CN1647605A - Manned rice transplanter - Google Patents
Manned rice transplanter Download PDFInfo
- Publication number
- CN1647605A CN1647605A CNA2005100058179A CN200510005817A CN1647605A CN 1647605 A CN1647605 A CN 1647605A CN A2005100058179 A CNA2005100058179 A CN A2005100058179A CN 200510005817 A CN200510005817 A CN 200510005817A CN 1647605 A CN1647605 A CN 1647605A
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- feed unit
- rice
- rice shoot
- turning
- plant feed
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- 235000009566 rice Nutrition 0.000 title claims abstract description 199
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- 241000209094 Oryza Species 0.000 claims abstract description 200
- 230000035945 sensitivity Effects 0.000 claims abstract description 34
- 241000196324 Embryophyta Species 0.000 claims description 108
- 238000007667 floating Methods 0.000 claims description 45
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R1/00—Details of instruments or arrangements of the types included in groups G01R5/00 - G01R13/00 and G01R31/00
- G01R1/02—General constructional details
- G01R1/06—Measuring leads; Measuring probes
- G01R1/067—Measuring probes
- G01R1/073—Multiple probes
- G01R1/07307—Multiple probes with individual probe elements, e.g. needles, cantilever beams or bump contacts, fixed in relation to each other, e.g. bed of nails fixture or probe card
- G01R1/07342—Multiple probes with individual probe elements, e.g. needles, cantilever beams or bump contacts, fixed in relation to each other, e.g. bed of nails fixture or probe card the body of the probe being at an angle other than perpendicular to test object, e.g. probe card
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/26—Testing of individual semiconductor devices
- G01R31/2601—Apparatus or methods therefor
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Transplanting Machines (AREA)
- Guiding Agricultural Machines (AREA)
- Lifting Devices For Agricultural Implements (AREA)
Abstract
The invention provides a sulky rice transplanter having excellent turning properties in distinction from the time of straight advancing and designed to automatically grade a field surface during turning at the side of a levee, or the like. This sulky rice transplanter is equipped with the following: wheels 6 and 7 driven with power from an engine 12, a right and a left side clutches I for individually engaging and disengaging the transmission to the wheels 7 by steering operation of a steering wheel 16, a freely liftable and lowerable seedling planting apparatus 3 performing grading operation during the turning and seedling planting operation when straight advancing and dials 184 and 185 for individually and automatically carrying out operation for grading the field and the seedling planting operation based on lifting and lowering positions of the seedling planting apparatus, the steering wheel steering angle during the turning and the number of revolutions of the wheel on the inside of the turning and individually independently changing the setting of control sensitivity of the lifting and lowering positions of the seedling planting apparatus when the grading operation and the seedling planting operation during the straight advancing are performed. Thereby, the sensitivity is automatically changed over interlockingly with the changeover of the seedling planting operation during the straight advancing operation and the grading operation during the turning operation and both the seedling planting operation and the grading operation can well be carried out. The operation can be optimized.
Description
Technical field
The present invention relates to manned rice transplanter.
Background technology
Prior art as this kind, shown in TOHKEMY 2002-335722 communique, the terminal part of first-class rice transplanting stroke is turned back when turning around on ground, it or not the integral body rotation of rice seedling plant feed unit, but make its rear portion raise up, make the anterior ground connection of level land floating drum, the good device of turn performance that leveling land in the limit, turns rapidly in the limit.
Patent documentation 1: TOHKEMY 2002-335722 communique
But the disclosed manned rice transplanter of above-mentioned TOHKEMY 2002-335722 communique is owing to need carry out the other operation different with the steering operation of body, make the rice shoot plant feed unit be forward lean and tilt, allow the anterior ground connection of level land floating drum, the tilting action of rice shoot plant feed unit expends time in, can not promptly switch the ground state of floating drum therebetween, in addition, when body is turned, except that the steering operation of body, also must carry out other operation.Forget this operation, when turning, can not keep the correct ground state of floating drum.
In addition, foregoing invention can not independently be set the control sensitivity of the lifting control of rice shoot plant feed unit respectively when directly advancing rice transplanting and turning, so, can not according to the rice transplanting plot, when the rice transplanting control sensitivity irrespectively, control sensitivity when turning is set on optimum ground.
Summary of the invention
Problem of the present invention is, can be certain according to floating drum when being provided at border, ridge etc. and turning and the manned rice transplanter in smooth plot suitably.
The invention of technical scheme 1 record is, a kind of manned rice transplanter, the relative traveling vehicle 1 of described manned rice transplanter can be provided with the limit up and down by level land floating drum 164,165 carry out the plant rice shoot plant feed unit 3 of rice shoot of grading operation limit, be provided with lifting control mechanism, described lifting control mechanism come lifting control rice shoot plant feed unit 3 according to detection to ground, field so that its reach expectation to ground level, wherein, it is that turn condition also is the turn condition testing agency 193 of non-turn condition that setting is used for detecting traveling vehicle 1, be provided with corresponding by 193 pairs of turn conditions of this turn condition testing agency, the turning interlock control device 170 of the control sensitivity of lifting control mechanism is switched in the detection of non-turn condition, simultaneously, setting can be distinguished the set mechanism 184 of the described control sensitivity of change setting independently at turn condition and non-turn condition, 185.
As invention according to technical scheme 1 record, lifting sensitivity for rice transplanter device 3, can be set at the sensitivity that is fit to rice transplanting during rice transplanting, during turning walking on the border, ridge etc., can with rice transplanting with the change of sensitivity irrespectively, the thickness degree at the corresponding edge of a field or soil property, change setting level land for the edge of a field that suits and use sensitivity.
As the invention according to technical scheme 1 record, switching interlock, the automatic switchover sensitivity of the operation of leveling land during with rice transplanting operation of directly advancing operation and turning operation can be carried out rice transplanting operation and tillage operation simultaneously well, realize suitableization of operation.
Description of drawings
Fig. 1 is the whole side view of the 8 capable manned rice transplanters of planting of expression one embodiment of the invention.
Fig. 2 is the overall plan view of the manned rice transplanter represented of Fig. 1.
Fig. 3 is the plane sketch that the traveling vehicle transmission of the manned rice transplanter of presentation graphs 1 expression constitutes.
Fig. 4 is the expansion sectional view of the gearbox body of the manned rice transplanter represented of Fig. 1.
