JP2006271310A - Weeder - Google Patents

Weeder Download PDF

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Publication number
JP2006271310A
JP2006271310A JP2005098364A JP2005098364A JP2006271310A JP 2006271310 A JP2006271310 A JP 2006271310A JP 2005098364 A JP2005098364 A JP 2005098364A JP 2005098364 A JP2005098364 A JP 2005098364A JP 2006271310 A JP2006271310 A JP 2006271310A
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Japan
Prior art keywords
weeding
weeds
rotor
ridge
machine
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JP2005098364A
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Japanese (ja)
Inventor
Takanori Izumitani
隆徳 泉谷
Norihiro Yano
典弘 矢野
Masato Nagai
真人 永井
Norihiro Uejima
徳弘 上島
Kenichi Ochi
健市 越智
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Iseki and Co Ltd
Iseki Agricultural Machinery Mfg Co Ltd
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Iseki and Co Ltd
Iseki Agricultural Machinery Mfg Co Ltd
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Priority to JP2005098364A priority Critical patent/JP2006271310A/en
Publication of JP2006271310A publication Critical patent/JP2006271310A/en
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Abstract

<P>PROBLEM TO BE SOLVED: To solve a problem wherein a conventional weeder for weeding a furrowed field is insufficient in workability, because of weeding only one side of a ride or furrow and being therefore needed to repeatedly reciprocate on the field. <P>SOLUTION: This weeder (10) has weeding rollers (2, 2) which are placed on ridges or in furrows and rotated to pull out or dig out weeds planted on the ridges or in the furrows. A rotator (16) for twining off weeds growing on the ridge with projected pieces (18) placed on positions facing the ridge is projectedly disposed on the rotation shaft (8a) of the weeding roller (2). The rotator comprises a spiral member formed by spirally winding a linear rod or a belt plate. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

この発明は、圃場の畝に沿って転回させながら雑草を除草する除草機の構成に関する。   The present invention relates to a configuration of a weeding machine for weeding weeds while turning along a field fence.

従来、畝を立てた圃場を除草する除草機には、特開2000−316309号公報に示されるように、籠型のローラを接地回転させて、ローラ外周部を構成する多数の棒材により表土を浅く掘削することで、雑草を根元から引き抜き除草するものが知られている。
特開2000-316309号公報
Conventionally, in a weeding machine for weeding a field with ridges, as shown in Japanese Patent Application Laid-Open No. 2000-316309, a saddle type roller is grounded and rotated, and a large number of bars constituting the outer periphery of the roller are used for topsoil. It is known that weeds are extracted from the roots and weeded by drilling shallowly.
JP 2000-316309 A

しかしながら、前記従来の除草機は、極く低い畝を立てた畑地、或は平坦な圃場での除草には適しているものの、例えばローラの軸芯近くにまである高い畝を立てた圃場では、畝上の除草ができなかった。   However, although the conventional weeding machine is suitable for weeding in a field with extremely low ridges, or in a flat field, for example, in a field with high ridges close to the axis of the roller, Weeding on the ridge was not possible.

この発明の課題は、上記のような高い畝に対しても、畝上部の除草作業が容易に行える除草機を具現せんとするものである。   An object of the present invention is to embody a weeder that can easily perform the weeding work on the upper part of the ridge even with the above-described high ridge.

この発明は、上記課題を解決すべく次のような技術的手段を講じた。
即ち、請求項1記載の発明は、畝溝に位置させて回転することで畝溝に生える雑草類を引き抜きまたは根元から掘削して除草するローラ部材(2)を備えた除草機であって、前記ローラ部材(2)の回転軸(8a)の外方には、畝上面に位置させて畝上面に生える雑草類を絡め取る回転部材(16)を突設したことを特徴とする除草機とした。
(請求項1の作用)
以上のように構成した請求項1の除草機では、ローラ部材(2)を畝(U)間の畝溝に沿って回転させると、ローラ部材(2)の外周部が畝溝に生える雑草(g)類を引き抜きまたは根元から掘削して除草し、畝上面に位置させた回転部材(16)により畝上面に生える雑草(g)を絡め取って除草する。
In order to solve the above problems, the present invention has taken the following technical means.
That is, the invention according to claim 1 is a weeding machine provided with a roller member (2) for removing weeds that grow in a gutter groove or excavating it from the root by rotating by positioning in the gutter groove, A weeding machine characterized in that a rotating member (16) is provided on the outer surface of the rotating shaft (8a) of the roller member (2) so as to project the weeds that grow on the upper surface of the rod. did.
(Operation of claim 1)
In the weeding machine according to claim 1 configured as described above, when the roller member (2) is rotated along the groove between the ridges (U), the weeds that the outer peripheral portion of the roller member (2) grows in the ridge groove ( g) Weeds are extracted or excavated from the roots to weed, and weeds (g) grown on the upper surface of the reed are entangled by the rotating member (16) positioned on the upper surface of the reed.

