WO2021015414A1 - Self-propelled garlic seeding machine - Google Patents

Self-propelled garlic seeding machine Download PDF

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Publication number
WO2021015414A1
WO2021015414A1 PCT/KR2020/007643 KR2020007643W WO2021015414A1 WO 2021015414 A1 WO2021015414 A1 WO 2021015414A1 KR 2020007643 W KR2020007643 W KR 2020007643W WO 2021015414 A1 WO2021015414 A1 WO 2021015414A1
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WO
WIPO (PCT)
Prior art keywords
garlic
seeding
self
propelled
hopper
Prior art date
Application number
PCT/KR2020/007643
Other languages
French (fr)
Korean (ko)
Inventor
하종우
Original Assignee
주식회사 하다
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Publication date
Priority claimed from KR1020190088643A external-priority patent/KR102285596B1/en
Priority claimed from KR1020200065918A external-priority patent/KR102345260B1/en
Application filed by 주식회사 하다 filed Critical 주식회사 하다
Publication of WO2021015414A1 publication Critical patent/WO2021015414A1/en

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B33/00—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs
    • A01B33/08—Tools; Details, e.g. adaptations of transmissions or gearings
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C15/00—Fertiliser distributors
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C5/00—Making or covering furrows or holes for sowing, planting or manuring
    • A01C5/06—Machines for making or covering drills or furrows for sowing or planting
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C7/00—Sowing
    • A01C7/08—Broadcast seeders; Seeders depositing seeds in rows
    • A01C7/10—Devices for adjusting the seed-box ; Regulation of machines for depositing quantities at intervals
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C7/00—Sowing
    • A01C7/20—Parts of seeders for conducting and depositing seed

Definitions

  • the present invention relates to a garlic planter, and is not towed by a manager, a cultivator, or a tractor, and while traveling in a self-propelled manner by a tracked wheel, it is possible to run semi-autonomously along the foot without manual steering through the foot recognition by the foot sensor. It is possible to adjust the seeding depth of side garlic by height control and the daytime distance by the transmission, and it is possible to automatically replenish in case of failure to minimize the rate of run-out. It relates to a self-propelled garlic planter with an improved structure that prevents interference even if it is formed at the same time.
  • garlic planters are divided into two types: a sowing type, in which garlic is dropped one by one in the bones in a natural dropping method, and sown, and a branching type in which garlic is planted and covered one by one. Most of the sowing is towed by a manager, a cultivator, or a tractor.
  • Patent Document 1 consists of a method of performing a seed pouring operation in the form of slant seedling and cushion roll, It is constructed so that it is possible to visually check that garlic seeds fall into the cup, which means that it can quickly respond to the breakage, that is, manually replenish the broken part, thus minimizing breakage and overlapping seeding.
  • supplementary work there was a disadvantage that the work was not easy because two people had to make one group.
  • Patent Document 2 discloses a branched garlic planter developed by the present applicant, which is a method used by being towed by a tractor, and there is a problem that it is impossible to supplement when a runout occurs.
  • Patent Document 3 also discloses a garlic seeding machine developed by the present applicant, which is a tray where garlic is not loaded because the pear seeding unit for loading and transporting garlic is vertically upright so that the user can visually check whether the garlic is mounted on the tray. It consists of a structure that makes it easy to put garlic directly in, but there is a disadvantage that such supplementary work must be done one by one while the worker is on board.
  • Patent Document 4 discloses a sowing-type garlic seeding machine of the present applicant, which is densely seeded so that two rows form a pair, and the interval between each group can be arbitrarily adjusted so that it is suitable for the growing environment of garlic. Although it is designed to ensure ventilation and light-emitting properties, Patent Document 4 has a drawback that the absent rate is low because there is no special countermeasure against the absence of garlic seeds in Patent Document 4, and the two rows of one pair are too close to form a valley. In the process, there is also a problem in that a phenomenon in which the goal of the goal is not performed properly occurs because the soil raised while forming one valley is pushed into the inside of the other valley.
  • the present invention has been conceived to solve the above problems, and an object of the present invention is to provide a self-propelled garlic seeding machine capable of sowing while self-driving along the foothills without the need for a traction means such as a tractor.
  • the present invention is a self-propelled garlic seeding machine in which a seeding unit is installed in the rear inner side of a vehicle body having a caterpillar wheel on the left and right and a driver's seat on the upper front,
  • the seeding portion and a hopper containing the garlic A rotary feeder positioned under the hopper and radially disposed on one side of the rotating disk to pick up the garlic of the hopper one by one and supply it to the lower side; A chute for dropping the side garlic supplied from the rotary feeder downward; A goltagi blade that forms a bone on the ridge to be sown; Containing a cover blade to cover the soil after the garlic is sown in the valley formed on the duke,
  • the rotation feeder further includes a miss detection sensor for detecting that a runout occurs, and a supplement means for replenishing garlic when a runout occurs, and the supplement means is disposed symmetrically with the disk of the rotation feeder to pick up the garlic from the hopper. It provides a self-propelled garlic seeding machine that is configured to drop clove garlic downward while rotating intermittently when a runaway occurs while waiting.
  • the replenishment means is basically of the same structure as the rotation feeder, but the gripper radially disposed on one side of the rotating disk is configured to pick up the side garlic of the hopper one by one and supply it to the bottom, so that the gripper radially disposed in the rotation feeder The gripper opens and drops the pickled garlic into the chute only when it is rotated without picking up the side garlic and the side garlic is not dropped downward.
  • the rotary feeder, the chute, and the goltargi blade are arranged in a plurality of rows, and the chute and the goltargi blade are arranged in a staggered position before and after adjacent ones so that interference does not occur during cultivation and sowing. .
  • the rotation feeder of the seeding unit is driven by receiving power from a driving wheel that rotates in close contact with the caterpillar wheel, but a transmission is interposed between the caterpillar wheel and the rotation feeder to increase the seeding interval by operation of the transmission. To be able to adjust.
  • the front left and right sides of the vehicle body are provided with a head detection sensor for non-contact sensing of the head to be planted with garlic and controlling steering in a semi-autonomous manner along the foot.
  • a semi-autonomous driving function is added to the self-propelled garlic seeding machine to improve operational convenience, and the seeding unit automatically replenishes the garlic by the replenishing means, thus minimizing the run-out rate and avoidance.
  • the height sensor and the transmission allow the seeding depth and weekly intervals to be freely adjusted in the semi-autonomous driving mode by the ridge detection sensor.
  • FIG. 1 is a perspective view of a rear portion of a garlic planter according to an embodiment of the present invention
  • FIG. 2 is a front perspective view of a garlic planter according to an embodiment of the present invention
  • FIG. 3 is a perspective view of the bottom of the garlic planter according to an embodiment of the present invention.
  • Figure 4 is a side cross-sectional view of a garlic planter according to an embodiment of the present invention.
  • FIG. 5 is a rear view of a garlic planter according to an embodiment of the present invention.
  • FIG. 6 is a perspective view of a state in which the seeding portion is lifted upward from the vehicle body
  • FIG. 7 is a perspective view showing a rotation feeder of the seeding unit
  • Figure 8 is a rear view of the rotary feeder shown in Figure 7;
  • Figure 9 is a side view of the rotary feeder shown in Figure 7;
  • 10 is a state diagram of a head detection of an ultrasonic sensor for semi-autonomous driving.
  • FIG. 1 to 9 shows a self-propelled garlic planter 1 according to an embodiment of the present invention, which is provided with a caterpillar wheel 110 on the left and right sides and a vehicle body 100 provided with a driver's seat 120 on the upper front side.
  • the seeding unit 200 is installed in the rear inner side of the
  • Pile detection sensors S1, S2, S3, S4 are provided on the front left and right sides of the vehicle body 100 to control steering in a semi-autonomous driving method along the ridge by non-contact sensing,
  • the seeding unit 200 includes a hopper 210 containing parsley; A rotation feeder 220 which is positioned under the hopper 210 and is radially disposed on one side of the rotating disk 222 to pick up the garlic of the hopper 210 one by one and supply it to the lower side; A chute 230 for dropping the side garlic supplied from the rotary feeder 220 downward; Goltagi blade 240 to form a bone on the head of the garlic to be sown; Consisting of including a cover blade 250 that covers the soil after the garlic is sown in the valley formed on the duke,
  • the rotation feeder 220 includes a miss detection sensor 270 for detecting that a runout occurs in the gripper 224, and a supplement means 280 for replenishing the garlic when runout occurs. It further includes, and the replenishment means 280 is disposed symmetrically with the disk 222 of the rotation feeder 220 to pick up garlic from the hopper and wait for it to intermittently rotate while dropping the scallion garlic into the chute 230 Is configured to
  • the heading sensor (S1, S2, S3, S4) can be moved so that the left and right spacing can be adjusted according to the spacing between the head of the field and the furrow to be sown on the horizontally disposed sensor mounting table 102
  • the dug detection sensors (S1, S2, S3, S4) are installed to detect the boundary between the furrows on both sides of the dug in a diagonal direction as shown in FIG.
  • the heading sensor is installed on the left and right sides of the vehicle body 100 so that the position can be adjusted, and each pair of heading sensor (S1, S2, S3, S4) is It is composed of specifications that can adjust the irradiation direction according to the width, and the patter detection sensor used in this embodiment is a kind of ultrasonic sensor, and the trademark name'SONICTRAKK' of PROTRAKKER, but the present invention is not limited thereto, and the lidar sensor Of course, it can also be applied as a detection sensor.
  • the controller controls the hydraulic steering device (not shown) according to the signal detected by the pile detection sensors (S1, S2, S3, S4), so that the garlic planter accurately follows the direction of the straight or curved pile. Because it helps to drive, the driver sitting in the driver's seat does not care only about the steering, but monitors the seeding status, adjusts the seeding depth and seeding interval, and observes the surrounding situation with the naked eye, enabling immediate coping. Therefore, the hassle of tedious manual steering control and Difficulties can be avoided, and even those who do not have precise steering skills can make stable steering and seeding possible.
  • the control mechanism for semi-autonomous driving of the seed drill by the above-described duke detection sensors (S1, S2, S3, S4) is a known technology, so a detailed description thereof will be omitted.
  • a steering wheel in the form of a steering wheel can be installed in the front of the driver's seat, and a steering device of various structures can be applied, and a hydraulic steering device of a known caterpillar agricultural machine can be applied. It is desirable.
  • a power device for driving the wheel 110 other than the steering wheel is not shown on the drawing. It goes without saying that such a power device may be an electric or hydraulic motor using a known internal combustion engine or a rechargeable battery. .
  • the driver's seat 120 side is further provided with a display panel and a control unit for displaying and storing a lever or switch for operating the transmission, and the seeding state of the seeding unit, that is, the seeding depth, the seeding interval, and the absence state. Since the configuration of the and operation unit is also a general matter, detailed illustration and description thereof will be omitted.
  • the miss detection sensor 270 detects that the gripper 224 of the rotation feeder 220 rotates without picking up the garlic, and controls the driving of the supplemental means 280 by the detected signal.
  • the replenishment means 280 has the same structure as the rotation feeder, that is, a gripper 284 is disposed radially on one side of the rotating disk 282 to pick up the garlic of the hopper 210 one by one and drop it downward.
  • the miss detection sensor 270 includes a sensor 270a for detecting whether or not a gripper 224 radially installed on the disk 222 of the rotation feeder 220 is picking up garlic, and the supplemental means 280
  • the gripper 284 arranged radially on the disk 282 of the is composed of a sensor 270b to detect whether it is picking up the side garlic for supplementation, and it is missed at one side of the miss detection sensor 270a (the state that the side garlic is not picked)
  • a driving signal is sent to the replenishing means 280 to drop the side garlic held by the gripper 284 of the replenishing means 280 onto the chute 230, thereby minimizing the runaway rate.
  • another absence detection sensor (270b) for detecting whether the gripper 284 of the replenishing means 280 is picking garlic is stopped at the dropping standby position when the gripper 284 is picking garlic. And, when the gripper 284 does not pick up the garlic, the disk 282 is rotated by 1 pitch, so that the supplementary garlic is always waiting at the dropping standby position.
  • reference numeral 286 denotes a servo motor for intermittently driving the disk 282 of the supplementary means 280.
  • the miss detection sensor 270 may use an ultrasonic sensor, a photosensor, or a laser sensor, and detects whether the gripper 224 of the rotary feeder 220 is picking up garlic, and sends a signal to the controller (not shown). Then, the control unit transmits a drive signal to the supplemental means 280 when it is determined that it is absent, so that the disc 282 is intermittently rotated and the gripper 284 is opened.
  • the driving of the rotation supply 220 is driven by the rotational force transmitted through the power transmission chains 262, 264, 266, 268 from the driving wheel 260 that rolls in contact with the caterpillar wheel 110, and
  • a transmission 263 is installed between the rotation feeders 220 for transmission, and the rotational speed of the rotation feeder 220 is changed by operating the shift lever to adjust the front and rear seeding intervals, i.e., the weekly intervals.
  • the transmission 263 is a matter that is self-evident by a person of ordinary skill in the technical field to which the present invention belongs, a detailed illustration and description thereof will be omitted, and the seeding unit 200 is a height sensor As shown in Fig.
  • the seeding unit 200 is attached to the vehicle body ( 100) It is designed to be able to run while being completely raised to the top or to perform inspection of the seeding unit 200.
  • the rotation feeder 220, the chute 230, and the goltagi blade 240 are arranged in a plurality of left and right rows as shown in the bottom perspective view of FIG. 3 and the side cross-sectional view of FIG. 4,
  • the chute 230 and the goal tagging blade 240 are arranged in an alternating position back and forth between adjacent ones to the left and right so that interference does not occur when forming a bone, but one of the chutes 232 is located in the front. It is installed obliquely toward the rear of the blade 240, and the other chute 234 is installed toward the rear of the goalagi blade 240 located at the rear.
  • the seeding unit 200 is configured to be able to move up and down from the rear inner side of the vehicle body 100, which prevents damage to the seeding unit 200 when moving before and after the seeding operation as shown in FIG. In order to maintain the lifted state, it is possible to adjust the seeding depth of garlic by varying the height at the time of seeding.
  • the seeding unit frame 202 is suspended from the lift arm 204, and the hydraulic cylinder 206 is stretched and contracted. As a result, as the lift arm 204 is lifted or lowered, the whole seeding unit 200 is raised and lowered.
  • the seeding portion is configured to be able to adjust the seeding depth by a height sensing sensor 208 contacting the top of the pile as shown in FIGS. 3 and 6, and the vehicle body 100 and the seeding portion 200 ), a height adjustment hydraulic cylinder 206 is provided, and the height adjustment hydraulic cylinder 206 interlocks according to the height of the pile detected by the height sensor 208 to automatically adjust the seeding depth of garlic to the height of the pile. It can be adjusted to keep the seeding depth of garlic constant at, for example, 3 ⁇ 5cm, so that uniform growth of garlic is possible.
  • the height adjustment hydraulic cylinder 206 and the height detection sensor 208 are arranged on each of the left and right sides, respectively, so that the left and right heights are separately sensed and the left and right hydraulic cylinders are individually controlled, so that the seeding is carried out even on the left and right slopes.
  • the depth can be kept constant.
  • the height detection sensor 208 has a sensor 208a installed on the inside of the seeding unit frame 202, and a probe 208b in contact with the upper surface of the ridge is rotatably attached to the sensor 208a so that it contacts on the ridge.
  • the sensor 208a senses the rotational state of the probe 208b moving in one state, and measures the height of the ridge, and between the left and right vehicle bodies 100 and the seeding part 200 according to the measured height of the ridge.
  • the height of the seeding unit 200 is feedback-controlled in accordance with the height change of the ridge by expanding and contracting the hydraulic cylinder 206 for height adjustment installed in the.
  • the garlic seeding machine sowings garlic while traveling independently in a semi-autonomous driving method, so that the operator can operate in a comfortable state, and does not require a separate cultivator, a manager, or a tractor. Therefore, it has the advantage that it is possible to sow mechanically even in a small field, and even if a run-out occurs in the gripper of the rotary feeder during sowing, the run-out detection sensor detects it and operates the replenishment means to replenish the garlic, thus minimizing the run-out rate.
  • sowing can be carried out at a certain depth depending on the height of the ridge even in inclined fields or other fields where the height of the ridge is not constant, and since the goltargi blades and chutes arranged in multiple rows are arranged to be shifted back and forth. As there is no interference phenomenon when riding, there are advantages such as being able to sow and cover the garlic in a stable depth.

