JPH0771415B2 - Rotation control device for agricultural work machines - Google Patents

Rotation control device for agricultural work machines

Info

Publication number
JPH0771415B2
JPH0771415B2 JP59138634A JP13863484A JPH0771415B2 JP H0771415 B2 JPH0771415 B2 JP H0771415B2 JP 59138634 A JP59138634 A JP 59138634A JP 13863484 A JP13863484 A JP 13863484A JP H0771415 B2 JPH0771415 B2 JP H0771415B2
Authority
JP
Japan
Prior art keywords
rotation
rotation control
traveling vehicle
rice transplanter
control device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
JP59138634A
Other languages
Japanese (ja)
Other versions
JPS6119414A (en
Inventor
正文 佐伯
隆 文字
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Iseki and Co Ltd
Original Assignee
Iseki and Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Iseki and Co Ltd filed Critical Iseki and Co Ltd
Priority to JP59138634A priority Critical patent/JPH0771415B2/en
Publication of JPS6119414A publication Critical patent/JPS6119414A/en
Publication of JPH0771415B2 publication Critical patent/JPH0771415B2/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Description

【発明の詳細な説明】 〔産業上の利用分野〕 この発明は農作業機の回動制御装置に関するもので、走
行車体に田植機や播種機等の作業機を回動自在に装着し
て、この作業機が圃場表土面に沿つて滑走するように油
圧装置等の回動作動機構で表土面を滑走する検出体の信
号によつて制御する装置に関するものである。
TECHNICAL FIELD The present invention relates to a rotation control device for an agricultural work machine, in which a working machine such as a rice transplanter or a seeder is rotatably mounted on a traveling vehicle body. The present invention relates to a device that is controlled by a signal of a detection body sliding on the surface soil surface by a rotating operation mechanism such as a hydraulic device so that the work machine slides along the surface soil surface of the field.

〔従来技術〕[Prior art]

従来の農作業機の回動制御装置は、走行車体側に対して
その回動量が小さくても大きくても回動制御速度は一定
であつた。
In the conventional rotation control device for agricultural work machines, the rotation control speed is constant regardless of whether the rotation amount is small or large with respect to the traveling vehicle body side.

〔発明が解決しようとする問題点〕[Problems to be solved by the invention]

従来技術のものは、ほとんど作業機を回動させる必要の
ない左右に凹凸の少ない圃場の場合も、このような場合
とは全く逆な凹凸の激しい圃場の場合も回動制御速度が
同一であつたために、凹凸の少ない圃場のときに敏感す
ぎる制御となり、敏感な制御を期待したい凹凸の激しい
圃場のときに、それほど敏感な制御が行われないで走行
抵抗が大きくてスリツプが増大するという問題点があつ
た。
In the conventional technology, the rotation control speed is the same in the case where there is little unevenness on the left and right where it is not necessary to rotate the working machine and when the field has severe unevenness which is the opposite of such a case. Therefore, the control becomes too sensitive in the case of a field with few irregularities, and in the case of a field with severe irregularities where it is desired to expect sensitive control, there is a problem that running resistance is large and slips increase without much sensitive control being performed. I got it.

〔問題を解決するための技術手段〕 この発明は、前記の従来技術のもつ問題点を解消するた
めに、次の技術的手段を講じた。即ち、この発明は、走
行車体(1)に対して前後方向のローリング軸(32)の
まわりに回動自由に田植機や播種機等の作業機(19)を
装着し、この作業機(19)が作業中の圃場表土面に沿つ
て強制的に回動制御するよう表土面検出体の検出信号に
基づき回動作動機構を動作するものにおいて、走行車体
(1)に対する作業機(19)の回動量が小から大になる
ときその回動制御速度を低から高に変更する変速機構を
設けてなる農作業機の回動制御装置の構成としたもので
ある。
[Technical Means for Solving Problems] The present invention takes the following technical means in order to solve the problems of the above-described conventional technology. That is, according to the present invention, a working machine (19) such as a rice transplanter or a seeder is mounted on a traveling vehicle body (1) around a rolling shaft (32) in the front-rear direction so as to be freely rotatable. ) Operates the rotation actuation mechanism based on the detection signal of the surface soil surface detector so as to forcibly control the rotation along the surface soil surface of the working field. The rotation control device for an agricultural work machine is provided with a speed change mechanism that changes the rotation control speed from low to high when the rotation amount changes from small to large.

