JP3401580B2 - Self-propelled transplanter - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention mainly relates to seedlings such as vegetables.
The present invention relates to a self-propelled transplanter for transplanting to a field ridge. [0002] Conventionally, self-propelled agricultural machines such as rice transplanters have been used.
Has a rolling control to keep the aircraft level
When the aircraft tilts in the vehicle width direction, one of the wheels
The other is raised and lowered to keep it horizontal. [0003] As described above,
Rolling control devices used in traveling agricultural machines are few
Since horizontal control is performed in response to a steep inclination,
Transplanting seedlings such as vegetables to field ridges
When applied to a self-propelled transplanter, if the field is
Even if the inclination is horizontally controlled,
Although it can be transplanted almost vertically to the ridge,
When the inclination angle is large, for example, when the inclination angle is 5 degrees or more,
Cannot be implanted vertically to the ridge if controlled horizontally
And the fuselage tends to shift to the valley side.
There was a problem that it would be difficult to transplant it to [0004] In the present invention, the fall angle of the transplanter is as follows.
Although it depends on the model, it is usually around 28 degrees.
Pay attention that there is no danger of falling up to the fall angle of
The purpose of the invention is to control the rolling of the aircraft.
While it is possible, this horizontal control is corrected and the aircraft travels in an inclined shape
The transplanting of seedlings on sloping land is vertical or vertical to the ridges.
It can be performed in a state close to straight, and can be easily transplanted to the center of the ridge,
However, you can also control rolling on inclined running
It is in the point to be carried out. [0005] To achieve the above object,
The present invention relates to a traveling body having an implanting device, and the traveling body
Left and right drive that can move up and down and tilt to the left and right.
The running wheels and the right and left sides of the traveling body according to the tilt of the traveling body
Self-propelled transfer equipped with a rolling sensor capable of swinging
One end of the planting machine is connected to the rolling sensor.
To correct the position of the rolling sensor in the swing direction.
And a correction spring connected to the other end of the correction spring.
The traveling body tilts the rolling sensor via a spring
Operating body that swings in the opposite direction to the direction
The configuration was adopted. According to the present invention, a correction spring for rolling is provided.
The correction spring is linked to the operating body to tilt the traveling machine.
Operation in the anti-oscillation direction of the rolling sensor at the time
Transplanting seedlings such as vegetables into a field on a sloping land
If it is transplanted in a state where it is tilted in the direction of the slope,
Therefore, the seedlings are transferred vertically or nearly vertically to the ridges.
It can be planted, and the displacement of the traveling aircraft to the valley side is small.
Can be easily implanted in the center of the ridge.
In addition, even when implanted in an inclined shape,
Sensor operates under the compensation by the compensation spring.
Therefore, the unevenness between the ridges on which the wheels travel is described above.
Rolling based on the neutral position corrected by the correction spring
Controlled, and thus controlled to the implanted state described above.
You can, and you can avoid falling. The self-propelled transplanter shown in FIGS. 5 and 6 is a walking type.
And an engine 2 and the engine
2 is equipped with a generator 3 interlocked with a transmission belt 3a.
The width of the transmission case 5 on the rear side of the engine 2
A pair of left and right transmission cases 6A, 6 extending rearward on both sides in the direction.
B so as to be able to swing vertically.
A and 6B support left and right drive wheels 7A and 7B,
At the front of the traveling body 1, in the vehicle width direction of the traveling body 1
A pair of support shafts 81A and 81B are
It is rotatably supported, and the vehicle width of these support shafts 81A and 81B.
A pair of swing arms 8 each extending rearward outward in the direction.
A and 8B are swingably supported vertically.
8A and 8B support left and right front wheels 9A and 9B so that they can rotate freely.
And the driving wheels 7A, 7B and the front wheels 9A, 9B
The body 1 can be moved up and down and tilted to the left and right.
A pair of guys rolling along the ridge A
The wheel 10 is rotatably supported, and on the rear side of the traveling body 1
An implantation device 4 is provided. [0008] The traveling body 1 includes a front frame 11 and
The mission case fixed to the rear of the front frame 11
5 and an intermediate flange fixed to the rear of the transmission case 5.
Fixed to the frame 12 and the rear of the intermediate frame 12.
And the rear frame 13.
The implanting device 4 is provided, and the mission
At the rear of the case case 5 via the transplant transmission case 14
A seedling planting device described later is provided. In addition, in FIGS.
