KR20170055708A - Seedling transplantation apparatus - Google Patents

Seedling transplantation apparatus Download PDF

Info

Publication number
KR20170055708A
KR20170055708A KR1020150158788A KR20150158788A KR20170055708A KR 20170055708 A KR20170055708 A KR 20170055708A KR 1020150158788 A KR1020150158788 A KR 1020150158788A KR 20150158788 A KR20150158788 A KR 20150158788A KR 20170055708 A KR20170055708 A KR 20170055708A
Authority
KR
South Korea
Prior art keywords
curvature
steering
seedling
sensing
traveling
Prior art date
Application number
KR1020150158788A
Other languages
Korean (ko)
Other versions
KR101790572B1 (en
Inventor
이신혁
강태경
Original Assignee
(주)조은농기계
대한민국(농촌진흥청장)
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 (주)조은농기계, 대한민국(농촌진흥청장) filed Critical (주)조은농기계
Priority to KR1020150158788A priority Critical patent/KR101790572B1/en
Publication of KR20170055708A publication Critical patent/KR20170055708A/en
Application granted granted Critical
Publication of KR101790572B1 publication Critical patent/KR101790572B1/en

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C11/00—Transplanting machines
    • A01C11/02—Transplanting machines for seedlings
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • A01B69/003—Steering or guiding of machines or implements pushed or pulled by or mounted on agricultural vehicles such as tractors, e.g. by lateral shifting of the towing connection
    • A01B69/004—Steering or guiding of machines or implements pushed or pulled by or mounted on agricultural vehicles such as tractors, e.g. by lateral shifting of the towing connection automatic
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • A01B69/007—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
    • A01B69/008—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow automatic
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C11/00—Transplanting machines
    • A01C11/006—Other parts or details or planting machines

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Soil Sciences (AREA)
  • Environmental Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Guiding Agricultural Machines (AREA)

Abstract

More particularly, the present invention relates to a seedling transplanting apparatus equipped with an automatic running function, and more particularly, to an apparatus and a method for operating a seedling transplanting apparatus, To a seedling implanting apparatus equipped with an automatic steering function capable of saving manpower while securing continuity of work according to the present invention.

Description

SEEDLING TRANSPLANTATION APPARATUS < RTI ID = 0.0 >

More particularly, the present invention relates to a seedling transplanting apparatus equipped with an automatic running function, and more particularly, to an apparatus and a method for operating a seedling transplanting apparatus, To a seedling implanting apparatus equipped with an automatic steering function capable of saving manpower while securing continuity of work according to the present invention.

After the opening of the agricultural products market, the cultivation area is increasing as the crops have higher income compared to the rice cultivation.

In particular, crops such as onion, green onion, and garlic, which have high domestic consumption, are growing in their growing area. In case of crops with a wide cultivation area, in order to increase the success rate of germination and to manage efficiently in the cultivation process, It is common to plant seeds after sowing and germination.

In this case, in order to transplant seedlings germinated on seedlings to the plantation area, generally, workers carry a certain number of seedlings and dig a vinyl paper of a plantation ground covered with vinyl paper for warming, And a series of tasks to cover the soil again.

In addition to the time required for transplanting the seedlings as described above, when all the seedlings are transplanted, it is necessary to go back to a certain number of seedlings to carry seedlings again, Therefore, the labor intensity is so high that workers are avoiding work.

Therefore, not only is it difficult to obtain the manpower required for the seedling transplantation work in the farm, but also the labor cost is increased due to the scarcity of the workforce, which causes the increase of the production cost. There was a problem that the cultivation could not be performed smoothly.

In order to solve the above problems, a main frame having a plurality of conveying wheels is provided. A main latch disk connected to at least one of the plurality of conveying wheels to be connected to the driving shaft in a power transmitting manner and provided with a plurality of teeth, an operating latch engaged with the teeth of the main latch disk, An intermittent traveling unit having a latch operating mechanism for positively rotating the main latch disk and the traveling axis by an arrangement angle of the plurality of teeth; A grafting unit having a plurality of hoppers for gripping seedlings or seeds, a hopper lifting device for lifting the plurality of hoppers so that at least a part of the respective hoppers can be ground into the ground to feed at least a part of the seedlings or seeds into the ground, ; And a reverse rotation preventing stopper for preventing reverse rotation of the main latch disc and the driving shaft, which are engaged with the teeth of the main let-off disc, have been developed.