〔実施例〕〔Example〕

この発明の一実施例である乗用型田植機を図面に基づき
詳細に説明する。(1)は走行車体で、ミツシヨンケー
ス(2)の左右両側の、前部に前輪(3)、(3)を後
部にチエンケース(4)、(4)を介して後輪(5)、
(5)を設け、前部にエンジン台(6)を介して原動機
(7)を装着し、原動機(7)の後部にステアリングポ
ストを介して操縦ハンドル(8)を、更に、その後部に
操縦座席(9)を設けた構成になつている。(10)は操
縦席(9)を支架する支柱で、前記左右のチエンケース
(4)、(4)を連結する補強枠(11)の左右中間に立
設してある。
A riding type rice transplanter according to an embodiment of the present invention will be described in detail with reference to the drawings. Reference numeral (1) is a traveling vehicle body, and front and rear wheels (3) and (3) are provided on the left and right sides of the mission case (2) at the front, and the rear wheels (5) through the chain cases (4) and (4). ,
(5) is provided, the prime mover (7) is mounted on the front part via the engine base (6), the steering handle (8) is further mounted on the rear part of the prime mover (7) via the steering post, and further the rear part is maneuvered. It is configured to have a seat (9). Reference numeral (10) is a column for supporting the cockpit (9), which is erected in the middle of the left and right reinforcement frames (11) connecting the left and right chain cases (4) and (4).

(12)は昇降リンクで、上リンク(13)と下リンク(1
4)の基部側を前記支柱(10)に枢着し、先端側同志を
縦リンク(15)で枢結して、これにヒツチ枠(16)を一
体的に取付ている。(17)は第1油圧シリンダ装置で、
シリンダー(17a)の基部を前記ミツシヨンケース
(2)に枢着し、ピストン(17b)の先端を上リンク(1
3)と一体のアーム(18)に枢着してヒツチ枠(16)を
昇降動作するよう構成している。
(12) is a lifting link, an upper link (13) and a lower link (1
The base side of 4) is pivotally attached to the support column (10), the tip side comrades are pivotally connected by a vertical link (15), and the hitch frame (16) is integrally attached to this. (17) is the first hydraulic cylinder device,
The base of the cylinder (17a) is pivotally attached to the mesh case (2), and the tip of the piston (17b) is attached to the upper link (1).
The hitch frame (16) is configured to move up and down by being pivotally attached to an arm (18) which is integral with 3).

(19)は作業機で、図例では田植機であり、前記ヒツチ
枠(16)に装着され、左右中央部の主ケース(20a)と
その左右両側で後方へ延びる副ケース(20b)とからな
る植付ケース(20)の上側に左右に往復横移動する苗タ
ンク(21)を設け、副ケース(20b)の左右両側に苗植
付具(22)、(22)…を設け、当該植付ケース(20)の
下側には、中央に中央部接地フロート(23)をその左右
両側に側部接地フロート(24a)、(24b)を後側を両方
向の支軸で枢着して前部が上下動自由となるようリンク
(25)、(26)で取付けた構成になつている。そして、
これら各接地フロート(23)、(24a)、(24b)は夫々
次の表土面検出体になつている。即ち、中央部接地フロ
ート(23)の前部と主ケース(20a)に一体の前枠(2
7)との間に第1油圧切替バルブ(28)を設けて、当該
中央部接地フロート(23)の前部が一定の範囲から上動
するとき前記ピストン(17b)を突出して作業機(19)
を上昇し、下動するとピストン(17b)が引込んで作業
機(19)を下降するよう設けている。
(19) is a working machine, which is a rice transplanter in the illustrated example, which is attached to the hitch frame (16) and includes a main case (20a) in the center of the left and right sides and a sub case (20b) extending rearward on both left and right sides thereof. A seedling tank (21) that reciprocates laterally is provided on the upper side of the planting case (20), and seedling planting tools (22), (22), etc. are provided on the left and right sides of the sub-case (20b). On the lower side of the attached case (20), the central grounding float (23) is centrally attached, and the side grounding floats (24a) and (24b) are pivotally attached to the left and right sides of the case with the support shafts in both directions. The parts are attached with links (25) and (26) so that the parts can move up and down freely. And
Each of these grounding floats (23), (24a), (24b) serves as the next surface soil surface detection body. That is, the front frame (2) integrated with the front part of the central grounding float (23) and the main case (20a).
A first hydraulic pressure switching valve (28) is provided between the work machine (19) and the central part grounding float (23) so that the piston (17b) projects when the front part moves upward from a certain range. )
Is provided so that the piston (17b) retracts and the working machine (19) descends when it is moved up and down.