Fig. 5 is the plane that the operation of the main clutch of manned rice transplanter of presentation graphs 1 expression and rear wheel brake constitutes.
Fig. 6 is the stereogram of steering component of left and right sides front-wheel of the manned rice transplanter of presentation graphs 1 expression.
Fig. 7 is the stereogram of the gear lever part of the manned rice transplanter represented of Fig. 1.
Fig. 8 is the square circuit diagram of the control system of the manned rice transplanter represented of Fig. 1.
Fig. 9 is the thinking figure that the turning interlock of the manned rice transplanter of presentation graphs 1 expression is controlled.
Figure 10 is the flow chart of the turning interlock control of presentation graphs 9.
Figure 11 is the sectional view of the floating drum part of the manned rice transplanter rice shoot plant feed unit represented of Fig. 1.
Figure 12 is the flow chart of the turning interlock control of the manned rice transplanter represented of Fig. 1.
Figure 13 is the side view of major part of the rice shoot plant feed unit of the manned rice transplanter represented of Fig. 1.
Figure 14 is the front elevation of major part of the rice shoot plant feed unit of the manned rice transplanter represented of Fig. 1.
Figure 15 is the flow chart of the turning interlock control of the manned rice transplanter represented of Fig. 1.
Figure 16 is the flow chart of the turning interlock control of the manned rice transplanter represented of Fig. 1.
Figure 17 is the part side view of side float part of the rice shoot plant feed unit of the manned rice transplanter represented of Fig. 1.
Embodiment
With reference to the accompanying drawings the manned rice transplanter of planting as 8 row of one embodiment of the invention is elaborated.
Fig. 1 is the unitary side view of manned rice transplanter of the present invention, and Fig. 2 is an overall plan view.Fig. 3 is the general view that the transmission of traveling vehicle of the manned rice transplanter of presentation graphs 1 constitutes, and Fig. 4 is the expansion sectional view of gearbox body.
Shown in Fig. 1 end view, manned rice transplanter will be installed in as a kind of rice shoot plant feed unit 3 of apparatus for work on the traveling vehicle 1, simultaneously with linkage 2 with the lifting of being made up of tranverse connecting rod 2a and vertical connecting rod 2b, be provided with fertilizer apparatus 4, integral body has manned fertilising rice transplanting and constitutes functionally.Traveling vehicle 1 is for having the four-wheel drive vehicle as each a pair of front- wheel 6,6 and trailing wheel 7,7 about driving wheel.
Configuration gearbox body 11 and engine 12 before and after on the chassis 10, one is assembled with oil pressure pump 13 above the rear portion of this gearbox body 11, in addition, the outstanding upward steering column 14 that is provided with from the front portion of gearbox body 11.
And the upper end of steering column 14 is provided with steering wheel 16 and operation panel 17.The top of body is equipped with to handle with what be mesa shaped and is marked time 19, and the upper portion of engine 12 is provided with handles seat 20.Front- wheel 6,6 can change the front- wheel support housing 22,22 that direction earth's axis Zhi Yu is arranged on gearbox body 11 sides.In addition, 7,7 of trailing wheels are assemblied in the trailing wheel support housing 24,24 on the both ends, the left and right sides of rolling rod 23 in one.Rolling rod 23 with the outstanding axis of rolling 25 that is arranged on the rearward end on chassis 10, rotates in direct of travel and vertical face and is supporting freely.
The rotary power of engine 12, conduct to jackshaft 32 by belt 31 (Fig. 3) as oil pressure pump 13 driving shafts, and then conduct to the power shaft 35 of hydraulic type speed change gear HST by belt 33 by this jackshaft 32, conduct to gearbox power shaft 34 by the output shaft 36 of hydraulic type speed change gear HST by belt (not shown).
In addition, gearbox power shaft 34 is provided with main clutch 43, and the driving force of hydraulic type speed change gear HST is passed through main clutch 43 to 34 transmissions of gearbox power shaft.Main clutch 43 is well-known multiplate clutches, as shown in Figure 4, is made of the friction plate 45 of the friction plate 44 of main clutch axle side and gearbox power shaft side, the spring 46 of pushing two friction plates, retaining element 47 that handover operation is used and sliding members 48 etc.
The front portion of the housing 40 of gearbox body 11 is supported with gearbox power shaft 34, jackshaft 50 respectively abreast, the secondary axes 51 that travel, two secondary axes 52 that travel, rice transplanting one secondary axes 53, rice transplanting two secondary axes 54.The gear G1 of gearbox power shaft 34 and the gear G2 of jackshaft 50 and gear G2 and the gear G3 of the secondary axes 51 that travel are meshing with each other respectively, and the rotation of gearbox power shaft 34 is conducted to the secondary axes 51 that travel along direction ground.
Put K as the main transformer quick-mounting, said gear G3 and gear G4 respectively at the fixed position setting-in on the axle 51 that travels once, chimeric freely integrally formed gear G5, the G6 mutually that have endwisely slips on the secondary axle 52 that travels.With speed change gear 56 G5, G6 being moved, during gear G4, G5 engagement, be the operating speed of low speed, is travel speed on the road at a high speed when gear G3 and G6 engagement.
In addition, on rice transplanting one secondary axes 53 chimeric often with gear G4 meshed gears G7 and back gear G8, gear G6 and back gear G8 are meshed then are the speed of falling back.The all out of mesh position of gear G5, G6 and any gear is a neutral gear.Operating this main transformer quick-mounting puts the gear lever 90 of K and is arranged on the operation panel 17.
In addition, as speed change gear C between strain, integrally formed gear G9, G10 endwisely slips and freely is entrenched on rice transplanting one secondary axes 53 mutually.Simultaneously, be separately installed with gear G11, G12 on rice transplanting two secondary axes 54.By by speed change gear 57 suitably carrier wheel G9, G10, obtain 3 kinds of combinations of gear G9 and gear G11, gear G10 and gear G11 and gear G10 and gear G12, can carry out switching between the strain in 3 stages.Pass through angular wheel G13, G14 to 58 transmissions of transplanting portion power transmission shaft by rice transplanting two secondary axes 54.