Reference numeral 15 denotes a gauge ring provided below the transplanting device 4;
6 is a steering handle attached to the rear of the rear frame 13.
Reference numeral 17 denotes a main transmission lever 18 and an inter-stock transmission lever 19.
It is an operation panel that supports. 20 is a planting depth adjustment level.
Bars and 21 are left and right side clutch levers. [0009] Further, the transplant device 4 is provided with the transplant drive cable.
Receiving power from source 14 to accommodate many pot seedlings vertically and horizontally
The pot seedling storage section of the seedling tray 22 in which the sections 22a are arranged
A seedling removal claw 23 for taking out one pot seedling from 22a,
Receiving the pot seedlings falling from the seedling removal claw 23
Seedling planting device 25 having openable / closable transplanting nail 24 for transplantation
And holding the seedling tray 11 and holding the seedling planting device 25
Seedling supply device 26 for supplying the seedling tray 11 to the
Drill planting holes in the multi-film laid on the ridge A
A hole making device 28 having a hole making body 27 is provided. The seedling supply device 26 is provided as shown in FIG.
And a seedling having a seedling table 29 on which the seedling tray 22 is placed.
Lateral transport of the frame to reciprocate the table support frame 30 left and right
Of the right and left movement of the seedling supporting frame 30 and the seedling stand supporting frame 30.
At the end position, the seedling tray 22 is
From the tray vertical feeder 32 that feeds vertically every pitch
It is configured. The frame traversing device 31
The feed drive shaft 33 is provided with a planting clutch (not shown).
On the output side of the planting clutch case 34, a transmission chain 35,
Linked via counter shaft 36 and transmission chain 37
At the same time, a drive (not shown) is
Intermittent gear, transverse feed stop cam and
The traverse groove 39a is also formed via a pair of traverse feed switching gears.
Interlocking the traverse feed shaft 39
By driving, the seedling support frame 30 is moved to the seedling tray.
Since it is traversed in the left and right direction every horizontal pitch of b22
is there. Incidentally, the seedling support frame 30 is further provided thereon.
The seedling mounting table 29 is provided in the section, and the
Tray collection guide 30 for guiding seedling tray 22 upward
a, and one side plate, that is, the left side in the embodiment shown in the figure.
The vertical feed drive unit of the vertical feed device 32 is provided outside the side plate 30b.
And the seedling support frame 30 is attached.
A guide roller 41 is provided in the lower front part of the
Although not shown, a slide guide is provided. In the middle of the rear frame 13,
Are left and right side frames 42, 43 as shown in FIG.
And fix the side frames 42 and 43 and the rear part.
Supports the seedling stand at a portion surrounded by the middle portion of the frame 13
A frame 30 is provided, and the side frames 42 and 43 are provided.
The guide rails 44, 45 suspended between the
It is supported to reciprocate left and right by the drive of 39.
The right side frame 43 has
When the drive case 38 in the feeding device 31 is attached
The transverse feed shaft 39 extending from the drive case 38
Is axially supported by the left side frame 42.
You. The tray vertical feeder 32 is provided with
The drive is supported between the left and right side frames 42, 43,
In the case 38, in conjunction with the traverse drive shaft 33,
At the time of transplanting operation by receiving power from the traverse drive shaft 33,
A longitudinal feed drive shaft 46 which is driven when
6, the drive shaft 46 is set at a lateral movement stroke interval.
A pair of longitudinal feed operation members 4 mainly comprising rollers provided
Before having a follower cam (not shown) operating via 7
The driving unit 40 and the output of the driving unit 40
And the seedling stand is provided by the operation of the follower cam.
The support frame 30 is intermittently driven at the end position of the left and right movement.
Consisting mainly of sprockets coupled to the output shaft 48
The vertical feed driver 49, the vertical feed follower 50 and mainly
It consists of a roller chain and collects seedlings in the seedling tray 22
The seedling tray 22 is forcibly transported by intervening between the containers 22a.
Transport belt 51 having a transport member mainly composed of pins.
It is composed of The drive unit 40 is provided with a
Vertical feed drive case detachably attached to the frame 30
Although not shown, the drive case 52 has
The follower that operates in conjunction with the vertical feed operation member 47
A drive unit with a wacom is installed inside and installed in this drive unit.