また請求項2記載の発明では、前記回転部材は、線杆又は帯板を螺旋状に巻いた螺旋体(19)にて構成したことを特徴とする請求項1に記載の除草機とした。
(請求項2の作用)
以上のように構成した請求項2の除草機では、畝(U)上面で、螺旋体(19)を回転させることにより、絡めた雑草(g)を螺旋による左右方向の送り機能を働かせながら引き抜く。
According to a second aspect of the present invention, there is provided the weeding machine according to the first aspect, wherein the rotating member is constituted by a spiral body (19) in which a wire rod or a strip is spirally wound.
(Operation of claim 2)
In the weeding machine of claim 2 configured as described above, by rotating the spiral body (19) on the upper surface of the reed (U), the entangled weeds (g) are pulled out while making the left and right feed function by the spiral work.

請求項1の発明によれば、ローラ部材(2)の回転により、畝溝に生えた雑草(g)を除草することができる上、ローラ部材(2)の回転軸(11)外側方に回転体(16)を突設し同時に回転することで、畝(U)上に生えた雑草(g)も除草することができるので、作業効率が良い。   According to the first aspect of the present invention, weeds (g) grown in the gutter groove can be weeded by the rotation of the roller member (2), and the roller member (2) rotates outward of the rotation shaft (11). By projecting the body (16) and rotating it at the same time, weeds (g) grown on the reed (U) can be weeded, so that work efficiency is good.

また請求項2の発明によれば、上記回転体を螺旋体(19)にて構成しているので、螺旋に絡めた雑草(g)を螺旋の回転によって左右一方向に移動させるので、請求項1の回転部材(16)に増して除草効果が向上する。   According to the invention of claim 2, since the rotating body is constituted by the spiral body (19), the weed (g) entangled with the spiral is moved in the left-right direction by the rotation of the spiral. As compared with the rotating member (16), the herbicidal effect is improved.

以下、図面に基づいて、この発明を畑地管理用の高床トラクター(以下、乗用管理機)に備えた構成について説明する。
図1と図2は、乗用管理機を示すものであり、車体1の前部に左右前輪2,2を備え、車体後部に左右後輪3,3を備えている。車体前部のボンネット4内にエンジンEを搭載し、このエンジンEの回転動力をミッションケース内の変速装置に伝え、この変速装置で減速された回転動力を前記前後輪2,3に伝えて走行する構成となっている。
Hereinafter, based on the drawings, a description will be given of a configuration in which the present invention is provided in a high-floor tractor for field management (hereinafter referred to as a riding management machine).
1 and 2 show a passenger management machine, which includes left and right front wheels 2 and 2 at a front portion of a vehicle body 1 and left and right rear wheels 3 and 3 at a rear portion of the vehicle body. The engine E is mounted in the bonnet 4 at the front of the vehicle body, the rotational power of the engine E is transmitted to the transmission in the transmission case, and the rotational power decelerated by the transmission is transmitted to the front and rear wheels 2, 3. It is the composition to do.

また側面視、前記前後輪2,3間のステップフロア38,38上には、操縦席5が設置され、操縦席5の前方には左右前輪2,2及び左右後輪3,3を操向操舵するステアリングハンドル6が設けられている。そして、車体1後部には、作業機リンク機構Rを介して、この発明の除草機(以下、除草ロータ10)を昇降自在に備える構成となっている。   Further, in a side view, a cockpit 5 is installed on the step floors 38 between the front and rear wheels 2 and 3, and the left and right front wheels 2 and 2 and the left and right rear wheels 3 and 3 are steered in front of the cockpit 5. A steering handle 6 for steering is provided. The rear portion of the vehicle body 1 is provided with a weeder (hereinafter referred to as a weeding rotor 10) of the present invention via a work machine link mechanism R so as to be movable up and down.