Back axle 60,60 and propons 61,61 at the rear support of housing 40, by aforementioned walking two secondary axes 52 by back differential cross pin D to back axle 60,60 transmissions, simultaneously, by back differential cross pin D by preceding differential cross pin E propons 61,61 transmissions to the left and right.And form driving by left and right sides propons 61,61 and rotate constituting of each left and right sides front- wheel 6,6.
Back differential cross pin D has at peripheral part and is formed with the container 63 of gear G15 meshed gears G16 with walking two secondary axes 52, the angular wheel G17 that installs on the longitudinal axis 64 in this container and about back axle 60,60 on the quadric cone generating gear G18, the G18 that install respectively, be intermeshing state and accommodated, the change that the driving force to each bridge transmission is suited.
Before the formation of differential cross pin E identical with back differential cross pin D, have the angular wheel G22 of installation on the angular wheel G21 that installs on the gear G20, the longitudinal axis 66 of container 65, the longitudinal axis 66, the gear G19 of back differential cross pin side, preceding differential cross pin side, the propons 61.Be provided with at above-mentioned back differential cross pin D and preceding differential cross pin E and stop differential mechanism function, diff lock F, the H of the impartial transmission driving force of two bridges to the left and right.The pawl 73 (74) and the bridge 60 (61) of the diff lock element 71 (72) of pawls 69 (70) that form in this diff lock F (H) and the container 63 (65) and the square rod portion that is embedded in bridge interfix.The ADB stopping bar 91 of operating the diff lock F of this trailing wheel is located on the operation panel 17.
Moreover the diff lock H of front-wheel constitutes: depress and be located at 19 the 91 ' time of differential mechanism locking pedal of marking time, the differential mechanism function just stops.This ADB stopping bar 91 and differential mechanism locking pedal 91 ' (Fig. 2) all are configured in the front portion of body, for example cross over the ridge, ridge in field, with body when shift out in the rice field etc., the operator will get off, stand in the place ahead (for own health is taken advantage of leading section at body as the counterweight of loading) of body from body, body is advanced or retreats, crosses over safely this ridge, ridge.
At this moment, any one of left and right sides front- wheel 6,6 taken turns or during any one wheel idle running of left and right sides trailing wheel 7,7, operator on the seat can be easy to the posture operation be located at the ADB stopping bar 91 of front part of a body and differential mechanism locking pedal 91 ', place the differential lockup state, can cross over the ridge stalk safely.
Back axle 60,60 dependence angular wheel G23, G24 ... be in transmission connection with side clutch shaft 76,76, and then pass through side clutch I, I to rear output shaft 77,77 transmissions by this side clutch shaft 76,76.Side clutch I is a multiplate clutch, has the friction plate 80 of side clutch shaft side, the friction plate 81 of rear output shaft side.The ACTUATOR 82 that is entrenched in sliding freely on the rear output shaft 77 is pressurizeed, is generally the state that side clutch I enters by leaf spring 83 in the direction of pushing two friction plates 80,81.Make ACTUATOR 82 when the rightabout with compression aspect moves with speed change gear 85I, side clutch I disconnects.
In addition, rear output shaft 77,77 is provided with trailing wheel brake device J, J.Trailing wheel brake device J be with platen 88 ... be pressed into the disk 87 that is installed on the rear output shaft 77 ... and realize the device of braking, this platen 88 .... action carry out according to speed change gear 85J, that is: usual side clutch I is combination, trailing wheel brake device J is engagement state not, operation speed change gear 85I makes ACTUATOR 82 to the pressurization negative side when mobile in the opposite direction, side clutch I disconnects, and during operation speed change gear 85J, trailing wheel brake device J is for engaging.The operation of trailing wheel brake device J (operation of left and right sides speed change gear 85J) is carried out with the pedal 140 of marking time on 19 that is located at described later.Moreover, fixing the base portion of left and right sides clutch operating arm 86I (Fig. 5) on the speed change gear 85I of the left and right sides, be fixed with the base portion of left and right sides brake operating arm 86J on the speed change gear 85J of the left and right sides.
The rearward end of rear output shaft 77,77 protrudes in outside the housing 40, is connecting the left and right sides drive shaft of rear wheel 89,89 to above-mentioned trailing wheel support housing 24,24 transmissions in this outstanding end.And, constitute according to this left and right sides drive shaft of rear wheel 89,89 and drive each left and right sides trailing wheel 7,7 of rotation.
The operative position of gear lever 90 is equipped with and retreats walking shelves on shelves, neutral, operation shelves, the road.In addition, operate ADB stopping bar 91 forward and be the differential mechanism locking, backward operation is that differential mechanism is opened.
So, when carrying out the rice transplanting operation in the field, make ADB stopping bar 91 be in the fertilizer can that differential mechanism locking, gear lever are in the operation shelves, dress Miao Taishang, granular fertilizer that rice seedling is loaded into rice seedling seedling-transplanting device 3 put into fertilizer apparatus 4, driving each one moves ahead, like this, the diff lock F of left and right sides trailing wheel 7,7 is the state that differential mechanism locking, differential mechanism function stop, so the craspedodrome of body is good, can carry out good rice transplanting operation and fertilising operation simultaneously.In addition, when walking on the road, if will back differential gear D and before differential gear E be the state of differential mechanism function work when operating together, can drive safely.
Fig. 1 and Fig. 2 show the preparation seedling carrying base 200 that is arranged on front part of a body and as central authorities' sign 201 of directly sailing index.
In addition, be provided with the side sign 210 of the target that becomes alignment rice transplanting row in the both sides, the place ahead of body main body.According to being parallel excellent 210a with the fore-and-aft direction of body, when alignment rice transplanting row, can more easily confirm the situation that body is parallel with adjacent rows in the configuration of the top of side sign 210.
But rice shoot plant feed unit 3 with lifting with linkage 2 free liftings be loaded on the driving vehicle 1.The formation of its lifting and the formation of rice shoot plant feed unit 3 are described.At first, base portion is rotated the piston upper end that is arranged on the general hydraulic cylinder 160 (Fig. 1) on the driving vehicle 1 freely to be connected with linkage 2 with lifting, supply with discharge hydraulic oil by electromagnetic fuel pressure control valve valve 161 (Fig. 8) to hydraulic cylinder 160 with the oil pressure pump 13 that is arranged on driving vehicle 1, make the piston of hydraulic cylinder 160 put in withdrawal, make to be connected in lifting to constitute up and downly with the rice shoot plant feed unit 3 of linkage 2.