Selection of a plurality of speed increasing gears by a shifter operation,
The rotation amount of the output shaft 48, that is, the vertical direction of the seedling tray 22
A vertical feed amount corresponding to the pitch can be obtained. Thus, in the above configuration, the seedling stand
The support frame 30 is potted by the seedling removal claw 23.
Each time the frame is taken out, the frame traversing device 31
Is moved to the left or right by
, The vertical feed drive shaft 46 which is always driven
The output shaft 48 is driven in conjunction with the feed operation member 47.
With this drive, the vertical feed driver 49 rotates by a predetermined angle.
And the transfer suspended between the vertical feed follower 50 and
The seedling tray 22 is moved through the conveying member of the belt 51 to the seedling tray.
The vertical feed of the ray 22 is equivalent to one vertical pitch.
In addition, the seedling removal claw 23 allows the seedling tray 2
The pot seedling taken out from 2 is dropped on the transplanting nail 24,
Implantation perforated by the drilling body 27 by the transplant nail 24
It is implanted in the hole. The hole making device 28 is an electric heater.
(Not shown) and the hole body 27 is lifted and the lifting arm 54 is
Which is supported up and down via the
In the transplant transmission case 14 provided on the rear side of the case 5,
A pair of connecting links 59, 60 are connected via a bracket 63.
The connecting links 59 and 60 are provided so as to be able to swing up and down.
The lifting arm 54 is supported so as to be able to move up and down.
A cam plate 65 is attached to the output side 64 of the planting transmission case 14,
Of the connecting links 59 and 60, the upper connecting link 59
A roller contacting the outer peripheral cam surface of the cam plate 65 in the middle of
66, the rotation of the cam plate 65 causes the transplanting claw 24 to rotate.
Immediately before the transplanting operation by the
The multi-hole laid on the ridge A by the hole body 77
The planting holes are drilled in the plate by burning. The present invention relates to a transplanter configured as described above.
And a rolling control device having the following configuration was provided.
It is. That is, as shown in FIG.
Hydraulic pump driven in conjunction with the engine 2
70 and pressurized oil from the hydraulic pump 70
An operating rolling cylinder 71 is provided.
The rod 73 of the piston 72 which is freely housed in the 71
Extends in the width direction of the fuselage and is rotatably supported by the fuselage 1.
Connected to the projection 75 of the swing shaft 74,
74 radially outward with 180 degree phase difference on both axial sides
Protruding connecting pieces 76 and 77 extending to
6, 77 via the first connecting rods 78, 79
Interlocking protrudingly provided on the supporting bases of the transmission cases 6A and 6B.
The pieces 80A, 80A are connected, and the interlocking pieces 80A,
80B, the protruding pieces 83A of the support shafts 81A, 81B,
83B is connected via the second connecting rods 84 and 85.
You. Thus, the rolling cylinder 71
Pressure oil is supplied to the rod-side chamber of the piston 72 in FIG.
When the head side chamber is opened to the tank 86, the piston
The ton rod 73 retracts and the swing shaft 74 is moved to the position shown in FIG.
Clockwise, and this rotation causes the left
First connecting rod 7 connected to interlocking piece 80A of moving wheel 7A
8 is towed, and conversely, the right drive wheel 7B
The first connecting rod 79 connected to the moving piece 80B is pushed out.
Thus, the left driving wheel 7A and the left driving wheel 7A
And the interlocking piece 80A via a second connecting rod 84.
When the left front wheel 9A descends, the right driving wheel
7B and the interlocking piece 80B via a second connecting rod 85.
The right front wheel 9B to be connected is raised,
The piston 72 in the rolling cylinder 71
Pressure oil is supplied to the head side chamber, and the rod side chamber is
6, the left driving wheel 7A and the left front wheel
The wheel 9A rises and the right driving wheel 7B and the right front wheel 9B
Will fall. On the other hand, at the front of the traveling body 1,
Rollin with weight 87 at lower end as shown
Sensor 88 centered on a support shaft 89 extending in the longitudinal direction of the fuselage.
To the left and right pivots, and
4 ports interposed in the hydraulic circuit of ring cylinder 71
A three-position switching type switching valve 90 is mounted on the shaft center of the support shaft 89.
When it is connected to the deviated position via the connecting arm 91,
In both cases, one end is connected to the middle of the rolling sensor 88.
