CN107018697A - A kind of mono-lever control device of agriculture walking machine - Google Patents
A kind of mono-lever control device of agriculture walking machine Download PDFInfo
- Publication number
- CN107018697A CN107018697A CN201710150637.2A CN201710150637A CN107018697A CN 107018697 A CN107018697 A CN 107018697A CN 201710150637 A CN201710150637 A CN 201710150637A CN 107018697 A CN107018697 A CN 107018697A
- Authority
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- China
- Prior art keywords
- swing arm
- rocking arm
- boss
- fix bar
- frame body
- Prior art date
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Classifications
-
- 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
- A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
- A01B69/007—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Soil Working Implements (AREA)
Abstract
The invention belongs to agricultural mechanical field, especially a kind of mono-lever control device of agriculture walking machine, curved or the problem of the destroying that fracture can not be adjusted and break in the process of moving for existing plough tool, now propose following scheme, including frame body, the top of second through hole frame body is provided with support, second through hole support includes arc and L-square, one end of second through hole L-square is vertically welded in frame body, the other end of L-square is connected with one end of arc, and L-square is integral structure with arc, track is offered in the cambered surface of second through hole arc, second through hole track is the through-hole structure in E shapes, the side of frame body is provided with the first fix bar and the first swing arm, the opposite side of frame body is provided with the second fix bar and the second swing arm.Present invention saves the time, the efficiency of work is improved, while plough tool can be avoided to break curved or the destruction that fractures phenomenon under strong stress.
Description
Technical field
The present invention relates to agricultural machinery technological field, more particularly to a kind of mono-lever control device of agriculture walking machine.
Background technology
The vehicle driven from taking is different, and the driver of agriculture operated walking machine is that walking followed by motor-driven traveling
What equipment was manipulated, this mode of operation makes driver to use manual operating equipment, such as, hand tractor.Due to the machine
Tool has in practical operation operates flexible, steering easily to have advantage, has been widely used in agricultural production.
Patent No. CN2165032Y, discloses a kind of Chinese patent of the mono-lever control device of walking machine, its work
It is as principle：Steering walking machine is completed with the rotation of handle；And the speed of travel and advance and retreat direction are with before the handle
Swing to complete afterwards；And the handle is turned into a feedback element in man-machine system, counter reflect of the swing of handle is driven
There is a power reply the handle for relative position relation between the person of sailing and equipment, the relative motion between equipment and driver
To the trend for the neutral position for making equipment stop motion, therefore, equipment is by reliably with the walking movement of driver, once drive
Member's hand leaves handle, and equipment will be automatically stopped motion.The patent can improve the convenience of steering, and by various manipulation functions
Driving lever be incorporated into one piece, and control equipment well, improve security.But, the machinery in the process of running, to making
The equipment of practical operation, such as plough tool, the use of soil-shifting equipment etc. do not have strict protection, in actual application,
Stone is often had in soil, while soil is soft or hard also different, so, changer of getting off repeatedly is needed in the course of the work
Tool, to meet the requirement in place, is bothered very much.
In the present invention, user can in the process of moving, according to the actual needs, at any time adjust plough tool height and
The angle of plough tool, it is not necessary to which parking carries out dismounting adjustment every time, saves the time, improves the efficiency of work, while can be with
Plough tool is avoided to break curved or the destruction that fractures phenomenon under strong stress.
The content of the invention
The present invention carries to solve the problems, such as that plough tool can not adjust and break in the process of moving the curved or destruction that fractures
A kind of mono-lever control device of agriculture walking machine is gone out.