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  • Life Sciences & Earth Sciences (AREA)
  • Soil Sciences (AREA)
  • Environmental Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Sowing (AREA)

Abstract

The present invention provides a self-propelled garlic seeding machine which is equipped with caterpillar track-type wheels (110) and in which a seeding unit (200) is mounted to the inside of a rear portion of a vehicle body (100), wherein a driver's seat (120) is provided above a front portion of the vehicle body (100). The seeding unit (200) includes: a hopper (210) in which cloves of garlic are stored; a rotary supplying machine (220) which is positioned below the hopper (210) and in which grippers (224) disposed radially on one side of a rotating disc (222) pick up the cloves of garlic in the hopper (210) one by one and supply same downward; a chute (230) for dropping down the cloves of garlic supplied from the rotary supplying machine(220); a furrow opening blade (240) for forming a furrow in a ridge between fields in which the cloves of garlic are to be planted; and a soil covering blade (250) for covering the cloves of garlic with soil after planting same in the furrow formed in the ridge between fields. The rotary supplying machine (220) further includes: a miss-seeding detecting sensor (270) for detecting the occurrence of miss-seedings; and a supplementing means (280) for supplementing the cloves of garlic when the miss-seedings occur, wherein the supplementing means (280) is disposed symmetrically to the disc (222) of the rotary supplying machine (220) and picks up the garlic in the hopper (210) and stands by until miss-seedings occur, whereupon the supplementing means (280) intermittently drops down cloves of garlic while rotating.