A rolling compensating spring 92 is provided.
The other end of the shaft 92 is rotatably supported on the support shaft 89.
Connected to the moving arm 93 to rotate the operating arm 93.
When the correction spring 92 is tilted,
In the anti-oscillation direction of the rolling sensor 88,
Tilting from the neutral position to the valley side
Move to the mountain side in the swing direction of the moving rolling sensor 88.
And the operating arm 93 is
Near the control section of the airframe 1, that is, as shown in FIG.
Operating body 9 provided below operation panel 17 erected on dollar 16
4 through an operation cable 95. Actuation
The correction spring 92 is moved from the support portion to the support shaft 89 by the arm 93.
It has a transmission piece 93a protruding from the side opposite to the side to be connected.
ing. The operation cable 95 is connected to the outer cylinder 95.
a and the inner wire guided by the outer cylinder 95a
95b, one end of the inner wire 95b.
Is fixed to the transmission piece 93a of the operation arm 93, and the outer
-One end of the cylinder 95a is attached to a receiving piece 96 fixed to the machine body 1.
It is supported through an outer receiver 97 and the receiving piece 96
A return spring 98 is interposed between the transmission piece 93a and the transmission piece 93a.
Operate the operating body 94 to pull the inner wire 95b
The return spring 98 is bent, and
Swing the shaft 93 in the rightward tilt direction.
Sensor 88 on the mountain side, that is, on the left side as viewed from the pilot.
Correction control is performed, and the operation body 94 is operated.
When the traction of the inner wire 95b is released by
The operating arm 93 is tilted to the left by the restoring force of the return spring 98.
It is swung in an oblique direction, that is, in the direction of the chain line in FIG.
The rocking sensor 88 moves the rolling sensor 88 to the mountain side,
In other words, correction control is performed to the right as viewed from the pilot,
When the operating arm 93 swings rightward, the operator
The right wheels 7B and 9B are located on the valley side on the slope.
The aircraft travels in a right-inclined shape, and the operating arm 93
As shown in Fig. 1, when swinging
Left wheels 7A and 9A are located on the valley side on the slope
Then, the aircraft travels on the left slope. In FIG. 1, θ is an angle on a slope.
The rolling sensor 88 according to the angle θ.
Is corrected to the mountain side, but in the range up to the fall angle
Correction restrictions are added. This correction restriction is operated as shown in FIG.
This is done in the body 94. This operation body 94 is the same as that shown in FIG.
As schematically shown in the figure, the main transmission lever 18 and the inter-stock transmission lever
19 and the like are provided below the operation panel 17.
The mounting structure is configured as shown in FIG. Immediately
The support bracket 100 is located below the operation panel 17.
The support 101 is attached via the
By supporting the lever shaft 102 in the front-rear direction, the lever shaft 1
02, a connecting shaft 1 orthogonal to the lever shaft 102
03, the operating body 94 is supported so as to be able to swing back and forth.
At the same time, the operation body 94 is attached to the rear edge of the support body 101.
Simultaneous setting of the operation position and restriction
Number of engaging recesses 104 are provided, and
An engaging piece 105 for engaging with the engaging recess 10 is provided,
A spring 106 is interposed between the support 101 and
Biasing the engagement piece 105 in the direction of the engagement recess 104;
The operation cable 9 is provided in the middle of the lever shaft 102.
The operating piece 107 for locking the inner wire 95b of No. 5 is fixed.
Then, the end of the inner wire 95b is locked.
The operation cable is attached to a stay 108 extending from the handle 16.
The outer cylinder 95a of the bull 95 is
And support them. Therefore, in FIG.
The clockwise direction (clockwise) as viewed from the pilot around the lever shaft 102
Direction), the inner wire 95
b to swing the operating arm 93 in the right tilt direction.
To the left (counterclockwise) as viewed from the pilot
By operating the inner wire 95b,
The operating arm is released by the restoring force of the return spring 98.
The arm 93 can be swung in the left tilt direction. With the above arrangement, the operating arm
93 is swung in the right tilt direction or the left tilt direction,
The positive spring 92 is connected to the rolling center when the body is tilted.
Move it in the anti-swinging direction of the
As a result, the rolling sensor 88 is also in the neutral position.
From the vertical position with respect to the horizontal line.
Swinging in the direction, that is, the mountain side on the slope,
The neutral position is corrected by this swing.
