Hilly terrain electric transplanter

Abstract

This utility model discloses an electric rice transplanter for hilly and mountainous areas, belonging to the field of agricultural machinery technology. It includes: a walking drive system, a planting drive system, and a seedling delivery system. The walking drive system includes a walking drive motor and walking components, used to drive the wheels to achieve machine movement. The planting drive system includes a planting drive motor and a planting transmission mechanism, used to drive the planting arm to perform the transplanting action. The seedling delivery system includes a seedling box assembly, an axial seedling delivery mechanism, and a longitudinal seedling delivery mechanism, used to transport seedlings to the seedling picking position of the planting arm. It also includes a power supply device, which supplies power to all electrical components. This electric rice transplanter for hilly and mountainous areas allows the transplanter to adjust its walking and planting speed according to the slope and ground resistance, ensuring the stability of transplanting operations on rugged hilly and mountainous terrain. Furthermore, the coordinated axial and longitudinal seedling delivery mechanisms ensure the uniformity of seedling planting.

Description

Technical Field

[0001] This utility model relates to the field of agricultural machinery technology, and in particular to an electric rice transplanter for hilly and mountainous areas. Background Technology

[0002] Traditional rice transplanters are mostly designed for plains areas. In hilly and mountainous terrains, due to the large undulations and steep slopes, they suffer from problems such as unstable movement, insufficient power, and poor operational flexibility. While some electric rice transplanters have been put into use with the development of electrified and intelligent agricultural machinery, their adaptability in hilly and mountainous areas remains insufficient, especially in terms of seedling delivery accuracy, power distribution, and terrain response, where significant room for improvement is still needed. Furthermore, existing rice transplanters mostly use a unidirectional seedling delivery mechanism, making it difficult to achieve axial and longitudinal coordinated operation, resulting in low transplanting efficiency, uneven seedling distribution, and negatively impacting crop growth quality. Utility Model Content

[0003] To address the shortcomings of the existing technology, the purpose of this utility model is to provide an electric rice transplanter for hilly and mountainous areas. This transplanter can adjust its walking speed and planting speed according to the slope and ground resistance, ensuring the stability of rice transplanting operations on rugged hilly and mountainous terrain. Furthermore, the axial and longitudinal seedling feeding mechanisms working in tandem can ensure the uniformity of seedling planting.

[0004] The technical solution adopted by this utility model to solve its technical problem is as follows: An electric rice transplanter for hilly and mountainous areas is provided, including: a walking drive system, a planting drive system, and a seedling delivery system; The walking drive system includes a walking drive motor and walking components, which are used to drive the wheels of the machine to achieve the movement of the whole machine; The planting drive system includes a planting drive motor and a planting transmission mechanism, which are used to drive the planting arm to realize the rice transplanting action. The seedling delivery system includes a seedling box assembly, an axial seedling delivery mechanism, and a longitudinal seedling delivery mechanism, used to transport seedlings to the seedling picking position of the planting arm; It also includes a power supply device that supplies power to each electrical component.

[0005] Furthermore, the output shaft of the walking drive motor is connected to the input shaft of the walking component, and the walking component includes a reduction gearbox, the output of which drives the walking wheels.

[0006] Furthermore, the planting transmission mechanism includes a planting power input shaft, which is driven to rotate by the planting drive motor. The planting power input shaft meshes with the transmission box input shaft through a first bevel gear set, thereby achieving a first 90° change in the power transmission direction. The transmission box input shaft meshes with the transmission box planting shaft through a second bevel gear set, thereby achieving a second 90° change in the power transmission direction. The transmission box planting shaft is fixedly connected to an interpolation crank arm, which drives the planting arm to reciprocate through a linkage mechanism.

[0007] Furthermore, the connection between the interpolation crank arm and the planting shaft of the transmission box is an eccentric connection, and the planting arm is rotatably mounted on the interpolation crank arm; a connecting rod is eccentrically connected to the outer wall of the transmission box, one end of the connecting rod is hinged to the outer wall of the transmission box, and the other end is hinged to the end of the planting arm.

[0008] Furthermore, the planting arm is equipped with seedling needles, which are used to complete the seedling picking and planting operations during the reciprocating rotation process.