Description

자주식 마늘 파종기Self-propelled garlic planter
본 발명은 마늘 파종기에 관한 것으로, 관리기나 경운기 또는 트랙터 등에 견인되지 않고 무한궤도식 차륜에 의해 자주식으로 주행하면서 두둑감지센서에 의한 두둑인식으로 수동조향없이 두둑을 따라 반자율주행이 가능하며, 파종부의 높낮이 제어에 의한 쪽마늘의 파종깊이조절과 변속기에 의한 주간거리를 조절할 수 있고, 결주시 자동으로 보충이 가능하도록 하여 결주율을 최소화할 수 있으며, 골타기날을 전후로 엇갈리게 설치하여 여러 줄의 골을 동시에 형성하더라도 간섭현상이 발생하지 않도록 한 개선된 구조의 자주식 마늘 파종기에 관한 것이다.The present invention relates to a garlic planter, and is not towed by a manager, a cultivator, or a tractor, and while traveling in a self-propelled manner by a tracked wheel, it is possible to run semi-autonomously along the foot without manual steering through the foot recognition by the foot sensor. It is possible to adjust the seeding depth of side garlic by height control and the daytime distance by the transmission, and it is possible to automatically replenish in case of failure to minimize the rate of run-out. It relates to a self-propelled garlic planter with an improved structure that prevents interference even if it is formed at the same time.
일반적으로, 마늘 파종기는 파종방법에 따라 골을 타면서 골 안에 마늘을 한 개씩 자연낙하식으로 떨어뜨려 뉘어서 파종하는 조파식과, 마늘을 하나씩 세워서 심고 복토하는 점파식으로 구분되며, 이들 조파식 및 점파식은 대부분 관리기나 경운기 또는 트랙터에 견인하여 파종하고 있다.In general, garlic planters are divided into two types: a sowing type, in which garlic is dropped one by one in the bones in a natural dropping method, and sown, and a branching type in which garlic is planted and covered one by one. Most of the sowing is towed by a manager, a cultivator, or a tractor.
한편, 관리기나 경운기에 부착하여 파종하는 경우에는 작업자가 관리기나 경운기를 운전하기가 불편하고, 파종한 두둑 위를 밟고 지나가게 됨으로써 파종상태가 흐트러지게 되는 상황이 발생한다는 문제점이 있었으며, 트랙터에 견인하여 파종하는 경우에는 트랙터의 윤거가 넓고 토양에 수분이 많은 경우 트랙터의 바퀴자국이 단단하게 다져지게 되어 정지상태가 불량해지게 되고, 시작지점과 반환지점 등에서의 파종이 불가능하며, 트랙터의 운전에 숙달된 운전자가 필요하다는 문제점이 있었다.On the other hand, in the case of sowing by attaching to a manager or a cultivator, there was a problem that it was inconvenient for the operator to operate the manager or cultivator, and a situation in which the seeding condition was disturbed by stepping on the sown bedside occurred. Therefore, in the case of sowing, if the tractor's tracks are wide and there is a lot of moisture in the soil, the wheel marks of the tractor are hardened, resulting in poor stopping conditions, and sowing at the starting point and the return point is impossible. There was a problem that a trained driver was needed.
또, 상술한 조파식이나 점파식 파종기의 경우에는 호퍼에 담긴 쪽마늘을 배종부에서 하나씩 집어서 파종부로 공급하는 과정에서 결주가 발생하게 됨으로써 두둑 위에 쪽마늘이 파종되지 않는 비율 즉, 결주율(결파율)이 높아져 수확량이 감소하게 되는 것은 물론, 기계파종 후 수작업으로 결주된 부분을 보식해주어야 하는 문제점도 있었다.In addition, in the case of the above-described sowing type or point wave type seeding machine, the rate at which the chives in the hopper are not sown in the process of picking and feeding them to the seeding unit one by one at the seeding unit, that is, the rate of absent In addition to decreasing the yield due to the increase in wave rate), there was also a problem in that the missing part had to be repaired manually after machine sowing.
이와 같은 문제점을 해결하기 위한 종래기술로는 특허문헌 1의 결파율이 개선된 종자 파종기가 개시되어 있는데, 특허문헌 1은 경사배종과 방석말이 형태의 종자 부어줌 동작을 수행하는 방식으로 이루어져 있고, 마늘 종자가 컵으로 떨어지는 것을 시각적으로 확인할 수 있어 결파시 신속한 대처 즉, 결파된 부분에 수작업으로 보충을 해줄 수 있어 결파와 겹침파종을 최소화할 수 있도록 구성되어 있으나, 경운기 등의 운전과 동시에 종자의 보충작업을 할 경우 2인이 1조가 되어야 하므로 작업이 쉽지 않다는 단점이 있었다.As a prior art for solving such a problem, a seed planter with improved breaking rate of Patent Document 1 is disclosed, and Patent Document 1 consists of a method of performing a seed pouring operation in the form of slant seedling and cushion roll, It is constructed so that it is possible to visually check that garlic seeds fall into the cup, which means that it can quickly respond to the breakage, that is, manually replenish the broken part, thus minimizing breakage and overlapping seeding. In the case of supplementary work, there was a disadvantage that the work was not easy because two people had to make one group.
특허문헌 2에는 본 출원인이 개발한 점파식 마늘 파종기가 개시되어 있는데, 이는 트랙터에 견인되어 사용되는 방식이었으며, 결주의 발생시 보충이 불가능하다는 문제점이 있었다. Patent Document 2 discloses a branched garlic planter developed by the present applicant, which is a method used by being towed by a tractor, and there is a problem that it is impossible to supplement when a runout occurs.
특허문헌 3에도 본 출원인이 개발한 마늘 파종기가 개시되어 있는데, 이는 마늘을 적재 및 이송하는 배종부가 수직으로 직립되어 있어 사용자가 눈으로 트레이에 마늘이 탑재되어 있는지 확인할 수 있으므로 마늘이 적재되지 않은 트레이에 직접 마늘을 넣어주기 쉬운 구조로 이루어져 있으나, 작업자가 탑승한 상태에서 이러한 보충작업을 일일이 해주어야 한다는 단점이 있었다. Patent Document 3 also discloses a garlic seeding machine developed by the present applicant, which is a tray where garlic is not loaded because the pear seeding unit for loading and transporting garlic is vertically upright so that the user can visually check whether the garlic is mounted on the tray. It consists of a structure that makes it easy to put garlic directly in, but there is a disadvantage that such supplementary work must be done one by one while the worker is on board.
특허문헌 4에는 본 출원인의 조파식 마늘 파종기가 개시되어 있는데, 이는 2줄이 한 조를 이루도록 조밀하게 마늘 종자가 파종되고, 각 조 사이의 간격은 임의로 조절이 가능하도록 하여 마늘의 생장환경에 적합한 통풍성과 채광성을 확보할 수 있도록 되어 있으나, 특허문헌 4에서는 마늘종자의 결주에 대한 별다른 대책이 강구되어 있지 않으므로 결주율이 떨어진다는 단점이 있었으며, 1조를 이루는 2줄이 너무 가까워 골을 형성하는 과정에서 서로 간섭현상 즉, 한쪽 골을 형성하면서 올라온 흙이 다른 쪽 골 안쪽으로 밀려들어가게 됨으로써 골타기가 제대로 이루어지지 않는 현상이 발생하게 되는 문제점도 있었다. Patent Document 4 discloses a sowing-type garlic seeding machine of the present applicant, which is densely seeded so that two rows form a pair, and the interval between each group can be arbitrarily adjusted so that it is suitable for the growing environment of garlic. Although it is designed to ensure ventilation and light-emitting properties, Patent Document 4 has a drawback that the absent rate is low because there is no special countermeasure against the absence of garlic seeds in Patent Document 4, and the two rows of one pair are too close to form a valley. In the process, there is also a problem in that a phenomenon in which the goal of the goal is not performed properly occurs because the soil raised while forming one valley is pushed into the inside of the other valley.
[선행기술문헌][Prior technical literature]
[특허문헌][Patent Literature]
한국공개특허 제10-2007-0097248호(2007.10.04.)Korean Patent Publication No. 10-2007-0097248 (2007.10.04.)
한국등록특허 제10-1419417호(2014.07.08.)Korean Patent Registration No. 10-1419417 (2014.07.08.)
한국공개특허 제10-2016-0073645호(2016.06.27.)Korean Patent Application Publication No. 10-2016-0073645 (2016.06.27.)
한국등록특허 제10-1963194호(2019.03.22.)Korean Patent Registration No. 10-1963194 (2019.03.22.)
본 발명은 상기한 문제점을 해결하기 위하여 안출된 것으로, 본 발명의 목적은 첫째, 트랙터 등의 견인수단이 필요없이 스스로 두둑을 따라 반자율주행을 하면서 파종이 가능한 자주식 마늘 파종기를 제공하는데 있다.The present invention has been conceived to solve the above problems, and an object of the present invention is to provide a self-propelled garlic seeding machine capable of sowing while self-driving along the foothills without the need for a traction means such as a tractor.
둘째, 수작업으로 마늘종자(쪽마늘)를 보충해주지 않고도 자동으로 마늘종자를 보충해주어 결주율을 최소화할 수 있는 개선된 방식의 마늘 파종기를 제공하는데 있다.Second, it is to provide an improved garlic seeding machine that can minimize the absent rate by automatically replenishing garlic seeds without manually replenishing garlic seeds (seed garlic).
셋째, 여러 줄의 골을 동시에 형성하더라도 상호 간섭현상이 발생하지 않는 개선된 구조의 골 형성부를 갖는 마늘 파종기를 제공하는데 있다.Third, it is to provide a garlic planter having an improved structure of bone formation that does not cause mutual interference even when several rows of bones are formed at the same time.
넷째, 쪽마늘의 파종깊이와 전후 파종간격(주간간격)을 임의로 조절할 수 있는 자주식 마늘 파종기를 제공하는데 있다.Fourth, it is to provide a self-propelled garlic seeding machine that can arbitrarily adjust the seeding depth of clove garlic and the seeding interval before and after (weekly interval).
상기한 목적을 달성하기 위하여 본 발명은, 좌우측에 무한궤도식 차륜이 구비되고 전방 상부에 운전석이 구비된 차체의 후방 내측에 파종부가 설치된 자주식 마늘 파종기로,In order to achieve the above object, the present invention is a self-propelled garlic seeding machine in which a seeding unit is installed in the rear inner side of a vehicle body having a caterpillar wheel on the left and right and a driver's seat on the upper front,
상기 파종부는 쪽마늘이 담기는 호퍼와; 상기 호퍼의 하부에 위치하며 회전하는 디스크의 일측에 방사상으로 배치된 그리퍼가 호퍼의 쪽마늘을 하나씩 집어서 하부로 공급하는 회전 공급기와; 상기 회전 공급기에서 공급된 쪽마늘을 하방으로 투하하는 슈트와; 쪽마늘이 파종될 두둑 위에 골을 형성하는 골타기날과; 두둑 위에 형성된 골에 쪽마늘이 파종된 후 흙을 덮는 복토날;을 포함하여 이루어지며,The seeding portion and a hopper containing the garlic; A rotary feeder positioned under the hopper and radially disposed on one side of the rotating disk to pick up the garlic of the hopper one by one and supply it to the lower side; A chute for dropping the side garlic supplied from the rotary feeder downward; A goltagi blade that forms a bone on the ridge to be sown; Containing a cover blade to cover the soil after the garlic is sown in the valley formed on the duke,
