CN112930801A - Seedling transplanter - Google Patents

Abstract

Provided is a seedling transplanter which can switch a scriber on one side of a row for next seedling transplanting to an action posture from the beginning under the condition of repeatedly driving and rotating and transplanting seedlings in a field, and has good operability. The seedling transplanter comprises: a running vehicle; a seedling transplanting part which is arranged at the rear part of the running vehicle and is provided with a transplanting device; a pair of left and right scribers provided on a traveling vehicle or a seedling transplanting part, the pair of scribers having a scribing body forming a line indicating a traveling position of the traveling vehicle on a field; an attitude switching unit capable of switching the pair of scribers between an active attitude and an inactive attitude; and an operation unit capable of operating the posture switching unit, wherein the posture switching unit is configured to be capable of switching the pair of scribes from the non-acting posture to the acting posture independently from the left and right, and simultaneously switching the pair of scribes from the acting posture to the non-acting posture.

Description

Seedling transplanter

Technical Field

The invention relates to a seedling transplanter with a scriber.

Background

Conventionally, there has been known a seedling transplanter including a traveling vehicle, a seedling planting unit attached to a rear portion of the traveling vehicle, and a pair of scribers attached to left and right sides of the traveling vehicle or the seedling planting unit.

In general, a seedling transplanter is configured to travel in one row in one direction along one side of a field, to plant seedlings into the field, to rotate when reaching an end of the field, to travel in the opposite direction in adjacent rows, to plant seedlings into the field, to rotate again when reaching an end of the field, to travel in the one direction in adjacent rows and plant seedlings into the field, and to travel in the same manner as below in the entire field and plant seedlings into the entire field (the travel of the seedling transplanter in this manner will be referred to as "repeat travel").

Each of the pair of markers has a wheel-like marker body that rolls on the field to form a line, and the line on the field is formed by bringing one of the pair of markers into contact with the field by a switching means such as a motor and rolling the marker body on the field as the traveling vehicle travels. Therefore, the pair of scribers are configured to be switchable between an operating posture in which the scribing body is in contact with the field to form a line in the field and a non-operating posture in which the scribing body is not in contact with the field to form a line in the field.

For example, patent document 1 discloses a seedling transplanter configured to travel by switching one of the scribes attached to the right and left sides of a seedling planting unit set in an inactive posture in a standard state to an active posture at a planting start position in a field, to automatically switch the scriber set in the active posture so far to the inactive posture when a traveling vehicle is rotated at an end of the field, and to automatically switch the other scriber to the active posture after the rotation.

In the seedling transplanter described in patent document 1, as a switch for operating a marker, there are provided: an automatic switch for executing control to switch the left scriber to an acting posture, then automatically switch the posture of the scriber in the acting posture to a non-acting posture during the rotation of the seedling transplanter, and automatically switch the posture of the other scriber in the non-acting posture to the acting posture after the rotation of the seedling transplanter; a switch for switching the scribers in the non-action posture into the action posture; a left-right switching switch which switches the scriber in the action posture to the non-action posture and switches the other scriber in the non-action posture to the action posture when only one of the scribers is in the action posture; and an "off" switch that switches both the scribers in the active posture to the inactive posture. When it is desired to mark a line on one of the left and right fields of the seedling transplanter, the "automatic" switch is operated to switch one of the markers to an operating posture and the machine is driven, thereby allowing the line to be marked on the field.

Documents of the prior art

Patent document

Patent document 1: japanese patent laid-open No. 2015-

However, since the left-side scriber is first switched to the action posture immediately after the operation of the "automatic" switch provided in the conventional seedling transplanter described in patent document 1 as described above, when the row on the right side of the seedling transplanter on which seedlings are next planted in a field is present, the "left-right switching" switch needs to be operated after the operation of the "automatic" switch, and the right-side scriber is switched to the right-side scriber, and the right-side scriber cannot be switched to the action posture by one operation, which causes a problem of poor operability.

Disclosure of Invention

Accordingly, an object of the present invention is to provide a seedling transplanter comprising: when seedlings are planted in a field while driving and rotating are repeated, the scriber on one side of a row in which seedlings are next planted in the field can be switched to an action posture from the beginning, and the operability is good.

The object of the invention is achieved by a seedling transplanter having: a running vehicle 2; a seedling planting unit 20 mounted to the rear part of the traveling vehicle 2 and having a planting device 20a for planting seedlings in a field; a pair of left and right markers ML, MR provided on the traveling vehicle 2 or the seedling planting unit 20, each marker ML, MR having a scribing body ML1, MR1, the scribing bodies ML1, MR1 rolling on the field as the traveling vehicle 2 travels, thereby forming a line indicating a position where the traveling vehicle 2 travels on the field; a posture switching unit capable of switching the pair of scribe lines ML, MR between an active posture in which the scribe lines ML1, MR1 are in contact with the field and an inactive posture in which the scribe lines ML1, MR1 are not in contact with the field; and an operating unit 16 capable of operating the posture switching unit, wherein the posture switching unit is configured to be capable of switching the pair of scribes ML and MR from the inactive posture to the active posture independently of each other, and to be capable of simultaneously switching the pair of scribes ML and MR from the active posture to the inactive posture.