また、側部接地フロート(24a)、(24b)の前部にワイ
ヤー(29a)、(29b)の一端を取付け、前記前枠(27)
に取付けた第2油圧切替バルブ(30)の切替レバー(3
1)にワイヤー(29a)、(29b)の他端を取付けてい
る。
Also, attach one end of the wires (29a) and (29b) to the front parts of the side ground floats (24a) and (24b), and connect the front frame (27) to the front frame (27).
The switching lever (3) of the second hydraulic pressure switching valve (30) attached to
The other ends of wires (29a) and (29b) are attached to 1).

このように構成された田植機(19)を走行車体(1)側
のヒツチ枠(16)に装着する構成は、主ケース(20a)
の前側左右中央部を前記ヒツチ枠(16)のローリングボ
ス(16a)に、主ケース(20a)に一体のローリング軸
(32)を挿通してピン(33)で抜止めさせ回動自由にし
たものである。そして、該ローリングボス(16a)に左
右横方向へ向けて回動作動機構としての第2油圧シリン
ダー装置(34)のシリンダー(34a)を取付け、ピスト
ン(34b)と前記田植機(19)の主ケース(20a)に一体
のアーム(35)とを連接して該ピストン(34b)の出、
入により田植機(19)が回動されるよう構成している。
The rice transplanter (19) thus configured is mounted on the hitch frame (16) on the side of the traveling vehicle body (1) in the main case (20a).
The front left and right center parts of the hitch frame (16) were inserted into the rolling boss (16a) of the main case (20a), and the rolling shaft (32) integrated with the main frame (20a) was inserted into the pin (33) to prevent it from rotating. It is a thing. Then, the cylinder (34a) of the second hydraulic cylinder device (34) as a rotary operation mechanism is attached to the rolling boss (16a) in the lateral direction, and the piston (34b) and the main part of the rice transplanter (19) are attached. The case (20a) is connected to the integrated arm (35) so that the piston (34b) comes out,
The rice transplanter (19) is configured to be rotated by turning on.

そして、前記第2油圧切替バルブ(30)で第2油圧シリ
ンダー装置(34)が作動されて、左右の側部接地フロー
ト(24a)、(24b)の高さが略々同一高さとなるよう構
成している。
The second hydraulic pressure switching valve (30) operates the second hydraulic cylinder device (34) so that the left and right side ground contact floats (24a), (24b) have substantially the same height. is doing.

尚、図中(36)は油圧ポンプ、(37)は油圧タンクを示
し、第8図の油圧回路図で示した通り、前記の各油圧シ
リンダー装置及び各油圧切替バルブが回路組みされてい
る。
In the figure, (36) shows a hydraulic pump, (37) shows a hydraulic tank, and as shown in the hydraulic circuit diagram of FIG. 8, the above-mentioned hydraulic cylinder devices and hydraulic switching valves are circuit-assembled.