除草ロータ10は、図3に示すように、左右方向のツールバー48に支持されたチェーンケース7と、このチェーンケース7下部で回転駆動される駆動軸8a及び同軸8aに着脱自在に取り付ける筒状のロータ軸11と、ロータ軸11に軸受保持された内外のリング部材12,12と、左右のリング部材12,12間にわたって横方向に連結された複数の除草ブレード13,13…と、前記外側のリング部材12の外側部に突設する筒状の回転体16等から構成され、前記ツールバー48に対し、畝Uの間隔に合わせて複数備える構成となっている。尚、図例では3基の除草ロータ10,10,10を前記リンク機構Rにツールバー48を介して昇降自在に取り付ける構成となっている。また前記各除草ブレード13の外側部は、畝の形状に合わせて湾曲した形状となっている。   As shown in FIG. 3, the weeding rotor 10 has a cylindrical case 7 that is supported by a horizontal tool bar 48, and a cylindrical shaft that is detachably attached to a drive shaft 8a and a coaxial shaft 8a that are rotationally driven at the lower portion of the chain case 7. A rotor shaft 11, inner and outer ring members 12 and 12 supported by the rotor shaft 11, a plurality of weeding blades 13 and 13 connected laterally across the left and right ring members 12 and 12, and the outer It is comprised from the cylindrical rotary body 16 etc. which protrude in the outer side part of the ring member 12, and becomes a structure provided with two or more according to the space | interval of the collar U with respect to the said toolbar 48. FIG. In the example shown in the figure, the three weeding rotors 10, 10, 10 are attached to the link mechanism R via a tool bar 48 so as to be movable up and down. Moreover, the outer side part of each said weeding blade 13 becomes the shape curved according to the shape of the ridge.

また前記ロータ軸11は、乗用管理機のPTO軸の回転動力を前記チェーンケース7内の伝動チェーン9に伝達し、同チェーン9の回転を、ケース7下部中央の駆動スプロケット8及びこれと一体の駆動軸8aに伝達して駆動する構成となっている。   The rotor shaft 11 transmits the rotational power of the PTO shaft of the passenger management machine to the transmission chain 9 in the chain case 7, and the rotation of the chain 9 is integrated with the drive sprocket 8 at the lower center of the case 7 and this. The drive shaft 8a is transmitted and driven.

また図4に示すように、前記除草回転体16は、第1実施例として、前記外側のリング部材12を支持するアームに対して取り付けるブラケット21と、同ブラケット21に取り付けられ前記除草ロータ10の軸11と同一軸芯外方に突設する筒状のドラム17と、このドラム17の外周にスパイラル状に複数配置した突起片18,18…とから構成されている。   As shown in FIG. 4, the weeding rotator 16 includes, as a first embodiment, a bracket 21 attached to an arm that supports the outer ring member 12, and the weeding rotor 10 attached to the bracket 21. A cylindrical drum 17 projecting outward from the same axis as the shaft 11, and a plurality of projecting pieces 18, 18... Arranged in a spiral shape on the outer periphery of the drum 17.

以上のように構成した除草ロータ10では、前記ロータ2を畝溝に位置させ、ドラム17を畝Uの上面に位置させて前記ロータ軸11及びブレード13と共に回転させながら移動することで、除草ブレード13によって畝溝の表土を浅く掘削して雑草gを除草すると共に、外周の突起片18,18…により畝U上の雑草gを巻き付けて除草する。   In the weeding rotor 10 configured as described above, the rotor 2 is positioned in the trough groove, and the drum 17 is positioned on the top surface of the trough U and moved while rotating together with the rotor shaft 11 and the blade 13, thereby removing the weeding blade. 13 digs up the surface soil of the dredging groove shallowly to weed g, and winds the weed g on the ridge U with the protruding pieces 18, 18.

これにより、圃場に立てた畝Uの上面と畝溝間に生えた雑草を同時に除草することができるので作業効率が良い。また前記突起片18をドラム面に対しスパイラル状に配置したので、絡めた雑草を横方向に移動させて引き抜くので、除草効果を向上することができる。   As a result, weeds grown between the upper surface of the ridges U set up in the field and the ridges can be weeded simultaneously, so that work efficiency is good. Further, since the protruding pieces 18 are arranged in a spiral shape with respect to the drum surface, the entwined weeds are pulled out by moving in the lateral direction, so that the weeding effect can be improved.