To achieve these goals, present invention employs following technical scheme：
A kind of mono-lever control device of agriculture walking machine, including frame body, the top of the frame body is provided with
Support, the support includes arc and L-square, and one end of the L-square is vertically welded in frame body, L-square
The other end is connected with one end of arc, and L-square is integral in structure, the cambered surface of the arc with arc and opened up
There is track, the track is the through-hole structure in E shapes, and the side of frame body is provided with the first fix bar and the first swing arm, vehicle frame
The opposite side of body is provided with the second fix bar and the second swing arm, and first fix bar is located at the top of the first swing arm, and first consolidates
One end of fixed pole is welded in frame body, and the other end of the first fix bar is provided with first boss, the L-shaped knot of the first swing arm
Structure, the turning of the first swing arm is hinged in frame body, and the right angle two ends of the first swing arm are equipped with second boss, the first swing arm with
The first rocking arm is connected between first fix bar, first rocking arm is in semicircle ring structure, and the plane side of the first rocking arm is opened up
There is the first boss in the first slideway of annular, the first fix bar to be slidably connected with the first slideway, the side of first slideway
First through hole is offered, and first through hole is located on the first rocking arm, the first rocking arm and the first swing arm pass through second boss and first
Through hole articulation is connected, and second fix bar is located at the top of the second swing arm, and one end of the second fix bar is welded on frame body
On, the other end of the second fix bar is provided with the 3rd boss, the L-shaped structure of the second swing arm, and the turning of the second swing arm is hinged on
In frame body, the right angle two ends of the second swing arm are equipped with the 4th boss, and is connected between the second swing arm and the second fix bar
Two rocking arms, second rocking arm is in semicircle ring structure, and the plane side of the second rocking arm offers the second slideway of annular, and second consolidates
The 3rd boss in fixed pole is slidably connected with the second slideway, and the side of second slideway offers the second through hole, and second leads to
Hole position is on the second rocking arm, and the second rocking arm is connected with the second swing arm by the 4th boss with the second through hole articulation, the first swing arm with
Connecting rod is connected between second swing arm, and the two ends of connecting rod are connected with the first swing arm and the equal articulation of the second swing arm respectively, first shakes
The cambered surface of arm is welded with driving lever, and driving lever, through in orbit, the one end of the driving lever away from the first rocking arm is socketed with ball,
The cambered surface of second rocking arm is welded with guiding seat board, and the top of the guiding seat board is provided with pilot hole, the internal sleeve of the pilot hole
Lead is connected to, the top of the lead is provided with shaft end baffle ring, and the bottom of lead, which is provided with installing plate, lead, is located at axle
It is socketed with the first spring, lead and is located between installing plate and guiding seat board on shell of column between terminal block ring and guiding seat board
Second spring is socketed with shell of column, the one end of the installing plate away from lead is provided with plough tool folder, the bottom peace of frame body
Equipped with wheel.
It is preferred that, the first boss, second boss, the 3rd boss and the 4th boss are cylindrical-shaped structure, and first is convex
The length of platform and second boss is twice of the first rocking arm thickness, the first rocking arm and first boss, the first rocking arm and second boss
It is slidably connected.
It is preferred that, the driving lever is vertical with the cambered surface of the first rocking arm.
It is preferred that, the guiding seat board is vertical with the cambered surface of the second rocking arm, and the pilot hole in guiding seat board is adopted with lead
Use interference fits.
It is preferred that, first swing arm, the first rocking arm, the first fix bar, the second fix bar, the second rocking arm, the second swing arm
Cross section with connecting rod is rectangle.
It is preferred that, the structure and size all same of first swing arm and the second swing arm.
It is preferred that, the plough tool folder is connected with Agricultural plow, and plough tool folder is connected with Agricultural plow by tongue-and-groove.
It is preferred that, chamfering circular arc face is equipped with the angle of cut on the inwall of the track.
It is preferred that, the sphere of the ball is provided with spherical projection, and raised spherical in shape on the sphere of ball
Arrangement.
It is preferred that, the support is stainless-steel sheet roll forming, and the first spring uses alloy spring steel with second spring
It is made.
Compared with prior art, the beneficial effects of the invention are as follows：
1. the first swing arm, the first rocking arm, driving lever form lever construction at the right angle place of connecing of the first swing arm in the present invention, adjust
Section is very laborsaving.
2. using the first rocking arm and the second rocking arm of arc in the present invention, rotation process links up very much, realizes linear regulation,
Regulation process is very steady, is not in vibrations.