(38)は第2油圧シリンダー装置(34)のピストン(34
b)の出、入速度を変更する変速機構としての油圧絞り
弁で、図例では前記ローリングボス(16a)とローリン
グ軸(32)との間にオイル流路を構成したものであり、
ローリングボス(16a)を貫通するボス側流路(a)、
(b)と、ローリング軸(32)の左右両側を切削する左
右流路(c)、(d)とこの流路(c)、(d)に連通
して前記下側ボス側流路(b)に通じさせる円周流路
(e)と更に、ローリング軸(32)の左右流路(c)、
(d)間にある細径の中央流路(f)とからなつてい
る。そして、走行車体(1)に対して田植機(19)が回
動していない基準位置にあるとき流路(a)、(b)を
中央流路(f)が連結して油圧ポンプ(37)側からのオ
イルを大きく絞つて第2油圧切替バルブ(30)側へ給送
し、走行車体(1)に対して田植機(19)が左、右に大
きく回動するときは通路の広い左右流路(c)、(d)
を介して流路(a)、(b)が連結されるようになつて
いる。
(38) is the piston (34) of the second hydraulic cylinder device (34)
b) A hydraulic throttle valve as a speed change mechanism for changing the output speed and the input speed. In the illustrated example, an oil passage is formed between the rolling boss (16a) and the rolling shaft (32).
A boss side flow path (a) that penetrates the rolling boss (16a),
(B), the left and right flow paths (c) for cutting both the left and right sides of the rolling shaft (32), and (d) communicating with the flow paths (c), (d) and the lower boss side flow path (b). ), And the left and right flow paths (c) of the rolling shaft (32),
It is composed of a small-diameter central channel (f) between (d). Then, when the rice transplanter (19) is at the reference position where the rice transplanter (19) is not rotated with respect to the traveling vehicle body (1), the central flow path (f) connects the flow paths (a) and (b) to each other and the hydraulic pump (37) is connected. ) Side is greatly squeezed and sent to the second hydraulic pressure switching valve (30) side, and when the rice transplanter (19) makes a large left and right rotation with respect to the traveling vehicle body (1), the passage is wide. Left and right channels (c), (d)
The flow paths (a) and (b) are connected via the.

上例の構成によれば、圃場において苗植付け作業中、耕
盤が深くなると、走行車体(1)の前、後輪(3)、
(3)、(5)、(5)が表土面から深く沈下するため
各接地フロート(23)、(24a)、(24b)が押上げられ
る。このとき、中央部接地フロート(23)で第1油圧切
替バルブ(28)が第1油圧シリンダー装置(17)のピス
トン(17a)を突出するよう切替えられるから昇降リン
ク(12)を介して田植機(19)が上昇される。逆に浅く
なると、中央部接地フロート(23)が下方へ吊下つて下
動するから第1油圧切替バルブ(28)が逆にピストン
(17a)が引込むよう切替えられ田植機(19)が下降す
る。このように、中央部接地フロート(23)の接地圧が
田植作業に適正な一定範囲の接地圧になるよう自動制御
されつつ牽引される。
According to the configuration of the above example, when the tiller becomes deep during the seedling planting work in the field, the front and rear wheels (3) of the traveling vehicle body (1),
Since (3), (5) and (5) sink deeply from the surface soil surface, the ground contact floats (23), (24a) and (24b) are pushed up. At this time, since the first hydraulic pressure switching valve (28) is switched to project the piston (17a) of the first hydraulic cylinder device (17) by the central grounding float (23), the rice transplanter is moved through the lifting link (12). (19) is raised. On the contrary, when it becomes shallower, the central grounding float (23) hangs downward and moves downward, so that the first hydraulic pressure switching valve (28) is switched so that the piston (17a) retracts and the rice transplanter (19) descends. . In this way, the central part grounding float (23) is towed while being automatically controlled so that the grounding pressure is within a certain range suitable for rice planting work.