尚、上記形態では、前記ドラム17及びこれに取り付ける突起片18は、ゴム等の弾性部材で構成されており、雑草g類を巻き付け易い上、畝U面を削ることが無い。また、根付かせた植付作物Gに触れても弾性変位するので作物を傷めることが無い。   In the above embodiment, the drum 17 and the projection piece 18 attached to the drum 17 are made of an elastic member such as rubber, so that weeds g can be easily wound and the ridge U surface is not cut. Moreover, even if it touches the planted crop G which has taken root, since it is elastically displaced, the crop is not damaged.

また第2実施例としては、図5と図6に示すように、除草回転体16を線状部材を螺旋状に巻いた螺旋体19にて構成する構成となっている。
これにより、前記効果に加え、螺旋体19の回転で左右方向の送り機能が働き、左右一方、詳しくは外方向への雑草排除を促進することで除草ロータ10内への雑草の進入を防止し、作業後の清掃作業を省力化することができる。
In the second embodiment, as shown in FIGS. 5 and 6, the weeding rotator 16 is configured by a spiral body 19 in which a linear member is spirally wound.
Thereby, in addition to the above-mentioned effect, the feed function in the left-right direction is activated by the rotation of the spiral body 19, and weed entry into the weeding rotor 10 is prevented by promoting weed removal in the left-right direction, specifically the outward direction, Labor-saving cleaning work can be saved.

また前記螺旋体19の外側部は、図のように中空部に構成されるので、螺旋体19自体の雑草の絡み付きを極力防ぐことができる。
尚、前記螺旋体19は、これを取り付ける支持筒20及び前記同様のブラケット21を介して前記外側のリング部材12のアーム装着する構成となっており、位置及び径等は、第1実施例の回転体16と同様である。
Further, since the outer portion of the spiral body 19 is formed as a hollow portion as shown in the figure, it is possible to prevent the weeds of the spiral body 19 itself from being entangled as much as possible.
The spiral body 19 is configured to be mounted on the arm of the outer ring member 12 via the support cylinder 20 to which the spiral body 19 is attached and the bracket 21 similar to the above, and the position, the diameter, etc. are the same as those of the first embodiment. It is the same as the body 16.

次に、前記除草ロータ10の全体構成について詳細に説明する。
図7と図8に示すように、除草ロータ10の前方には、チェーンケース7を挟む左右の除草ロータ10,10間への雑草の侵入を防ぐ分草体22を備えている。分草体22の支持ステー23は、前記チェーンケース7の下部にボルトにて着脱自在に装着している。従って、この分草体22によって畝間の雑草gが外側に押しのけられるため、除草効果が向上し、特に、チェーンケース7の下部付近には雑草gが溜らなくなるため、除草ロータ10による除草効果をより良く高めることができる。
Next, the overall configuration of the weeding rotor 10 will be described in detail.
As shown in FIGS. 7 and 8, a weeding body 22 that prevents weeds from entering between the left and right weeding rotors 10 and 10 sandwiching the chain case 7 is provided in front of the weeding rotor 10. The support stay 23 of the weeding body 22 is detachably attached to the lower part of the chain case 7 with bolts. Accordingly, the weeds g between the furrows are pushed outward by the weeds 22, so that the weeding effect is improved. In particular, the weeds g do not accumulate near the lower part of the chain case 7, so the weeding effect by the weeding rotor 10 is improved. Can be increased.

また図9と図10は、別形態の除草ロータ10を示す図であり、ローラ2上方を覆うカバー25内の除草ロータ10後方に、下端に鋭利な刃部24aを有するスクレーパ24を設ける構成としている。   FIGS. 9 and 10 are views showing another embodiment of the weeding rotor 10, in which a scraper 24 having a sharp blade 24 a at the lower end is provided behind the weeding rotor 10 in the cover 25 covering the upper side of the roller 2. Yes.

