JP2008271813A - Transplanter of vegetable seedling stock - Google Patents

Transplanter of vegetable seedling stock Download PDF

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JP2008271813A
JP2008271813A JP2007117543A JP2007117543A JP2008271813A JP 2008271813 A JP2008271813 A JP 2008271813A JP 2007117543 A JP2007117543 A JP 2007117543A JP 2007117543 A JP2007117543 A JP 2007117543A JP 2008271813 A JP2008271813 A JP 2008271813A
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planting
seedling
vegetable
transplanting
tools
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JP4967788B2 (en
JP2008271813A5 (en
Inventor
Eiichiro Kinoshita
木下　　栄一郎
Shiro Katsuno
勝野　　志郎
Masami Muranami
村並　　昌実
Hideaki Kurose
英明 黒瀬
Hirotaka Doi
土井　　宏貴
Nobuhiro Yamane
暢宏 山根
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Iseki and Co Ltd
Iseki Agricultural Machinery Mfg Co Ltd
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Iseki and Co Ltd
Iseki Agricultural Machinery Mfg Co Ltd
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Publication of JP2008271813A5 publication Critical patent/JP2008271813A5/ja
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Abstract

<P>PROBLEM TO BE SOLVED: To provide a transplanter of vegetable seedling stocks, raising the transplanting speed of the seedling stocks without damaging the seedling stocks, making charging operation arduous, and without making the structure complex, and the like. <P>SOLUTION: The transplanter of the vegetable seedling stocks is equipped with a conveyor 7 for receiving the vegetable seedling stocks in a plurality of orbiting cup-shaped receivers 7c and separately releasing and dropping the received vegetable seedlings at prescribed positions; a transplanting device 6 for receiving the seedling stocks by a transplanting tool 11 that carries out lifting and lowering operation at the dropping position and transplanting the seedling stocks on site; and traveling-supporting devices 4 and 5 for supporting the traveling of the conveyor 7 and the transplanting device 6 traveling and interlocking. The transplanting device 6 is equipped with two transplanting tools 11 and 12 in the front and the rear positions in the traveling direction, and respective transplanting tools 11 and 12 are arranged where they receive the seedling stocks from the common conveyor 7. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

本発明は、複数のカップ状の受容体を周回動作する搬送装置と、苗株を受けて圃場に植付けする植付装置と、これらを走行支持する走行支持装置とを備えた野菜苗株移植機に関するものである。   The present invention relates to a vegetable seedling transplanting machine comprising a transporting device that circulates a plurality of cup-shaped receptors, a planting device that receives seedlings and plants them in a field, and a travel support device that travels and supports them. It is about.

特許文献１に示されるように、周回型の搬送装置、昇降式の植付装置、走行支持装置等からなる野菜苗株移植機が知られている。この野菜苗株移植機は、搬送装置によって受けた野菜苗株を個別に所定位置まで搬送し、これを植付装置の植付具に受けてその昇降動作により苗株を圃場に植付けし、これらを走行支持装置によって走行移動する。したがって、オペレータが搬送装置に苗株を投入しながら畝に沿って野菜苗株移植機を走行させることにより、野菜苗株を能率良く圃場に植付けすることができる。
特開平１１−８９３３０号公報 As shown in Patent Document 1, there is known a vegetable seedling transplanting machine including a revolving type transport device, a lifting type planting device, a traveling support device, and the like. This vegetable seedling transplanting machine individually conveys the vegetable seedlings received by the conveying device to a predetermined position, receives them on the planting device of the planting device, and transplants the seedlings in the field by the lifting operation. Is moved by the travel support device. Therefore, the vegetable seedling can be efficiently planted in the field by allowing the operator to run the vegetable seedling transplanting machine along the ridge while putting the seedling into the transport device.
JP 11-89330 A

しかしながら、上記構成の野菜苗株移植機の植付装置は、搬送装置から投下された苗株を受けて植付具の中に案内収容し、これを昇降動作することによって苗株を植付けすることから、動作速度を上げて高速植付けをすると、苗株を傷めるのみならず、苗株が踊って安定植付けが困難となるという問題があった。   However, the planting device of the vegetable seedling transplanter configured as described above receives the seedling dropped from the transport device, guides and accommodates it in the planting tool, and transplants the seedling by moving it up and down. Therefore, when the planting speed is increased and the planting is performed at a high speed, not only the seedlings are damaged, but also the seedlings dance and it is difficult to stably plant them.

