JP2013126785A - Seedling transplanter - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a seedling transplanter ensuring machine body traveling by a stable posture independently of ruggedness of a field, and also allowing the traveling coping with a variety of field conditions.SOLUTION: A seedling transplanter comprises, on a riding machine body (1) for field work, front and rear drive wheels (2, 3), a lifting/lowering type planting part (6), and a float (6f) for leveling the ground or the like, and is provided with: variable support mechanisms (11, 12) lifting and supporting the riding machine body (1) by the rotation of a support arm receiving moment by drive reaction force of the respective wheels (2, 3); actuation restriction devices (14) performing lower position fixing of the respective variable support mechanisms (11, 12); and a control device (C) individually actuating and controlling the actuation restriction devices (14), wherein the variable support and the lower position fixing may be selected for each wheel as necessary.

Description

  The present invention relates to a four-wheel independently-suspended seedling transplanter that travels by planting following the unevenness of a field.

  Prior art documents 1 and 2 describe a configuration in which the left and right front wheels and rear wheels move up and down independently according to the unevenness of the field by a spring or the like. Further, in Document 1, a restriction solenoid that restricts the vertical movement of the rear wheel is provided, and a member that forcibly stops when the vertical movement of the rear wheel is unnecessary, such as during turning.

However, the front wheel is not provided with a regulation solenoid or the like, and is configured to move up and down constantly according to the unevenness of the field. As a result, when turning at the field edge or the like, if there are large irregularities in the field, the left and right front wheels move up and down in accordance with the irregularities, and there is a problem that the turning locus is disturbed.
When the turning trajectory is disturbed, it is necessary for the operator to finely operate the handle to adjust the next planting start position, which deteriorates the operability and increases the labor of the operator. In addition, the planting start position is disturbed, and the number of seedlings that can be planted in the field area cannot be planted, resulting in a decrease in yield.

In addition, when the turning trajectory is disturbed, the marks of the front wheels and the rear wheels remain at the field edge, and there is a problem that the seedling planting depth is significantly disturbed when seedlings are planted at the field edge.
In the prior art documents 1 and 2, since there is no mechanism for automatically stopping either the front side vertical movement mechanism or the rear side vertical movement mechanism in accordance with the field conditions or work conditions, There is a problem in that work efficiency is lowered because the operation of the operator is required when the change occurs.

JP 2010-100170 A JP 2009-113806 A

  An object of the present invention is to provide a seedling transplanting machine that can ensure a stable body travel without depending on the unevenness of the field, and can travel according to various field conditions.

  The invention according to claim 1 includes a riding machine body (1) for field work, left and right wheels (2, 3) for driving and supporting the front and rear parts of the riding machine body (1) so as to be able to run on the field, and A planting part (6) for seedling planting supported so as to be able to move up and down at the rear part of the passenger aircraft (1), and for leveling to adjust the planting surface height of this planting part (6) according to the ground contact angle In each of the seedling transplanters provided with the float (6f), the variable support mechanisms for ascending and supporting the riding body (1) by the rotation of the support arms that receive moments due to the driving reaction forces of the wheels (2, 3). (11, 12), the respective operation restricting devices (14) for fixing these variable support mechanisms (11, 12) to a low level, and the control device (C) for individually controlling the operations of these operation restricting devices (14). It is provided.

  According to a second aspect of the present invention, in the first aspect of the invention, the front left and right wheels (2) are configured to be steerable, and the steering angle detection for detecting the steering angle of the front left and right wheels (2). A member (5a) is provided, and when the steering angle detected by the steering angle detection member (5a) is equal to or greater than a predetermined angle, the operation restricting device (14) is operated with respect to the front left and right wheels (2). And

  A third aspect of the invention relates to the first aspect of the invention according to the first aspect, wherein the front left and right wheels (2) are configured to be steerable and the steering angle of the front left and right wheels (2) is detected. A member (5a) is provided, and when the steering angle detected by the steering angle detection member (5a) is equal to or greater than a predetermined angle, the operation restricting device (14) is operated on the inside of the turning of the front left and right wheels (2). It is characterized by that.