また、左右の耕盤が同じ深さに保たれているとき、変化
のないときは、走行車体(1)が左右に傾むかないから
左右の側部接地フロート(24a)、(24b)で左右のワイ
ヤー(29a)、(29b)が略々同一の力で引つぱられてい
るから、第2油圧切替バルブ(30)が中立に保たれ、第
2油圧シリンダー装置(34)は作動されない。ところが
左右の耕盤に変動があつて走行車体(1)が左右いずれ
か側に傾むくと、これと共に昇降リンク(12)と第2油
圧シリンダー装置(34)を介して田植機(19)が同一方
向へ傾むくことになる。すると、片方の側部接地フロー
トが押上げられ他方の側部接地フロートが吊下がるから
ワイヤー(29a)と(29b)とを介して第2油圧切替バル
ブ(30)が切替えられ、右側が上方になつて傾むくとき
は第2油圧シリンダー装置(34)のピストン(34b)を
突出させ、逆に、左側が上方になつて傾むくときはピス
トン(34b)を引込めるように切替えられて左右両方の
接地フロート(24a)と(24b)とが略々同一接地圧にな
るよう田植機(19)を回動制御し表土面に対して作業機
としての田植機(19)が左右に傾むかないように維持な
らしめる。
In addition, when the left and right tillers are kept at the same depth and when there is no change, the traveling vehicle body (1) does not lean left or right, so the left and right side ground floats (24a), (24b) Since the wires (29a) and (29b) are pulled by substantially the same force, the second hydraulic pressure switching valve (30) is kept neutral and the second hydraulic cylinder device (34) is not operated. However, when the traveling vehicle body (1) leans to the left or right due to fluctuations in the left and right tillers, along with this, the rice transplanter (19) is moved through the lifting link (12) and the second hydraulic cylinder device (34). It will tilt in the same direction. Then, one side grounding float is pushed up and the other side grounding float is hung, so the second hydraulic pressure switching valve (30) is switched through the wires (29a) and (29b), and the right side is moved upward. When tilted, the piston (34b) of the second hydraulic cylinder device (34) is projected, and conversely, when the left side is tilted upwards, the piston (34b) is retracted so that both sides can be retracted. The grounding floats (24a) and (24b) are controlled to rotate so that the grounding pressures of the grounding floats (24a) and (24b) are almost the same, and the rice transplanter (19) as a working machine does not tilt to the left and right with respect to the surface soil surface. Keep it up like this.

然るに、この第2油圧シリンダー装置(34)のピストン
(34b)の出、入速度はシリンダ(34a)内に送り込まれ
るオイル給送速度で決まるが、この速度は油圧絞り弁
(38)で制御される。即ち、耕盤が左右にほとんど傾む
いていないときは、ローリングボス(16a)とローリン
グ軸(32)との関係が第5図の状態であり、流路(a)
と(b)とは細径の流路(f)で連結されて第2油圧シ
リンダー装置(34)の制御速度が緩慢になる。逆に、耕
盤が左右に大きく傾むいているときは、流路(a)と
(b)は左右の流路(c)あるいは(d)と円周流路
(e)とを介して連結され、制御速度が速くなる。
Therefore, the exit / entry speed of the piston (34b) of the second hydraulic cylinder device (34) is determined by the oil feeding speed fed into the cylinder (34a), and this speed is controlled by the hydraulic throttle valve (38). It That is, when the tiller is not tilted to the left or right, the relationship between the rolling boss (16a) and the rolling shaft (32) is as shown in FIG.
And (b) are connected by a small-diameter flow path (f), so that the control speed of the second hydraulic cylinder device (34) becomes slow. On the contrary, when the cultivator is greatly inclined to the left and right, the flow paths (a) and (b) are connected via the left and right flow paths (c) or (d) and the circumferential flow path (e), Control speed becomes faster.

したがつて、走行車体(1)が左右に大きく傾むくよう
な凹凸の激しい圃場での作業では迅速な回動制御によつ
て田植機(19)側を作動して泥押しを防止し、耕盤が平
滑な圃場での回動制御はゆつくりと制御されて小刻みに
左右へ振動するのを防止する。
Therefore, in the work in the field where the traveling vehicle body (1) is greatly inclined left and right, the rice transplanter (19) side is actuated by the swivel control to prevent mud pushing and The rotation control in the field where the board is smooth is controlled flexibly to prevent oscillating right and left in small steps.

〔作用効果〕[Action effect]

以上、この発明は前記の技術手段を講じたことにより、
左右に変化の少ない圃場で作業するときは作業機の左右
回動制御を緩慢にして小刻みな振動を与えないで円滑な
作業状態を維持ならしめ、左右の変化の大きい圃場では
迅速に左右回動制御を行わしめて走行抵抗を少なくして
的確に作業状態できる作用効果を奏する。
As described above, the present invention is provided with the above technical means,
When working in a field with little left / right change, the control of the work machine's left / right rotation is slowed down to maintain a smooth working state without giving small vibrations, and in a field with large left / right change, it quickly turns left / right. By performing the control, the running resistance can be reduced, and the working effect that the working state can be accurately achieved is achieved.