When a seedling is transplanted using a conventional transplanting apparatus as described above, the transplanting operation can be performed easily and quickly even with a considerably small work force.

However, in the conventional seedling transplanting apparatus, one person takes charge of steering and one person puts in a tray to which seedling is planted in the transplanting unit, so that a workforce required for performing each task is required There was a problem.

On the other hand, when one person performs the seedling implantation work, the operator must continuously steer the drive part through manual steering. Therefore, when the seedling implantation work of the tray inserted in the seedling implantation section is completed, the operator turns off the drive section, The transplanting operation was not performed continuously as another trays planted with seedlings were inserted into the seedling transplanting section and then the driving section was steered again, resulting in an increase in the transplanting operation time.

Therefore, in the field of the art, it is urgently required to develop and spread a seedling implanting apparatus having an automatic steering function so that the seedling implantation work can be continuously performed even in a seedling implantation work through a single operator.

Patent Registration No. 10-0432087 Patent Registration No. 10-1176089

It is an object of the present invention, which is devised in view of the above-described needs, to provide an automatic steering apparatus capable of automatically changing a traveling direction of a front wheel in accordance with a curvature of a floor requiring grafting in a steering unit, The automatic steering function is designed to allow the operator to continuously drive along the stairs through the automatic steering function in situations where the operator normally operates the steering wheel manually and the steering wheel is temporarily unavailable, such as changing the seedling tray. Thereby providing a seedling implanting apparatus mounted thereon.

The above object is achieved by the following constitutions provided in the present invention.

In the seedling transplanting apparatus equipped with the automatic running function according to the present invention,

And a seedling transplanting part connected to a rear part of the traveling part to move along the traveling part and to transplant a seedlings to a branch, the seedling transplanting machine comprising:

The traveling unit includes a vehicle body, front and rear wheels disposed on the front and rear of the vehicle body and receiving power from the engine, and a steering unit for adjusting the directions of the front wheels.

The steering unit includes: a steering link connected to the front wheel; a steering shaft linked to the steering link to rotate the front wheel through right and left rotation; A handle for manually rotating the steering shaft; And a forward / reverse motor that rotates the steering shaft electrically,

At least one curvature detection module for detecting lateral curvature of the curb; And a controller for controlling the traveling direction of the front wheels by driving the forward and reverse motors in accordance with the lateral curvature of the bed detected by the curvature detection module to electrically rotate the steering shaft.

Preferably, the curvature detection module comprises a curvature sensing lever disposed on a fixing plate in a pivoting manner through a pivotal axis, circumscribing one end of the curvature sensing lever on a side surface of the curved surface,

And a sensing sensor disposed on the fixing plate and sensing a side curvature of the curtain by sensing a turning angle of the other end of the curvature sensing lever turning in the normal or reverse direction according to a change in side curvature of the curtain.

As described above, according to the present invention, a curved louver detecting module for detecting a curvature of a lattice to enable stable running and a control unit for controlling the steering of the steering unit based on the curvature of the lattice transferred from the curvature detecting module are added , It is possible to implement the manual steering function and the automatic steering function.

Therefore, in the normal situation, the operator manually operates the steering wheel to manually run the vehicle, and the continuous steering operation is performed through the automatic steering function in a situation in which the steering is temporarily difficult such as replacement of the seedling tray.

Therefore, the present invention can improve the efficiency and efficiency of seedling transplanting work while ensuring the continuity of the seedling transplanting work, The time and manpower required for the transplanting operation can be greatly reduced.

In addition, in the present invention, whether or not a grid is formed through the gang-like phase detection module and controlling the continuity or non-stop of the travel through the gantry phase detection module allows the seedling- The problem can be solved.