[0009] Furthermore, the axial seedling feeding mechanism is driven by a planting drive motor, and a drive sprocket is installed on the output shaft of the planting drive motor; The axial seedling feeding mechanism includes a driven sprocket, which is connected to the driving sprocket via a drive chain; the driven sprocket is connected to the flower shaft, which is a reciprocating screw structure; A slider seat is fitted on the flower shaft. The slider seat restricts its relative movement with the flower shaft through a slider locking piece, so that when the flower shaft rotates, it drives the slider seat to reciprocate along the flower shaft axis. The slider seat can drive the seedling box assembly to reciprocate along the slide rail.

[0010] Furthermore, the longitudinal seedling feeding mechanism includes the flower shaft deflector, with one flower shaft deflector on each side of the flower shaft and driven to rotate by the flower shaft; The seedling box assembly is equipped with a fork shaft, the two ends of which are rotatably connected to the seedling box assembly. A seedling feeding plate is also installed on the fork shaft, which can be moved by a flower shaft wheel. The seedling feeding plate is driven by the axial seedling feeding mechanism and moves axially back and forth together. The rotation of the seedling feeding plate can drive the fork shaft to rotate, which in turn drives the seedling feeding belt to rotate, thereby realizing longitudinal seedling feeding. The seedling feeding plate is provided on each of the left and right sides of the fork shaft, and the seedling feeding plate on each side can be moved by the flower shaft wheel on each side.

[0011] Furthermore, a seedling feeding plate is also connected to the fork shaft. The seedling feeding plate is connected to the first seedling feeding plate. The first seedling feeding plate is connected to the input end of the seedling feeding one-way clutch and can drive it to rotate. The seedling feeding one-way clutch drives the seedling feeding belt to rotate in one direction through a hexagonal shaft to achieve longitudinal seedling feeding. A tension spring connects the seedling feeding blade to the frame, and the tension spring enables the automatic return of the fork shaft to its original position.

[0012] Furthermore, it also includes a manual seedling feeding mechanism, which includes a seedling feeding handle assembly. The seedling feeding handle assembly is connected to a second seedling feeding deflector plate. The second seedling feeding deflector plate is connected to the input end of a one-way seedling feeding clutch and can drive it to rotate, thereby realizing manual longitudinal seedling feeding.

[0013] Furthermore, it also includes a drive motor speed controller assembly, which is used to control the walking drive motor and the planting drive motor.

[0014] Compared with the prior art, the beneficial effects of this utility model are as follows: 1. The electric rice transplanter for hilly and mountainous areas of this utility model uses a rechargeable battery as a power source, which realizes zero emissions in field operations and has low motor noise, which can significantly reduce noise pollution. In addition, the walking drive motor and the planting drive motor are set independently, which can realize independent control of walking speed and planting frequency. This allows it to maintain the uniformity of planting spacing and operational stability when operating on uneven terrain such as slope bottoms and terraces. It effectively solves the problems of unstable walking and uneven planting depth caused by rigid power matching of traditional rice transplanters on complex terrain. 2. The electric rice transplanter for hilly and mountainous areas described in this utility model adopts direct motor drive, which has a simple power transmission path. Compared with traditional hydraulic transmission or complex mechanical transmission mechanisms, it has higher mechanical efficiency and less energy loss, which enables the battery power to be effectively utilized and significantly extends the working duration. 3. The electric rice transplanter for hilly and mountainous areas described in this utility model is driven by a planting drive motor for both the axial and longitudinal seedling feeding mechanisms. The axial seedling feeding is achieved through the flower shaft-slider seat mechanism, which realizes the stable and precise axial reciprocating motion of the seedling box. The longitudinal seedling feeding is achieved through the linkage of the flower shaft dial wheel-seedling feed plate-one-way clutch, which realizes the synchronous, quantitative, and unidirectional intermittent seedling feeding with the axial motion. This coordinated mechanism can avoid the problems of seedling jamming, seedling leakage and seedling damage, and ensure the uniformity of seedling planting and the survival rate. Attached Figure Description

[0015] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 This is a schematic diagram of the structure of this utility model; Figure 2 This is a schematic diagram of the structure from another perspective; Figure 3 This is a schematic diagram of the walking drive system structure; Figure 4 This is a schematic diagram of the planting drive system (transmission box not shown). Figure 5 This is a schematic diagram of the planting transmission mechanism. Figure 6 This is a schematic diagram of the transmission box structure; Figure 7 This is a schematic diagram of the axial seedling feeding mechanism. Figure 8 Side view of the slider seat; Figure 9-10 This is a schematic diagram of the longitudinal seedling feeding mechanism.