【図面の簡単な説明】[Brief description of drawings]

図は、この発明の一実施例を示したもので、第1図は一
部断面の側面図、第2図は平面図、第3図は要部の平面
図、第4図は要部の側断面図、第5図と第6図は要部の
作用状態を示した背断面図、第7図は要部の簡略背面
図、第8図は油圧回路図である。 図中記号、(1)は走行車体、(19)は作業機(田植
機)(24a)、(24b)は表土面検出体としての側部接地
フロート、(32)はローリング軸、(34)は回動作動機
構としての第2油圧シリンダー装置、(38)は変速機構
としての油圧絞り弁を示す。
FIG. 1 shows an embodiment of the present invention. FIG. 1 is a side view of a partial cross section, FIG. 2 is a plan view, FIG. 3 is a plan view of essential parts, and FIG. Side sectional views, FIGS. 5 and 6 are back sectional views showing the operating state of the main part, FIG. 7 is a simplified rear view of the main part, and FIG. 8 is a hydraulic circuit diagram. Symbols in the figure, (1) is a traveling vehicle body, (19) is a working machine (rice transplanter) (24a), (24b) is a side ground contact float as a surface soil surface detector, (32) is a rolling shaft, (34) Is a second hydraulic cylinder device as a rotating mechanism, and (38) is a hydraulic throttle valve as a speed change mechanism.

Claims (1)

【特許請求の範囲】[Claims] 【請求項1】走行車体(1)に対して前後方向のローリ
ング軸(32)のまわりに回動自由に田植機や播種機等の
作業機(19)を装着し、この作業機(19)が作業中の圃
場表土面に沿つて強制的に回動制御するよう表土面検出
体の検出信号に基づき回動作動機構を動作するものにお
いて、走行車体(1)に対する作業機(19)の回動量が
小から大になるときその回動制御速度を低から高に変更
する変速機構を設けてなる農作業機の回動制御装置。
1. A working machine (19) such as a rice transplanter or a seeder is mounted on a traveling vehicle (1) around a rolling shaft (32) in the front-rear direction so as to be freely rotatable, and this working machine (19) is mounted. In which the rotation actuating mechanism is operated based on the detection signal of the surface soil surface detector so as to forcibly control the rotation along the surface soil surface of the working field, the rotation of the working machine (19) with respect to the traveling vehicle body (1) A rotation control device for an agricultural work machine, which is provided with a speed change mechanism that changes the rotation control speed from low to high when the amount of movement increases from small to large.
JP59138634A 1984-07-03 1984-07-03 Rotation control device for agricultural work machines Expired - Lifetime JPH0771415B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP59138634A JPH0771415B2 (en) 1984-07-03 1984-07-03 Rotation control device for agricultural work machines

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP59138634A JPH0771415B2 (en) 1984-07-03 1984-07-03 Rotation control device for agricultural work machines

Publications (2)

Publication Number Publication Date
JPS6119414A JPS6119414A (en) 1986-01-28
JPH0771415B2 true JPH0771415B2 (en) 1995-08-02

Family

ID=15226629

Family Applications (1)

Application Number Title Priority Date Filing Date
JP59138634A Expired - Lifetime JPH0771415B2 (en) 1984-07-03 1984-07-03 Rotation control device for agricultural work machines

Country Status (1)

Country Link
JP (1) JPH0771415B2 (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63226205A (en) * 1987-03-13 1988-09-20 株式会社クボタ Paddy field working vehicle
JP2586569B2 (en) * 1988-04-28 1997-03-05 井関農機株式会社 Work machine attitude control device

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58126703A (en) * 1982-01-21 1983-07-28 株式会社クボタ Earth working vehicle with rolling control

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58126703A (en) * 1982-01-21 1983-07-28 株式会社クボタ Earth working vehicle with rolling control

Also Published As

Publication number Publication date
JPS6119414A (en) 1986-01-28

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