading to a positive displacement piston pump, a line 17 extending to the inside of the plow 12 (with a water outlet 17S).

As shown in particular in FIG. 10 , the machine includes a computer 71 configured to control an electro-hydraulic distributor connected to a hydraulic cylinder controlling movement. Controlled movements include: tilt calibration, also called "Rol X" (controlled by double-acting hydraulic cylinder marked 82); lateral offset calibration ΔY (controlled by double-acting hydraulic cylinder marked 83); and support Rod insertion motion, also referred to as "piercing". Among these controlled movements is of course the insertion hydraulic cylinder 8 , which is controlled by a proportional solenoid valve 18 .

Optionally, the insertion hydraulic cylinder is connected to a position sensor 81 which measures the travel of the moving carriage relative to the guide rail. Preferably, the position sensor 81 is an incremental encoder.

It should be noted that the solenoid valves controlling the tilt/lateral deviation compensation hydraulic cylinders 82, 83 are preferably proportional solenoid valves to form an effective and stable servo loop.

The hydraulic source may be the tractor's own hydraulic power unit, or may be a vehicle-mounted hydraulic power unit on the machine driven by the power output device of the tractor.

The computer controls the display screen 72 . At the bottom of the screen, the tractor driver is provided with a track calibration indicator, in the example shown, 74 for the track target and 75 for the deviation to be calibrated. When the tractor is controlled by an unmanned "autosteer" system, the track calibration indicator is used by the automatic servo steering system.

In the example shown, the computer and the display screen are only represented by the same unit marked 7, but the two can be separated.

The support rods 9 to be implanted are all stored in the groove 19, and the grape seedlings to be implanted are stored in a groove on the other side of the machine relative to the vertical plane (X, ZT) in the center (not shown in the accompanying drawings). ).

The computer 71 also controls the dispensing piston for spraying water through a fourth hydraulic cylinder (84) as shown or other means.

Inputs to the computer 71 are: information from the onboard GPS receiver 5, calibration information received from a GPS base station 55 located near the pilot location, signals provided by the tilt sensor 57, and signals from the lateral travel position sensor 58. The signal provided is the signal provided by the position sensor 59 of the moving carriage. In the figure, the position sensor 59 of the moving carriage is an incremental encoder, which can provide reliable and accurate information.

As shown in Figures 5, 6A, and 6B, a strut insertion device (generally marked 4) is also provided. The insertion device includes a moving carriage 6 installed on the chassis through a guide rail 40, the guide rail is inclined relative to the X-axis, and the preset inclination angle β is between 50° and 65°, preferably about 55°. It can be seen that the angle β is the compensation angle of the angle α (here 35°), where the angle α is the angle between the plane of the guide rail and the local lifting direction ZT.

In the scheme shown in Fig. 6A, 6B, guide rail is made of two sleeves 48, and when moving, each sleeve can receive a sleeve pipe that is coupled with moving carriage 6, and controls hydraulic cylinder (that is, inserts hydraulic cylinder ) is located between the two sleeves. In another alternative shown in Figures 7A and 7B, multiple rollers 49 are used to achieve a single translational movement, and some rollers can also be used to guide the mobile carriage from multiple directions; it can be noted that Two hydraulic control cylinders 8, 8' are used.

A part of the mobile carriage that forms a mechanical interface with the strut to be implanted is shown in Figures 13A and 13B. There is a steel plate 60, and a hollow upper guide 61 (advantageously V-shaped in section open to the rear), and it is designed so that an operator sitting on the machine can grasp a support bar placed there 9.

A pushing head 62 is provided on it, and when the moving carriage tilts and moves downward, the support rod can be inserted into the soil.

The second V-shaped guide 63 can be installed on the movable carriage, or can be fixedly installed on the chassis at a lower position.

The operator who is responsible for carrying out the work on the support member fixes a support rod 9 to the bottom of the V-shaped guide with his hands, waits for the push head 62 to start to descend, releases the support member, and then pulls the support rod 9 from the groove 19 by hand. The next support grabs.

On the machine 10, at least one operator is seated on the seat 25 during the implant operation; in practice, there are often two operators, one operator is responsible for placing the The supports are pre-placed in place one by one and another operator is responsible for placing the grape shoots 91 directly behind the support bars 9 in the open grooves.