Rice shoot plant feed unit 3, by in lifting with the rear portion of linkage 2 by the axis of rolling 154 (Figure 14) by the free rice transplanting transmission case body 162 that has the vehicle frame function concurrently that rollably is installed with, supporting is arranged on the supporting member of this rice transplanting transmission case body 162, at the reciprocating seedling carrying base 163 of body left and right directions, by the lower end of device ground of rice seedling is separated at the aforementioned seedling carrying base 163 of the rearward end of rice transplanting transmission case body 162, the rice shoot of implanting the rice field parts 164... that plants, its rear portion pivot suspension that is provided with in the bottom of rice transplanting transmission case body 162, its front portion swings up and down land leveler-center floating drum 165 freely, formations such as side float 166....In smooth field, with rice shoot plant the smooth rice shoot of planting of parts 164... the field the place ahead center floating drum 165, side float 166... be set.
PTO power transmission shaft 167 has universal joint at two ends, and rice transplanting transmission case body 162 ground that the power of fertilising drive case 168 conducted to rice shoot plant feed unit 3 are being provided with.Center floating drum sensor 169 is made of the potentiometer of the upper-lower position of inspection center's floating drum 165 front portions, links according to the anterior top and connecting rod of center floating drum 165.And, detect according to the upper-lower position of center floating drum 165 front portions of center floating drum sensor 169, with the rice shoot plant feed unit elevating mechanism of control device 170 (Fig. 8), control electromagnetic fuel pressure control valve valve 161 is with the upper-lower position of hydraulic cylinder 160 control rice shoot plant feed units 3.
That is: control device 170 is according to the detection of the angle of attack sensor 207 that is located at center floating drum 165 front portions, raised when exceeding optimum range by external force in the front portion of center floating drum 165, to send into hydraulic cylinder 160 from the hydraulic oil of extraction in the gearbox 11 by oil pump 13, piston is ejected, lifting is moved upward with linkage 2, make rice shoot plant feed unit 3 rise to assigned position, in addition, the front portion of center floating drum 165 descends when exceeding optimum range, hydraulic oil in the hydraulic cylinder 160 is got back in the gearbox body 11, lifting moves downward with linkage 2, makes rice shoot plant feed unit 3 drop to assigned position.And the front portion of center floating drum 165 is (rice shoot plant feed unit 3 is when suitable assigned position) when optimum range, and the turnover of the hydraulic oil in the stop solution cylinder pressure 160 makes rice shoot plant feed unit 3 remain on certain position.So, center floating drum 165 is used as the grounding sensor from dynamic height for control rice shoot plant feed unit 3.
Angle of attack sensor 207 is the devices to ground level that detect rice shoot plant feed unit 3, detected value according to this angle of attack sensor 207, with control device 170 (Fig. 8) control lift valve (not having diagram), with the upper-lower position ground formation of lifting hydraulic cylinder 160 control rice shoot plant feed units 3.
That is: with lifting hydraulic cylinder 160, lifting is for example upwards moved with linkage 2, make rice shoot plant feed unit 3 move up to assigned position, in addition, the front portion that detects center floating drum 165 by angle of attack sensor 207 descends when exceeding optimum range, hydraulic oil in the lifting hydraulic cylinder 160 is turned back in the gearbox body 11, lifting is moved downward with linkage 2, make rice shoot plant feed unit 3 drop to assigned position.And, (detected value of angle of attack sensor 207 is in optimum range when optimum range in the front portion of center floating drum 165, rice shoot plant feed unit 3 is for suitable during to ground level), stop the turnover of the hydraulic oil in the lifting hydraulic cylinder 160, make rice shoot plant feed unit 3 remain on certain position.
That is: angle of attack sensor 207 front portion that detects center floating drum 165 is promoted when exceeding optimum range by external force, oil pressure pump 13 will be sent into lifting hydraulic cylinder 160 from the hydraulic oil of sucking-off in the gearbox 11, make piston outstanding, make lifting with upwards action of linkage 2, make rice shoot plant feed unit 3 be promoted to assigned position.In addition, the front portion that angle of attack sensor 207 detects center floating drum 165 descends when exceeding optimum range, and the hydraulic oil in the lifting hydraulic cylinder 160 is turned back in the gearbox body 11, and lifting is moved downward with linkage 2, makes rice shoot plant feed unit 3 reduce to assigned position.And, (detected value of angle of attack sensor 207 was in optimum range when the front portion of center floating drum 165 was in optimum range, rice shoot plant feed unit 3 is for suitable during to ground level), stop the turnover of the hydraulic oil in the lifting hydraulic cylinder 160, make rice shoot plant feed unit 3 remain on certain position.So, center floating drum 165 uses as the grounding sensor from dynamic height for control rice shoot plant feed unit 3.
The below of steering wheel 16 disposes finger lever 171 (Fig. 2), when above-below direction is operated this finger lever 171, the finger lever switch 172 (Fig. 8) that is made of potentiometer moves, PTO clutch operating mechanism according to control device 170, operation PTO clutch operating solenoid 173, operation setting is at the PTO clutch of the break-make power of fertilising in the driving box 168, can subtend fertilizer apparatus 4 and rice shoot plant feed unit 3 power supplied supply with and rupturing operation.Simultaneously, with the rice shoot plant feed unit elevating mechanism of control device 170, operation electromagnetic fuel pressure control valve valve 161 can be manually to adjust rice shoot plant feed unit 3 up and down.
That is: to " on " operation is during finger lever 171, the PTO clutch disconnects, the action of fertilizer apparatus 4 and rice shoot plant feed unit 3 stops, and, force to switch electromagnetic fuel pressure control valve valve 161 for promoting the states of rice shoot plant feed unit 3.
And, to " on " operation finger lever 171 after, to finger lever 171 of D score operation, then electromagnetic fuel pressure control valve valve 161 becomes the automatic control state of switching with the knee-action of center floating drum 165, as rice shoot plant feed unit 3 state for having risen, rice shoot plant feed unit 3 drops to center floating drum 165 ground connection and becomes suitable posture.Again when D score operation finger lever 171, the automatic control state that electromagnetic fuel pressure control valve valve 161 also switches for the knee-action of foundation center floating drum 165, the PTO clutch, fertilizer apparatus 4 and rice shoot plant feed unit 3 are driven.After, every finger lever 171 of operation downwards, under the automatic control state that electromagnetic fuel pressure control valve valve 161 switches with the knee-action of center floating drum 165, the PTO clutch can alternately switch to and separate and combination.