解決しようとする問題点は、苗株の傷み、投入作業の煩雑化、構成の複雑化等を招くことなく、苗株の植付け速度を高速化することができる野菜苗株移植機を提供することにある。   The problem to be solved is to provide a vegetable seedling transplanter that can speed up the planting speed of seedlings without causing damage to the seedlings, complication of input work, complicated configuration, etc. It is in.

請求項１に係る発明は、周回動作する複数のカップ状の受容体に受けた野菜苗株を個別に所定位置で開放投下する搬送装置と、その投下位置で昇降動作する植付具に苗株を受けて圃場に植付けする植付装置と、これら搬送装置および植付装置を走行連動可能に走行支持する走行支持装置とを備えた野菜苗株移植機において、上記植付装置は走行方向の前後位置に２基の植付具を備え、これら両植付具は共通の搬送装置からそれぞれ苗株を受ける配置としたことを特徴とする。   The invention according to claim 1 is a transfer device that individually opens and drops vegetable seedlings received at a plurality of cup-shaped receptors that move around in a predetermined position, and a seedling planted in a planting tool that moves up and down at the dropping position. In the vegetable seedling transplanting machine provided with a planting device for receiving and planting in a farm field, and a travel support device for traveling and supporting the transport device and the planting device so as to travel together, the planting device is Two planting tools are provided at a position, and both planting tools are arranged to receive seedlings from a common transport device.

上記野菜苗株移植機は、前後２基の植付具は単一の搬送装置によって苗株が分配され、この前後配置の植付具の昇降動作ごとに走行方向に２株が植付けされる。   In the vegetable seedling transplanting machine, the two front and rear planting tools are distributed by a single transport device, and two plants are planted in the running direction for each lifting and lowering operation of the front and rear planting tools.

請求項２に係る発明は、請求項１の構成において、前記前後２基の植付具は、同じ左右位置で一体的に昇降動作可能に一体連結部材によって連結構成してなることを特徴とする。
上記２基の植付具は、一体連結部材により一体的に昇降動作してそれぞれが苗株を植付けする。 According to a second aspect of the present invention, in the configuration of the first aspect, the two front and rear planting tools are configured to be connected by an integral connecting member so as to be integrally movable up and down at the same left and right position. .
The two planting tools are integrally moved up and down by an integral connecting member, and each plantes a seedling.

請求項１の発明により、単一の搬送装置によって苗株が２基の植付具に分配され、この前後配置の植付具の昇降動作ごとに走行方向に２株が植付けされることから、前後の植付け位置に依ることのない共通の苗株投入作業による簡易な操作を確保しつつ、苗株の植付け速度を倍加することができる。   According to the invention of claim 1, seedlings are distributed to two planting tools by a single transport device, and two plants are planted in the traveling direction for each lifting and lowering operation of the planting tools arranged in the front-rear direction. The planting speed of the seedling can be doubled while ensuring a simple operation by a common seedling input operation that does not depend on the front and rear planting positions.

請求項２の発明により、請求項１の効果に加えて、前後２基の植付具は、一体連結部材により一体的に昇降動作してそれぞれが苗株を植付けすることから、個々の昇降駆動部を要することなく簡易に植付装置を構成することができる。   According to the invention of claim 2, in addition to the effect of claim 1, the two front and rear planting tools are integrally moved up and down by the integral connecting member to plant the seedlings individually, so that each lifting drive A planting apparatus can be simply configured without requiring a part.

上記技術思想に基づいて具体的に構成された実施の形態について以下に図面を参照しつつ説明する。
図１、図２は、それぞれ本発明に係る植付装置を備えた野菜苗株移植機の構成例の側面図およびその平面図である。
移植機１は、前部にエンジン２及び主伝動機構３と走行車輪としての前側の左右の案内輪４，４及び後側の左右の駆動輪５，５と、主伝動機構３のケ−ス後部から延びるハンドルフレーム３ａに植付装置６および搬送装置７による植付部、覆土鎮圧輪８，８及び操縦ハンドル９等を備えて構成される。 Embodiments specifically configured based on the above technical idea will be described below with reference to the drawings.
1 and 2 are a side view and a plan view, respectively, of a configuration example of a vegetable seedling transplanter equipped with a planting apparatus according to the present invention.
The transplanter 1 includes an engine 2 and a main transmission mechanism 3 at the front, front left and right guide wheels 4 and 4 as traveling wheels, rear left and right drive wheels 5 and 5, and a case of the main transmission mechanism 3. A handle frame 3a extending from the rear part is provided with a planting part by the planting device 6 and the transport device 7, covering soil pressure reducing wheels 8, 8, a steering handle 9, and the like.