상기 회전공급기는 결주가 발생하는 것을 감지하기 위한 결주감지센서와 결주 발생시 쪽마늘을 보충해주는 보충수단을 더 포함하며, 상기 보충수단은 상기 회전 공급기의 디스크와 대칭으로 배치되어 호퍼의 마늘을 집어서 대기하다가 결주 발생시 간헐적으로 회전하면서 쪽마늘을 하방으로 투하하도록 구성된 자주식 마늘파종기를 제공한다.The rotation feeder further includes a miss detection sensor for detecting that a runout occurs, and a supplement means for replenishing garlic when a runout occurs, and the supplement means is disposed symmetrically with the disk of the rotation feeder to pick up the garlic from the hopper. It provides a self-propelled garlic seeding machine that is configured to drop clove garlic downward while rotating intermittently when a runaway occurs while waiting.
상기 보충수단은 회전공급기와 기본적으로 동일한 구조로 이루어지되, 회전하는 디스크의 일측에 방사상으로 배치된 그리퍼가 호퍼의 쪽마늘을 하나씩 집어서 하부로 공급하도록 구성되어 회전 공급기에 방사상으로 배치된 그리퍼에서 쪽마늘을 집지 않은 상태로 회전되어 하방으로 쪽마늘이 투하되지 않을 경우에만 그리퍼가 벌어지면서 집고 있던 쪽마늘을 슈트로 투하시킨다. The replenishment means is basically of the same structure as the rotation feeder, but the gripper radially disposed on one side of the rotating disk is configured to pick up the side garlic of the hopper one by one and supply it to the bottom, so that the gripper radially disposed in the rotation feeder The gripper opens and drops the pickled garlic into the chute only when it is rotated without picking up the side garlic and the side garlic is not dropped downward.
바람직한 실시 예에서, 상기 회전공급기와 슈트 및 골타기날은 복수의 열로 배치되되, 상기 슈트와 골타기날은 인접하는 것끼리 전후로 위치가 엇갈리게 배치되어 골타기와 파종시 간섭현상이 발생하지 않도록 한다.In a preferred embodiment, the rotary feeder, the chute, and the goltargi blade are arranged in a plurality of rows, and the chute and the goltargi blade are arranged in a staggered position before and after adjacent ones so that interference does not occur during cultivation and sowing. .
바람직한 실시 예에서, 상기 파종부의 회전공급기는 무한궤도식 차륜에 밀착되어 회전하는 구동휠로부터 동력을 전달받아 구동되되 상기 무한궤도식 차륜과 회전공급기 사이에는 변속기가 개재되어 변속기의 조작에 의해 파종간격을 다단으로 조절할 수 있도록 한다.In a preferred embodiment, the rotation feeder of the seeding unit is driven by receiving power from a driving wheel that rotates in close contact with the caterpillar wheel, but a transmission is interposed between the caterpillar wheel and the rotation feeder to increase the seeding interval by operation of the transmission. To be able to adjust.
바람직한 실시 예에서, 상기 차체의 전방 좌우측에는 마늘이 심겨질 두둑을 비접촉식으로 감지하여 두둑을 따라 반자율주행방식으로 조향을 제어하기 위한 두둑감지센서가 구비된다.In a preferred embodiment, the front left and right sides of the vehicle body are provided with a head detection sensor for non-contact sensing of the head to be planted with garlic and controlling steering in a semi-autonomous manner along the foot.
본 발명의 실시 예에 의하면, 자주식 마늘파종기에 반자율주행기능이 부가되어 운전편의성의 향상이 가능하고, 파종부는 보충수단에 의해 자동으로 쪽마늘을 보충해주게 되므로 결주율을 최소화할 수 있음과 아울러 결주시 보충작업을 수작업으로 하던 번거로움을 해소할 수 있으며, 인접하는 골타기날이 상호 앞뒤로 위치가 엇갈리게 배치되어 있어 여러 줄의 골을 동시에 형성하더라도 간섭현상이 발생하지 않아 골의 형성 및 투하된 쪽마늘이 제대로 파종될 수 있고, 소형 차체에 운전자가 탑승한 상태에서 무한궤도식 차륜에 의해 자주식으로 주행하면서 두둑감지센서에 의한 반자율주행모드에서 높이감지센서와 변속기에 의해 파종깊이와 주간 간격을 자유롭게 조절할 수 있으므로 운전 및 조작의 편의를 도모할 수 있고, 작업기나 경운기 또는 트랙터로 견인하여 사용하던 방식에 비해 소규모 재배면적에서의 파종시 파종이 불가능하던 부분까지도 기계식으로 파종이 가능한 등의 효과가 있다.According to an embodiment of the present invention, a semi-autonomous driving function is added to the self-propelled garlic seeding machine to improve operational convenience, and the seeding unit automatically replenishes the garlic by the replenishing means, thus minimizing the run-out rate and avoidance. It is possible to eliminate the hassle of manual replenishment during the time, and since the adjacent goal marking blades are arranged in an alternate position, even if several rows of bones are formed at the same time, there is no interference phenomenon, so the formation and dropping side of the bone Garlic can be sown properly, and while driving in a self-propelled manner by a tracked wheel while the driver is on a small vehicle, the height sensor and the transmission allow the seeding depth and weekly intervals to be freely adjusted in the semi-autonomous driving mode by the ridge detection sensor. Because it can be adjusted, it is possible to facilitate operation and operation, and compared to the method used by traction with a work machine, a cultivator or a tractor, there are effects such as mechanical sowing even in areas where sowing was impossible when sowing in a small cultivation area. .
도 1은 본 발명의 일 실시 예에 의한 마늘 파종기의 배면부 사시도,1 is a perspective view of a rear portion of a garlic planter according to an embodiment of the present invention,
도 2는 본 발명의 일 실시 예에 의한 마늘 파종기의 전면부 사시도,2 is a front perspective view of a garlic planter according to an embodiment of the present invention,
도 3은 본 발명의 일 실시 예에 의한 마늘 파종기의 저면부 사시도,3 is a perspective view of the bottom of the garlic planter according to an embodiment of the present invention,
도 4는 본 발명의 일 실시 예에 의한 마늘 파종기의 측단면도,Figure 4 is a side cross-sectional view of a garlic planter according to an embodiment of the present invention,
도 5는 본 발명의 일 실시 예에 의한 마늘 파종기의 배면도,5 is a rear view of a garlic planter according to an embodiment of the present invention,
도 6은 파종부를 차체에서 상방으로 들어올린 상태의 사시도,6 is a perspective view of a state in which the seeding portion is lifted upward from the vehicle body;
도 7은 파종부의 회전공급기를 도시한 사시도,7 is a perspective view showing a rotation feeder of the seeding unit,
도 8은 도 7에 도시된 회전공급기의 배면도,Figure 8 is a rear view of the rotary feeder shown in Figure 7;
도 9는 도 7에 도시된 회전공급기의 측면도,Figure 9 is a side view of the rotary feeder shown in Figure 7;
도 10은 반자율주행을 위한 초음파센서의 두둑감지상태도이다.10 is a state diagram of a head detection of an ultrasonic sensor for semi-autonomous driving.
이하, 본 발명을 한정하지 않는 바람직한 실시 예를 첨부된 도면에 의하여 상세히 설명하기로 한다.Hereinafter, preferred embodiments that do not limit the present invention will be described in detail with reference to the accompanying drawings.
도 1 내지 9에는 본 발명의 일 실시 예에 의한 자주식 마늘 파종기(1)가 도시되어 있는데, 이는 좌우측에 무한궤도식 차륜(110)이 구비되고 전방 상부에 운전석(120)이 구비된 차체(100)의 후방 내측에 파종부(200)가 설치된 것으로,1 to 9 shows a self-propelled garlic planter 1 according to an embodiment of the present invention, which is provided with a caterpillar wheel 110 on the left and right sides and a vehicle body 100 provided with a driver's seat 120 on the upper front side. The seeding unit 200 is installed in the rear inner side of the
상기 차체(100)의 전방 좌우측에는 마늘이 심겨질 두둑을 비접촉식으로 감지하여 두둑을 따라 반자율주행방식으로 조향을 제어하기 위한 두둑감지센서(S1,S2,S3,S4)가 구비되고,Pile detection sensors S1, S2, S3, S4 are provided on the front left and right sides of the vehicle body 100 to control steering in a semi-autonomous driving method along the ridge by non-contact sensing,
상기 파종부(200)는 쪽마늘이 담기는 호퍼(210)와; 상기 호퍼(210)의 하부에 위치하며 회전하는 디스크(222)의 일측에 방사상으로 배치된 그리퍼(224)가 호퍼(210)의 쪽마늘을 하나씩 집어서 하부로 공급하는 회전 공급기(220)와; 상기 회전 공급기(220)에서 공급된 쪽마늘을 하방으로 투하하는 슈트(230)와; 쪽마늘이 파종될 두둑 위에 골을 형성하는 골타기날(240)과; 두둑 위에 형성된 골에 쪽마늘이 파종된 후 흙을 덮는 복토날(250)을 포함하여 이루어져 있으며,The seeding unit 200 includes a hopper 210 containing parsley; A rotation feeder 220 which is positioned under the hopper 210 and is radially disposed on one side of the rotating disk 222 to pick up the garlic of the hopper 210 one by one and supply it to the lower side; A chute 230 for dropping the side garlic supplied from the rotary feeder 220 downward; Goltagi blade 240 to form a bone on the head of the garlic to be sown; Consisting of including a cover blade 250 that covers the soil after the garlic is sown in the valley formed on the duke,
상기 회전공급기(220)는 도 7 내지 9에 도시된 바와 같이 그리퍼(224)에서 결주가 발생하는 것을 감지하기 위한 결주감지센서(270)와, 결주 발생시 쪽마늘을 보충해주는 보충수단(280)을 더 포함하며, 상기 보충수단(280)은 상기 회전공급기(220)의 디스크(222)와 대칭으로 배치되어 호퍼의 마늘을 집어서 대기하다가 결주 발생시 간헐적으로 회전하면서 쪽마늘을 슈트(230)에 투하하도록 구성되어 있다.As shown in Figs. 7 to 9, the rotation feeder 220 includes a miss detection sensor 270 for detecting that a runout occurs in the gripper 224, and a supplement means 280 for replenishing the garlic when runout occurs. It further includes, and the replenishment means 280 is disposed symmetrically with the disk 222 of the rotation feeder 220 to pick up garlic from the hopper and wait for it to intermittently rotate while dropping the scallion garlic into the chute 230 Is configured to
본 실시 예에서, 상기 두둑감지센서(S1,S2,S3,S4)는 가로로 배치된 센서 설치대(102)상에서 좌우 간격을 파종하고자 하는 밭 두둑과 고랑의 간격에 맞추어 조절할 수 있도록 위치이동이 가능하도록 배치되어 있고, 상기 두둑감지센서(S1,S2,S3,S4)는 각각 도 10에 도시된 바와 같이 대각선방향으로 두둑 양측의 고랑과의 경계를 감지하도록 설치되어 파종기가 두둑을 따라 반자율식으로 주행하도록 되어 있는데, 상기 두둑감지센서는 차체(100)의 좌,우측에 각각 1쌍씩 위치조절이 가능하도록 설치되어 있고, 1쌍씩의 두둑감지센서(S1,S2,S3,S4)는 고랑의 폭에 맞추어 조사방향을 조절할 수 있는 사양으로 구성되어 있는바, 본 실시예에서 사용한 두둑감지센서는 초음파센서의 일종으로, PROTRAKKER사의 상표명 'SONICTRAKK'이나, 본 발명은 이에 한정하지 않고 라이더센서를 두둑감지센서로 적용할 수도 있음은 물론이다.In this embodiment, the heading sensor (S1, S2, S3, S4) can be moved so that the left and right spacing can be adjusted according to the spacing between the head of the field and the furrow to be sown on the horizontally disposed sensor mounting table 102 And the dug detection sensors (S1, S2, S3, S4) are installed to detect the boundary between the furrows on both sides of the dug in a diagonal direction as shown in FIG. The heading sensor is installed on the left and right sides of the vehicle body 100 so that the position can be adjusted, and each pair of heading sensor (S1, S2, S3, S4) is It is composed of specifications that can adjust the irradiation direction according to the width, and the patter detection sensor used in this embodiment is a kind of ultrasonic sensor, and the trademark name'SONICTRAKK' of PROTRAKKER, but the present invention is not limited thereto, and the lidar sensor Of course, it can also be applied as a detection sensor.