[0016] In the diagram: 1-Walking drive system, 101-Walking drive motor, 102-Walking wheel, 103-Walking components; 2-Planting drive system, 201-Planting drive motor, 202-Planting arm, 203-Drive sprocket, 204-Planting power input shaft, 205-First bevel gear set, 206-Second bevel gear set, 207-Transmission box input shaft, 208-Transmission box planting shaft, 209-Interpolation crank arm, 210-Connecting rod, 211-Seedling needle; 3-Seedling feeding system, 301-Driven sprocket, 302-Drive chain, 303-Flower shaft, 304-Slider seat, 305-Slider lock plate, 306-Sliding sleeve bracket, 307-Seedling feeding cover plate, 308-Tie rod shaft, 309-Seedling box assembly, 310-Slide rail, 311-Flower shaft dial wheel, 312-Seedling feeding dial plate, 313-First seedling feeding dial plate, 314-Seedling feeding one-way clutch, 315-Hexagonal shaft, 316-Seedling feeding dial, 317-Dial fork shaft, 318-Seedling feeding handle assembly, 319-Second seedling feeding dial plate, 320-Tension spring; 4-Drive motor speed controller assembly; 5- Rechargeable lithium battery. Detailed Implementation

[0017] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the relevant utility model and not intended to limit the scope of the utility model. Furthermore, it should be noted that, for ease of description, only the parts relevant to the utility model are shown in the accompanying drawings.

[0018] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0019] like Figure 1-2 As shown, this embodiment provides an electric rice transplanter for hilly and mountainous areas, which mainly includes a frame, a walking drive system 1, a planting drive system 2, a seedling delivery system 3, a drive motor speed regulator assembly 4, and a power supply device.

[0020] Specifically, such as Figure 3 As shown, the walking drive system 1 includes a walking drive motor 101 and a walking component 103, used to drive the wheels 102 to achieve overall machine movement. In this embodiment, the walking drive motor 101 is fixed to the frame, and its output shaft is connected to the input shaft of the walking component 103. The walking component 103 includes a reduction gearbox, the output end of which drives the wheels 102, thereby enabling the machine to move forward and backward, adapting to the rugged terrain of hilly and mountainous areas.

[0021] The planting drive system 2 includes a planting drive motor 201 and a planting transmission mechanism, used to drive the planting arm 202 to perform the rice transplanting action. Specifically, as shown... Figure 4-6 As shown, the planting drive motor 201 is fixed to the frame. The planting drive motor 201 drives the planting power input shaft 204 to rotate. The planting power input shaft 204 meshes with the transmission box input shaft 207 through a first bevel gear set 205. This gear set consists of two mutually perpendicular meshing gears, achieving a first 90° change in the power transmission direction through the first bevel gear set 205. The transmission box input shaft 207 meshes with the transmission box planting shaft 208 through a second bevel gear set 206, achieving a second 90° change in the power transmission direction through the second bevel gear set 206. The transmission box planting shaft 208 is fixedly connected to an interpolation crank arm 209, which drives the planting arm 202 to reciprocate. The planting arm 202 is equipped with seedling needles 211, used to complete the seedling picking and planting operations during the reciprocating swing. Specifically, both ends of the transmission box planting shaft 208 extend out of the transmission box, driving the planting arms 202 on both sides to move respectively. The interpolation crank arm 209 is eccentrically connected to the planting shaft 208 of the transmission box, and the planting arm 202 is rotatably mounted on the interpolation crank arm 209. A connecting rod 210 is eccentrically connected to the outer wall of the transmission box. One end of the connecting rod 210 is hinged to the outer wall of the transmission box, and the other end is hinged to the end of the planting arm 202. When the planting shaft 208 of the transmission box rotates continuously, the interpolation crank arm 209 performs a circular motion, which, through the push and pull of the connecting rod 210, is converted into the reciprocating swing of the planting arm 202 around the interpolation crank arm 209. The seedling needle 211 fixed at the end of the planting arm 202 moves accordingly. When the planting arm 202 swings towards the seedling gate, the seedling needle 211 picks up the seedling and inserts it into the soil; when the planting arm 202 swings in the opposite direction, the seedling needle 211 returns empty, completing one planting cycle.