詳細には、主伝動機構３には、機体高さと左右高さを調整するために、その両側にアーム状の左右の伝動支持部５ａ，５ａを回動可能に備え、この左右の伝動支持部５ａ，５ａを介して左右の駆動輪５，５を支持するとともに、２連配置の植付具１１，１２を昇降可能に備えた植付装置６と周回テーブル型の搬送装置７とからなる植付部を走行系と同期して駆動する。   More specifically, the main transmission mechanism 3 is provided with arm-like left and right transmission support portions 5a and 5a on both sides of the main transmission mechanism 3 so as to be rotatable. The left and right drive wheels 5 and 5 are supported via 5a and 5a, and the planting device 6 includes a planting device 6 having a double arrangement of planting tools 11 and 12 that can be moved up and down and a rotating table type transport device 7 The appendage is driven in synchronization with the traveling system.

（植付部）
植付部の搬送装置７は、投入苗株を受けうる受容体として苗受カップ７ｃ…を等ピッチＰで配置し、それぞれの底板を開閉可能に構成し、不図示の伝動ロッドを介して走行系と連動して周回動作するフラットテーブル形式に構成し、２連配置の植付具１１，１２の上昇端位置を通る長円形の軌道を周回動作可能に構成する。個々の苗受カップ７ｃ…には、それぞれ底板の開閉動作部（不図示）を設け、各植付具１１，１２と対応する開閉タイミングで底板を開閉制御して植付装置６に苗株を搬送投下する。 (Planting part)
The transfer device 7 of the planting part arranges seedling receiving cups 7c as a receiver capable of receiving the input seedling stock at an equal pitch P, and each bottom plate can be opened and closed, and travels via a transmission rod (not shown). It is configured in a flat table format that circulates in conjunction with the system, and an elliptical trajectory passing through the rising end positions of the two-arranged planting tools 11 and 12 is configured to be circulated. Each of the seedling receiving cups 7c... Is provided with an opening / closing operation part (not shown) of the bottom plate, and the opening and closing timing corresponding to the planting tools 11 and 12 is controlled to open and close the seedling in the planting device 6. Drop the transport.

植付装置６は、ネギ等の野菜苗株の植付けに適する２基の嘴状の植付具１１，１２を機体の走行方向線上の前後位置に２連配置で昇降可能に備え、これら両植付具１１，１２は共通の搬送装置７から苗株の投下を受ける位置に配置し、その間隔Ｐを調節可能に、例えば、後側の植付具１２をその前後に移動可能に構成する。また、両植付具１１，１２の上部には、搬送装置７から投下された苗株を案内する蛇腹式の苗ガイド１３，１３を接続して位置ずれを調節可能に構成する。   The planting device 6 includes two cocoon-shaped planting tools 11 and 12 suitable for planting vegetable seedlings such as leeks so that they can be lifted up and down in a double arrangement at the front and rear positions on the traveling direction line of the aircraft. The attachments 11 and 12 are arranged at a position where the seedlings are dropped from the common transport device 7, and the interval P can be adjusted, for example, the rear planting tool 12 can be moved forward and backward. In addition, bellows type seedling guides 13 and 13 for guiding seedlings dropped from the conveying device 7 are connected to the upper parts of both planting tools 11 and 12 so that the positional deviation can be adjusted.

前記前後２基の植付具１１，１２は、一体的に昇降動作可能に一体連結部材１４によって連結構成する。この一体連結部材１４により、２基の植付具１１，１２は一体的に昇降動作してそれぞれが苗株を植付けすることから、個々の昇降駆動部を要することなく簡易に植付装置を構成することができる。   The two front and rear planting tools 11 and 12 are configured to be connected by an integrated connecting member 14 so as to be integrally movable. With this integral connecting member 14, the two planting tools 11 and 12 are integrally moved up and down to plant seedlings, so that a simple planting device can be constructed without the need for individual lifting drive units. can do.