Here, just, describe by Fig. 5 and Fig. 6 with the formation of steering wheel 16 steering operation front- wheels 6,6 parts.
So, during rotating operation steering wheel 16, power to steering spindle, is turned to change-speed gearing, output shaft 174, pitman arm 175, left and right sides bar 176,176,22,22 transmission of left and right sides front-wheel support housing, thereby the steering operation left and right sides, left and right sides front- wheel 6,6.
On the other hand, on the rear portion of pitman arm 175, be provided with rotatable action freely and roll 177, have this action of encirclement and roll ground, 177 left and right sides, look squarely the driven member 179 rotatable bottom surfaces that are bearing in gearbox body 11 freely of cutting the notch part 178 that is コ word shape.And, linking the front portion of the left and right sides bar 180,180 that is linked to aforementioned left and right sides clutch operating arm 86I, 86I in the left and right sides of driven member 179 one.So, steering wheel 16 is turned right ormal weight (having the amount that the right-handed consciousness ground operator of body is turned right) when above, pitman arm 175 also turns right, action is rolled 177 and is rotated to (Ha) direction, push the left surface 178a of the notch part 178 of driven member 179, therefore driven member 179 is rotated to (ニ) direction, draw right bar 180, operation right clutch motion arm 86I, right side clutch I separates, the off hind wheel 7 of pivot side is idling conditions, so off hind wheel 7 can not injure bottom (soil), and, can not take up a large amount of earth and damage the mud face in field, and turn right and to finish smoothly and with a snap.
On the contrary, when turning left steering wheel 16 more than the amount in accordance with regulations, pitman arm 175 is also turned left, action is rolled 177 rightabouts to (Ha) and is rotated, push the right flank 178b of the notch part 178 of driven member 179, so that driven member 179 rotate to the rightabout of (ニ), draw left bar 180, operation left clutch motion arm 86I, left side clutch I disconnects, the left rear wheel 7 of center of rotation side is idling conditions, so left rear wheel 7 can not injure bottom (soil), and, can not take up a large amount of earth and damage the mud face in field, and turn left to finish smoothly and with a snap.
Moreover, be provided with left and right sides sensor compressing tablet 182,182 above the front portion of pitman arm 175, no matter with steering wheel 16 left or turn right moving 200 when spending, the automatic lifting switch 183 that is fixed on gearbox body 11 bottom surfaces is opened (steering wheel 16 can maximum left-right rotation 360～400 degree).
In the above-described embodiment, shown by measuring the example that above direction of operating dish 16 separates the side clutch I that rotates inside rear wheel 7 in accordance with regulations, but also can on operation panel 17, be provided with the side clutch switch, can constituting by manual operation side clutch I " separation ".Also can adopt the side clutch pedal in addition, can constituting by manual operation side clutch I " separation ".
Below, make rice shoot plant feed unit 3 rise the control formation automatically when just retreating and describe.At first, as shown in Figure 7, when gear lever 90 is operating as reverse gear, be provided with and be located at butt sheet 190 butts of gear lever 90 base portions and be the direction switch 191 that falls back of ON, rice shoot plant feed unit rising mechanism controls electromagnetic fuel pressure control valve valve 161 according to control device 170 (Fig. 8) rises to maximum position with hydraulic cylinder 160 with rice shoot plant feed unit 3.
So, it constitutes when operating gear lever 90 for reverse gear, makes rice shoot plant feed unit 3 rise to maximum position automatically, then on the border, ridge in field for making body rotation etc. make body when the ridge retreats, rice shoot plant feed unit 3 rises to maximum position automatically, therefore can prevent that rice shoot plant feed unit 3 from colliding the ridge, bad ridge in possible trouble, operation is good.
In addition, make aforementioned steering wheel 16 no matter or turn right moving 200 when spending left, automatic lifting switch 183 is as shown in Figure 8 opened, and then according to the rice shoot plant feed unit rising mechanism controls electromagnetic fuel pressure control valve valve 161 of control device 170, makes rice shoot plant feed unit 3 rise to maximum position with hydraulic cylinder 160.
Like this, for rotate body on the border, ridge, left or right so that steering wheel 16 is rotated, automatic lifting switch 183 is opened, rice shoot plant feed unit 3 rises to maximum position automatically, so when body is turned, do not need the operation that rice shoot plant feed unit 3 is risen, carry out to excellent in efficiency body and turn, operation is good.
On the other hand, operation panel 17 is provided with and switches to state that the automatic rising that makes rice shoot plant feed unit 3 carries out and the automatic lifting change-over switch 192 that does not make its state that carries out, that is: automatic lifting change-over switch 192 is located at when automatic, as mentioned above, the direction switch 191 that falls back is that ON or automatic lifting switch 183 are ON, then rice shoot plant feed unit 3 rises automatically according to the rising mechanism of the rice shoot plant feed unit of control device 170.And when automatic lifting change-over switch 192 was OFF, even if even if the direction switch 191 that falls back is ON for ON, automatic lifting switch 183, rice shoot plant feed unit 3 can not rise automatically yet.
So, even if be even if that ON automatic lifting switch 183 is that ON, rice shoot plant feed unit 3 also can be in not the state that rises automatically with an automatic lifting change-over switch 192 direction switch 191 that falls back, therefore, with the fall back formation of switch of lifting and automatic lifting of open and close respectively be set respectively compare, become succinct formation, the state that can carry out both with a switch switches, so, bust tails off, and operation is good.
In addition, automatic lifting change-over switch 192 is made as OFF, even direction switch 191 still is in not propradation automatically for ON automatic lifting switch 183 for ON, rice shoot plant feed unit 3 even if fall back, then with body during to the farm machinery warehouse etc., even gear lever is operated to reverse gear, rice shoot plant feed unit 3 can not rise automatically yet, therefore, can be sagging rice shoot plant feed unit 3 reversing, can avoid the top of warehouse inlet or the such state of affairs of collision of other device in the warehouse and rice shoot plant feed unit 3.In addition, in irregular plot such as fan type or calabash shapes, when carrying out the rice transplanting operation around along the ridge, ridge, the rice transplanting operation is carried out on steering wheel rotation 16 limits, limit, ridge along bending, this moment is as placing automated location with automatic lifting change-over switch 192, no matter with steering wheel 16 left or moving 200 degree of turning right when above then, rice shoot plant feed unit 3 rises automatically, does not carry out the rice transplanting operation.If but automatic lifting change-over switch 192 were placed OFF, even if then steering wheel 16 would be left or more than moving 200 degree of right-hand rotation, rice shoot plant feed unit 3 does not still rise, and can continue the rice transplanting operation, even can suitably carry out the rice transplanting operation in irregular plot yet.