According to the present invention, since the left and right pair of scribers can be independently switched from the inactive posture in which the scribe body is not in contact with the field to the active posture in which the scribe body is in contact with the field by operating the posture switching means using the operating portion, when a seedling is planted in the field by the seedling planting portion while the running vehicle is repeatedly running and rotating, the scriber on the row on which the seedling is next planted in the field can be switched from the active posture at the beginning, and further, when the formation of a line in the field by using the left and right pair of scribers is not required, the pair of scribers can be simultaneously switched to the inactive posture by operating the posture switching means using the operating portion, so that the operability of the pair of scribers can be improved.

In a preferred embodiment of the present invention, the operation unit 16 includes: a first trigger unit for switching the left marker ML from an inactive posture to an active posture; a second trigger unit for switching the right-side scriber MR from an inactive posture to an active posture; and a third trigger unit for simultaneously switching the pair of line markers ML, MR from the active posture to the inactive posture.

According to the preferred embodiment of the present invention, since the operation portion is provided with the first trigger means for switching the left-side scriber from the inoperative posture to the operative posture and the second trigger means for switching the right-side scriber from the inoperative posture to the operative posture, the posture switching means can be operated using the first trigger means or the second trigger means, the posture of the left and right scribers can be switched to the operative posture independently from the left and right, and the operability of the pair of left and right scribers can be improved.

Further, when both the left and right scribers are in the active posture, the posture switching means is operated using the third trigger means for simultaneously switching the pair of scribers from the active posture to the inactive posture, whereby the left and right scribers can be quickly switched to the inactive posture.

In a more preferred embodiment of the present invention, the seedling transplanter further has a control part C, the control unit C can control the posture switching unit to switch the pair of scribers ML and MR between an active posture and an inactive posture, in the case where the left-side line marker ML is in the action posture, each time the first trigger unit is operated, capable of switching between a state in which an automatic action is performed and a state in which the automatic action is not performed, the automatic operation is that after the running vehicle 2 turns, the left and right scribers are automatically switched from the inactive posture to the active posture by the control part C, in the case where the right-side scribe MR is in the action posture, each time the second trigger unit is operated, switching between a state in which the automatic action is performed and a state in which the automatic action is not performed is enabled.

According to the preferred embodiment of the present invention, when at least one of the scribers is in the action attitude, the first trigger means or the second trigger means for switching the scriber from the non-action attitude to the action attitude is operated, whereby it is possible to switch between a state in which the control section automatically switches the left and right scribers to the action attitude after the turning of the running vehicle is executed and a state in which the control section does not execute the automatic operation of the left and right scribers, and therefore, it is possible to improve the operability.

In addition, it is not necessary to additionally provide a trigger unit for switching between a state in which the automatic operation is performed and a state in which the automatic operation is not performed, the number of components can be reduced, and the configuration can be simplified.

In a more preferred embodiment of the present invention, the seedling transplanter further includes a control unit C capable of automatically performing rotation control for stopping driving of the transplanting device 20a and raising the seedling transplanting device 20 when the traveling vehicle 2 rotates, and capable of controlling the posture switching means to switch the pair of scribers ML and MR between an operating posture and an inactive posture, and performing an automatic operation for automatically switching one of the right and left scribers from the inactive posture to the operating posture by the control unit C after the traveling vehicle 2 rotates when the control unit C is set to perform the rotation control.

According to the preferred embodiment of the present invention, since the automatic operation is performed when the setting is made to perform the turning control, which automatically stops the driving of the transplanting device and raises the seedling transplanting portion when the traveling vehicle turns, and automatically lowers the seedling transplanting portion and starts the driving of the transplanting device after the traveling vehicle turns, the control portion of one of the left and right scribers is automatically switched to the operation posture after the traveling vehicle turns, the setting of the automatic operation is not additionally performed in addition to the setting of the turning control, and thus labor and time can be saved.

In addition, a trigger unit for setting an automatic operation does not need to be additionally arranged, the number of components is reduced, and the structure can be simplified.

In a more preferred embodiment of the present invention, the first trigger unit, the second trigger unit, and the third trigger unit are integrated into one trigger unit.

According to the preferred embodiment of the present invention, since 3 kinds of trigger units for switching the postures of the left and right scribers are integrated into one trigger unit, in the case where it is desired to switch the postures of the scribers, confusion about the selection of the trigger units is prevented, and the operation can be performed quickly.

Effects of the invention

According to the present invention, when transplanting seedlings in a field while the seedling transplanter 1 repeatedly travels and rotates, the left and right pair of scribes can be switched from the inactive posture to the active posture independently from the left and right by operating the posture switching means using the operating unit, whereby the scribes on one side of the row to be next transplanted for seedlings can be switched from the beginning to the active posture, and further, the left and right pair of scribes can be simultaneously switched to the inactive posture, so that the operability of the scribes can be improved.

Drawings

Fig. 1 is a schematic side view of a seedling transplanter in accordance with a preferred embodiment of the present invention.

Fig. 2 is a schematic plan view of the seedling transplanter shown in fig. 1.

Fig. 3 is a schematic plan view of the vicinity of the operation part of the seedling transplanter shown in fig. 1.

Fig. 4 is a schematic plan view schematically illustrating a travel path of the seedling transplanter in a case where the seedling transplanter shown in fig. 1 is caused to perform "repetitive travel" and seedlings are planted in a field.