In addition, it may be noted that the on-board GPS receiver 5 is arranged on an upper member which, in the illustration, forms a ceiling 15, ie a hard or soft horizontal wall placed above the operator's seat. Advantageously, this canopy shields the operator from precipitation and sunlight, and also enables the machine to operate over a wider range of weather conditions and time frames.

Lights are also designed to allow the machine to be used early in the morning or late at night. In fact, the driver does not need to look through the windshield to see the road conditions, because there is already enough information on the display screen 72 to assist him in calibrating the direction of the tractor.

In the example shown in FIG. 12, the mapping can take into account obstacles 37, utility poles, sheds, etc. that existed on the work site beforehand.

Another is an example with a traversing trail 38 . It can be noted that the edge of the path is equipped with a support rod according to the Bordeaux closure criterion.

As shown in Figure 14, the computer can initiate the descent of the insertion carriage 6 at the right time through the solenoid control valve 18, wherein the solenoid control valve 18 sends pressure oil to one of the chambers of the double-effect hydraulic cylinder to make it ready. The insertion device and the support rod are lowered.

As can be seen from the figure, the proportional solenoid valve 18 is not controlled in an all-or-nothing manner, however an initial ramp 87, a plateau 89, and another more pronounced ramp 88 are provided to avoid Make a shock.

When the cylinder is raised again, a similar ramp is provided to avoid too much shock at the end of stroke.

As shown in FIG. 15 , the lowering speed can be adjusted using a proportional control solenoid valve 18 . In fact, in the illustration, in order to achieve a simple and reliable structural effect, the inclination rate of the guide rail is set to a fixed value. The guide rail follows the preset guiding direction (in the figure, that is, along a β angle (55°) relative to the X direction, that is, a 35° slope relative to the ZT direction (perpendicular line to obtain the tilt calibration)) to guide carriage 6.

Under these conditions, ground conditions and cartography determine the permissible forward speed (labeled FT). The average lowering speed of the mobile carriage on the guide rail can also be deduced from this by the following formula:

Ct=FT/cosβ

According to this speed Ct, in the computer 71, the control parameters of the proportional solenoid valves must be adjusted to obtain the vertical insertion of the support rod.

Advantageously, if the tractor slips suddenly and the forward speed FT is reduced, the lowering speed Ct of the mobile carriage can be correspondingly reduced so as to maintain vertical insertion.

FIG. 16 shows an industrial embodiment of the tongue 1 . The drawbar 1 comprises two attachments for the lifting arms, marked 1AD and 1AG respectively, and the attachment 1AS of the lifting arm at the third point of the tractor.

It can be noticed here that, as mentioned above, since the ZT direction obtains tilt compensation for the row vertically planted on the local maximum slope, when the row of grape plants rises or falls, generally no compensation is performed, but it can still be obtained through the third Make the lift arm adjustable in length at three points to partially compensate for rising or falling rows.

Bearings for rotational motion around the X direction are marked 11.

The intermediate support 2 comprises a cylindrical part 20 received in the bearing 11 and a parallelepiped part 21 integral with the cylindrical part.

Mounted on this parallelepiped part are two laterally sliding sleeves, respectively marked 44 and 45 , and the body of the hydraulic control cylinder 83 .

Referring to Figures 16 and 17, a part of the RolX tilt compensation hydraulic cylinder marked 82 is connected to the tongue frame 1 by a fastener 82A, and another part is connected to the intermediate support 2 by a fastener 82B.

The working chassis 3 includes a main frame with a left spar 30G and a right spar 30D. The left and right spars mainly extend along the longitudinal X direction, and have transverse protrusions marked 31G and 31D at their respective ends, which are used to support the earth-covering and suppressing wheels 14 .

Between the two spars there is a longitudinal slot 32 for mounting the plow 12 . It can be noticed that there is also a steel plate 40 here, which supports the installation of the guide rails of the mobile carriage 6 .