The invention according to claim 4 is the invention according to claim 1,
A spare seedling frame (7) is provided at the front of the passenger aircraft (1) to accommodate seedlings to be supplied to the planting part (6). The spare seedling frame (7) and the planting part (6) Based on each seedling amount comparison, when the seedling amount of the planting part (6) becomes small, the operation regulating device (14) is operated for the left and right wheels (3) of the rear part, and the spare seedling frame ( When the seedling amount of 7) is small, the operation restricting device (14) is operated for the front left and right wheels (2).

  The invention according to claim 5 is the invention according to claim 1, further comprising a fertilizer hopper (8) for storing fertilizer to be supplied to seedlings planted at the rear of the passenger aircraft (1). ), When the left and right wheels (3) in the front portion are operated, the operation regulating device (14) is operated, and the remaining amount of the fertilizer hopper (8) is less than a predetermined amount. Further, the operation restricting device (14) is operated with respect to the rear left and right wheels (3).

  According to a sixth aspect of the present invention, in the first aspect of the present invention, there is provided an elevating position detecting means (6n) for detecting a height position of the planting part (6) relative to the riding body (1). When the height of the planting part (6) is less than a predetermined value by the detecting means (6n), the operation restricting device (14) of the front left and right wheels (2) is operated.

  The invention according to claim 7 is the invention according to claim 1, wherein the float (6f) is provided with a hardness detecting means (6g) for detecting the degree of hardness of the planting surface, and the hardness detecting means (6g) is used for planting. The operation regulating device (14) is actuated on the front left and right wheels (2) when the attached surface is harder than a predetermined value.

  According to the first aspect of the present invention, the front and rear left and right wheels (2, 3) that support the passenger aircraft (1) are supported by a variable support mechanism (11, 12) that is supported by ascending according to the respective drive torques. ) So that each can move up and down according to the unevenness of the field, etc., so that the posture of the passenger aircraft (1) is stable, and the front and rear of the passenger aircraft (1) when traveling through the unevenness Since the change in the inclination of the direction is kept small, the detected height by the float (6f) is stabilized, and unnecessary height adjustment of the planting part (6) is suppressed, and each wheel ( 2 and 3) can be fixed at a low position, and can be steered with a small amount of turbulence in the running track on large rough roadbeds, so that the planting accuracy can be stabilized according to a wide range of field conditions. It is possible to improve the.

  According to the invention of claim 2, in addition to the effect of the invention of claim 1, when the steering angle detection member (5a) detects a steering angle equal to or greater than a predetermined angle and enters a turning state, the left and right front wheels (2 By controlling the operation restricting device (14) so as to fix the support height), the turning trajectory can be prevented from being disturbed, so that the turning radius can be reduced and the turning travel can be efficiently performed.

  According to the invention of claim 3, in addition to the effect of the invention of claim 1, when the steering angle detection member (5a) detects a steering angle of a predetermined angle or more and enters a turning traveling state, the left and right front wheels (2 ), The driving restriction of the outer front and rear wheels (2, 3) is secured by controlling the operation restricting device (14) so as to fix the support height on the inner side of the turn. The situation in which the vehicle cannot be pushed forward is avoided and the work efficiency is improved, and the turning locus is prevented from being disturbed, the turning radius is reduced, and the turning traveling can be efficiently performed.

  According to the invention according to claim 4, in addition to the effect of the invention according to claim 1, the body is controlled by the control based on the amount of seedlings of the preliminary seedling frame (7) in the front part of the body and the planting part (6) in the rear part of the body. Since the wheels (2, 3) on the heavy side of weight distribution can move up and down corresponding to the unevenness of the field, the planting part (6) is lowered too much and the seedling planting depth becomes too deep This will prevent the seedling from growing and the planting part (6) will rise too high to prevent the seedling from being planted or the planting depth of the seedling will be too shallow. The seedlings are not washed away by wind or water, and the growth of the seedlings is stabilized.

  According to the invention according to claim 5, in addition to the effect of the invention according to claim 1, the wheel (2, 3) on the heavy side of the front / rear distribution of the weight of the machine body is controlled by the control based on the remaining amount of the fertilizer hopper (8). Can move up and down according to the unevenness of the plant, so that the planting part (6) is prevented from falling too much and the planting depth of the seedling is prevented from becoming too deep, so that the growth of the seedling is stabilized and planting It is prevented that the seedling is not planted or the planting depth of the seedling becomes too shallow because the part (6) rises too much. Is stable.