Fig. 5 is a schematic perspective view of a seedling transplanter having a marker for forming a line on a field.

Fig. 6 is a schematic front view of the vicinity of the left-side marker of the seedling transplanter shown in fig. 1.

Fig. 7 is a schematic left side view of the vicinity of the scribing body of the left-side scriber of the seedling transplanter shown in fig. 1.

Fig. 8 is a block diagram of a control system, a detection system, an input system, a driving system, and a display system of the seedling transplanter shown in fig. 1.

Fig. 9 is a schematic perspective enlarged view of a marker bar of the seedling transplanter shown in fig. 1.

Fig. 10 is a schematic front view of the vicinity of the left-side marker of the seedling transplanter shown in fig. 1, showing a state in which the traveling vehicle is inclined to the right.

Fig. 11 is a drawing showing the relationship between the operation of the scriber bar of the seedling transplanter shown in fig. 1 and the posture of the scriber.

Fig. 12 (a) is a schematic right side view of the right-hand preliminary seedling stage, and fig. 12 (b) is a schematic front view of the vicinity of the right-hand preliminary seedling stage.

FIG. 13 is a schematic plan view of the vicinity of the operation part of the seedling transplanter in accordance with another preferred embodiment shown in FIG. 12.

Fig. 14 is a drawing showing a relationship between pressing operations of a left marker switch, a right marker switch and a marker disconnecting switch of the seedling transplanter of another preferred embodiment shown in fig. 12 and postures of left and right markers.

Fig. 15 (a) is a flowchart showing a procedure of controlling the posture of the left and right scribers when the rotation control switch is not turned on in the seedling transplanter of the other preferred embodiment shown in fig. 12, and fig. 15 (b) is a flowchart showing a procedure of controlling the posture of the left and right scribers when the rotation control switch is turned on in the seedling transplanter of the other preferred embodiment shown in fig. 12.

Fig. 16 is a diagram illustrating how to determine the marker switched to the action posture after the rotation of the seedling transplanter in the case where the rotation control switch is turned on in the seedling transplanter of another preferred embodiment shown in fig. 12.

Description of the reference symbols

1 seedling transplanter

2-running vehicle body

3 Main frame

4 engines

5 front wheel

6 rear wheel

7 speed changing box

8 hydraulic stepless speed changer

9-belt type power transmission mechanism

10 front cover

11 operating mat

12 operating part

13 front wheel final box

14 rear wheel gear box

14s rear wheel rotation sensor

15 monitor

15L marker lamp

15R marker lamp

16 operating part

16a main gear lever

16b auxiliary gear lever

16c scriber rod

16d rotary control switch

16e insertion start adjustment dial

16f seedling transplanting part lifting rod

16g insertion switch

16i scriber disconnecting switch

16L left scriber switch

16M right scriber switch

17 steering handle

17p handle column

17s steering sensor

18 float sensor

19 baseboard pedal

20 seedling transplanting part

20a insertion device

20b seedling placing table

20c central float

20d side floating body

20e transmission case

20f inserting claw

20g transplanting box

Seedling outlet for 20h

21 upper link arm

22 lower link arm

23 lifting hydraulic cylinder

23a electronic hydraulic valve

24 fertilizing device

24a storage hopper

24b delivery device

24c fertilization hose

24d blower

25 connecting rod sensor

26 RAM

27 ROM

28 attitude detecting sensor

29 line marker switch

37 prepared seedling carrying platform

37a 1 st prepared seedling carrying platform

37b 2 nd preparation seedling carrying platform

37c 3 rd preparation seedling carrying platform

38a 1 st support frame

38b No. 2 support frame

38c No. 3 support frame

39 inclination detecting sensor

40 center marker

41 axle

42 axle

43 connecting rod foundation frame

44 Up and down link arm

45 fertilization guiding member

46 groove making device

47 side scriber

48 scriber support

49 height adjusting motor

Motor for switching 50 postures

50s sensor

51 scriber stick

52 pinion

53 rack

55 supporting frame

59 switching drive device

60 foot pedal

61 handle for taking-off and landing

Ax axis

C control part

ML scriber

ML1 marking body

ML2 scriber rod

MR scriber

MR1 scriber

MR2 scriber stick

P bump

R lifting connecting rod device

Detailed Description

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

Fig. 1 is a schematic side view of a seedling transplanter 1 according to a preferred embodiment of the present invention, and fig. 2 is a schematic top view of the seedling transplanter 1 shown in fig. 1. In the present specification, as shown by arrows in fig. 1 and 2, one side in the traveling direction of the seedling transplanter 1 is referred to as a front F.

As shown in fig. 1 and 2, the seedling transplanter 1 has a running vehicle 2 and a seedling planting part 20 mounted at the rear of the running vehicle 2.