[0022] The seedling delivery system 3 includes a seedling box assembly 309, an axial seedling delivery mechanism, and a longitudinal seedling delivery mechanism, used to transport seedlings to the seedling collection position of the planting arm 202. Specifically, as shown... Figure 7 As shown, the axial seedling feeding mechanism drives the seedling box assembly 309 to reciprocate axially along the slide rail 310, ensuring continuous seedling supply. Its power source is the planting drive motor 201. Specifically, a drive sprocket 203 is mounted on the output shaft of the planting drive motor 201. The axial seedling feeding mechanism includes a driven sprocket 301, which is connected to the drive sprocket 203 via a drive chain 302. The driven sprocket 301 is connected to a flower shaft 303, which is a reciprocating lead screw structure. A slider seat 304 is fitted onto the flower shaft 303, as shown... Figure 8 As shown, the slider seat 304 restricts its relative movement with the flower shaft 303 through the slider locking piece 305, so that when the flower shaft 303 rotates, it drives the slider seat 304 to reciprocate along the axial direction of the flower shaft 303. A sliding sleeve bracket 306 is fixed above the slider seat 304. The sliding sleeve bracket 306 is connected to a seedling feeding cover plate 307. The seedling feeding cover plate 307 is connected to a pull rod shaft 308. The pull rod shaft 308 is connected to the seedling box assembly 309. The reciprocating motion of the slider seat 304 is ultimately transmitted to the seedling box assembly 309 through components such as the sliding sleeve bracket 306, the seedling feeding cover plate 307, and the pull rod shaft 308, realizing the overall axial reciprocating seedling feeding.

[0023] The longitudinal seedling feeding mechanism is used to intermittently transport seedlings towards the planting arm 202. Its power also originates from the rotational motion of the seedling shaft 303 and works in conjunction with the axial seedling feeding. A seedling shaft deflector 311 is fixedly mounted on the seedling shaft 303. In this embodiment, as shown... Figure 9-10As shown, one flower shaft deflector 311 is provided in each of the left and right directions. When the flower shaft 303 rotates, the flower shaft deflector 311 rotates accordingly. Simultaneously, a fork shaft 317 is installed on the seedling box assembly 309. Both ends of the fork shaft 317 are rotatably connected to the seedling box assembly 309, and seedling feeding plates 312 are installed on both sides of the fork shaft 317. The two seedling feeding plates 312 can be actuated by the flower shaft deflectors 311 on both sides. The seedling feeding plates 312 are driven by the axial seedling feeding mechanism and reciprocate axially with the seedling box assembly 309. When the seedling feeding plates 312 move to a specific position, they enter the rotation trajectory range of the flower shaft deflector 311, and the two rotate tangentially. The flower shaft deflector 311 actuates the seedling feeding plates 312, causing them to produce a slight displacement. A seedling feeding plate 316 is also connected to the fork shaft 317. The seedling feeding plate 316 is rotatably connected to a first seedling feeding plate 313. The seedling feeding plate 316 can rotate with the fork shaft 317, and the swinging of the seedling feeding plate 316 pushes the first seedling feeding plate 313 to move. The first seedling feeding plate 313 is rotatably connected to a one-way seedling feeding clutch 314 and drives the one-way seedling feeding clutch 314 to rotate. The one-way seedling feeding clutch 314 drives the seedling feeding belt to rotate in one direction in the forward direction through a hexagonal shaft 315, realizing longitudinal seedling feeding. Specifically, when the first seedling feeding plate 313 drives the inner ring of the one-way seedling feeding clutch 314 to rotate, the outer ring of the one-way seedling feeding clutch 314 is fixedly connected to the hexagonal shaft 315. When the inner ring rotates clockwise, the clutch engages, driving the hexagonal shaft 315 to rotate; when the inner ring rotates counterclockwise, the clutch slips, and the hexagonal shaft 315 does not rotate. The rotation of the hexagonal shaft 315 drives the seedling feeding pulley on it to rotate, thereby causing the seedling feeding belt to perform unidirectional, forward intermittent motion, conveying the seedlings forward one grid, achieving longitudinal seedling feeding. Bidirectional drive is achieved through the cooperation of the flower shaft deflectors 311 on both sides and the seedling feeding deflector 312. In addition, a tension spring 320 connects the seedling feeding deflector 316 to the frame, and the tension spring 320 enables the automatic return of the deflector shaft 317 to its original position.