  According to the invention according to claim 6, in addition to the effect of the invention according to claim 1, when the height of the planting part (6) is less than a predetermined value, the support height of the front left and right wheels (2) is fixed. By controlling the operation restricting device (14) as described above, the planting portion (6) is lowered and deeply planted in the case of planting in a deep field, so that the weight balance becomes rearward. Since the front side will be lifted, the support height of the left and right wheels (2) at the front is fixed to a low level to prevent such a situation and to stabilize the running posture and planting posture of the aircraft. Can be improved.

  According to the invention according to claim 7, in addition to the effect of the invention according to claim 1, in the case of planting in a hard field, the weight balance is reduced by lowering the planting part (6) so as to strongly insert the seedling on the planting surface. Since the front side of the fuselage is lifted as it moves closer, by fixing the support height of the front left and right wheels (2) by the hardness detection means (6g) provided on the float (6f) Such a situation can be prevented, the running posture and the planting posture of the aircraft can be stabilized, and the work efficiency can be improved.

Top view (a) and side view (b) of riding type Shijo Ueda transplanter Enlarged side view of main part of rear wheel (a) and rear view thereof (b) Enlarged side view of main part of front wheel Block diagram of control system for variable support mechanism Flow chart during turning Flow chart of control for seedling amount Flow chart of field depth control Flow chart for field hardness control Configuration diagram of planting lift control mechanism Configuration diagram of planting lifting control mechanism of another configuration

Embodiments of the present invention will be described below with reference to the drawings.
FIG. 1 shows a plan view (a) and a side view (b) of a riding type Shijo Ueda transplanter as an embodiment of a riding work machine. 2 and the rear wheels 3 and 3 support the airframe so as to be capable of driving. A steering device having an operation box 4, a steering wheel 5 for steering the front wheels, and the like is installed at the front of the passenger aircraft 1, and a planting portion 6 having a float 6f for leveling at the rear of the passenger aircraft 1. Is equipped so that it can be moved up and down by a lifting link 6m. A driver's seat S is installed on the rear side of the control device, and an engine E that transmits power to each part of the rice transplanter is mounted below the driver's seat S. In addition to this, spare seedling frames 7 and 7 are provided on both sides of the front part of the machine body, and work equipment such as a fertilizer application device 8 is provided on the back side of the driver's seat S.

  The front wheels 2, 2 and the rear wheels 3, 3 are swing supports that support the support arms 11, 12 at the fulcrums 11 a, 12 a and support the drive shafts 2 a, 3 a at their rear ends so that the height can be adjusted independently. A variable support mechanism, which is commonly called, is provided so as to be able to follow the road surface height due to the unevenness of the field, and an operation restriction device is provided that fixes the drive shafts 2a and 3a and swings and locks them to a lower support position. Further, the drive shafts 3a and 3a of the left and right rear wheels 3 and 3 are configured to be capable of small radius turning by separately controlling left and right transmission so as to stop transmission on the inside of the turn.

The variable support mechanism and the operation regulating device will be described in detail. As shown in FIG. 2 showing an enlarged side view (a) and a rear view (b) of the main part of the rear wheels 3 and 3, a fulcrum 12a provided on the machine body side. The support arm 12 is pivotally supported, and a variable support mechanism for pivotally supporting the drive shaft 3a at the rear end thereof is configured, and the pin 12b protruding from the support arm 12 is vertically moved within a predetermined movable range H. This is an actuator that is provided with a movable link 14 formed with a long hole 14a that guides it in a vertically slidable manner, and that restrains the movable link 14 at the upper limit position of the movable range H and fixes the drive shaft 3a to a lower support position. A solenoid 14b is provided to constitute an operation restricting device. If necessary, the support arms 11 and 12 are elastically supported by a spring (not shown).
Further, as shown in FIG. 3 which shows an enlarged view of a main part of the front wheels 2 and 2, the front wheels 2 and 2 also constitute a similar mechanism.

  In the variable support mechanism, the support arms 11 and 12 that receive a moment due to the drive reaction force of the drive shafts 2a and 3a of the front wheels 2 and 2 and the rear wheels 3 and 3 rotate within the movable range H of the long hole 14a of the movable link 14, respectively. Since the machine body is lifted and supported by the movement, the support wheels 2 and 3 follow the recesses in the field to ensure the driving force. Further, the operation restricting device controls the respective solenoids 14b to be shortened and slides the movable link 14 upward, so that the drive shafts 2a and 3a are fixed at the upper lower support position.