As shown in fig. 1, the traveling vehicle 2 includes a main frame 3, front wheels 5, and rear wheels 6, which are arranged substantially at the center of the traveling vehicle 2. Since a floor step (floor step)19 is provided above the main frame 3 and a foot step 60 is provided at a front end portion of the floor step 19, an operator can ride in and out of the traveling vehicle 2 from the front. Above the floor panel, a front cover 10 disposed in front of the traveling vehicle 2, a control unit 12 disposed behind the front cover 10, a control unit (not shown in fig. 1 and 2) covered with the front cover 10 and controlling the seedling transplanter 1, and a control seat 11 disposed behind the control unit 12 are provided. The control unit 12 includes a steering handle 17 for steering the traveling vehicle 2, an operation unit 16 for operating the seedling transplanter 1, and a monitor (not shown in fig. 1 and 2) provided in the vicinity of the operation unit 16.

Fig. 3 is a schematic plan view of the vicinity of the operation unit 16 of the seedling transplanter 1 shown in fig. 1.

As shown in fig. 3, the operation unit 16 is provided so as to surround the handle post 17p of the steering handle 17, and includes a main shift lever 16a for changing the forward/reverse movement and the traveling speed of the traveling vehicle 2, a sub shift lever 16b for switching the traveling speed of the traveling vehicle 2 to a speed corresponding to a traveling place, a marker lever 16c functioning as first, second, and third trigger means for operating a pair of left and right markers described in detail later, a rotation control switch 16d for setting or releasing rotation control described in detail later, an insertion start adjustment dial 16e for adjusting the position of insertion start when rotation control is set, and various switches/dials used for other operations.

As shown in fig. 3, a monitor 15 showing the state of each part of the seedling transplanter 1 is attached to the front of the operation unit 16.

As shown in fig. 1, an engine 4 is provided below an operation mat 11, and driving force output from the engine 4 is transmitted to a transmission 7 via a belt type power transmission mechanism 9 and a hydraulic continuously variable transmission 8 provided below a floor pedal 19, and then shifted by a sub-transmission (not shown) in the transmission 7, and divided into power for traveling toward front wheels 5 and rear wheels 6 and power for driving toward a seedling planting part 20, and transmitted.

The traveling vehicle 2 can move forward or backward by transmitting the traveling power to the front wheels 5 via the front wheel final box 13, which is provided on the right and left of the transmission case 7 and is coupled to the front wheels 5 via the axle 41, and transmitting the remaining power to the rear wheels 6 via the right and left rear wheel gear boxes 14, and the rear wheel gear boxes 14 are coupled to the rear wheels 6 via the axle 42. Here, when the operator turns the steering handle 17, the steering force of the steering operation of the steering handle 17 is transmitted to the front wheel final box 13 via the transmission mechanism provided in the operating unit 12, and the direction of the front wheels 5 can be changed. A steering sensor (not shown in fig. 1 to 3) is provided on a steering shaft (not shown) supported by the handlebar stem 17p, and the steering sensor is configured to detect the angle at which the steering handle 17 is turned and output the detection result to a control unit of the traveling vehicle 2.

On the other hand, the driving power is transmitted to an insertion clutch (not shown) provided at the rear portion of the traveling vehicle 2, transmitted to the seedling insertion unit 20 when the insertion clutch is engaged, and transmitted to a fertilizer application device 24 provided at the rear portion of the operator's seat 11 via a fertilizer application transmission mechanism (not shown).

As shown in fig. 1, the seedling planting unit 20 is coupled to the traveling vehicle 2 via a lifting link device R. The lifting link device R has an upper link arm 21 and a pair of right and left lower link arms 22, and is configured to be able to lift the seedling planting part 20. One ends of the upper link arm 21 and the lower link arm 22 are attached to a link base frame 43, the link base frame 43 is provided at the rear portion of the main frame 3, and the other ends of the upper link arm 21 and the lower link arm 22 are attached to an up-down link arm 44, and the up-down link arm 44 is located at the lower portion of the seedling planting section 20. More specifically, the hydraulic cylinder 23 is extended and contracted by hydraulic pressure using an electronic hydraulic valve (not shown in fig. 1 and 2) controlled by a control unit, and the hydraulic cylinder 23 is provided between a support member (not shown) attached to the main frame 3 and a distal end portion of a swing arm (not shown) integrated with the upper link arm 21, whereby the upper link arm 21 is rotated up and down, and the seedling planting unit 20 can be raised to a non-operation position where the lower end of the seedling planting unit 20 and the bottom of the main frame 3 are at substantially the same height, or the seedling planting unit 20 can be lowered to an operation position where it contacts the ground and is suitable for planting seedlings in a field, and when the seedling planting unit 20 is located at the non-operation position, the seedling planting unit 20 does not contact the field, and therefore, the traveling of the traveling vehicle 2 can be prevented from being hindered.

As shown in fig. 1 and 2, a central floating body 20c disposed at the center in the left-right direction of the seedling planting part 20 and a plurality of side floating bodies 20d disposed on the left and right of the central floating body 20c are provided at the lower end of the seedling planting part 20 so as to be suspended from the seedling planting part 20, and each floating body can level the field when the seedling transplanter 1 is driven. Further, since the front portion of the central floating body 20c is configured to move up and down according to the unevenness of the field, a floating body sensor (not shown in fig. 1 and 2) provided in front of the central floating body 20c and including a potentiometer detects the up and down position of the front portion of the central floating body 20c and outputs the detected position to the control unit, and then the control unit controls the electro-hydraulic valve according to the detection result to extend and contract the lifting and lowering hydraulic cylinder 23 to lift and lower the seedling planting unit 20, thereby maintaining the planting depth of the seedlings constant. As shown in fig. 2, the central float 20c is provided forward of the side floats 20d, and the float sensor detects irregularities in the field earlier, so that the vertical position of the seedling planting unit 20 can be adjusted quickly.