上記構成の植付部は、単一の搬送装置７によって苗株が前後２基の植付具１１，１２に分配され、この前後配置の植付具１１，１２の昇降動作ごとに走行方向に２株が植付けされる。したがって、オペレータは１基の搬送装置７についての苗株投入作業で植付けすることができるので、前後の植付け位置を区別することなく、簡易な投入操作を確保しつつ、苗株の植付け速度を倍加することができる。   In the planting part having the above-described configuration, the seedlings are distributed to the two front and rear planting tools 11 and 12 by the single transport device 7, and the planting unit 11 and 12 arranged in the front-rear direction are moved in the traveling direction every time the vertical movement is performed. Two strains are planted. Therefore, since the operator can plant by the seedling input operation for one transport device 7, the planting speed of the seedling is doubled while ensuring a simple input operation without distinguishing the front and rear planting positions. can do.

（別構成例）
次に、別の植付部構成例について説明する。
図３、図４は、別の植付装置による構成例の側面図およびその平面図である。以下において、前記同様の部材はその符号を付すことにより説明を省略する。
植付装置６の前後の植付具１１，１２の間には株間距離を表示する目盛のついたマーカ１４ａを設ける。また、左右のオペレータが苗株を供給するための２基の苗置台１５，１５を搬送装置７の上方に設ける。この苗置台１５，１５は、前方視認のために、平面視でＶ字状に配置し、また、苗トレイＴが斜めに立てかけられるように構成する。 (Another configuration example)
Next, another planting part configuration example will be described.
3 and 4 are a side view and a plan view of a configuration example of another planting apparatus. In the following description, the same members as those described above are denoted by the same reference numerals, and description thereof is omitted.
Between the planting tools 11 and 12 before and after the planting device 6, a marker 14a with a scale for displaying the inter-strain distance is provided. Further, two seedling stands 15, 15 for supplying right and left seedlings to the left and right operators are provided above the transfer device 7. The seedling stands 15 and 15 are arranged in a V shape in a plan view for visual recognition in the front, and the seedling tray T is stood diagonally.

（４株植え構成例）
また、４株植えの構成例では、図５の側面図に示すように、二又ホッパを設けた二株植え植付具１６，１７を所定の間隔Ｐで前後配置するとともに、それぞれに苗ガイド１８ａ，１８ｂを設ける。苗ガイド１８ａ、１８ｂは左右の開口を備えて搬送装置７から２株の苗株を受け、これを二株植え植付具１６，１７のＰ／２の前後間隔とした嘴部１９ａ，１９ｂにそれぞれ案内する。このように植付装置を構成することにより、前後の株間を前後配置距離Ｐの半分の間隔で４株植付けすることにより４倍速の植付けが可能となる。 (4 planting configuration example)
Further, in the configuration example of four-plant planting, as shown in the side view of FIG. 5, the two-plant planting tools 16 and 17 provided with a bifurcated hopper are arranged in front and back at a predetermined interval P, and a seedling guide is provided for each. 18a and 18b are provided. The seedling guides 18a and 18b are provided with left and right openings, receive two seedlings from the transfer device 7, and are provided on the ridges 19a and 19b with a front / rear spacing of P / 2 of the two planting planting tools 16 and 17 I will guide each one. By constructing the planting device in this way, four plants can be planted at four times by planting four plants at intervals of half the front-rear arrangement distance P.

（８株植え構成例）
また、８株植え構成例では、図６，図７の側面図およびその要部平面図に示すように、二株植え植付具２１…を前後方向に４基連接し、それぞれの苗ガイド２２を左右にオフセットし、その左右のガイド部２２ａ、２２ｂについて機体走行方向を長手とする搬送装置７に臨んで配置する。この搬送装置７は、左右それぞれに４箇分が連続する苗受カップ７ｃ…から苗株を投下し、計８箇分の苗受カップ７ｃ…によって８株の苗株を植付装置に搬送投下するべく構成することにより８倍速の植付けが可能となる。 (8 planting configuration example)
Further, in the eight-plant planting configuration example, as shown in the side view of FIG. 6 and FIG. 7 and the main part plan view thereof, four planting planting tools 21 are connected in the front-rear direction, and each seedling guide 22 is connected. Are offset to the left and right, and the left and right guide portions 22a and 22b are arranged facing the conveying device 7 having the machine body traveling direction as a longitudinal direction. This transfer device 7 drops seedlings from four seedling cups 7c, each of which is continuous to the left and right, and transports eight seedlings to the planting device by a total of eight seedling receiving cups 7c. By configuring as much as possible, planting at 8 times speed becomes possible.