3. the present invention is using rod member transmission, structure is very simple, and user can be during the traveling of frame body, root
Factually the need for border, the height of plough tool and the angle of plough tool are adjusted at any time, it is not necessary to which parking carries out dismounting adjustment, section every time
The time has been saved, the efficiency of work is improved.
4. when having harder stone in soil, pass through first by setting the first spring and second spring in the present invention
Moved up and down in spring and second spring, the pilot hole that lead can be in guiding seat board with abundant damping, it is to avoid plough tool exists
Curved or the destruction that fractures phenomenon is broken under strong stress.
Brief description of the drawings
Fig. 1 is a kind of structural representation of the mono-lever control device of agriculture walking machine proposed by the present invention；
Fig. 2 shows for the damping device that a kind of plough tool of mono-lever control device of agriculture walking machine proposed by the present invention is pressed from both sides
It is intended to；
Fig. 3 is a kind of structural representation of the support of the mono-lever control device of agriculture walking machine proposed by the present invention；
Fig. 4 is a kind of structural representation of first swing arm of the mono-lever control device of agriculture walking machine proposed by the present invention
Figure.
In figure：1 first swing arm, 2 first rocking arms, 3 driving levers, 4 balls, 5 supports, 51 arcs, 52 L-squares, 53 rails
Road, 6 first fix bars, 7 frame bodies, 8 second fix bars, 9 second rocking arms, 10 shaft end baffle rings, 11 guiding seat boards, 12 are installed
Plate, 13 plough tools folder, 14 second swing arms, 15 connecting rods, 16 wheels, 17 first springs, 18 leads, 19 second springs.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.
Reference picture 1-4, a kind of mono-lever control device of agriculture walking machine, including frame body 7, frame body 7
Top is provided with support 5, and support 5 includes arc 51 and L-square 52, and one end of L-square 52 is vertically welded in frame body 7
On, the other end of L-square 52 is connected with one end of arc 51, and L-square 52 is integral structure, arc with arc 51
Track 53 is offered in the cambered surface of plate 51, track 53 is the through-hole structure in E shapes, and the side of frame body 7 is fixed provided with first
The swing arm 1 of bar 6 and first, the opposite side of frame body 7 is provided with the second fix bar 8 and the second swing arm 14, and the first fix bar 6 is located at the
The top of one swing arm 1, one end of the first fix bar 6 is welded in frame body 7, and the other end of the first fix bar 6 is provided with first
Boss, the L-shaped structure of the first swing arm 1, the turning of the first swing arm 1 is hinged in frame body 7, the right angle two ends of the first swing arm 1
Second boss is equipped with, the first rocking arm 2 is connected between the first swing arm 1 and the first fix bar 6, the first rocking arm 2 is in semicircular ring knot
Structure, the plane side of the first rocking arm 2 offers first boss and the first slideway in the first slideway of annular, the first fix bar 6
It is slidably connected, the side of the first slideway offers first through hole, and first through hole is located on the first rocking arm 2, the first rocking arm 2 and the
One swing arm 1 is connected by second boss with first through hole articulation, and the second fix bar 8 is located at the top of the second swing arm 14, and second consolidates
One end of fixed pole 8 is welded in frame body 7, and the other end of the second fix bar 8 is provided with the 3rd boss, and the second swing arm 14 is L-shaped
Structure, the turning of the second swing arm 14 is hinged in frame body 7, and the right angle two ends of the second swing arm 14 are equipped with the 4th boss, the
Be connected with the second rocking arm 9 between two swing arms 14 and the second fix bar 8, the second rocking arm 9 is in semicircle ring structure, the second rocking arm 9 it is flat
The 3rd boss that face side is offered in the second slideway of annular, the second fix bar 8 is slidably connected with the second slideway, the second slideway
Side offer the second through hole, and the second through hole is located on the second rocking arm 9, and the second rocking arm 9 and the second swing arm 14 pass through the 4th