The support rod 9 is typically a metal rod with a preset diameter between 5mm and 10mm and a length between 50cm and 150cm (preferably set between 80cm and 100cm). The support rod 9 can also be a plastic rod, a synthetic material rod, or even a rod made of composite material obtained by recycling and biodegradation within 5 years.

The so-called "support rod" is often called "standing wood" or "wooden pile".

It should be noted that the semi-automatic support rod insertion system described above is not incompatible with the semi-automatic or fully automatic insertion system of grape plants 91 . In fact, it is possible to provide an operator controlled by the control unit for removing the vines from the storage trough and inserting them into the openings plowed by the coulters, usually directly behind the support bars. Naturally, in this case, the execution of extraction, manipulation, and insertion is fully automated.

Claims (10)

1. machine（10）, suitable for according to default work route (L1), by grapevine seedling（Or sapling）Support bar be implanted to it is pre- If position（P₁-P_N）Soil in, its precision is Centimeter Level, and the machine includes：

- hitch frame（1）, it is configured to be moved along being referred to as longitudinal direction of advance X, between 1 to 3 km/h Pre-set velocity（FT）Advance,

- work chassis（3）, it is arranged on by the articulated mounting with two motor-driven frees degree on the hitch frame, wherein described Two motor-driven frees degree are a rotary motion and a translation along the transverse axis Y with the axis oriented normal for surrounding longitudinal axis X Motion,

- control computer（7、72）And display screen（7、71）, it can be provided relative to the default work route calibration track Instruction,

- support bar（9）Insertion apparatus（4）,

- upper component, it, which is equipped with, receives gps satellite signal and is sensed with the GPS that neighbouring gps signal reception base station is connected Device（5）,

The position of-the GPS sensor is substantially vertical with the support bar insertion apparatus,

- support bar the insertion apparatus（4）Including the mobile balladeur train being arranged on by guide rail on work chassis（6）, the guide rail Tilted relative to X-axis with the predetermined angle between 50 ° to 65 °, be preferably selected 55 ° or so,

- be used to control the insertion hydraulic cylinder of the mobile sledge position（8）,

- mobile the balladeur train includes hollow structure, to catch support bar on position is inserted into, is also equipped with pusher head, works as institute Stating can insert the support bar in soil when balladeur train moves down,

The hydraulic cylinder is by proportional hydraulic valve（18）To be controlled, to ensure the decline of the mobile balladeur train and in connection Retreat synchronous with the advance of the hitch frame so that the support bar can be perpendicularly inserted at one of preset place.

2. machine according to claim 1, it is characterised in that the machine can be suspension type, the hitch frame with it is agricultural Tractor（95）3 point type connectors be connected.

3. machine according to claim 1, it is characterised in that the machine is self-propelled（96）, crawler belt is preferably equipped with, and The hitch frame is connected or integrated with the chassis of the self-propelled machine.

4. machine according to any one of claim 1 to 3, it is characterised in that described that there is two motor-driven frees degree Articulated mounting includes being rotatably mounted to the hitch frame（1）Intermediate support（2）, to realize the rotary motion around X-axis； And the work domain is translationally arranged on the intermediate support（2）On, to realize the translational motion along transverse axis Y, this two Individual motion is all controlled by a dual-effect hydraulic cylinder.

5. machine according to any one of claim 1 to 4, it is characterised in that ramp response time is provided（87、88）, For controlling the insertion hydraulic cylinder.

6. machine according to claim 1, it is characterised in that the control computer is fast according to the advance of the hitch frame Degree（FT）To control the speed of the insertion hydraulic cylinder in real time.

7. machine according to any one of claim 1 to 6, it is characterised in that additionally provide ditching plow（12）And earthing Press wheel.

8. machine according to any one of claim 1 to 7, it is characterised in that while the support bar is inserted, lead to Cross storage tank（97）, nozzle（17S）The plant is sprayed with distributor.

9. machine according to any one of claim 1 to 8, it is characterised in that the insertion hydraulic cylinder（8）Relative to institute State the position sensor of guide rail and the balladeur train（81）It is connected, and the position sensor of the mobile balladeur train is preferably that incremental is compiled Code device.

10. machine according to any one of claim 1 to 6, it is characterised in that the upper support element forms masking too Positive and boisterous ceiling（15）.