By the correction, the rolling cylinder 71 is
The tilt sensor 88 operates as a neutral position
Then, the rolling control of the body 1 is performed at the neutral position.
It is. According to the present invention, as described above,
A compensation spring is provided, and this compensation spring is linked to the operating body.
Of the rolling sensor during tilting of the traveling machine
Can be moved in any direction, so vegetables can be stored
When transplanting seedlings such as
The seedlings are vertically or vertically suspended in ridges.
It can be transplanted in a state that is almost immediately, and to the valley side of the traveling aircraft
Can be reduced in the center of the ridge.
And it can be easily used when implanting in an inclined form.
Even if the rolling sensor does not
Because it operates from the beginning, the concave between the ridges where the wheels travel
For the convex, the neutral position corrected by the correction spring is
Rolling control is based on the
Can be controlled to a transplanted state and also avoids falling
You can. Therefore, the neutral position by the correction spring 92
To allow the aircraft 1 to travel while tilted.
And the inclination of the aircraft is controlled by the operation of the aircraft 1.
Required at hand by operating the operation body 94 provided near the unit
Can be adjusted immediately, as shown in FIG.
Seedlings such as vegetable seedlings on the ridges of the sloping land by
When transplanting, the aircraft 1
Can be performed while tilting, so that the seedlings
Or, it can be implanted in a nearly vertical state.
Can be reduced to the valley side.
It can be made easier. Further, the aircraft 1 is tilted as described above.
When performing the transplantation operation, the rolling sensor 88
Operate under the correction by the correction spring 92
There is unevenness between the ridges, and the airframe 1
Rolling control based on the corrected neutral position when tilted
And controlled to the vertical implanted state described above.
You can, and you can avoid falling.
The embodiment described above uses the operating arm 93.
Is connected to the correction spring 92 via the operation cable 95.
May be directly connected to the operation body 94. When the operating arm 93 is used,
Even if it is supported using the support shaft 89 of the rolling sensor 88,
Alternatively, it may be supported by a separately provided support shaft. The support shaft 8 of the rolling sensor 88
9, the switching valve 90 is mechanically connected via a connecting arm 91.
To detect the inclination of the machine due to the swing of the sensor 88.
To the switching valve 90 via the connecting arm 91.
, And the switching valve 90 is operated.
The swing of the sensor 88 is detected using a potentiometer or the like.
And electrically operates the switching valve 90 as a proportional control valve.
May be configured. Further, the correction spring 92
Although a coil spring was used, an elastic band such as rubber may be used.
No. The embodiment described above is shown in FIG.
As shown in the figure, the center line X-
Distance L to X-ray ₁ Is the fuselage of the left wheels 7A and 9A
Distance L to center line XX in width direction _Two Longer
The transmission case 6B of the right driving wheel 7B is
A transmission cylinder shaft extending outward from the right side of the transmission case 5
110 and the transmission cylinder shaft 110
Near the shaft end is flat with the transmission cylinder shaft 110 from the body 1.
A support arm 112 is attached to a support cylinder 111 extending in a row.
Supported through. Also, this support arm 11
2 has a front portion extending forward to support the right front wheel 9B.
The supporting shaft 81B is supported. Then, the support arm 112 is supported.
As shown in FIG. 7, the mounting side of the cylinder 111 is
The port arm 112 is inserted into the support cylinder 111.
Along with the shaft 113, the end of the support tube 111
Is provided with a mounting hole 111a.
A plurality of pin holes 113a are provided in a penetrating manner, and
1a is inserted into the pin hole 113.
a of the mounting shaft 11
3 is attached to the support cylinder 111 by the support cylinder 11
1 so that it can be changed in the length direction.
Then, the position of the support arm 112 is changed and the transmission
The support positions of the cylindrical shaft 110 and the support shaft 81B can be changed.
I'm trying. Accordingly, the right driving wheel 7B and the right front wheel
Distance L to 9B airframe width direction center line XX ₁ Changed
The support cylinder 111 and the support arm 11
2, the transmission cylinder shaft 110 and the support shaft 81B
Can be supported at a proper position.
Centering between the support arm 11 and the support arm 112 can be easily performed.
It is. The implanting device 4 of the above-described embodiment is
Before the transplantation of pot seedlings in one seedling tray 22
Then, the next seedling tray 22 is supplied to the seedling table 29 and transplanted.