Here, a link sensor (not shown in fig. 1 and 2) is provided at a coupling portion of the upper link arm 21 and the link base frame 43 of the lifting link device R, the link sensor detects a relative angle of the upper link arm 21 with respect to the link base frame 43, and after a detection result is output to the control part, the control part can calculate a current height (up-down position) of the seedling planting part 20 based on the detection result.

As shown in fig. 1 and 2, 4 transplanting devices 20a are provided at the rear of the seedling transplanting portion 20. Each of the transplanting devices 20a has a transmission case 20e, a pair of transplanting boxes 20g provided on the left and right sides of the transmission case, and a transplanting claw 20f attached to each of the transplanting boxes 20g, and the transplanting boxes 20g rotate about a rotation axis extending in the left-right direction of the traveling vehicle 2, whereby the transplanting claws 20f are configured to take out the seedlings placed on the seedling placing tables 20b provided on the upper portions of the seedling placing portions 20 from the seedling taking-out openings 20h shown in fig. 2 and transplant the seedlings into a field while rotating so as to trace the locus T shown in fig. 1.

As shown in fig. 2, 8 planting claws 20f are provided in the right and left direction in the seedling planting section 20 of the seedling transplanter 1 of the present embodiment, and 8 rows of seedlings can be planted simultaneously when the traveling vehicle 2 travels in a field (this method of planting seedlings is referred to as "8-row planting"). The seedling placing table 20b is provided with a seedling feeding belt 20i, and is configured to be able to feed the mat-like seedlings with soil placed on the seedling placing table 20b downward by the seedling feeding belt 20i and to supply the seedlings one by one to the seedling outlet 20h by reciprocating in the left-right direction of the traveling vehicle 2.

As shown in fig. 1 and 2, the fertilizer application device 24 provided behind the operator's seat 11 includes: a storage hopper 24a that stores fertilizer; a feeding device 24b that feeds the fertilizer supplied from the storage hopper 24a by a set amount; a fertilizer application hose 24c serving as a fertilizer application passage for supplying the fertilizer delivered from the delivery device 24b to a field; a blower 24d provided on the left side of the traveling vehicle 2 for supplying air to the fertilizer application hose 24c and thereby feeding fertilizer in the fertilizer application hose 24c to the seedling planting unit 20 side; a fertilization guide 45 attached to the rear end of the fertilization hose 24 c; and a furrow maker 46 for dropping the moved fertilizer into the field.

As shown in fig. 1 and 2, a preliminary seedling stage 37 is provided on each of the left and right sides of the front portion of the traveling vehicle 2, and the preliminary seedling stage 37 is used for placing a seedling to be replenished on the seedling placing table 20 b. The preliminary seedling stage 37 includes a 1 st preliminary seedling stage 37a, a 2 nd preliminary seedling stage 37b, and a 3 rd preliminary seedling stage 37c in this order from the upper side, and the preliminary seedling stage 37 is supported by a support frame 55, and the support frame 55 is attached to the lower portion of the floor panel 19.

Fig. 4 is a schematic plan view schematically showing a travel path of the seedling transplanter 1 on a field in a case where the seedling transplanter 1 shown in fig. 1 is caused to perform "repetitive travel" and seedlings are planted in the field.

That is, fig. 4 is a schematic plan view schematically showing a traveling path of the seedling transplanter 1 in a field in a case where the following planting operation is repeatedly performed to plant seedlings in the entire field: the seedling transplanter 1 is driven to travel on a row along one side of a field, seedlings are planted in the field, the seedling transplanter 1 is rotated at the end of the field, the seedling transplanter 1 is driven to travel along a row substantially parallel to the row of the field on which the seedling transplanter 1 was driven before the rotation, the seedlings are transplanted, the seedling transplanter 1 is rotated again when reaching the end of the field, and the seedling transplanter 1 is driven to travel along a row substantially parallel to the row of the field on which the seedlings were planted before, and the seedlings are planted.

Specifically, when the seedling transplanter 1 is caused to "repeatedly travel" to transplant seedlings, the seedling transplanter 1 starts transplanting seedlings from the "transplanting start position" shown in fig. 4, travels in one direction along a row on one side of a field (the "1 st row" in fig. 4) as shown by a one-dot chain line in fig. 4, transplants seedlings into the field, rotates after reaching an end of the field, travels in the opposite direction on a row substantially parallel to the row where seedlings were previously transplanted ("the 2 nd row" in fig. 4), transplants seedlings, again rotates after reaching an end of the opposite side of the field, travels in the opposite direction (the same direction as the 1 st row) "3 rd row" in fig. 4) on a row substantially parallel to the row where seedlings were previously transplanted ("the 4 th to 8 th rows") in the field, and transplants seedlings, and the seedling transplanter 1 is similarly configured to travel in the whole field ("the 4 th to 8 th rows" in fig. 4, transplanting seedlings to the field. As described above, the seedling planting unit 20 of the seedling transplanter 1 of the present embodiment is configured to plant seedlings to a field by a method of 8-row planting in which 8 rows of seedlings are simultaneously planted when the traveling vehicle 2 travels on the field, and as shown in fig. 4, 64 rows of seedlings are planted in the right-left direction in fig. 4 when the seedling transplanter 1 travels and plants seedlings from "row 1" to "row 8".