Boss is connected with the second through hole articulation, and connecting rod 15, and the two ends point of connecting rod 15 are connected between the first swing arm 1 and the second swing arm 14
It is not connected with the first swing arm 1 and the equal articulation of the second swing arm 14, the cambered surface of the first rocking arm 2 is welded with driving lever 3, and driving lever 3 is applied in
In track 53, the one end of driving lever 3 away from the first rocking arm 2 is socketed with ball 4, and the cambered surface of the second rocking arm 9 is welded with guiding seat board
11, the top of guiding seat board 11 is provided with pilot hole, and the inside of pilot hole is socketed with lead 18, and the top of lead 18 is provided with axle
Terminal block ring 10, the bottom of lead 18, which is provided with installing plate 12, lead 18, to be located between shaft end baffle ring 10 and guiding seat board 11
Shell of column on be socketed with the first spring 17, lead 18 to be located on shell of column between installing plate 12 and guiding seat board 11 and be socketed with
Second spring 19, the one end of installing plate 12 away from lead 18 is provided with plough tool folder 13, and the bottom of frame body 7 is provided with wheel
16, first boss, second boss, the 3rd boss and the 4th boss are cylindrical-shaped structure, the length of first boss and second boss
Spend for twice of the thickness of the first rocking arm 2, the first rocking arm 2 is slidably connected with first boss, the first rocking arm 2 with second boss, driving lever 3
Vertical with the cambered surface of the first rocking arm 2, guiding seat board 11 is vertical with the cambered surface of the second rocking arm 9, the pilot hole in guiding seat board 11 with
Lead 18 uses interference fits, the first swing arm 1, the first rocking arm 2, the first fix bar 6, the second fix bar 8, the second rocking arm 9,
The cross section of two swing arms 14 and connecting rod 15 is the structure and size all same of rectangle, the first swing arm 1 and the second swing arm 14, plough tool
Folder 13 is connected with Agricultural plow, and plough tool folder 13 is connected by tongue-and-groove with Agricultural plow, is all provided with the angle of cut on the inwall of track 53
There is chamfering circular arc face, the sphere of ball 4 is provided with spherical projection, and raised arrangement spherical in shape on the sphere of ball 4,
Support 5 is stainless-steel sheet roll forming, and the first spring 17 is made with second spring 19 of alloy spring steel.
In agricultural production, it would be desirable to which the plough tool used is installed by plough tool folder 13, plough tool is general plough tool, plough tool folder 13
Pressed from both sides for general plough tool, plough tool is fixedly connected with plough tool folder 13 using existing standard mode, and after installing, driving moment 16 is in field
Between move, the effect needed according to user, hold ball 4 simultaneously stir driving lever 3, deep-cut if desired, just push up dial
Bar 3, driving lever 3 drives the first rocking arm 2 to rotate, so that one end of the first swing arm 1 be lifted, the first swing arm 1 is driven by connecting rod 15
One end of second swing arm 14 is rotated, so that the second swing arm 14 drives the second rocking arm 9 to rotate down, is led so that the second rocking arm 9 drives
Moved downward to seat board 11, guiding seat board 11 drives installing plate 12 to move downward, so as to drive plough by compressing second spring 19
Tool folder 13 and plough tool are moved downward, and such plough tool can just be goed deep into soil, and then driving lever 3 is stuck on the track 53 of support 5, the
One swing arm 1, the first rocking arm 2, driving lever 3 form lever construction in the right angle hinged place of the first swing arm 1, and regulation is very laborsaving steady；
Meanwhile, when having harder stone in soil, by the first spring 17 and second spring 19, lead 18 can be in guiding seat board
Moved up and down in pilot hole on 11 with abundant damping.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art the invention discloses technical scope in, technique according to the invention scheme and its
Inventive concept is subject to equivalent substitution or change, should all be included within the scope of the present invention.