(System configuration)
Next, a control system for the operation restriction device for the variable support mechanism will be described.
The control system of the variable support mechanism for each of the front wheels 2 and 2 and the rear wheels 3 and 3 is configured such that the solenoid 14b of the operation restricting device can be individually controlled by the control device C, as shown in a block diagram in FIG. As the control input, the operation of the handle 5 is detected by the potentiometer 5a which is a steering angle detection member to detect the turning of the body at the field end, the seedling sensor 7s provided in the reserve seedling frame 7 is used to detect the amount of seedling by planting line, The seedling reduction sensor 6s of the planting part 6 detects the amount of seedlings by planting line of the planting part 6, the accommodation residual quantity sensor 8s of the fertilizer device 8 detects the remaining capacity of each planting line, and the lifting link An angle sensor 6n, which is an elevation position detecting means such as a potentiometer that detects a link angle of 6m, is provided to detect the elevation height of the planting portion 6, and the planting surface is detected by the hard / soft sensor 6g provided on the float 6f. Detecting the hardness, controlling the front wheels 2, 2 and the rear wheels 3 each variable support mechanism in the following manner by these control inputs.

  When planting traveling under normal farm field conditions, the variable support mechanism of the front and rear traveling wheels 2 and 3 that support the passenger aircraft functions by releasing the restriction of the variable support mechanism by the operation restriction device. Each of the traveling wheels 2 and 3 can move up and down according to the unevenness of the field, so that the posture of the passenger aircraft is stable, and the inclination change in the longitudinal direction of the passenger aircraft when traveling through the unevenness is small. Since it can be suppressed, the posture of the float 6f whose sensitivity can be adjusted according to the elevation angle is stabilized and the leveling is improved, and unnecessary height adjustment of the planting unit 6 is suppressed.

  In this case, by configuring the variable support mechanisms of the front and rear wheels 2 and 3 to be separately operable in the front and rear directions, for example, by restricting the operation of the variable support mechanisms of the front wheels 2 and 2, the front side of the body in a deep field It is possible to secure the front-rear balance during traveling by suppressing the lifting of the vehicle. In addition, by restricting the left and right variable support mechanisms for the front and rear wheels 2 and 3 separately, it is possible to cope with various traveling conditions.

(Turning control)
Next, regarding the control of the operation restricting device related to the turning of the aircraft, as shown in the flowchart at the time of turning in FIG. 5, the steering operation is performed by the first processing step (hereinafter abbreviated as “S1”). By detecting the steering angle (S2, S3) and subjecting the vehicle to turning, the variable support mechanism for both front wheels 2, 2 is controlled to control the operation (S4, S5), so that the inner rear wheel accompanying the turning is detected. As a result of the transmission stop of No. 3, the function is limited to the variable support mechanism of the outer rear wheel 3, so that the turning radius can be further reduced. Further, since the turning of the airframe can be determined by detecting the rotation stop of the inner rear wheel 3, the same control as in the case of detecting the steering angle can be performed.

  In this case, instead of the above-described operation restriction control (S4, S5) of the variable support mechanism of the front wheels 2 and 2, the variable support mechanism of the front wheel 2 inside the turning is restricted and controlled, so that the front and rear wheels 2 outside the turning are controlled. , 3, the variable support mechanism can be made to function, so that a smaller radius can be turned.

(Seedling control)
Next, the control of the operation restriction device corresponding to the seedling amount will be described. As shown in the flowchart in FIG. 6, the seedling amount of the preliminary seedling frames 7 and 7 at the front part of the machine body and the seedling of the planting part 6 at the rear part of the machine body. The amount is detected by each sensor 7s, 6s (S11), and by comparing the amount of both seedlings (S12), the variable support mechanism on the side where the seedling amount is small is divided into the front wheels 2, 2 and the rear wheels 3, 3. Performs operation restriction control.

  That is, when the amount of seedlings in the reserve seedling frames 7 and 7 is large, the variable support mechanism of the rear wheels 3 and 3 is regulated (S13a). Conversely, when the amount of seedlings in the planting part 6 is large, both front wheels By controlling the operation of the variable support mechanisms 2 and 2 (S13b), and when the amount of both seedlings is equal, the front and rear wheels 2 and 3 are controlled to function without any operation restriction (S13). As the weight distribution in the front-rear direction of the machine body is increased and supported by the variable support mechanism, the weight balance in the front-rear direction can be automatically adjusted.