In the present embodiment, the seedling transplanter 1 is configured to perform "repetitive travel", and when traveling on a certain row of the field by the pair of markers, a line indicating the position of the row to be traveled after the rotation is formed in the field, so that the seedling transplanter 1 can reliably travel on a desired path.

Fig. 5 is a schematic perspective view of the seedling transplanter 1 having the markers ML, MR for forming lines on the field.

As shown in fig. 5, a pair of markers ML and MR for forming a line on the field are provided on the left and right of the traveling vehicle 2.

In general, when transplanting seedlings in a field by repeatedly driving the seedling transplanter 1, the pair of left and right scribers ML and MR form a reference line indicating the position of a row to be driven after turning in the field while the seedling transplanter 1 is driving on a certain row. In addition, the use of the pair of left and right scribers ML and MR is not limited to the purpose of forming lines indicating the positions of the rows to be run "after turning" when the seedling transplanter 1 travels "repeatedly" in the center portion of the field and then travels while circling the peripheral edge portion of the field and plants seedlings.

As shown in fig. 5, the pair of scribers ML and MR each include a substantially L-shaped scribe bar ML2 or MR2 and wheel-shaped scribe bodies ML1 and MR1 rollably attached to one end portion of the scribe bars ML2 and MR2, and a plurality of projections P are provided on radially outer portions of the left and right scribe bodies ML1 and MR1, respectively.

As will be described later in detail, the scribe bars ML2, MR2 are provided swingably about an axis attached to the end portion on the traveling vehicle 2 side in a plane perpendicular to the traveling direction of the traveling vehicle 2, and fig. 5 shows the following states: the marker MR on the right is in an inactive attitude with its scribe line body MR1 spaced from the field surface, and the marker ML on the left is in an active attitude with its scribe line body ML1 swung to make contact with the field surface.

Fig. 6 is a schematic front view of the vicinity of the left-side marker ML of the seedling transplanter 1 shown in fig. 1, showing the structure of the marker ML. Fig. 7 is a schematic left side view of the vicinity of the scribing line body ML1 of the scriber ML on the left side of the seedling transplanter 1 shown in fig. 1, and shows a process of forming a scribing line body ML1 into a line in the field.

As shown in fig. 6, when a line is formed in the field on the left side of the seedling transplanter 1, the marker bar ML2 of the marker ML swings around the substantially horizontal axis Ax extending in the front-rear direction of the traveling vehicle 2, and the projection P located at the lower portion of the marker body ML1 among the plurality of projections P provided on the radially outer portion of the marker body ML1 is inserted into the field. In this state, the seedling transplanter 1 travels over the field, whereby the scribing line body ML1 rolls over the field as shown in fig. 5 and 7, and the plurality of projections P provided on the scribing line body ML1 turn up the soil of the field along with the rolling of the scribing line body ML1, thereby forming a line at a portion of the field where the scribing line body ML1 rolls. The same applies to the case where a line is formed in the field on the right side of the seedling transplanter 1 using the scriber MR.

As shown in fig. 1, 2 and 5, a center marker 40 indicating the position of the center portion in the left-right direction of the traveling vehicle 2 is provided at the front end portion of the floor panel 19 of the seedling transplanter 1, and the seedling transplanter 1 can be made to travel along the line formed in the field by using the center marker 40 in the present embodiment. That is, the seedling transplanter 1 is driven so that the center marker 40 passes on the line formed by the left and right scribers ML and MR, and thereby the seedling transplanter 1 can be driven along the line formed in the field.

As described above, in the seedling transplanting unit 20 of the seedling transplanter 1 of the present embodiment, 8 transplanting boxes 20g are provided in the left-right direction, and as shown in fig. 4, each time the seedling transplanter 1 is caused to "repeatedly travel" in a field to transplant seedlings into the field, the seedling transplanter 1 is caused to travel along the line formed when the seedlings travel in adjacent rows, whereby 8 rows of seedlings can be transplanted at appropriate intervals to 8 rows of seedlings transplanted when the seedlings travel in adjacent rows and travel. That is, the scribe bars ML2, MR2 of the left and right scribers ML, MR are set to the following lengths: in the case where the seedling planting part 20 has 8 planting boxes 20g in the left-right direction, lines can be formed at appropriate positions on the field.