Claims (10)
1. a kind of mono-lever control device of agriculture walking machine, including frame body (7), it is characterised in that the vehicle frame sheet
The top of body (7) is provided with support (5), and the support (5) includes arc (51) and L-square (52), the L-square (52)
One end is vertically welded in frame body (7), and the other end of L-square (52) is connected with one end of arc (51), and L-square
(52) it is integral with arc (51) in structure, the cambered surface of the arc (51) and offers track (53), the track
(53) the first fix bar (6) and the first swing arm (1), vehicle frame sheet are provided with for the side in the through-hole structure of E shapes, frame body (7)
The opposite side of body (7) is provided with the second fix bar (8) and the second swing arm (14), and first fix bar (6) is located at the first swing arm (1)
Top, one end of the first fix bar (6) is welded in frame body (7), and the other end of the first fix bar (6) is convex provided with first
Platform, the L-shaped structure of first swing arm (1), the turning of the first swing arm (1) is hinged in frame body (7), the first swing arm (1)
Right angle two ends be equipped with second boss, the first rocking arm (2) is connected between the first swing arm (1) and the first fix bar (6), it is described
First rocking arm (2) is in semicircle ring structure, and the plane side of the first rocking arm (2) offers the first slideway of annular, the first fix bar
(6) first boss on is slidably connected with the first slideway, and the side of first slideway offers first through hole, and first through hole
On the first rocking arm (2), the first rocking arm (2) is connected with the first swing arm (1) by second boss with first through hole articulation, described
Second fix bar (8) is located at the top of the second swing arm (14), and one end of the second fix bar (8) is welded in frame body (7), the
The other end of two fix bars (8) is provided with the 3rd boss, the L-shaped structure of second swing arm (14), the turning of the second swing arm (14)
It is hinged in frame body (7), the right angle two ends of the second swing arm (14) are equipped with the 4th boss, and the second swing arm (14) is consolidated with second
The second rocking arm (9) is connected between fixed pole (8), second rocking arm (9) is in semicircle ring structure, the plane one of the second rocking arm (9)
The 3rd boss that side is offered in the second slideway of annular, the second fix bar (8) is slidably connected with the second slideway, and described second slides
The side in road offers the second through hole, and the second through hole is located on the second rocking arm (9), the second rocking arm (9) and the second swing arm (14)
It is connected by the 4th boss with the second through hole articulation, connecting rod (15) is connected between the first swing arm (1) and the second swing arm (14), and
The two ends of connecting rod (15) are connected with the first swing arm (1) and the second swing arm (14) articulation respectively, the cambered surface welding of the first rocking arm (2)
There is driving lever (3), and driving lever (3) is applied in track (53), the one end of the driving lever (3) away from the first rocking arm (2) is socketed with rubber
Glueballs (4), the cambered surface of the second rocking arm (9) is welded with guiding seat board (11), and the top of the guiding seat board (11) is provided with pilot hole,
The inside of the pilot hole is socketed with lead (18), and the top of the lead (18) is provided with shaft end baffle ring (10), lead
(18) bottom is provided with the shell of column being located on installing plate (12), lead (18) between shaft end baffle ring (10) and guiding seat board (11)
On be socketed with the first spring (17), lead (18) and be located at socket on shell of column between installing plate (12) and guiding seat board (11)
There is second spring (19), the one end of the installing plate (12) away from lead (18) is provided with plough tool folder (13), frame body (7)
Bottom wheel (16) is installed.
2. the mono-lever control device of a kind of agriculture walking machine according to claim 1, it is characterised in that described first
Boss, second boss, the 3rd boss and the 4th boss are cylindrical-shaped structure, and the length of first boss and second boss is first
Twice of rocking arm (2) thickness, the first rocking arm (2) is slidably connected with first boss, the first rocking arm (2) with second boss.
3. a kind of mono-lever control device of agriculture walking machine according to claim 1, it is characterised in that the driving lever
(3) it is vertical with the cambered surface of the first rocking arm (2).
4. a kind of mono-lever control device of agriculture walking machine according to claim 1, it is characterised in that the guiding
Seat board (11) is vertical with the cambered surface of the second rocking arm (9), and the pilot hole in guiding seat board (11) is matched somebody with somebody with lead (18) using transition
Close.