Fig. 1 shows the entire configuration of a seedling transplanting apparatus proposed as a preferred embodiment of the present invention,
Fig. 2 shows the detailed configuration of the steering apparatus constituting the previous song in the seedling transplanting apparatus according to the present invention,
3 is a detailed configuration of the curvature detection module in the seedling transplanting apparatus according to the present invention,
FIG. 4 shows a detailed configuration of a grating phase detection module in a seedling transplanting apparatus according to the present invention,
FIG. 5 is a graph showing the operating states of the steering apparatus and the wheels according to the detection of the curvature detection module in the seedling implanting apparatus according to the present invention,
FIG. 6 is a view showing operating states of the steering wheel, the steering shaft, and the steering link according to the steering mode of the steering apparatus in the seedling implanting apparatus according to the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a seedling transplanting apparatus according to a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 shows the overall configuration of a seedling implanting apparatus proposed as a preferred embodiment of the present invention, FIG. 2 shows a detailed configuration of a steering apparatus constituting an earlier seedling in a seedling implanting apparatus according to the present invention, 3 shows the detailed configuration of the curvature detection module in the seedling implanting apparatus according to the present invention, FIG. 4 shows the detailed configuration of the gilbery phase detection module in the seedling implanting apparatus according to the present invention, FIG. 6 is a graph showing the operating state of the steering apparatus and the wheels according to the detection of the curvature detection module in the seedling implanting apparatus according to the present invention. FIG. And steering axes, and steering links.

A seedling planting apparatus (1) according to the present invention relates to an apparatus for transplanting seedlings or seedlings into a grid (W) while moving along a grid (W) formed by a tractor. And a seedling transplanting unit 200 which is connected to the rear of the traveling unit 100 and moves along the traveling unit to transplant seedlings into the shed.

The traveling part 100 includes a vehicle body 10 and front and rear wheels 11a and 11b disposed on the front and rear sides of the vehicle body 10 and receiving power from the engine, And a steering unit 20 for adjusting the steering direction.

The steering unit 20 includes a steering link 23 connected to the front wheel 11a and a steering shaft 23 linked to the steering link 23 to rotate the front wheel 11a in the forward / 22); A handle 21 for manually rotating the steering shaft 22; And a forward and reverse motor (25) for rotating the steering shaft (22) by electric rolling.

In the steering unit 20 according to the present invention, the steering shaft 22 and the steering link 23 are connected to each other through the steering piece 24. The steering piece 24 has a sidewise shape, The steering shaft 22 is connected and the steering link 23 is connected to both sides of the steering shaft 22 to convert the rotary motion through the steering shaft 22 to the linear motion of the steering link 23 without a separate gearbox configuration.

Therefore, when the rotational direction of the handle 21 is changed, as the steering shaft 22 disposed at the lower portion of the handle 21 rotates, the steering member 23 rotates in one direction to pull the steering link 23 , The traveling direction of the front wheel 11a connected to the steering link 23 is changed to finally change the traveling direction of the traveling part 100. [

At this time, an angle limiting sensor 12 is added to each end of the vehicle body 10 connected to the front wheel 11a, so that the direction of the front wheel 11a can be prevented from being severely bent by the operation of the handle 21. [

Therefore, it is possible to prevent sudden change of direction of the front wheel 11a due to excessive rotation of the handle 21, and therefore, it is possible to prevent the driving part from rotating due to an overload applied to the engine for changing the direction of the front wheel, Can be prevented.

On the other hand, since the steering is performed only through the manual steering of the operator due to the characteristics of the driving part 100 of the related art, when one person performs the seedling implanting operation, when the tray inserted into the implanting part 200 is replaced, There is a problem in that the seedling transplanting operation can not be performed continuously since the operation of replacing the tray is performed after the starting of the travel unit 100 is stopped.

2, the vehicle body 10 is provided with one or more bedding portions 10 for sensing the lateral curvature of the bed so that the driving portion 100 can move along the bedding W without manual steering of the operator A curvature sensing module (30); And a control unit for controlling the traveling direction of the front wheel 11a by driving the forward and reverse motors 25 according to the side curvature of the gangway W sensed by the curvature detection module 30 to electrically rotate the steering shaft 22, (50).