When the seedlings are planted in the field in the "8-row planting" manner, first, it is determined which marker of the left and right markers ML, MR is used to form a line in the field. In the case of forming a line in a field using the left marker ML, before the seedling transplanter 1 is driven in the field, the marker bar ML2 of the left marker ML is swung around the substantially horizontal axis Ax so that the marker ML1 enters the field at a depth at which the projection P thereof is embedded in the soil of the field, and in this state, the seedling transplanter 1 is driven in the field. That is, the seedling transplanter 1 travels in the row of "row 1" in fig. 4 and plants seedlings in the field in the manner of "8-row transplanting" using the seedling transplanting portion 20, and at the same time, the scribing body ML1 of the left-hand scriber ML rolls on the field to form a line at the position of "row 2". Next, the seedling transplanter 1 is rotated while driving the seedling transplanter 1 with the center marker 40 aligned with the line position of the "2 nd row" formed when the row of the "1 st row" is driven, whereby the seedling transplanter 1 is driven in the row of the "2 nd row" in fig. 4 and seedlings are planted in the field in the manner of "8 row planting" using the seedling planting unit 20. At this time, the row of "3 rd row" where the seedling transplanter 1 is driven next is positioned on the right side of the seedling transplanter 1 driven on "2 nd row", and therefore, before the seedling transplanter 1 is driven on the row of "2 nd row", the right-side marker MR is swung around the substantially horizontal axis Ax, the projection P positioned on the lower portion of the marker body MR1 is invaded into the field, and then the seedling transplanter 1 is driven, thereby forming a line at the driving position of "3 rd row".

Similarly, when the seedling transplanter 1 is caused to travel in the "2 nd row" to the "7 th row" of the field, the seedlings can be planted at appropriate intervals in the entire field by traveling in the "3 rd row" to the "8 th row" along lines drawn by alternately using the left and right scribers ML or MR and transplanting the seedlings by the seedling planting unit 20.

As indicated by arrows in fig. 6, the left marker ML is configured to be switchable between an operating posture in which the marker bar ML2 extends in the left-right direction and the marker ML1 is in contact with the field and an inactive posture in which the marker bar ML2 extends in the up-down direction and the marker ML1 is separated from the field, and is set to the inactive posture in the normal state. The right-side scribe MR has the same structure.

As shown in fig. 5 and 6, the posture switching motor 50 functioning as the posture switching means is attached to the end portions of the scribe bars ML2, MR2 of the left and right scribers ML, MR on the traveling vehicle 2 side, and the posture switching motor 50 is configured to be driven by operating the scribe bar 16c of the operating section 16. Although not shown in fig. 1 to 7, the posture switching motor 50 is provided with a posture detection sensor including angle sensors for detecting the current angles of the scriber bars ML2 and MR2 of the left and right scribers ML and MR, the angles of the scriber bars ML2 and MR2 of the pair of scribers ML and MR detected by the posture detection sensor are output to the control unit, and the control unit can determine the postures of the pair of scribers ML and MR based on detection signals from the posture detection sensors.

As shown in fig. 3, the monitor 15 attached to the front portion of the operation portion 16 has left and right marker lights 15L and 15R at left and right end portions thereof, and the left and right marker lights 15L and 15R are connected to the control portion.

The control unit determines the postures of the left and right scribers ML, MR based on the detection signals output from the posture detection sensors, lights up the left-side scriber lamp 15L when only the left-side scriber ML is in the action posture, lights up the right-side scriber lamp 15R when only the right-side scriber MR is in the action posture, and lights up the left-side and right- side scribers lamps 15L, 15R when both the left-side and right-side scribers ML, MR are in the action postures. When the left and right scribers ML and MR are in the non-operative posture, neither of the scriber lamps 15L and 15R is turned on.

Therefore, when the operator moves the seedling transplanter 1 to transplant seedlings, the operator can grasp the postures of the left and right scribers ML and MR by checking the left and right scriber lamps 15L and 15R.

Fig. 8 is a block diagram of a control system, a detection system, an input system, a driving system, and a display system of the seedling transplanter 1 shown in fig. 1.

As shown in fig. 8, the control system of the seedling transplanter 1 includes a control unit C for controlling the operation of the entire seedling transplanter 1, a ROM 27 in which a control program and the like are stored, and a RAM 26 in which various data are stored.

As shown in fig. 8, the driving system of the seedling transplanter 1 includes: an engine 4 disposed below the operator's seat 11; an electric motor 58 for switching the preliminary seedling stage 37 between the expanded state and the stacked state; a posture switching motor 50 for switching the scribers ML and MR between an action posture and an non-action posture; a height adjusting motor 49 for adjusting the height (vertical position) of the scribers ML and MR in the action posture; and an electro-hydraulic valve 23a for extending and contracting the hydraulic cylinder 23 when the seedling planting part 20 is lifted and lowered.

As shown in fig. 8, the detecting system of the seedling transplanter 1 has: a steering sensor 17s supported by the handle post 17p and detecting the angle at which the steering handle 17 is turned; an inclination detection sensor 39 provided at the center portion in the left-right direction of the main frame 3 of the traveling vehicle 2 and detecting the left-right inclination of the traveling vehicle 2; a rear wheel rotation sensor 14s which is internally installed in the rear wheel gear box 14 and counts the number of rotations of the rear wheel 6; a floating body sensor 18 disposed in front of the central floating body 20c to detect the up-down position of the front of the central floating body 20 c; a link sensor 25 provided at a coupling portion between the upper link arm 21 and the link base frame 43 of the lifting link device R, for detecting a relative angle of the upper link arm 21 with respect to the link base frame 43; and a posture detection sensor 28 provided in the posture switching motor 50 and detecting the current relative angle of the scribe bars ML2, MR2 of the left and right scribers ML, MR with respect to the posture switching motor 50.