상기 두둑감지센서(S1,S2,S3,S4)에서 감지된 신호에 따라 제어기(도시 생략됨)는 유압식 조향장치(도시 생략됨)를 제어하여 마늘파종기가 직선형 또는 곡선형 두둑의 방향을 따라 정확하게 주행하도록 도와주게 되므로 운전석에 앉은 운전자는 조향에만 신경쓰지 않고 파종상태의 감시와 파종깊이 및 파종간격의 조절은 물론 주변 상황을 육안으로 주시하여 즉각적인 대처가 가능하게 되므로 지루한 수동식 조향제어의 번거로움 및 어려움을 벗어날 수 있으며, 정밀한 조향실력이 없는 사람도 안정적인 조향과 파종이 가능하도록 할 수 있다.The controller (not shown) controls the hydraulic steering device (not shown) according to the signal detected by the pile detection sensors (S1, S2, S3, S4), so that the garlic planter accurately follows the direction of the straight or curved pile. Because it helps to drive, the driver sitting in the driver's seat does not care only about the steering, but monitors the seeding status, adjusts the seeding depth and seeding interval, and observes the surrounding situation with the naked eye, enabling immediate coping. Therefore, the hassle of tedious manual steering control and Difficulties can be avoided, and even those who do not have precise steering skills can make stable steering and seeding possible.
상술한 두둑감지센서(S1,S2,S3,S4)에 의한 파종기의 반자율주행을 위한 제어메커니즘은 공지기술이므로 이에 대한 구체적인 설명은 생략하기로 한다.The control mechanism for semi-autonomous driving of the seed drill by the above-described duke detection sensors (S1, S2, S3, S4) is a known technology, so a detailed description thereof will be omitted.
첨부된 도면에서 조향핸들이 생략되었으나, 운전석 앞쪽에 스티어링 휠 형태로 이루어진 조향핸들을 설치할 수도 있고, 이 외에도 다양한 구조의 조향장치를 적용할 수도 있는데, 공지된 무한궤도식 농기계의 유압식 조향장치를 적용하는 것이 바람직하다. Although the steering wheel is omitted in the accompanying drawings, a steering wheel in the form of a steering wheel can be installed in the front of the driver's seat, and a steering device of various structures can be applied, and a hydraulic steering device of a known caterpillar agricultural machine can be applied. It is desirable.
또, 상기 조향핸들 외에 차륜(110)의 구동을 위한 동력장치도 도면상에 도시되어 있지 않은데, 이러한 동력장치는 공지의 내연기관이나 충전식 배터리에 의한 전동 또는 유압모터를 적용할 수도 있음은 물론이다. In addition, a power device for driving the wheel 110 other than the steering wheel is not shown on the drawing. It goes without saying that such a power device may be an electric or hydraulic motor using a known internal combustion engine or a rechargeable battery. .
또한, 상기 운전석(120)측에는 변속기의 조작을 위한 레버나 스위치 및 파종부의 파종상태 즉, 파종깊이와 파종간격 및 결주상태 등을 표시하고 저장하기 위한 디스플레이패널과 조작부가 더 구비되며, 이러한 디스플레이패널과 조작부의 구성또한 일반적인 사항이므로 이에 대한 구체적인 도시와 설명은 생략하기로 한다. In addition, the driver's seat 120 side is further provided with a display panel and a control unit for displaying and storing a lever or switch for operating the transmission, and the seeding state of the seeding unit, that is, the seeding depth, the seeding interval, and the absence state. Since the configuration of the and operation unit is also a general matter, detailed illustration and description thereof will be omitted.
상기 결주감지센서(270)는 회전공급기(220)의 그리퍼(224)가 쪽마늘을 집지 못한 상태로 회전하는 것을 감지하고, 여기서 감지된 신호에 의해 보충수단(280)의 구동을 제어하게 되는데, 상기 보충수단(280)은 회전공급기와 기본적으로 동일한 구조 즉, 회전하는 디스크(282)의 일측에 방사상으로 그리퍼(284)가 배치되어 호퍼(210)의 쪽마늘을 하나씩 집어서 하부로 투하하도록 구성되어 있고, 회전공급기(220)에 방사상으로 배치된 그리퍼(224)에서 쪽마늘을 집지 않은 상태로 회전되어 슈트(230)로 쪽마늘이 투하되지 않을 경우에만 그리퍼(284)가 벌어지면서 집고 있던 쪽마늘을 슈트(230)로 투하시킨 후 일정 각도 즉, 그리퍼의 설치 각도만큼 회전하여 다음 보충신호를 대기하게 됨으로써 회전공급기(220)에서의 결주 발생시 자동으로 쪽마늘의 보급이 이루어져 결주율을 최소화할 수 있게 되는 것이다.The miss detection sensor 270 detects that the gripper 224 of the rotation feeder 220 rotates without picking up the garlic, and controls the driving of the supplemental means 280 by the detected signal. The replenishment means 280 has the same structure as the rotation feeder, that is, a gripper 284 is disposed radially on one side of the rotating disk 282 to pick up the garlic of the hopper 210 one by one and drop it downward. And, only when the side garlic is not dropped into the chute 230 because the side garlic is rotated without picking up the side garlic by the gripper 224 disposed radially in the rotation feeder 220, the side where the gripper 284 was opened and picked up After the garlic is dropped into the chute 230, it is rotated by a certain angle, that is, the installation angle of the gripper, and waits for the next supplemental signal, so when a run out of the rotating feeder 220 occurs, the garlic is automatically supplied to minimize the runaway rate. There will be.
상기 결주감지센서(270)는 회전공급기(220)의 디스크(222)에 방사상으로 설치된 그리퍼(224)가 쪽마늘을 집고 있는지의 여부를 감지하기 위한 센서(270a)와, 상기 보충수단(280)의 디스크(282)에 방사상으로 배치된 그리퍼(284)가 보충용 쪽마늘을 집고 있는지는 감지하기 위한 센서(270b)로 이루어져 있으며, 일측 결주감지센서(270a)에서 결주(쪽마늘을 집고 있지 않은 상태)가 감지되면 보충수단(280)에 구동신호를 보내어 보충수단(280)의 그리퍼(284)가 집고 있던 쪽마늘을 슈트(230)에 투하하게 됨으로써 결주율을 최소화할 수 있는 것이다.The miss detection sensor 270 includes a sensor 270a for detecting whether or not a gripper 224 radially installed on the disk 222 of the rotation feeder 220 is picking up garlic, and the supplemental means 280 The gripper 284 arranged radially on the disk 282 of the is composed of a sensor 270b to detect whether it is picking up the side garlic for supplementation, and it is missed at one side of the miss detection sensor 270a (the state that the side garlic is not picked) When is sensed, a driving signal is sent to the replenishing means 280 to drop the side garlic held by the gripper 284 of the replenishing means 280 onto the chute 230, thereby minimizing the runaway rate.
한편, 상기 보충수단(280)의 그리퍼(284)가 마늘을 집고 있는지의 여부를 감지하기 위한 또 다른 결주감지센서(270b)는 해당 그리퍼(284)가 마늘을 집고 있을 경우에는 투하대기 위치에 정지하고 있고, 해당 그리퍼(284)가 마늘을 집고 있지 않을 경우에는 디스크(282)가 1피치만큼 더 회전하도록 하여 투하대기위치에 항상 보충용 쪽마늘이 대기하고 있도록 작동하게 된다.On the other hand, another absence detection sensor (270b) for detecting whether the gripper 284 of the replenishing means 280 is picking garlic is stopped at the dropping standby position when the gripper 284 is picking garlic. And, when the gripper 284 does not pick up the garlic, the disk 282 is rotated by 1 pitch, so that the supplementary garlic is always waiting at the dropping standby position.
도면 중 부호 286은 상기 보충수단(280)의 디스크(282)를 간헐적으로 구동시키기 위한 서보모터이다.In the drawing, reference numeral 286 denotes a servo motor for intermittently driving the disk 282 of the supplementary means 280.
상기 결주감지센서(270)는 초음파센서나 포토센서 또는 레이저센서 등을 사용할 수 있으며, 회전공급기(220)의 그리퍼(224)가 쪽마늘을 집고 있는지의 여부를 감지하여 도시 생략된 제어부에 신호를 송출하고, 제어부는 결주라고 판단시 보충수단(280)에 구동신호를 전송하여 디스크(282)의 간헐적인 회동 및 그리퍼(284)의 벌림동작이 이루어지도록 하게 된다.The miss detection sensor 270 may use an ultrasonic sensor, a photosensor, or a laser sensor, and detects whether the gripper 224 of the rotary feeder 220 is picking up garlic, and sends a signal to the controller (not shown). Then, the control unit transmits a drive signal to the supplemental means 280 when it is determined that it is absent, so that the disc 282 is intermittently rotated and the gripper 284 is opened.
한편, 본 실시 예에서, 상기 회전공급기(220)의 구동은 무한궤도식 차륜(110)에 접촉하여 구르는 구동휠(260)에서 동력전달체인(262,264,266,268)을 통해 전달된 회전력에 의해 구동되며, 구동휠(260)에서 회전공급기(220) 사이에 변속을 위하여 변속기(263)를 설치하여 변속레버를 조작하는 것에 의해 회전공급기(220)의 회전속도를 변화시켜 쪽마늘의 전후 파종간격 즉 주간 간격을 조절할 수 있는데, 상기한 변속기(263)는 본 발명이 속한 기술분야에서 통상의 지식을 가진 자에 의해 자명한 사항이므로 이에 대한 구체적인 도시와 설명은 생략하기로 하며, 파종부(200)는 높이감지센서(208)에 의해 제어되는 유압실린더(206)에 의해 승강동작이 이루어지도록 하여 파종깊이의 자동 조절은 물론, 파종작업을 하지 않을 경우에는 도 6에 도시된 바와 같이 파종부(200)를 차체(100) 상부로 완전히 들어올린 상태로 주행을 하거나 파종부(200)의 점검을 실시할 수 있도록 되어 있다.On the other hand, in the present embodiment, the driving of the rotation supply 220 is driven by the rotational force transmitted through the power transmission chains 262, 264, 266, 268 from the driving wheel 260 that rolls in contact with the caterpillar wheel 110, and At (260), a transmission 263 is installed between the rotation feeders 220 for transmission, and the rotational speed of the rotation feeder 220 is changed by operating the shift lever to adjust the front and rear seeding intervals, i.e., the weekly intervals. However, since the transmission 263 is a matter that is self-evident by a person of ordinary skill in the technical field to which the present invention belongs, a detailed illustration and description thereof will be omitted, and the seeding unit 200 is a height sensor As shown in Fig. 6, when the seeding depth is not automatically adjusted, as well as the automatic adjustment of the seeding depth by allowing the lifting operation to be performed by the hydraulic cylinder 206 controlled by the 208, the seeding unit 200 is attached to the vehicle body ( 100) It is designed to be able to run while being completely raised to the top or to perform inspection of the seeding unit 200.