  Further, in the case of having the fertilizer device 8 at the rear part of the machine body, the lighter variable support mechanism corresponding to the weight distribution in the front-rear direction of the machine body by determining the presence / absence of the stored fertilizer to be fertilized by the remaining storage sensor 8s. That is, when the remaining amount sensor 8s detects, the variable support mechanism of both front wheels 2 and 2 is controlled, and when it is not detected, the variable support mechanism of both rear wheels 3 and 3 is operated. By regulating, the weight balance in the front-rear direction can be automatically adjusted in accordance with the change in the remaining amount of the fertilizer application device 8 at the rear of the machine body.

(Field depth control)
Next, the operation restriction control of the variable support mechanism corresponding to the field depth will be described. As shown in the flowchart in FIG. 7, the elevation height of the planting unit 6 calculated by the angle sensor 6n of the elevation link 6m is determined. (S22), when it is less than a predetermined value corresponding to a deep farm field, the control of the variable support mechanism of both front wheels 2 and 2 is controlled (S23, S24), thereby lifting the front side of the body accompanying the travel of the deep farm field. Stable running can be secured by suppressing.

(Field hardness control)
Next, the operation restriction control of the variable support mechanism corresponding to the field hardness will be described. As shown in the flowchart in FIG. 8, the softness determination of the planting surface is performed by the softness sensor 6 g provided in the float 6 f of the planting unit 6. When the planting surface is harder than a predetermined value, the planting part 6 is lowered (S34) to strongly insert the seedling, and the variable support mechanism for the front wheels 2 and 2 is controlled to operate (S35). , S36), it is possible to secure stable running by suppressing the lift of the front side of the machine body due to the descending of the planting portion 6.
Further, since it is possible to determine whether the planting surface is soft or soft by detecting the selected position of the sensitivity lever, the same control as that using the hard / soft sensor 6g is possible.

(Auto lift)
Next, regarding the raising and lowering and operation of the planting part, an auto lift mechanism for controlling in conjunction with the turning of the vehicle body via a planting lifting lever for manual operation is configured to be capable of changing characteristics including function release. That is, the planting elevating lever 21 positions the planting unit 6 in the order of ascending, neutral, descending, and planting operations, and the planting elevating lever 21 is moved to the position of the ascending operation in conjunction with the handle operation. A moving autolift mechanism is provided, and the autolift mechanism is configured to be able to select the start timing of interlocking operation including non-interlocking.

  Specifically, as shown in the configuration diagram of the support portion in FIG. 9, the planting lift lever 21 is pivotally supported by the support shaft 21 a so as to be able to rotate back and forth, and is switched and held at the lower end at four angular positions. The switching cam 22 is integrally provided for elastic holding so that it can be returned to the selected position for the ascending operation.

  The switching cam 22 is formed with an angle selecting portion 23 by four engaging recesses for determining a rotation position corresponding to four selections from the ascending operation to the planting operation. By moving and holding the holding pin 24 that holds the rotation position by the movable holding arm 25, the planting elevating lever 21 can be switched from the raised position to the neutral, lowered, and planted position so as to be movable. When the engagement of the angle selection unit 23 is released by the holding arm 25, the switching cam 22 returns to the selection position for the ascending operation.

  In addition, a guide wire 26 acting on the movable holding arm 25 in conjunction with the operation of the handle 5 is provided, and the outer receiver 27 of the guide wire 26 is held by a holding lever 28 so that the position can be changed, and the lever position is selected. The lever guide 29 is provided. According to the position of the holding lever 28, the lever guide 29 is “off” in which the guide wire 26 does not act on the movable holding arm 25 even by a handle operation, and “slow” “ Select “normal” and “fast” selection positions.

  Thus, by selecting the position of the holding lever 28, it is possible to cancel the application of the autolift function without requiring the trouble of removing the guide wire 26, and it is possible to adjust the start timing of the autolift operation. It is possible to cope with various field conditions such as the hardness, depth, and shape of the plant.