次に、作業座席を設けた構成例は、図８，図９の側面図およびその平面図に示すように、搬送装置３１を片側に張り出して作業座席３２をハンドル９の側方に配置する。作業座席３２の下端には、機体の前上がりを抑えるために支持輪３３を設ける。この支持輪３３はベベルギヤ３４ａ、３４ａを介して伝動軸３４により駆動し、走行抵抗を生じないように、その駆動周速を駆動輪５，５より大きくする。   Next, in the configuration example in which the work seat is provided, as shown in the side view and the plan view of FIGS. 8 and 9, the conveying device 31 is projected to one side and the work seat 32 is arranged to the side of the handle 9. A support wheel 33 is provided at the lower end of the work seat 32 in order to prevent the machine body from rising upward. The support wheel 33 is driven by the transmission shaft 34 via the bevel gears 34a and 34a, and the drive peripheral speed is made larger than that of the drive wheels 5 and 5 so as not to cause running resistance.

次に、植付具の倒れ防止ガイド４１，４１は、図１０の斜視図に示すように、薬液を流すノズルとしてパイプ材によって構成し、これを植付具１１の両側位置に弾性的に当たるようにしてネギ苗の倒れ防止ガイドとして機能し、また、先端を下に曲げて構成することにより、苗押さえ具との干渉を防止することができる。   Next, as shown in the perspective view of FIG. 10, the planting tool fall prevention guides 41, 41 are configured by a pipe material as a nozzle for flowing a chemical solution, and elastically hit the both sides of the planting tool 11. Thus, it functions as a guide for preventing the fall of the leek seedling, and by interposing the tip downward, it is possible to prevent interference with the seedling presser.

野菜苗株移植機の構成例の側面図である。It is a side view of the structural example of a vegetable seedling transplanter. 図１の野菜苗株移植機の平面図である。It is a top view of the vegetable seedling transplanter of FIG. 別の植付装置による構成例の側面図である。It is a side view of the structural example by another planting apparatus. 図３の植付装置による構成例の平面図である。It is a top view of the structural example by the planting apparatus of FIG. ４株植えの構成例の側面図である。It is a side view of the structural example of 4 planting. ８株植えの構成例の側面図である。It is a side view of the structural example of 8 planting. 図６の構成例の要部平面図である。It is a principal part top view of the structural example of FIG. 作業座席を設けた構成例の側面図である。It is a side view of the example of composition which provided the work seat. 図８の構成例の平面図である。It is a top view of the example of a structure of FIG. 植付具の倒れ防止ガイドの斜視図である。It is a perspective view of the fall prevention guide of a planting tool.

符号の説明Explanation of symbols

１ 移植機
３ 主伝動機構
５ 駆動輪
６ 植付装置（植付部）
７ 搬送装置（植付部）
７ｃ 苗受カップ（受容体）
１１ 植付具
１２ 植付具
１３ 苗ガイド
１４ 一体連結部材
１６ 植付具
１７ 植付具
１８ａ 苗ガイド
１８ｂ 苗ガイド
１９ａ 嘴部
１９ｂ 嘴部
２１ 植付具
２２ 苗ガイド
２２ａ ガイド部
２２ｂ ガイド部
Ｐ 前後配置距離 1 transplanter 3 main transmission mechanism 5 drive wheel 6 planting device (planting part)
7 Conveying device (planting part)
7c Seedling cup (receptor)
DESCRIPTION OF SYMBOLS 11 Planting tool 12 Planting tool 13 Seedling guide 14 Integrated connection member 16 Planting tool 17 Planting tool 18a Seedling guide 18b Seedling guide 19a Ridge part 19b Ridge part 21 Planting tool 22 Seedling guide 22a Guide part 22b Guide part P Before and after Arrangement distance

Claims (2)