또, 본 실시 예에서, 상기 회전공급기(220)와 슈트(230) 및 골타기날(240)은 도 3의 저면부 사시도 및 도 4의 측단면도에 도시된 바와 같이 좌우 복수의 열로 배치되되, 상기 슈트(230)와 골타기날(240)은 좌우로 인접하는 것끼리 전후로 위치가 엇갈리게 배치되어 골 형성시 간섭현상이 발생하지 않도록 되어 있는데, 한 쪽의 슈트(232)는 전방에 위치한 골타기날(240)의 후방을 향하여 경사지게 설치되어 있고, 다른 한 쪽의 슈트(234)는 후방에 위치한 골타기날(240)의 후방을 향하여 설치되어 있다.In addition, in this embodiment, the rotation feeder 220, the chute 230, and the goltagi blade 240 are arranged in a plurality of left and right rows as shown in the bottom perspective view of FIG. 3 and the side cross-sectional view of FIG. 4, The chute 230 and the goal tagging blade 240 are arranged in an alternating position back and forth between adjacent ones to the left and right so that interference does not occur when forming a bone, but one of the chutes 232 is located in the front. It is installed obliquely toward the rear of the blade 240, and the other chute 234 is installed toward the rear of the goalagi blade 240 located at the rear.
즉, 좌우로 인접하는 복수의 골타기날(240)은 서로 가깝게 배치되어 있으므로 좌우측의 골타기날(240)이 동시에 좌우로 같은 위치에서 골을 형성할 경우 인접하는 골타기날(240)에 의해 흙이 밀리면서 골이 무너지게 됨으로써 골의 깊이가 낮아지게 되어 적정한 파종깊이를 형성하지 못하게 됨은 물론, 파종 후 복토날(250)에 의해 흙이 덮여지더라도 충분한 두께도 덮여지지 않게 됨으로써 냉해를 입게 될 우려가 있던바, 본 실시 예에의 도면에서는 두둑 위에 좌우 6줄로 동시에 골을 형성할 수 있는 6조식으로 이루어져 있지만 좌우로 인접하는 골타기날(240)은 전후로 상호 엇갈리도록 배치되어 있으므로 충분한 거리가 이격된 상태로 골이 형성되게 됨으로써 골이 무너지게 되는 간섭현상을 효과적으로 해소할 수 있는 것이다.That is, since a plurality of bones adjacent to the left and right are arranged close to each other, when the left and right bones are formed at the same position in the same position left and right, the adjacent bones are used. As the soil is pushed and the valley collapses, the depth of the valley decreases, making it impossible to form an appropriate seeding depth, and even if the soil is covered by the cover blade 250 after sowing, even if the soil is covered by the cover blade 250, the sufficient thickness is not covered, resulting in cold damage. There was a fear that, in the drawing of this embodiment, it is composed of a six-row type that can simultaneously form a goal in six rows on the left and right on the head bank, but since the goltagi blades 240 adjacent to the left and right are arranged to be staggered from each other back and forth, sufficient distance Since the bones are formed in a state of being separated from each other, the interference phenomenon that the bones collapse can be effectively resolved.
한편, 본 실시 예에서는 좌우로 인접하는 골타기날(240)이 전후로 엇갈리도록 배치되어 있으므로 골타기날(240)에 의해 형성된 골에 쪽마늘을 투하하기 위하여 회전공급기(220)의 하부에서부터 전,후로 경사진 형태의 슈트(232,234)가 설치되어 있다.On the other hand, in this embodiment, since the goltagi blades 240 adjacent to the left and right are arranged to be staggered back and forth, from the bottom of the rotary feeder 220 to drop the skewer garlic on the bone formed by the goltagi blade 240, Afterwards, inclined chutes 232 and 234 are installed.
상기 파종부(200)는 차체(100)의 후방 내측에서 상하로 승강가능하도록 구성되어 있는데, 이는 도 6에 도시된 바와 같이 파종작업 전,후의 이동시 파종부(200)의 손상방지 및 신속 주행을 위하여 들어 올린 상태를 유지하고, 파종시에는 높낮이를 달리하여 마늘의 파종깊이를 조절할 수 있게 되는데, 파종부 프레임(202)이 리프트 아암(204)에 매달린 상태에서 유압실린더(206)의 신축작동에 의해 리프트 아암(204)이 들리거나 내려지면서 파종부(200) 전체가 상하로 승강된다.The seeding unit 200 is configured to be able to move up and down from the rear inner side of the vehicle body 100, which prevents damage to the seeding unit 200 when moving before and after the seeding operation as shown in FIG. In order to maintain the lifted state, it is possible to adjust the seeding depth of garlic by varying the height at the time of seeding. The seeding unit frame 202 is suspended from the lift arm 204, and the hydraulic cylinder 206 is stretched and contracted. As a result, as the lift arm 204 is lifted or lowered, the whole seeding unit 200 is raised and lowered.
한편, 본 발명에서 상기 파종부는 도 3 및 도 6에 도시된 바와 같이 두둑 위를 접촉하는 높이감지센서(208)에 의해 파종깊이를 조절할 수 있도록 되어 있는데, 상기 차체(100)와 파종부(200)사이에는 높이조절용 유압실린더(206)가 구비되어 있어 상기 상기 높이감지센서(208)에서 감지된 두둑 높이에 따라 높이조절용 유압실린더(206)가 연동하여 마늘의 파종깊이가 두둑의 높이에 맞추어 자동으로 조절되어 마늘의 파종깊이를 예를 들면 3~5cm정도의 깊이로 일정하게 유지할 수 있어 마늘의 균일한 생장이 가능하도록 할 수 있다.On the other hand, in the present invention, the seeding portion is configured to be able to adjust the seeding depth by a height sensing sensor 208 contacting the top of the pile as shown in FIGS. 3 and 6, and the vehicle body 100 and the seeding portion 200 ), a height adjustment hydraulic cylinder 206 is provided, and the height adjustment hydraulic cylinder 206 interlocks according to the height of the pile detected by the height sensor 208 to automatically adjust the seeding depth of garlic to the height of the pile. It can be adjusted to keep the seeding depth of garlic constant at, for example, 3~5cm, so that uniform growth of garlic is possible.
상기 높이조절용 유압실린더(206)와 높이감지센서(208)는 좌우 양측에 각각 하나씩 배치되어 있어서 좌우의 높이를 각각 별도로 감지하여 좌우의 유압실린더를 개별적으로 제어함으로써 좌우방향으로 기울기가 있는 두둑 위에서도 파종 깊이를 일정하게 유지할 수 있다.The height adjustment hydraulic cylinder 206 and the height detection sensor 208 are arranged on each of the left and right sides, respectively, so that the left and right heights are separately sensed and the left and right hydraulic cylinders are individually controlled, so that the seeding is carried out even on the left and right slopes. The depth can be kept constant.
상기 높이감지센서(208)는 파종부 프레임(202)의 내측에 센서(208a)가 설치되고, 상기 센서(208a)에는 두둑 상면에 접촉하는 프로브(208b)가 회동가능하게 부착되어 있어 두둑 위에 접촉한 상태로 이동하는 프로브(208b)의 회동상태를 센서(208a)가 감지하여 두둑의 높낮이를 측정하게 되고, 여기서 측정된 두둑의 높낮이에 따라서 상기 좌우측의 차체(100)와 파종부(200)사이에 설치된 높이조절용 유압실린더(206)를 신축조절하여 두둑의 높이변화에 맞추어 파종부(200)의 높이를 피드백 제어하게 된다.The height detection sensor 208 has a sensor 208a installed on the inside of the seeding unit frame 202, and a probe 208b in contact with the upper surface of the ridge is rotatably attached to the sensor 208a so that it contacts on the ridge. The sensor 208a senses the rotational state of the probe 208b moving in one state, and measures the height of the ridge, and between the left and right vehicle bodies 100 and the seeding part 200 according to the measured height of the ridge. The height of the seeding unit 200 is feedback-controlled in accordance with the height change of the ridge by expanding and contracting the hydraulic cylinder 206 for height adjustment installed in the.
이상 설명한 바와 같이, 본 실시 예에 의한 마늘 파종기는 반자율주행방식에 자주식으로 주행하면서 마늘을 파종하게 되므로 작업자가 편안한 상태에서 운전을 할 수 있으며, 별도의 경운기나 관리기 또는 트랙터 등을 동원하지 않아도 되므로 소규모의 밭에서도 기계식으로 파종이 가능하다는 이점이 있고, 파종시 회전공급기의 그리퍼에서 결주가 발생하더라도 이를 결주감지센서가 감지하여 보충수단을 동작시켜 쪽마늘을 보충해주게 되므로 결주율을 최소화할 수 있어 수확량 증대가 가능하며, 경사진 밭이나 기타 두둑의 높이가 일정하지 않는 밭에서도 두둑의 높이에 따라서 일정한 깊이로 파종할 수 있으며, 복수 열로 배치된 골타기날 및 슈트가 전후로 상호 어긋나게 배치되어 있으므로 골타기시 간섭현상이 발생하지 않아 쪽마늘을 안정적인 깊이로 파종하고 복토할 수 있는 등의 이점이 있다.As described above, the garlic seeding machine according to the present embodiment sowings garlic while traveling independently in a semi-autonomous driving method, so that the operator can operate in a comfortable state, and does not require a separate cultivator, a manager, or a tractor. Therefore, it has the advantage that it is possible to sow mechanically even in a small field, and even if a run-out occurs in the gripper of the rotary feeder during sowing, the run-out detection sensor detects it and operates the replenishment means to replenish the garlic, thus minimizing the run-out rate. It is possible to increase the yield, and sowing can be carried out at a certain depth depending on the height of the ridge even in inclined fields or other fields where the height of the ridge is not constant, and since the goltargi blades and chutes arranged in multiple rows are arranged to be shifted back and forth. As there is no interference phenomenon when riding, there are advantages such as being able to sow and cover the garlic in a stable depth.
[부호의 설명][Explanation of code]
1 : 마늘 파종기1: Garlic planter
100 : 차체100: body
102 : 센서설치대102: sensor mounting table
110 : 무한궤도식 차륜110: caterpillar wheel
120 : 운전석120: driver's seat
200 : 파종부200: seeding part
202 : 파종부 프레임202: seeding section frame
204 : 리프트 아암204: lift arm
206 : 유압실린더206: hydraulic cylinder
208 : 높이감지센서208: height detection sensor
210 : 호퍼210: Hopper
220 : 회전공급기220: rotary feeder
222 : 디스크222: disk
224 : 그리퍼224: gripper
230(232,234) : 슈트230(232,234): Suit
240 : 골타기날240: goal blade
250 : 복토날250: cover blade
262,264,266,268 : 동력전달체인262,264,266,268: power transmission chain
270(270a,270b) : 결주감지센서270 (270a, 270b): absence detection sensor
280 : 보충수단280: supplementary means
282 : 디스크282: disk
284 : 그리퍼284: gripper
286 : 서보모터286: Servo motor
S1,S2,S3,S4 : 두둑감지센서S1,S2,S3,S4: Pile detection sensor