By the above-mentioned rice transplanter that constitutes manufacturing, the control device 170 of present embodiment is according to the detection of the revolution of turning medial trailing wheel 7, the turning interlock control that each action of rice transplanting when turning etc. is carried out automatically.When particularly the trailing wheel 7 of turning medial carries out the above steering of predetermined angular, can carry out aforementioned turning interlock control.
Fig. 9 and table 1 show the thinking of this control.
(table 1)
| The body movement content | The |
| 1. stop rice transplanting with manual operation, rise the portion of planting | Perception is planted " breaking ", begins the counting of revolution according to the drive shaft turns sensor. |
| 2. be the turning steering wheel rotation | Whether more than regulation, send signal according to the sensor senses steering wheel angle.The revolution of the driving shaft when being stored to till the steering wheel rotation. |
| 3. turn 90 ° the time in turn beginning back, body, transplanting portion begins automatic decline | The signal of driving shaft autorotation direction of operating dish to body sends the signal of transplanting portion " decline " after turning and rotating till 90 °. |
| 3. steering wheel is got back to the craspedodrome state, begins automatic rice transplanting from existing together mutually with the terminal of adjacent ridge rice transplanting. | Satisfy the revolutions of 2 storages and operate certainly steering wheel rotation when beginning rice transplanting till during the revolution of driving shaft the time, send " leading to " signal of planting. |
That is: steering wheel rotation 16, under the state that the side clutch I of the trailing wheel 7 of turning medial separates, detect the revolution of left and right sides driving shaft (power transmission shaft) 89, when the power transmission shaft revolution of the trailing wheel 7 of inboard surpasses setting value N1 during turning, rice shoot plant feed unit 3 descended.Thereafter, the power transmission shaft revolution of trailing wheel 7 reaches setting value N2 and the action of parts 164 of planting from rice shoot and enters the aggregate value of revolution n of the drive shaft of rear wheel 89 of " break " state (=rice shoot plant feed unit 3 moves on to propradation) till beginning rotating operation steering wheel 16 when above, then is the mechanism of " leading to " of planting.
Content shown in Figure 10 is the flow process of above-mentioned turning interlock control.
At first, detect the revolution of the power transmission shaft 89 of left and right sides trailing wheels with power transmission shaft tachometer generator 205, set a reference value N1 (from beginning to turn), N2 (body turn since 90 degree to drive shaft turns signal sets value till the rice transplanting switch " lead to "), θ 1 (steering wheel when keeping straight on operation rotates set angle) lower limit θ 2 (the steering wheel rotation set angle when keeping straight on operation) higher limit in addition) to the body 90 inboard power transmission shaft turn signal setting values when spending of turning.
Next, for the difference of paddy field conditions such as the soft or hard in corresponding rice field, the depth of water, the hard stratum degree of depth,, set correction value n O according to setting dial 206～209 of each setting value of regulating aforementioned revolution N1, N2 and steering wheel rotational angle θ 1, θ 2.
State with the control device 170 of following finger lever 171 operation, whether the rice transplanting parts 164 that detect rice shoot plant feed unit 3 are the rice transplanting state, from plant " leading to " when becoming " breaking ", rice shoot plants the action of parts 164 by the revolution n of the power transmission shaft 89 that enters the trailing wheel 7 of the operation of " breaking " state to steering wheel rotation 16 till when beginning, detect with power transmission shaft tachometer generator 205, and store its value (n).Next, detect gyration (helm angle) θ of steering wheel 16 with the steering wheel angle sensor (potentiometer) 193 (Fig. 8) of the axle that is arranged on steering wheel 16, detect when keeping straight on (θ 1＜θ＜θ 2) in addition in whether left or during right turns.
Detect the revolution of the power transmission shaft 89 of left rear wheel 7 left in turning, when revolution n1 was n1 〉=n1+n0, owing to turn more than 90 degree from the beginning body of turning, the rice shoot parts 164 of planting descended.Rice shoot the falling of parts 164 of planting makes the edge of a field smooth evenly thus.
Next, detect the revolution of the power transmission shaft 89 of left rear wheel 7, when revolution n2 becomes n2 〉=N2+n+n0, make rice shoot parts 164 actions of planting, the beginning rice transplanting.
During right-hand bend, carry out same control fully during also with left-hand bend.
In addition, during aforementioned turning control, from portion's of planting " decline " to plant " leading to " till, the oil pressure sensitivity of the hydraulic cylinder 160 of rice shoot plant feed unit 3 is set at insensitiveness (not switching to uplifted side) state, wish to stick up state before floating drum 165 grades in center are.It can be realized according to the control target of the setting state center floating drum sensor 169 that sticks up before center floating drum 165 is.Before being made as, center floating drum 165 sticks up state, but the level land turning path, and edge of a field farming can be finished easily accurately.
Because the revolution of the power transmission shaft 89 of the trailing wheel 7 when detection side clutch I separates, so the feature that has the rotating speed that is conducting the trailing wheel 7 of power than detection more to be difficult to be slided etc. to influence.In addition, owing to detect the revolution that rotates fast power transmission shaft 89 than trailing wheel 7, can obtain its accuracy of detection easily.Consequently, have that the rice transplanting that makes each rice transplanting ranks is initial to be roughly certain effect.
When above-mentioned grading operation, there is the side float 166 of center floating drum 165 both sides in floating drum 166 both sides mud to be pushed respectively, in addition according to the different situations about in addition mud being picked up of occasion.For preventing that this type of thing from taking place, shown in the cross section of Figure 11 floating drum part, each Outboard Sections of the side float 166,166 of both sides is made the section configuration of projection.As shown in figure 11, when the section configuration of projection was made in the outside of side float 166, mud was not easy to be attached on the side float 166 from the outside.