As shown in FIG. 3, the curvature detection modules 30 and 30 'are disposed in a fixed structure on the fixed base 35 via a rotary shaft 34, A curvature sensing lever 31 which is rotated in the normal or reverse direction according to a change in lateral curvature of the curved surface; (32, 32 ') disposed in the fixed base (34) and sensing the side curvature of the bed by detecting the turning angle of the other end of the curvature sensing lever turning in the normal or reverse direction in accordance with the change in side curvature of the bed do.

Since the roller 31a is disposed at one end of the curvature sensing lever and moves along the curved line while rolling around the curvature of the curved wall W, it is possible to prevent damage to the curvature sensing lever due to continuous contact with the curved wall, It is possible to prevent breakage due to contact with the obstacle by passing through the obstacle through the rolling motion without being caught by obstacles such as stones in the obstacle.

In this embodiment, a cleaning brush 31c is provided on one side of the roller 31a to remove foreign matter such as soil remaining on the surface of the roller 31a.

At this time, the shaft 31a-a of the roller 31a and the shaft 31c-a of the cleaning brush 31c are interlocked with each other in a gear G structure, The cleaning brush 31a and the cleaning brush 31c rotate vertically to remove foreign matter remaining or flowing on the surface of the roller 31a.

As shown in FIG. 3A, the rotary piece 31b is disposed at the other end of the curvature sensing lever. The rotary piece 31b is disposed in the fixed base 34, The controller 50 recognizes the curvature state of the trough W through the trough curvature sensing lever 31 by pressing the sensor 32 or 32 '

The ladder curvature sensing lever 31 is provided with an elongated rod 36 having a long hole to adjust the position of the ladder curvature sensing lever 31 according to the width of the ladder W formed in various sizes, It can be used commonly for the gang (W) manufactured by the standard.

The curvature detection modules 30 and 30 'are preferably disposed in front of the front wheel 11a in order to detect the curvature of the curb and immediately change the advancing angle of the front wheel 11a.

To this end, the tear curvature sensing module 30 or 30 'is rotatably connected to the front of the vehicle body 10 through a link arm 38 bent in an a-shape so as to be located on the inner front side of the front wheel 11a .

A handle is provided at the upper end of the link arm 38 so that the operator can operate the link arm 38 through the handle in a state where the worker is seated in the driver's seat of the travel portion without leaning against the body.

Therefore, when the tear curvature detection module 30 or 30 'is not used, the link arm 38 is lifted through the handle so that the tear curvature detection module 30 or 30' is disposed above the vehicle body 10, It is possible to prevent the curvature detection modules 30 and 30 'from being continuously damaged by contact with obstacles such as rocks or the like located on the ground or the ground when the driving unit 100 does not run on the curb.

In addition, at the front of the vehicle body 10, the vehicle body 10 is provided with at least one phase detection module 40 for sensing the phase of the floor.

4, the grating phase detection module 40 is disposed in the fixed base 45 in a pivoting manner via a rotary shaft 44. One end of the grating phase detection module 40 is circumscribed on the upper surface of the grating, A phase detection lever 41 which pivots up and down in accordance with the rotation of the motor; And a detection sensor (42, 42 ') disposed on the fixed base (44) for sensing the phase of the lattice by detecting the turning angle of the pivoting member provided on the phase sensing lever pivoting up and down according to the phase change of the lattice.

A roller 41a is disposed at one end of the phase sensing lever 41 and moves along the upper surface of the trough W to rotate the trough so as to prevent the phase sensing lever from being damaged due to continuous contact with the trough. Of course, it is prevented from being damaged by contact with an obstacle because it passes through the obstacle through the rolling movement without being caught by an obstacle such as a stone on the curtain.

In this embodiment, a cleaning brush 41c is provided on one side of the roller 41a to remove foreign matter such as soil remaining on the surface of the roller 41a.

At this time, the shaft 41a-a of the roller 41a and the shaft 41c-a of the cleaning brush 41c are interlocked with each other in a gear G structure, The cleaning brush 41a and the cleaning brush 41c rotate vertically to remove foreign matter remaining or flowing on the surface of the roller 41a.