Further, as shown in the configuration diagram of FIG. 10, a branch wire 26 a is provided on the guide wire 26 so that the planting operation is stopped before the planting operation of the planting unit 6 by the autolift is performed. Connect and handle operation when turning the aircraft, pull the planting lift lever 21 to the planting cut-off position at the half operation position by the branch wire 26a, and at the operation position more than 2/3 by the guide wire 26 It is configured to return to the ascending position and start autolift.
With the above configuration, since the planting operation is stopped before the ascending operation of the planting unit 6 by the auto lift, the float that is still at the farm scene height is being planted by the lateral movement in the direction of the turning outer side with the aircraft turning The situation where the seedlings are crushed can be avoided.

1 Passenger Aircraft 2 Front Wheel
2a Drive shaft 3 Rear wheel (wheel)
3a Drive shaft 5 Steering handle 5a Potentiometer (steering angle detection member)
6 Planting part 6f Float 6g Hard / soft sensor 6m Lifting link 6n Angle sensor (lifting position detection means)
6s seedling reduction sensor 7 spare seedling frame 7s seedling sensor 8 fertilizer 8s remaining amount sensor 11 support arm (variable support mechanism)
11a fulcrum 12 support arm 12a fulcrum 12b pin 14 movable link (operation regulating device)
14a Long hole 14b Solenoid C Control device H Movable range

Claims (7)

A riding machine body (1) for farm work, left and right wheels (2, 3) for driving and supporting the front and rear parts of the riding machine (1), respectively, and a rear part of the riding machine body (1). A planting part (6) for seedling planting supported so as to be able to move up and down, and a float (6f) for leveling that adjusts the height of the planting surface of the planting part (6) according to the contact angle In the seedling transplanter,
The variable support mechanisms (11, 12) that lift and support the passenger aircraft body (1) by the rotation of the support arm that receives the moment due to the driving reaction force of the wheels (2, 3), and the variable support mechanisms (11, 12). 12) A seedling transplanter provided with each operation regulating device (14) for fixing the lower level of 12) and a control device (C) for individually controlling the operation regulating device (14).   The front left and right wheels (2) are configured to be steerable, and a steering angle detection member (5a) for detecting the steering angle of the front left and right wheels (2) is provided, and the steering angle detection member (5a) The seedling transplanter according to claim 1, wherein when the detected steering angle is equal to or greater than a predetermined angle, the operation restricting device (14) is operated for the front left and right wheels (2).   The front left and right wheels (2) are configured to be steerable, and a steering angle detection member (5a) for detecting the steering angle of the front left and right wheels (2) is provided, and the steering angle detection member (5a) The seedling transplanter according to claim 1, wherein when the detected steering angle is equal to or greater than a predetermined angle, the operation restricting device (14) is operated inside the turning of the front left and right wheels (2).   A spare seedling frame (7) is provided at the front of the passenger aircraft (1) to accommodate seedlings to be supplied to the planting part (6). The spare seedling frame (7) and the planting part (6) Based on each seedling amount comparison, when the seedling amount of the planting part (6) becomes small, the operation regulating device (14) is operated for the left and right wheels (3) of the rear part, and the spare seedling frame ( The seedling transplanter according to claim 1, wherein when the amount of seedlings in (7) is small, the operation restricting device (14) is operated for the front left and right wheels (2).   A fertilizer hopper (8) for storing fertilizer to be supplied to seedlings planted at the rear of the passenger aircraft (1) is provided, and when the remaining amount of the fertilizer hopper (8) is a predetermined amount or more, The operation restricting device (14) is operated for the left and right wheels (3), and the operation restricting device (14) for the rear left and right wheels (3) when the remaining amount of the fertilizer application hopper (8) is less than a predetermined amount. The seedling transplanter according to claim 1, wherein the seedling transplanter is operated.   Elevated position detection means (6n) for detecting the height position of the planting part (6) with respect to the passenger aircraft (1) is provided, and the height of the planting part (6) is provided by the elevated position detection means (6n). The seedling transplanter according to claim 1, wherein the operation restricting device (14) of the front left and right wheels (2) is actuated when is less than a predetermined value.   The float (6f) is provided with hardness detection means (6g) for detecting the degree of hardness of the planting surface. When the planting surface is harder than a predetermined value by the hardness detection means (6g), the left and right wheels ( The seedling transplanter according to claim 1, wherein the operation regulating device (14) is operated for 2).

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