これにより、草の切断不良で除草ロータ内部へ巻き込まれていく残葉をスクレーパ24の刃部24aにて切除し、ロータへの絡み付きを防止することができる。
また図10に示すように、リング部材12と軸受ボス部14を結ぶスポーク部材15及びチェーンケース7には、該スポーク部材15とチェーンケース7との間に草が入り込むのを防止する草侵入防止具30,31を設けている。一方の草侵入防止具30はスポーク部材15と一体構成であり、他方の草侵入防止具31はチェーンケース7の締付ボルト32によって共締めする構成としている。
As a result, the remaining leaves that are entangled inside the weeding rotor due to poor cutting of the grass can be cut out by the blade portion 24a of the scraper 24, and entanglement of the rotor can be prevented.
Further, as shown in FIG. 10, the grass member 15 and the chain case 7 that connect the ring member 12 and the bearing boss part 14 prevent grass from entering between the spoke member 15 and the chain case 7. Tools 30 and 31 are provided. One grass intrusion prevention tool 30 is configured integrally with the spoke member 15, and the other grass intrusion prevention tool 31 is configured to be fastened together with a fastening bolt 32 of the chain case 7.

従来では除草ブレードに草が絡んだとき、排出できずに除草ブレードとチェーンケースとの間に草が絡み込んで過負荷となり、能率低下を招くものであったが、本例では上記構成により解消することができる。   In the past, when grass was entangled with the weeding blade, it could not be discharged and the grass was entangled between the weeding blade and the chain case, resulting in overloading and a reduction in efficiency. can do.

次に、前記乗用管理機の構成について図面に基づいて説明する。
前記乗用管理機では、図11に示すように、静油圧式無段変速装置Tのオイルタンク36を本機メインフレーム37,37の右側下部に設置し、このオイルタンク36の外側方で、且つ、ステップフロア38の外側方に突設するサブステップ39,39の内側にブラケット41aを介してバッテリ40を支持する構成となっている。バッテリ40の上部にはバッテリカバー41bを備える構成としている。従来はバッテリをメインフレーム37の下部に設置していた為、メンテナンスが容易ではなく、作業の能率低下を招いていたが、本例ではバッテリ40をサブステップ39,38の上部に設置することで、このバッテリ位置が機体の最外側位置にあたることからメンテナンス作業が容易に行なえ、作業者の負担軽減を図ることができる。
Next, the configuration of the passenger management machine will be described with reference to the drawings.
In the passenger management machine, as shown in FIG. 11, the oil tank 36 of the hydrostatic continuously variable transmission T is installed in the lower right part of the main frames 37, 37, outside the oil tank 36, and The battery 40 is supported on the inner side of the sub-steps 39 and 39 projecting outward from the step floor 38 via a bracket 41a. A battery cover 41 b is provided on the upper part of the battery 40. Conventionally, since the battery is installed at the lower part of the main frame 37, maintenance is not easy and the work efficiency is reduced. In this example, the battery 40 is installed at the upper part of the sub-steps 39 and 38. Since the battery position corresponds to the outermost position of the machine body, the maintenance work can be easily performed, and the burden on the operator can be reduced.

また図12〜図14は、前記除草ロータ10に代えて取り付ける水田用の除草機を示すもので、株間の水田面に接地して転回移動しながら外周の爪43aによって除草する水田除草ロータ43と、株際に左右から接近し株元近くの草を取り除く株際除草輪44,44などからなるように構成している。特に、前記株際除草輪44,44は、円錐形のドラム45と、該円錐ドラム45の外周に所定空間Sを隔てて張設する除草網(金網)46とからなり、そして、これら左右一対の株際除草輪44,44を正面視で逆ハの字状に配設すると共に、株際を接地転回移動させながら除草網46によって株際の草を掻き取るように構成している。尚、符号47は圃場に突き刺すスパイク、48はツールバー、49は軸受支持杆を示す。   12 to 14 show a paddy field weeding machine to be attached in place of the weeding rotor 10. The paddy field weeding rotor 43 that weeds by an outer circumferential claw 43 a while grounding on the paddy field between the strains and moving around. The plant is composed of a weeding wheel 44, 44 and the like that removes grass near the stock by approaching the stock from the left and right. In particular, the stock weeding wheels 44, 44 include a conical drum 45 and a weeding net (wire net) 46 that is stretched around the outer periphery of the conical drum 45 with a predetermined space S therebetween. The stock weed wheels 44, 44 are arranged in a reverse C shape when viewed from the front, and the weed net 46 is scraped off by the weeding net 46 while rotating the stock exchange. Reference numeral 47 is a spike that pierces the field, 48 is a tool bar, and 49 is a bearing support rod.