Claims (9)

  1. 좌우측에 무한궤도식 차륜(110)이 구비되고 전방 상부에 운전석(120)이 구비된 차체(100)의 후방 내측에 파종부(200)가 설치된 자주식 마늘 파종기로,A self-propelled garlic seeding machine in which a seeding unit 200 is installed in the rear inner side of the vehicle body 100 provided with a caterpillar wheel 110 on the left and right and a driver's seat 120 at the upper front,
    상기 파종부(200)는 쪽마늘이 담기는 호퍼(210)와; 상기 호퍼(210)의 하부에 위치하며 회전하는 디스크(222)의 일측에 방사상으로 배치된 그리퍼(224)가 호퍼(210)의 쪽마늘을 하나씩 집어서 하부로 공급하는 회전 공급기(220)와; 상기 회전 공급기(220)에서 공급된 쪽마늘을 하방으로 투하하는 슈트(230)와; 쪽마늘이 파종될 두둑 위에 골을 형성하는 골타기날(240)과; 두둑 위에 형성된 골에 쪽마늘이 파종된 후 흙을 덮는 복토날(250)을 포함하여 이루어지며,The seeding unit 200 includes a hopper 210 containing parsley; A rotation feeder 220 which is positioned under the hopper 210 and is radially disposed on one side of the rotating disk 222 to pick up the garlic of the hopper 210 one by one and supply it to the lower side; A chute 230 for dropping the side garlic supplied from the rotary feeder 220 downward; Goltagi blade 240 to form a bone on the head of the garlic to be sown; It is made including a cover blade 250 that covers the soil after the garlic is sown in the valley formed on the duke,
    상기 회전공급기(220)는 결주가 발생하는 것을 감지하기 위한 결주감지센서(270)와, 결주 발생시 쪽마늘을 보충해주는 보충수단(280)을 더 포함하며, 상기 보충수단(280)은 상기 회전 공급기(220)의 디스크(222)와 대칭으로 배치되어 호퍼(210)의 마늘을 집어서 대기하다가 결주 발생시 간헐적으로 회전하면서 쪽마늘을 슈트(230)에 투하하도록 구성된 것을 특징으로 하는 자주식 마늘 파종기.The rotation feeder 220 further includes a runout detection sensor 270 for detecting that a runout occurs, and a supplemental means 280 for replenishing the garlic when a runout occurs, and the supplemental means 280 is the rotational feeder A self-propelled garlic planter, characterized in that it is arranged symmetrically with the disk 222 of 220 to pick up the garlic of the hopper 210 and wait, and intermittently rotates when a runout occurs, and dropping the garlic clove on the chute 230.
  2. 청구항 1에 있어서,The method according to claim 1,
    상기 상기 결주감지센서(270)는 회전공급기(220)의 그리퍼(224)가 쪽마늘을 집지 못한 상태로 회전하는 것을 감지하고, 여기서 감지된 신호에 의해 보충수단(280)의 구동을 제어하고, 상기 보충수단(280)은 회전하는 디스크(282)의 일측에 방사상으로 그리퍼(284)가 배치되어 호퍼(210)의 쪽마늘을 하나씩 집어서 하부로 공급하도록 구성되어 회전공급기(220)에 방사상으로 배치된 그리퍼(224)에서 쪽마늘을 집지 않은 상태로 회전되어 쪽마늘이 투하되지 않을 경우에만 그리퍼(284)가 벌어지면서 집고 있던 쪽마늘을 투하시킨 후 그리퍼(284)의 설치 각도만큼 회전하여 다음 보충신호를 대기하도록 된 것을 특징으로 하는 자주식 마늘 파종기.The miss detection sensor 270 detects that the gripper 224 of the rotation feeder 220 rotates without picking up the garlic, and controls the driving of the replenishing means 280 according to the detected signal, The replenishment means 280 is configured to radially arrange a gripper 284 on one side of the rotating disk 282 to pick up the garlic of the hopper 210 one by one and supply it to the lower side, so that it is radially provided to the rotation feeder 220. Only when the side garlic is not dropped because the side garlic is not picked from the arranged gripper 224, the gripper 284 opens and drops the pickled side garlic, and then rotates by the installation angle of the gripper 284. A self-propelled garlic planter, characterized in that to wait for a supplemental signal.
  3. 청구항 1에 있어서,The method according to claim 1,
    상기 회전공급기(220)와 슈트(230) 및 골타기날(240)은 좌우 복수의 열로 배치되고, 상기 골타기날(240)은 좌우로 인접하는 것끼리 전후로 위치가 엇갈리게 배치되어 골 형성시 간섭현상이 발생하지 않도록 된 것을 특징으로 하는 자주식 마늘 파종기.The rotation feeder 220, the chute 230, and the goltargi blade 240 are arranged in a plurality of left and right rows, and the goltargi blade 240 is arranged in a staggered position back and forth between those adjacent to the left and right to interfere with bone formation. Self-propelled garlic planter, characterized in that the phenomenon does not occur.
  4. 청구항 2에 있어서,The method according to claim 2,
    상기 결주감지센서(270)는 회전공급기(220)의 디스크(222)에 방사상으로 설치된 그리퍼(224)가 쪽마늘을 집고 있는지의 여부를 감지하기 위한 센서(270a)와, 상기 보충수단(280)의 디스크(282)에 방사상으로 배치된 그리퍼(284)가 보충용 쪽마늘을 집고 있는지는 감지하기 위한 센서(270b)로 이루어진 것을 특징으로 하는 자주식 마늘 파종기.The miss detection sensor 270 includes a sensor 270a for detecting whether or not a gripper 224 radially installed on the disk 222 of the rotation feeder 220 is picking up garlic, and the supplemental means 280 A self-propelled garlic planter, characterized in that consisting of a sensor (270b) for detecting whether the gripper 284 disposed radially on the disk 282 of is picking up the supplementary garlic.
  5. 청구항 3에 있어서,The method of claim 3,
    상기 전후로 엇갈리도록 배치된 인접하는 골타기날(240)에는 회전공급기(220)의 하부에서부터 전,후로 경사진 형태의 슈트(232,234)가 설치된 것을 특징으로 하는 자주식 마늘 파종기.A self-propelled garlic planter, characterized in that chutes (232, 234) inclined forward and backward from the lower portion of the rotary feeder 220 are installed on adjacent goltagi blades 240 arranged to be staggered back and forth.
  6. 청구항 1에 있어서,The method according to claim 1,
    상기 파종부(200)는 프레임(202)이 리프트 아암(204)에 매달린 상태에서 유압실린더(206)의 신축작동에 의해 리프트 아암(204)이 들리거나 내려지면서 파종부(200) 전체가 차체(100)의 후방 내측에서 상하로 승강가능하도록 된 것을 특징으로 하는 자주식 마늘 파종기.When the frame 202 is suspended from the lift arm 204, the seeding unit 200 lifts or lowers the lift arm 204 by the expansion and contraction operation of the hydraulic cylinder 206 so that the entire seeding unit 200 is A self-propelled garlic planter, characterized in that it can be lifted up and down from the rear inner side of 100).
  7. 청구항 6에 있어서,The method of claim 6,
    상기 유압실린더(206)는 두둑의 상면에 접촉하는 높이감지센서(208)에 의해 제어되어 마늘의 파종깊이가 자동 조절되는 것을 특징으로 하는 자주식 마늘 파종기.The hydraulic cylinder 206 is a self-propelled garlic seeding machine, characterized in that it is controlled by a height sensor 208 in contact with the upper surface of the ridge to automatically adjust the seeding depth of garlic.
  8. 청구항 1에 있어서,The method according to claim 1,
    상기 회전공급기(220)는 무한궤도식 차륜(110)에 접촉하여 구르는 구동휠(260)에서 동력전달체인(262,264,266,268)을 통해 전달된 회전력에 의해 구동되며, 구동휠(260)에서 회전공급기(220) 사이에는 변속기(263)가 설치되어 상기 변속기의 변속에 의해 회전공급기(220)의 회전속도를 변화시켜 쪽마늘의 전후 파종간격을 조절할 수 있도록 된 것을 특징으로 하는 자주식 마늘 파종기.The rotation supply 220 is driven by the rotational force transmitted through the power transmission chains 262, 264, 266, 268 from the driving wheel 260 that rolls in contact with the caterpillar wheel 110, and the rotation supply 220 from the driving wheel 260 A self-propelled garlic planter, characterized in that a transmission 263 is installed between the transmission so as to change the rotational speed of the rotational feeder 220 by the transmission of the transmission so as to adjust the seeding interval before and after the garlic garlic.
  9. 청구항 1 내지 8항 중의 어느 한 항에 있어서,The method according to any one of claims 1 to 8,
    상기 차체(100)의 전방 좌우측에 마늘이 심겨질 두둑을 비접촉식으로 감지하여 두둑을 따라 반자율식으로 조향을 제어하기 위한 두둑감지센서(S1,S2,S3,S4)가 구비된 것을 특징으로 하는 자주식 마늘 파종기.It characterized in that it is characterized in that it is provided with a paddle detection sensor (S1, S2, S3, S4) for controlling the steering in a semi-autonomous manner along the paddock by non-contact detection of the paddock where garlic is to be planted on the front left and right sides of the vehicle body 100 Self-propelled garlic planter.
PCT/KR2020/007643 2019-07-23 2020-06-12 Self-propelled garlic seeding machine WO2021015414A1 (en)