[0024] To address emergency situations in the field, this embodiment also includes a manual seedling feeding mechanism. Specifically, the manual seedling feeding mechanism includes a seedling feeding handle assembly 318, which is rotatably connected to a second seedling feeding guide plate 319. The second seedling feeding guide plate 319 is also rotatably connected to a seedling feeding one-way clutch 314 and can drive the seedling feeding one-way clutch 314 to rotate, thereby achieving manual longitudinal seedling feeding. The manual mode and the automatic mode do not interfere with each other.

[0025] In this embodiment, both the walking drive motor 101 and the planting drive motor 201 are controlled by the drive motor speed regulator component 4. The component receives operation commands and independently controls the start, stop, and speed of the walking drive motor 101 and the planting drive motor 201, enabling independent control of the walking speed and planting frequency. This ensures that when operating on uneven terrain such as slopes and terraces, the uniformity of the planting spacing and the stability of the operation are maintained. This effectively solves the problems of unstable walking and uneven planting depth caused by rigid power matching in traditional rice transplanters on complex terrain.

[0026] The power supply device in this embodiment uses a rechargeable lithium battery 5, which is fixed on the frame to provide power to the whole machine. Using a rechargeable battery as a power source achieves zero emissions in field operations, and the motor noise is low, which can significantly reduce noise pollution.

[0027] During operation, the machine is powered by a battery. The operator starts the walking drive motor 101 and the planting drive motor 201 via the drive motor speed controller assembly 4. The walking drive motor 101 propels the entire machine forward at a constant speed; the planting drive motor 201 simultaneously drives the planting mechanism to perform the transplanting action, drives the axial seedling feeding mechanism to move the seedling box laterally, and indirectly drives the longitudinal seedling feeding mechanism to feed seedlings longitudinally via the flower shaft dial 311. These three actions originate from a single motor and are strictly synchronized, ensuring the accuracy of the plant spacing and seedling picking. Independent motor speed regulation allows the machine to flexibly adjust its walking and planting speeds according to the terrain, ensuring the quality of operation and passability in hilly and mountainous areas.

[0028] Those skilled in the art should understand that the scope of the utility model involved in this application is not limited to the technical solutions formed by specific combinations of the above-mentioned technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-mentioned technical features or their equivalent features without departing from the inventive concept. For example, technical solutions formed by substituting the above-mentioned features with technical features disclosed in this application (but not limited to) that have similar functions.

Claims

1. An electric rice transplanter for hilly and mountainous areas, characterized in that, include: Walking drive system (1), planting drive system (2) and seedling delivery system (3); The walking drive system (1) includes a walking drive motor (101) and a walking component (103) for driving the wheels (102) to achieve the movement of the whole machine; The planting drive system (2) includes a planting drive motor (201) and a planting transmission mechanism, which are used to drive the planting arm (202) to realize the rice transplanting action. The seedling delivery system (3) includes a seedling box assembly (309), an axial seedling delivery mechanism and a longitudinal seedling delivery mechanism, used to deliver seedlings to the seedling picking position of the planting arm (202). The power source of the axial seedling delivery mechanism and the longitudinal seedling delivery mechanism is the planting drive motor (201). It also includes a power supply device that supplies power to each electrical component.

2. The electric rice transplanter for hilly and mountainous areas according to claim 1, characterized in that, The output shaft of the walking drive motor (101) is connected to the input shaft of the walking component (103), which includes a reduction gearbox whose output end drives the walking wheel (102).