Here, a pivotal piece 41b is disposed at the other end of the gull phasing detection lever, and is disposed on the fixed base 44 and is pivoted up and down in accordance with the phase change of the gull to form a pair of detection sensors 42 and 42 ' By depressing any one of them, it is possible to detect the end point of the bed by sensing the phase change of the bed by the pressurized sensing sensor 42.

Therefore, when the gull phasing detection lever 50 recognizes that the gull end has reached the end point of the gart through the phase change of the gart, the start of the engine is forcibly stopped or the power transmission portion formed between the engine and the rear wheel 11b So that the movement of the seedling-plant-implanting apparatus 1 can be stopped.

Here, the running stop means for stopping the start of the engine or for blocking the power transmission of the power transmitting portion can be implemented to the technical level of the related art, so that detailed description and drawings thereof are omitted in the present specification .

However, in the present invention, the gimbal phase detection module 40 and the travel stop means are linked up and down through the control unit, and if the gimbal is not detected by the gimbal detection by the gimbal phase detection module, So that the running of the vehicle body is stopped, and this is also within the scope of the present invention.

In addition, the gull phasing detection lever 41 is provided with an elongated rod 46 having a long hole to adjust the position of the gull phasing detection lever 41 according to the height of the gull W formed in various sizes, It can be used commonly for the gang (W) manufactured by the standard.

The curvature detection module 30 can largely distinguish two operating states when the curved shape of curved curved curved walls is formed when the curved curved walls are curved when the curved curved walls are curved.

First, as shown in FIG. 5A, when the shape of the lattice is straight without curvature, since the front wheel 11a of the traveling part 100 moves along the center of the lattice, the lattice curvature detection module 30, 30 ') do not turn.

Therefore, since the pivoting piece 31b of the curvature sensing lever connected to the curvature sensing lever 31 does not press the sensing sensor 32, the control unit 50 does not need to perform the direction switching of the driving unit 100 The steering wheel 21 does not operate and the traveling direction of the front wheel 11a maintains the current state as the signal is not transmitted to the forward and reverse motors 25. [

5B, when the shape of the lattice is changed by the terrain, the lattice curvature detection module 30 provided at one side turns along the curvature of the lattice, The pivotal piece 31b of the curvature sensing lever connected to the curvature sensing lever 31 pivots to the inside of the rotary shaft 33 and presses the sensing sensor 32 located inside.

Since the curvature detection lever 31 provided on the other side is pushed forward along the curvature of the curvature W, the curvature detection lever 31 is rotated The piece 31b rotates to the outside of the rotary shaft 33 to press the sensing sensor 32 'located on the outside.

According to the above configuration, the control unit 50 synthesizes the signals received from the detection sensors of the curvature detection modules 30 and 30 ', which are respectively provided on one side and the other side, The steering shaft 22 rotates as the forward / reverse motor 25 rotates through the signal received from the control unit 50. In this case,

The steering link 23 changes the linear motion direction and the traveling direction of the front wheel 11a is changed by the steering link 23, .

Thereafter, when the tear curvature detecting module 30 or 30 'does not detect the curvature of the tether, the tumbler 31b of the curvature sensing lever is restored to the correct position through the restoring member 35 provided on the fixed base The control unit 50 receiving the signal from the sensor 32 sends a signal to the normal / reverse motor 25 to maintain the neutral state, and the rotation of the normal / The steering shaft 22 is rotated to change the traveling direction of the front wheel 11a to be upright.

As described above, according to the above-described configuration, the seedling planting apparatus 1 according to the present invention has an automatic steering function in a situation where the operator normally operates the steering wheel directly by operating the steering wheel manually, And will continue to drive along the course.

Therefore, the present invention can improve the efficiency and efficiency of seedling transplanting work while ensuring the continuity of the seedling transplanting work, The time and manpower required for the transplanting operation can be greatly reduced.

In addition, the steering unit 20 has a problem in that the force for rotating the steering shaft through the rotation of the steering wheel in the manual steering mode through the steering of the operator is consumed together with the force for rotating the forward and reverse motors, The steering wheel 21 is steered through the forward and reverse motors 25 only in the automatic steering mode.