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KR10-2019-0088643 2019-07-23
KR1020190088643A KR102285596B1 (en) 2019-07-23 2019-07-23 Self-propelled garlic planter
KR10-2020-0065918 2020-06-01
KR1020200065918A KR102345260B1 (en) 2020-06-01 2020-06-01 Self-propelled garlic planter

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112772059A (en) * 2021-02-20 2021-05-11 李向伟 Seeding device is planted with big-arch shelter to agricultural
CN113079775A (en) * 2021-04-14 2021-07-09 华中农业大学 Pre-selection cutting type sugarcane planting and fertilizing all-in-one machine
CN114467438A (en) * 2022-03-10 2022-05-13 华南农业大学 Miss-seeding monitoring device and monitoring method of real-time segmenting type sugarcane seeder
CN114651580A (en) * 2022-04-27 2022-06-24 华南农业大学 Sugarcane planter missed seeding monitoring system based on collision vibration monitoring

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KR19980068510A (en) * 1997-02-20 1998-10-26 김석호 Garlic Planter
KR20120114496A (en) * 2011-04-07 2012-10-17 대한민국(농촌진흥청장) Garlic planter
KR20170055708A (en) * 2015-11-12 2017-05-22 (주)조은농기계 Seedling transplantation apparatus
US10104830B2 (en) * 2016-05-06 2018-10-23 Cote Ag Technologies, Llc Row planter assembly
KR101963194B1 (en) * 2017-12-14 2019-03-28 주식회사 하다(HADA Co.,Ltd) Line seeding type garlic planter

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KR19980068510A (en) * 1997-02-20 1998-10-26 김석호 Garlic Planter
KR20120114496A (en) * 2011-04-07 2012-10-17 대한민국(농촌진흥청장) Garlic planter
KR20170055708A (en) * 2015-11-12 2017-05-22 (주)조은농기계 Seedling transplantation apparatus
US10104830B2 (en) * 2016-05-06 2018-10-23 Cote Ag Technologies, Llc Row planter assembly
KR101963194B1 (en) * 2017-12-14 2019-03-28 주식회사 하다(HADA Co.,Ltd) Line seeding type garlic planter

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112772059A (en) * 2021-02-20 2021-05-11 李向伟 Seeding device is planted with big-arch shelter to agricultural
CN113079775A (en) * 2021-04-14 2021-07-09 华中农业大学 Pre-selection cutting type sugarcane planting and fertilizing all-in-one machine
CN114467438A (en) * 2022-03-10 2022-05-13 华南农业大学 Miss-seeding monitoring device and monitoring method of real-time segmenting type sugarcane seeder
CN114651580A (en) * 2022-04-27 2022-06-24 华南农业大学 Sugarcane planter missed seeding monitoring system based on collision vibration monitoring
CN114651580B (en) * 2022-04-27 2023-11-28 华南农业大学 Sugarcane planter leaks and broadcast monitoring system based on collision vibration monitoring

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