The empty tray after the completion of
From the upper part of the fuselage 1,
Is located above the drive wheels 7A and 7B as shown in FIG.
An empty space on which the empty seedling tray removed from the seedling mounting table 29 is placed.
A tray mounting table 115 is provided via a stay 116. FIGS. 8 and 9 show the empty tray mounting table 115.
As shown, the empty tray mount 115 extends in the machine width direction.
Presser 117 for pressing the empty seedling tray placed on the tray from above
The tray holding rod 117 having a is shown by a solid line in FIG.
Can be turned between the tray holding position and the retracted position indicated by the chain line
And the support shaft 1 of the tray holding rod 117.
17b, a protrusion protruding radially outward of the support shaft portion 117b.
The spring receiver 118 is fixed, and the spring receiver 118 and the stay are fixed.
Between the spring receiver 1 and the
18 and beyond the axis of the support shaft 117b.
Interposed so that it can be switched between the tray holding side and the retreat side,
At both the tray holding position and the retracted position.
The holding tray 117 is attached to the empty tray mounting table 115 side.
And constitutes an unstable switching mechanism. Therefore, empty seedlings are placed on the empty tray mounting table 115.
When a tray is placed on the tray, the tray holding rod 117 is moved to the position shown in FIG.
By turning to the tray holding position as shown by the solid line,
The empty tray can be used without blowing the empty tray
A) It is possible to securely place the device on the mounting table 115.
The tray holding rod 117 is retracted by the unstable switching mechanism.
The empty tray can be stably retracted to the position.
When placing on the empty tray mounting table 115, the tray holding rod
117 can be easily placed without getting in the way
It is. According to the present invention, as described above, the rolling
A correction spring 92 is provided, and the correction spring 92 is
94, the rolling when the body is tilted
Because the sensor 88 can be moved in the anti-swing direction,
When transplanting seedlings such as vegetables to a sloping field,
Implanted in an obliquely inclined state,
Seedlings can be transplanted vertically or nearly vertically to the ridge, or
Also, because the displacement of the aircraft to the valley side can be reduced,
It can be easily transplanted to the center of the ridge,
Even at the time of transplantation, the rolling sensor 88
Operate under the correction by the correction spring 92
The correction spring is used for unevenness between ridges on which wheels travel.
Rolling control based on neutral position corrected by 92
Therefore, it is possible to control the transplantation state described above.
You can also avoid falling.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an explanatory view of a main part as viewed from a front part of an airframe. FIG. 2 is an explanatory diagram illustrating an operation of a rolling sensor. FIG. 3 is an explanatory diagram of a rolling sensor viewed from a side. FIG. 4 is a perspective view illustrating a mounting portion of the operation body. FIG. 5 is a partially omitted schematic plan view of the entire transplanter. FIG. 6 is a schematic side view of the entire transplanter. FIG. 7 is a partial sectional view illustrating a support portion of the support arm to the support cylinder. FIG. 8 is an enlarged side view of the empty tray mounting table. FIG. 9 is a plan view of a tray holding rod. [Description of Signs] 1 Running machine body 4 Transplanting device 7A Left rolling wheel 7B Right rolling wheel 87 Weight 88 Rolling sensor 89 Support shaft 92 Rolling correction spring 94 Operating body

Continuation of the front page (56) References JP-A-5-236806 (JP, A) JP-A-5-51016 (JP, U) JP-A-61-115013 (JP, U) JP-A-5-68214 (JP) , U) (58) Fields investigated (Int. Cl. ⁷ , DB name) A01C 11/00-11 / 02,11 / 303 A01C 11 / 02,11 / 313-11/332 A01B 63/10

Claims (1)

(57) Patent Claims 1. A traveling machine body having an implant equipment, the running machine
Left and right supporting the body to be able to move up and down and tilt to the left and right
Drive wheels and the right and left sides of the traveling aircraft according to the tilt of the traveling aircraft
Self-propelled with a rolling sensor capable of swinging in any direction
In transplanter, one end is <br/> connected to the rolling sensor, complement the position of the swinging direction of the rolling sensor
Positive corrected if Neto, contiguous to the other end of the correction spring, corrected
The traveling body tilts the rolling sensor via a spring.
A self-propelled transplanter, comprising: an operating body that swings in a direction opposite to a direction in which the moving device is moved .