Begin to turn 90 degree when above from aforesaid turning to body, rice shoot plant feed unit 3 is put down the edge of a field level landization of leveling land, but the depth of planting of leveling land with the angle of attack sensor 207 of sensitivity dial 184 when generally planting in the edge of a field during the aforementioned level land of angle of attack sensor 207 is provided with sensitivity dial 185 is independent mutually, when (leveling land) operation on the level land during with general rice transplanting corresponding sensitivity separately carry out operation.
The reason that 2 kinds of sensitivity dials 184,185 so are set is: if because the sensitivity of the angle of attack sensor 207 during aforementioned level land is too sharp, then can not well carry out the operation of leveling land at the edge of a field, so the sensitivity of the angle of attack sensor 207 should be than general rice transplanting the time is blunt.
According to aforementioned 2 sensitivity dials 184,185 predefined sensitivity carrying out level land in farmland and general planting.But as shown in figure 12, when leveling land and when generally planting, beginning to planting more than 90 ° between " leading to " from turning according to steering wheel angle sensor 193, the sensitivity dial setting value of the angle of attack sensor 207 during according to turning, rice shoot plant feed unit 3 operation of leveling land, steering wheel angle sensor 193 detects when keeping straight on (θ 1＜θ＜θ 2), the depth of planting of the angle of attack sensor 207 when generally planting is with the setting value of sensitivity dial 185, and rice shoot plant feed unit 3 carries out rice transplanting.
That is to say, when leveling land, as with the control goal-setting of the center floating drum 165 of the lifting of rice shoot plant feed unit 3 control to before sticking up side, the lifting control sensitivity of rice shoot plant feed unit 3 becomes insensitiveness, can positively carry out the land readjustment operation with floating drum 165,166.On the other hand, when generally planting, the setting of rice shoot ground also can be suitable for most the control target of the center floating drum 165 of lifting control to plant.Also have, mechanism as change setting lifting control sensitivity, the change setting that replaces the control target of above-mentioned center floating drum 165 also can adopt according to the mechanism of lift valve change to the rising or falling speed of the oil mass ground change setting rice shoot plant feed unit 3 of lifting hydraulic cylinder 160.In addition, plant the plot concavo-convex less, when there is no need to level land while turning, lifting control sensitivity when leveling land is set in responsive side, floating drum 165,166 is subjected to by the turning of body from the horizontal excessive load of (side), can attempts to prevent the breakage of the peripheral element of floating drum 165,166 and mounting structure thereof etc.
So when turning with craspedodrome, according to suitable lifting control sensitivity, rice shoot plant feed unit 3 can carry out leveling land on (level land) and generally planting of rice field respectively, and the operability of workover rig is good.
The rotary angle transmitter 193 of alternative orientation dish 16, also can be when being arranged on the clutch of planting of transplanter 164 (not having diagram) " breaking ", set sensitivity with the level land setting value of sensitivity dial 184 of the edge of a field of angle of attack sensor 207, when the clutch of planting is " closing ", setting value with the depth of planting sensitivity dial 185 of angle of attack sensor 207 is set sensitivity, lifting control rice shoot plant feed unit 3.
This occasion can be set the sensitivity of the angle of attack sensor 207 of the operation form that is suitable for rice shoot plant feed unit 3, therefore, can positively carry out the smooth operation (level land) in rice field when leveling land (level land) operation, during rice transplanting, can push down muddy water stream in addition, prevent the rice shoot lodging.
, when leveling land operation, rice shoot plant feed unit 3 sagging during turning, according to centrifugal force, the body outside that becomes the outside of turning easily sinks.At this moment,, will become the body outside pull-up in the outside of turning,, not apply unnecessary load, and not worry being damaged to the rice shoot plant feed unit so can level land smoothly according to carrying out left and right horizontal by rice shoot plant feed unit automatic horizontal mechanism.
The front elevation of the major part of the rice shoot plant feed unit 3 that 6 row of the side view of the major part of the rice shoot plant feed unit 3 of Figure 13 and Figure 14 are planted shows rice shoot plant feed unit automatic horizontal mechanism.
At the linking part that the vertical connecting rod 2b of linkage 2 is used in the base portion side and the lifting of the transmission case 162 of planting that is positioned at seedling carrying base 163 back sides, the axis of rolling 154 of horizontal expansion is set, in addition, the upper end of vertical connecting rod 2b is provided with the oil pressure rolling hydraulic cylinder 155 of horizontal expansion.
Be provided with turning cylinder 155c in these oil pressure rolling hydraulic cylinder 155 central authorities, in addition, piston rod 155a, the 155b of both sides extension to the left and right be set.The bearing support 157a, the 157b that are linking seedling carrying base 163 at the leading section of this piston rod 155a, 155b by link component 156a, 156b respectively.The bottom of this bearing support 157a, 157b is being provided with the 2nd transmission case 158a, the 158b of the driving controlling organization (containing the clutch of planting) that possesses the parts 164 of planting.Transmission mechanism in the 2nd transmission case 158 (158a, 158b) is the formation with the driving force action of the transmission case 162 of planting.In addition, in the central authorities of transmission case 162 of planting, dispose the aforementioned axis of rolling 154 towards the body fore-and-aft direction.
So no matter oil pressure is rolled piston rod 155a, the 155b of hydraulic cylinder 155 left or right stretch the parts 164 downward sedimentations of planting of the rice shoot of extend side.
The limit make rice shoot plant feed unit 3 sagging the operation limit of leveling land of turning when turning, rice shoot plant feed unit 3 is subjected to horizontal power, this power is crossed when strong, rice shoot plant feed unit 3 can be damaged.So hope is provided with when rice shoot plant feed unit 3 is subjected to cross force, can makes the safety device of rice shoot plant feed unit 3 liftings.
For this reason, with the tranverse connecting rod 2a or the vertical connecting rod 2b of linkage 2 deformeter 186 is housed, also angle of attack sensor 207 (Fig. 1) is set in sensor floating drum 165 front portions in lifting.
Deformeter 186 is to detect vertical connecting rod 2b degree of skewness, angle of attack sensor 207 be detect rice shoot plant feed unit 3 to ground level, can according to the actuating quantity of control device 170 (Fig. 8) adjustment lifting hydraulic cylinder 160, control the upper-lower position of rice shoot plant feed unit 3 according to the detected value of this angle of attack 207.