乗用管理機の側面図。The side view of a passenger management machine. 同上平面図。FIG. 除草作業機の要部の正面図。The front view of the principal part of a weeding machine. 除草回転体の斜視図。The perspective view of a weeding rotary body. 除草作業機の要部の正面図。The front view of the principal part of a weeding machine. 除草回転体の正面図。The front view of a weeding rotary body. 除草作業機の側面図。A side view of a weeding machine. 分草体の平面図。The top view of a weed body. 除草作業機の要部の側面図。The side view of the principal part of a weeding machine. 除草作業機の要部の正面図。The front view of the principal part of a weeding machine. (A)ステップ近傍の正面図。(B)ステップ近傍の平面図。(C)ステップ近傍の側面図。(A) Front view in the vicinity of a step. (B) A plan view near the step. (C) Side view of the vicinity of the step. 水田用除草機の側面図。A side view of a paddy weeder. 株際除草輪の斜視図。The perspective view of a stock weeding wheel. (A)水田用除草機の背面図。(B)水田用除草機の平面図。(A) Rear view of paddy field weeding machine. (B) Plan view of a paddy weeder.

符号の説明Explanation of symbols

2 ローラ
8 スプロケット
8a 駆動軸
10 除草機(除草ロータ)
11 ロータ軸
12 リング部材
13 除草ブレード
16 (除草)回転体
17 ドラム
18 突起片
19 螺旋体
2 Roller 8 Sprocket 8a Drive shaft 10 Weeding machine (Weeding rotor)
11 Rotor shaft 12 Ring member 13 Weeding blade 16 (Weeding) Rotating body 17 Drum 18 Projection piece 19 Spiral body

Claims (2)

畝溝に位置させて回転することで畝溝に生える雑草類を引き抜きまたは根元から掘削して除草するローラ部材(2)を備えた除草機であって、前記ローラ部材(2)の回転軸(11)の外方には、畝上面に位置させて畝上面に生える雑草類を絡め取る回転部材(16)を突設したことを特徴とする除草機。 A weeding machine provided with a roller member (2) for removing weeds growing in a gutter groove by exchanging or weeding from the root by rotating in a gutter groove, the rotation shaft of the roller member (2) ( 11) A weeding machine characterized in that a rotating member (16) is provided on the outer surface of 11) so as to project the weeds that grow on the upper surface of the reed. 前記回転部材は、線杆又は帯板を螺旋状に巻いた螺旋体(19)にて構成したことを特徴とする請求項1に記載の除草機。 The weeding machine according to claim 1, wherein the rotating member is constituted by a spiral body (19) in which a wire rod or a strip is spirally wound.
JP2005098364A 2005-03-30 2005-03-30 Weeder Pending JP2006271310A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008182989A (en) * 2007-01-31 2008-08-14 Iseki & Co Ltd Weeding implement
CN102282922A (en) * 2011-06-09 2011-12-21 中国农业大学 Inter-seedling weeding device and method
CN102645911A (en) * 2012-04-18 2012-08-22 中国农业大学 Intermittent rotation type intelligent inter-seedling hoe control method and system
CN108967407A (en) * 2018-08-09 2018-12-11 陈彩群 A kind of hand-held extirpator and its working method
CN111955068A (en) * 2020-07-30 2020-11-20 浙江大学 Field weeding machine and weeding method
CN114698456A (en) * 2022-04-15 2022-07-05 皖西学院 Automatic kibbling robot of farmland weeding

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008182989A (en) * 2007-01-31 2008-08-14 Iseki & Co Ltd Weeding implement
CN102282922A (en) * 2011-06-09 2011-12-21 中国农业大学 Inter-seedling weeding device and method
CN102282922B (en) * 2011-06-09 2013-02-20 中国农业大学 Inter-seedling weeding device and method
CN102645911A (en) * 2012-04-18 2012-08-22 中国农业大学 Intermittent rotation type intelligent inter-seedling hoe control method and system
CN108967407A (en) * 2018-08-09 2018-12-11 陈彩群 A kind of hand-held extirpator and its working method
CN111955068A (en) * 2020-07-30 2020-11-20 浙江大学 Field weeding machine and weeding method
CN111955068B (en) * 2020-07-30 2022-02-18 浙江大学 Field weeding machine and weeding method
CN114698456A (en) * 2022-04-15 2022-07-05 皖西学院 Automatic kibbling robot of farmland weeding

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