5. the mono-lever control device of a kind of agriculture walking machine according to claim 1, it is characterised in that described first
Swing arm (1), the first rocking arm (2), the first fix bar (6), the second fix bar (8), the second rocking arm (9), the second swing arm (14) and company
The cross section of bar (15) is rectangle.
6. the mono-lever control device of a kind of agriculture walking machine according to claim 1, it is characterised in that described first
The structure and size all same of swing arm (1) and the second swing arm (14).
7. a kind of mono-lever control device of agriculture walking machine according to claim 1, it is characterised in that the plough tool
Folder (13) is connected with Agricultural plow, and plough tool folder (13) is connected with Agricultural plow by tongue-and-groove.
8. a kind of mono-lever control device of agriculture walking machine according to claim 1, it is characterised in that the track
(53) chamfering circular arc face is equipped with the angle of cut on inwall.
9. a kind of mono-lever control device of agriculture walking machine according to claim 1, it is characterised in that the rubber
The sphere of ball (4) is provided with spherical projection, and raised arrangement spherical in shape on the sphere of ball (4).
10. a kind of mono-lever control device of agriculture walking machine according to claim 1, it is characterised in that the branch
Frame (5) is stainless-steel sheet roll forming, and the first spring (17) is made with second spring (19) of alloy spring steel.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710150637.2A CN107018697B (en) | 2017-03-14 | 2017-03-14 | A kind of mono-lever control device of agricultural walking machine |
| CN201810196555.6A CN108353560A (en) | 2017-03-14 | 2017-03-14 | A kind of walking machine mono-lever control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710150637.2A CN107018697B (en) | 2017-03-14 | 2017-03-14 | A kind of mono-lever control device of agricultural walking machine |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810196555.6A Division CN108353560A (en) | 2017-03-14 | 2017-03-14 | A kind of walking machine mono-lever control device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107018697A true CN107018697A (en) | 2017-08-08 |
| CN107018697B CN107018697B (en) | 2018-04-17 |
Family
ID=59526065
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710150637.2A Expired - Fee Related CN107018697B (en) | 2017-03-14 | 2017-03-14 | A kind of mono-lever control device of agricultural walking machine |
| CN201810196555.6A Pending CN108353560A (en) | 2017-03-14 | 2017-03-14 | A kind of walking machine mono-lever control device |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810196555.6A Pending CN108353560A (en) | 2017-03-14 | 2017-03-14 | A kind of walking machine mono-lever control device |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN107018697B (en) |
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| GB1132475A (en) * | 1965-07-01 | 1968-11-06 | Kloeckner Humboldt Deutz Ag | Control means for the power lift mechanism of an agricultural tractor |
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| CN203608516U (en) * | 2013-11-18 | 2014-05-28 | 湖南创牛农业机械有限公司 | Ploughshare steering device for minitiller |
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2017
- 2017-03-14 CN CN201710150637.2A patent/CN107018697B/en not_active Expired - Fee Related
- 2017-03-14 CN CN201810196555.6A patent/CN108353560A/en active Pending
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| GB1132475A (en) * | 1965-07-01 | 1968-11-06 | Kloeckner Humboldt Deutz Ag | Control means for the power lift mechanism of an agricultural tractor |
| JP2005185107A (en) * | 2003-12-24 | 2005-07-14 | Kubota Corp | Operating apparatus of tractor |
| CN102057765A (en) * | 2009-11-13 | 2011-05-18 | 凤城市宝山振兴机械制造有限公司 | Agricultural motor plough |
| CN104718811A (en) * | 2015-04-16 | 2015-06-24 | 中国农业大学 | Testing deep scarifier with quick penetration angle adjusting function |
| CN105122977A (en) * | 2015-08-13 | 2015-12-09 | 徐州市丰硕绿色农业科技发展有限公司 | Suspension-type automatic uncovering plough |
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| Publication number | Publication date |
|---|---|
| CN107018697B (en) | 2018-04-17 |
| CN108353560A (en) | 2018-08-03 |
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