In addition, the side float sensor 187 of the angle of attack of detection side floating drum 166 (tilt fore and aft) is arranged at respectively on the side float 166.
When aforesaid rice shoot plant feed unit 3 is subjected to cross force, on the safety device that makes 3 liftings of rice shoot plant feed unit, have following 2 control structures.
(1) shown in the flow process of Figure 15, the lateral load of the tranverse connecting rod 2a that detects according to deformeter 186 is setting when above, makes lift valve (not having diagram) action, send into lifting hydraulic cylinder 160, make piston outstanding, make lifting, rice shoot plant feed unit 3 is risen with upwards action of linkage 2.In addition, the horizontal load of the transverse link 2a that detects according to deformeter 186 is not when reaching setting, next, according to the detected value that detects angle of attack sensor 207, as when being normal range (NR), lift valve is neutral condition, and the detected value of angle of attack sensor 207 is when being lower than the value of normal range (NR), and the output that rice shoot plant feed unit 3 is descended lift valve gives lifting hydraulic cylinder 160.In addition, when bigger than normal range (NR), the output that rice shoot plant feed unit 3 is risen lift valve gives lifting hydraulic cylinder 160.
(2) shown in the flow process of Figure 16, when the measured value of side float sensor 187 is setting above (state is stuck up at side float 166 regulation angles to go forward), make lift valve (not having diagram) action, make lifting with upwards action of linkage 2, rice shoot plant feed unit 3 is risen according to lifting hydraulic cylinder 160.In addition, when the measured value of side float sensor 187 does not reach setting, then detect the measured value of angle of attack sensor 207, as it in normal range (NR), lift valve then is neutral condition, in addition, if the detected value of angle of attack sensor 207 is when being lower than the value of normal range (NR), the output that rice shoot plant feed unit 3 is descended lift valve gives lifting hydraulic cylinder 160.In addition, when bigger than normal range (NR), the output that rice shoot plant feed unit 3 is risen lift valve gives lifting hydraulic cylinder 160.
The operation limit is leveled land when turning in sagging rice shoot plant feed unit 3 limits, adjustable height with the side float 166 of rice shoot plant feed unit 3, be set to make and be arranged on the height that fertilising this side float 166, that excavate fertilizer apparatus 4 does not land with the furrow plough 159 (Fig. 1) of ditch, can turn expeditiously with the lifting amount of minimum, prevent the damage of side float 166 and furrow plough 159.
In addition, when falling back, shown in the side view of Figure 17 side float, (Figure 17 (a)) is the furrow plough 159 that is arranged on side float 166 bottom surface sides with outstanding when general, shown in Figure 17 (b), the bottom surface height of side float 166 is sling with steel wire rope 188, prevented the damage of furrow plough 159, no furrow plough 159 is stained with the worry of earth.
Fulcrum with the base portion side of furrow plough 159 when affecting steel wire rope 188 linkedly with reversing shaft is that the center constitutes rotationally.
Industrial applicibility
The present invention can be used for manned rice transplanter.
Claims (1)
1. manned rice transplanter, the relative traveling vehicle of described manned rice transplanter (1) can be provided with the limit up and down and carry out the plant rice shoot plant feed unit (3) of rice shoot of grading operation limit by the level land floating drum, be provided with lifting control mechanism, described lifting control mechanism according to the detection on ground, field with rice shoot plant feed unit (3) lifting be controlled to expectation to ground level, it is characterized in that:
It is that turn condition also is the turn condition testing agency of non-turn condition that setting is used for detecting traveling vehicle (1), the corresponding turning interlock control device (170) that the detection of turn condition, non-turn condition is switched the control sensitivity of lifting control mechanism by this turn condition testing agency is set, simultaneously, setting can be distinguished the set mechanism of the described control sensitivity of change setting (184,185) independently at turn condition and non-turn condition.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2004018748 | 2004-01-27 | ||
| JP2004018748A JP2005210920A (en) | 2004-01-27 | 2004-01-27 | Sulky rice transplanter |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1647605A true CN1647605A (en) | 2005-08-03 |
| CN100337518C CN100337518C (en) | 2007-09-19 |
Family
ID=34879047
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2005100058179A Expired - Fee Related CN100337518C (en) | 2004-01-27 | 2005-01-27 | Manned rice transplanter |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP2005210920A (en) |
| KR (1) | KR100651030B1 (en) |
| CN (1) | CN100337518C (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101790914A (en) * | 2009-01-29 | 2010-08-04 | 株式会社久保田 | Working vehicle |
| CN106508124A (en) * | 2015-09-02 | 2017-03-22 | 苏州科瓴精密机械科技有限公司 | Rooter |
| CN110521359A (en) * | 2019-09-25 | 2019-12-03 | 浙江星莱和农业装备有限公司 | A kind of rice transplanter |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100354558B1 (en) * | 1998-09-10 | 2002-09-30 | 가부시끼 가이샤 구보다 | A lift control mechanism for a riding-type rice transplanter |
| JP4107537B2 (en) * | 1999-06-10 | 2008-06-25 | 株式会社クボタ | Paddy field machine operation device |
| JP4638998B2 (en) * | 2001-05-16 | 2011-02-23 | 三菱農機株式会社 | Transplanter |
| JP2002335722A (en) * | 2001-05-22 | 2002-11-26 | Iseki & Co Ltd | Apparatus for controlling pitching of rice transplanter |
-
2004
- 2004-01-27 JP JP2004018748A patent/JP2005210920A/en active Pending
-
2005
- 2005-01-19 KR KR1020050004853A patent/KR100651030B1/en active IP Right Grant
- 2005-01-27 CN CNB2005100058179A patent/CN100337518C/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101790914A (en) * | 2009-01-29 | 2010-08-04 | 株式会社久保田 | Working vehicle |
| CN106508124A (en) * | 2015-09-02 | 2017-03-22 | 苏州科瓴精密机械科技有限公司 | Rooter |
| CN110521359A (en) * | 2019-09-25 | 2019-12-03 | 浙江星莱和农业装备有限公司 | A kind of rice transplanter |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2005210920A (en) | 2005-08-11 |
| KR20050077263A (en) | 2005-08-01 |
| CN100337518C (en) | 2007-09-19 |
| KR100651030B1 (en) | 2006-11-29 |
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