3. The electric rice transplanter for hilly and mountainous areas according to claim 1, characterized in that, The planting transmission mechanism includes a planting power input shaft (204), which is driven to rotate by the planting drive motor (201). The planting power input shaft (204) meshes with the transmission box input shaft (207) through a first bevel gear set (205), and the first 90° change in the power transmission direction is achieved through the first bevel gear set (205). The transmission box input shaft (207) meshes with the transmission box planting shaft (208) through a second bevel gear set (206), and the second 90° change in the power transmission direction is achieved through the second bevel gear set (206). The transmission box planting shaft (208) is fixedly connected to an interpolation crank arm (209), and the interpolation crank arm (209) drives the planting arm (202) to reciprocate through a connecting rod (210) mechanism.

4. The electric rice transplanter for hilly and mountainous areas according to claim 3, characterized in that, The interpolation crank arm (209) is connected to the transmission box planting shaft (208) by an eccentric connection. The planting arm (202) is rotatably mounted on the interpolation crank arm (209). A connecting rod (210) is eccentrically connected to the outer wall of the transmission box. One end of the connecting rod (210) is hinged to the outer wall of the transmission box, and the other end is hinged to the end of the planting arm (202).

5. The electric rice transplanter for hilly and mountainous areas according to claim 1, characterized in that, The planting arm (202) is equipped with a seedling needle (211) for completing the seedling picking and transplanting operations during the reciprocating rotation process.

6. The electric rice transplanter for hilly and mountainous areas according to claim 1, characterized in that, The axial seedling feeding mechanism is driven by a planting drive motor (201), and a drive sprocket (203) is installed on the output shaft of the planting drive motor (201). The axial seedling feeding mechanism includes a driven sprocket (301), which is connected to the driving sprocket (203) via a drive chain (302); the driven sprocket (301) is connected to the flower shaft (303), which is a reciprocating screw structure; A slider seat (304) is fitted on the flower shaft (303). The slider seat (304) restricts its relative movement with the flower shaft (303) through a slider locking piece (305), so that when the flower shaft (303) rotates, it drives the slider seat (304) to reciprocate along the axial direction of the flower shaft (303). The slider seat (304) can drive the seedling box assembly (309) to reciprocate along the slide (310) axially.

7. The electric rice transplanter for hilly and mountainous areas according to claim 1, characterized in that, The longitudinal seedling feeding mechanism includes a flower shaft deflector (311), one of which is set in the left and right directions of the flower shaft (303) and is driven to rotate by the flower shaft (303); The seedling box assembly (309) is equipped with a fork shaft (317), the two ends of which are rotatably connected to the seedling box assembly (309). A seedling feeding plate (312) is also installed on the fork shaft (317). The seedling feeding plate (312) can be moved by the flower shaft wheel (311). The seedling feeding plate (312) is driven by the axial seedling feeding mechanism and moves axially back and forth together. The rotation of the seedling feeding plate (312) can drive the fork shaft (317) to rotate, thereby driving the seedling feeding belt to rotate, so as to realize longitudinal seedling feeding. The seedling feeding plate (312) is provided on both the left and right sides of the fork shaft (317), and the seedling feeding plate (312) on both sides can be moved by the flower shaft deflector (311) on both sides respectively.

8. The electric rice transplanter for hilly and mountainous areas according to claim 7, characterized in that, The fork shaft (317) is also connected to a seedling feeding plate (316), which is connected to the first seedling feeding plate (313) in a transmission connection. The first seedling feeding plate (313) is connected to the input end of the seedling feeding one-way clutch (314) in a transmission connection and can drive it to rotate. The seedling feeding one-way clutch (314) drives the seedling feeding belt to rotate in one direction through the hexagonal shaft (315) to achieve longitudinal seedling feeding. A tension spring (320) connects the seedling feeding blade (316) to the frame, and the tension spring (320) enables the automatic return of the fork shaft (317) to its original position.

9. The electric rice transplanter for hilly and mountainous areas according to claim 8, characterized in that, It also includes a manual seedling feeding mechanism, which includes a seedling feeding handle assembly (318), which is connected to a second seedling feeding insert plate (319). The second seedling feeding insert plate (319) is connected to the input end of a seedling feeding one-way clutch (314) and can drive it to rotate, thereby realizing manual longitudinal seedling feeding.

10. The electric rice transplanter for hilly and mountainous areas according to claim 1, characterized in that, It also includes a drive motor speed controller assembly (4) for controlling the walking drive motor (101) and the planting drive motor (201).

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