6, a driven pulley 22a is formed on the outer circumferential surface of the steering shaft 22, and an outer peripheral surface of the electric drive shaft 26, which is rotated by the operation of the forward and reverse motors 25, A drive pulley 26a connected to the pulley 22a through a connection belt 27 is formed between the driven pulley 22a and the drive pulley 26a and a clutch lever 28 .

A tension adjusting roller 29 is provided between the driven pulley 22a facing the clutch lever 28 and the drive pulley 26a for urging one side of the connecting belt, The connecting belt 27 is configured to receive a resistance and rotate by the motion of the pulley.

6A, when the clutch lever 28 rotates about the central axis and presses the connecting belt 27, the electric motor 25 is rotated by the rotation of the forward / reverse motor 25, The drive pulley 26 is rotated and the drive pulley 26a provided on the outer circumferential surface of the electric drive shaft 26 rotates.

Here, the connection belt 27 receives resistance by a clutch lever 27 that presses one side of the connection belt 27 to transmit the rotational force of the drive pulley 26a to the driven pulley 22a so that the driven pulley 22a As the steering shaft 22 rotates, the direction of the front wheel 11a can be changed.

On the other hand, in the manual mode, as shown in FIG. 6B, the clutch lever 28 is rotated about the central axis and is spaced apart from the connecting belt 27, so that the connecting belt 27 is loosened.

Therefore, even if the drive pulley 26a is rotated by the normal / reverse motor 25, since the connection belt 27 which is the power transmission means does not receive the resistance and does not rotate, the follower pulley 26a The force will not come out.

Therefore, the operator can manually and automatically change the steering mode through the operation of the clutch lever 28, thereby preventing the rotational force due to the rotation of the forward and reverse motors 25 from being transmitted to the steering shaft 22 through the connecting belt 27 The steering of the steering wheel 21 can be performed even with a small force in the manual steering, so that the fatigue caused by the manual steering can be reduced.

1. Seedling implants
100. Driving part 200. Seedling part
10. Body 11a. Front wheel
11b. Rear 12. Angle limit sensor
20. Steering unit 21. Handle
22. Steering axis 22a. Driven pulley
23. Steering link 24. Steering
25. Inverse motor 26. Electric drive shaft
26a. Driven pulley 27. Connecting belt
28. Clutch lever 29. Tension adjustment roller
30, 30 '. Curvature detection module
31. Curvature sensing lever 31a. roller
31b. Pivoting piece 31c. Cleaning brush
32,32 '. Detection sensor 33. Rotation axis
34. Fixing base 35. Restoring member
36. Extension rod 37. Retaining pin
38. Link Arm
40. Dual phase detection module
41. Phase sense lever 41a. roller
41b. Pivoting piece 41c. Cleaning brush
42, 42 '. Detection sensor 43. Rotation axis
44. Fixing base 45. Restoring member
46. Extension rod 47. Retaining pin
Link arm
50. The control unit
T. Tray w. fillet

Claims (2)

And a seedling transplanting part connected to a rear part of the traveling part to move along the traveling part and to transplant a seedlings to a branch, the seedling transplanting machine comprising:
The traveling unit includes a vehicle body, front and rear wheels disposed on the front and rear of the vehicle body and receiving power from the engine, and a steering unit for adjusting the directions of the front wheels.
The steering unit includes: a steering link connected to the front wheel; a steering shaft linked to the steering link to rotate the front wheel through right and left rotation; A handle for manually rotating the steering shaft; And a forward / reverse motor that rotates the steering shaft electrically,
At least one curvature detection module for detecting lateral curvature of the curb; And a controller for controlling the traveling direction of the front wheels by rotating the steering shaft by driving the forward and reverse motors according to the lateral curvatures of the louvers detected by the curvature detection module. Device [2] The curvature detecting module according to claim 1, wherein the curvature detecting module comprises: a curvature sensing lever disposed on a fixing plate in a pivoting manner through a pivoting shaft, circumscribing one end of the curvature sensing lever on a side surface of the curved surface,
And a sensing sensor disposed on the fixing plate and sensing a side curvature of the floor by detecting a turning angle of the other end of the curvature sensing lever turning in a normal or reverse direction according to a change in side curvature of the floor. Seedling implants.
KR1020150158788A 2015-11-12 2015-11-12 Seedling transplantation apparatus KR101790572B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020150158788A KR101790572B1 (en) 2015-11-12 2015-11-12 Seedling transplantation apparatus