周回動作する複数のカップ状の受容体（７ｃ）に受けた野菜苗株を個別に所定位置で開放投下する搬送装置（７）と、その投下位置で昇降動作する植付具（１１）に苗株を受けて圃場に植付けする植付装置（６）と、これら搬送装置（７）および植付装置（６）を走行連動可能に走行支持する走行支持装置（４，５）とを備えた野菜苗株移植機において、
上記植付装置（６）は走行方向の前後位置に２基の植付具（１１，１２）を備え、これら両植付具（１１，１２）は共通の搬送装置（７）からそれぞれ苗株を受ける配置としたことを特徴とする野菜苗株移植機。 A planting device (7) that individually opens and drops the vegetable seedlings received in a plurality of cup-shaped receptors (7c) that circulate at a predetermined position, and a planting tool (11) that moves up and down at the dropping position. Vegetables provided with a planting device (6) for receiving the plant and planting it in the field, and a travel support device (4, 5) for supporting the transport device (7) and the planting device (6) so as to travel together. In the seedling transplanter,
The planting device (6) is provided with two planting tools (11, 12) at the front and rear positions in the traveling direction, and these planting tools (11, 12) are respectively seedlings from a common transport device (7). Vegetable seedling transplanter, characterized in that it is arranged to receive. 前記前後２基の植付具（１１，１２）は、同じ左右位置で一体的に昇降動作可能に一体連結部材（１４）によって連結構成してなることを特徴とする請求項１記載の野菜苗株移植機。   The vegetable seedling according to claim 1, wherein the two front and rear planting tools (11, 12) are configured to be connected by an integrally connecting member (14) so as to be integrally movable up and down at the same left and right positions. Stock transplanter.
JP2007117543A 2007-04-26 2007-04-26 Vegetable seedling transplanter Expired - Fee Related JP4967788B2 (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010148378A (en) * 2008-12-24 2010-07-08 Iseki & Co Ltd Seedling transplanter
WO2010113642A1 (en) 2009-04-01 2010-10-07 日本電気株式会社 Collision prediction system, collision prediction device, collision detection method, and program
WO2017143699A1 (en) * 2016-02-24 2017-08-31 彭忠圣 Seedling thrower
CN114303552A (en) * 2021-12-31 2022-04-12 石家庄市农机安全监理所 Intelligent self-propelled full-automatic vegetable multi-row transplanter

Citations (5)

* Cited by examiner, † Cited by third party
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JP2000060237A (en) * 1998-08-27 2000-02-29 Yanmar Agricult Equip Co Ltd Vegetable transplanter
JP2000083415A (en) * 1998-09-17 2000-03-28 Yanmar Agricult Equip Co Ltd Vegetable transplanter
JP2003169509A (en) * 2002-04-01 2003-06-17 Seirei Ind Co Ltd Vegetable transplanter
JP2005006545A (en) * 2003-06-18 2005-01-13 Iseki & Co Ltd Seedling transplanter
JP2005006600A (en) * 2003-06-20 2005-01-13 Iseki & Co Ltd Seedling transplanter

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Publication number Priority date Publication date Assignee Title
JP2000060237A (en) * 1998-08-27 2000-02-29 Yanmar Agricult Equip Co Ltd Vegetable transplanter
JP2000083415A (en) * 1998-09-17 2000-03-28 Yanmar Agricult Equip Co Ltd Vegetable transplanter
JP2003169509A (en) * 2002-04-01 2003-06-17 Seirei Ind Co Ltd Vegetable transplanter
JP2005006545A (en) * 2003-06-18 2005-01-13 Iseki & Co Ltd Seedling transplanter
JP2005006600A (en) * 2003-06-20 2005-01-13 Iseki & Co Ltd Seedling transplanter

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010148378A (en) * 2008-12-24 2010-07-08 Iseki & Co Ltd Seedling transplanter
WO2010113642A1 (en) 2009-04-01 2010-10-07 日本電気株式会社 Collision prediction system, collision prediction device, collision detection method, and program
WO2017143699A1 (en) * 2016-02-24 2017-08-31 彭忠圣 Seedling thrower
CN114303552A (en) * 2021-12-31 2022-04-12 石家庄市农机安全监理所 Intelligent self-propelled full-automatic vegetable multi-row transplanter
CN114303552B (en) * 2021-12-31 2023-03-14 石家庄市农机安全监理所 Intelligent self-propelled full-automatic vegetable multi-row transplanter

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