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020150158788A KR101790572B1 (en) 2015-11-12 2015-11-12 Seedling transplantation apparatus

Publications (2)

Publication Number Publication Date
KR20170055708A true KR20170055708A (en) 2017-05-22
KR101790572B1 KR101790572B1 (en) 2017-10-26

Family

ID=59049814

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020150158788A KR101790572B1 (en) 2015-11-12 2015-11-12 Seedling transplantation apparatus

Country Status (1)

Country Link
KR (1) KR101790572B1 (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107439110A (en) * 2017-07-31 2017-12-08 全椒县汊河农机服务专业合作社 A kind of rice transplanter for effectively improving rice transplanting efficiency
KR20190033372A (en) 2017-09-21 2019-03-29 홍승일 Nursery transplant equipment of plant
WO2021015414A1 (en) * 2019-07-23 2021-01-28 주식회사 하다 Self-propelled garlic seeding machine
CN114802427A (en) * 2017-09-13 2022-07-29 洋马动力科技有限公司 Working vehicle
KR20230099111A (en) * 2021-12-27 2023-07-04 주식회사 티와이엠 A device for following ridge between fields for agricultural working vehicles

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102024546B1 (en) * 2018-01-30 2019-09-24 한국생산기술연구원 Steering control device for agricultural vehicles

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006254851A (en) * 2005-03-18 2006-09-28 Kubota Corp Riding type rice transplanter

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107439110A (en) * 2017-07-31 2017-12-08 全椒县汊河农机服务专业合作社 A kind of rice transplanter for effectively improving rice transplanting efficiency
CN114802427A (en) * 2017-09-13 2022-07-29 洋马动力科技有限公司 Working vehicle
KR20190033372A (en) 2017-09-21 2019-03-29 홍승일 Nursery transplant equipment of plant
WO2021015414A1 (en) * 2019-07-23 2021-01-28 주식회사 하다 Self-propelled garlic seeding machine
KR20230099111A (en) * 2021-12-27 2023-07-04 주식회사 티와이엠 A device for following ridge between fields for agricultural working vehicles

Also Published As

Publication number Publication date
KR101790572B1 (en) 2017-10-26

Similar Documents

Publication Publication Date Title
KR101790572B1 (en) Seedling transplantation apparatus
JP5984690B2 (en) Paddy field machine
JP5600892B2 (en) Working machine
JP5276545B2 (en) Paddy field work vehicle
KR101578654B1 (en) A rotary
JP2013022002A (en) Working machine equipped with fertilizer spreader
JP5803278B2 (en) Seedling transplanter
JP5551901B2 (en) Ride type direct seeding machine
JP2011109976A (en) Seedling transplanter for planting multiple row
JP4200832B2 (en) Seedling transplanter
JP5761298B2 (en) Seedling transplanter
JP2007174930A (en) Seedling transplanter with ground working apparatus
JP2011055779A (en) Working vehicle
JP3755355B2 (en) Transplanting machine such as sputum
JP4802637B2 (en) Combine
JP2011050287A (en) Seedling transplanter
JP2009261330A (en) Seedling transplanter
JP5387654B2 (en) Seedling transplanter with ground working device
JP4200299B2 (en) Seedling transplanter
CN205430994U (en) Operating vehicle
JP2006304696A (en) Seedling transplanter
JP2009023388A (en) Riding type work machine
JP2013094103A (en) Transplanter
JP3945372B2 (en) Seedling transplanter
JP2010017092A (en) Seedling planter

Legal Events

Date Code Title Description
A201 Request for examination
E701 Decision to grant or registration of patent right
GRNT Written decision to grant