As shown in fig. 8, the input system of the seedling transplanter 1 includes an operation section 16, and the operation section 16 includes a main shift lever 16a and an auxiliary shift lever 16b, a marker lever 16c for switching the postures of the markers ML and MR, a rotation control switch 16d and an insertion start adjustment dial 16e for setting rotation control, an insertion switch 16g for turning on an insertion clutch, and a seedling insertion section lifting lever 16f for lifting the seedling insertion section 20.

As shown in fig. 8, the display system of the seedling transplanter 1 includes a monitor 15, and the monitor 15 is provided in front of the operation unit 16 to show the state of each part of the seedling transplanter 1.

Fig. 9 is a schematic perspective enlarged view of the marker bar 16c of the seedling transplanter 1 shown in fig. 1.

As shown in fig. 9, the scribe bar 16c of the operation portion 16 is configured to be capable of tilting operation in the left, right, and front directions. The scribe bar 16C is connected to the control unit C, and when the scribe bar 16C is tilted in any one direction, a signal corresponding to the direction is output to the control unit C, and the posture of the left and right scribes ML and MR can be switched by operating the scribe bar 16C.

In the present embodiment, the left or right scribers ML and MR can be switched to the working postures by tilting the scriber bar 16c to the left or right, and when the left scriber ML is in the non-working posture, the left scriber ML is switched to the working posture by tilting the scriber bar 16c to the left, and when the right scriber MR is in the non-working posture, the right scriber MR is switched to the working posture by tilting the right scriber bar 16c to the right. On the other hand, when the left or right scribers ML, MR are in the active posture, the left or right scribers ML, MR in the active posture are switched to the inactive posture when the scriber bar 16c is tilted forward, and when both the left and right scribers ML, MR are in the active posture, both the left and right scribers ML, MR are switched to the inactive posture when the scriber bar 16c is tilted forward.

Specifically, for example, in the case where it is desired to switch the left-side marker ML from the non-operation posture, which is the standard state, to the operation posture in order to form a reference line indicating the travel position for traveling in the 2 nd row in the field at the "planting start position" shown in fig. 4, the marker bar 16c is tilted leftward. When the posture detection signal is input from the posture detection sensor 28 to the control unit C, and the control unit C determines that the posture of the left-side scribe ML is in the non-operating posture based on the input posture detection signal, the control unit C outputs a signal to the posture switching motor 50 of the left-side scribe ML in accordance with the operation of the scribe bar 16C, and switches the left-side scribe ML to the operating posture. Similarly, if the marker bar 16c is tilted to the right, the marker MR on the right side of the non-acting posture can be switched to the acting posture. In this way, the left and right scribers ML and MR are configured to be able to be switched from the non-operation posture to the operation posture independently of each other by tilting the scribe bar 16c in either of the left and right directions.

When it is desired to switch both the left and right scribers ML and MR in the non-operation posture to the operation posture, the scriber bar 16c is tilted to the left to switch the left scriber ML to the operation posture, and then the scriber bar 16c is tilted to the right to switch the right scriber MR to the operation posture, whereby both the left and right scribers ML and MR can be switched to the operation posture. Alternatively, after the right-side scribe MR is switched to the action posture by tilting the scribe bar 16c to the right, the left-side scribe ML is switched to the action posture by tilting the scribe bar 16c to the left, whereby both the left and right scribes ML, MR can be switched to the action postures.

As shown in fig. 6, in the seedling transplanter 1 of the present embodiment, a posture switching motor 50 is attached to a height adjusting motor 49 so as to be movable in the vertical direction, the height adjusting motor 49 is provided to a marker support 48, and the marker support 48 is attached to the lower surface of the floor pedal 19.

As shown in fig. 6, a pinion 52 is attached to the height adjustment motor 49 provided on the marker support body 48, and a rack 53 is attached to a surface of the marker bar ML2 of the left marker ML on the traveling vehicle 2 side of the posture switching motor 50 so as to mesh with the pinion 52. Further, by rotating the pinion 52 by the height adjustment motor 49, the height (up-down position) of the posture switching motor 50 and the left marker ML can be changed while maintaining the posture of the left marker ML together with the rack 53. The same applies to the change in the height of the right-side scribe MR.

In the seedling transplanter 1 of the present embodiment, the control unit C lowers the seedling planting unit 20, switches at least one of the left and right scribers ML and MR to an action posture, detects the relative angle of the upper link arm 21 with respect to the link base frame 43 by using the link sensor provided in the lifting link device R when the traveling vehicle 2 starts traveling or during traveling, calculates the current height of the seedling planting unit 20 based on the detection result of the link sensor, and calculates the field depth (tilling depth) of the place where the seedling transplanter 1 is currently located based on the calculated height of the seedling planting unit 20.

Specifically, the control unit C measures whether or not the state where the degree of sinking of the front wheel 5 and the rear wheel 6 with respect to the field calculated from the current height of the seedling planting unit 20 is shallower than the predetermined depth continues for 1 second or more, and when the state continues for 1 second or more, it is considered that the field at the current position is hard and the depth of the field is shallower than the predetermined depth, and the lower end portions of the scribe bodies 1 or MR1 of the left and right scribers ML, MR in the action posture do not contact with the field, and it is not possible to form a line in the field by the left and right scribers ML, MR, and therefore, the control unit C drives the height adjustment motor 49 to rotate the pinion 52, and the height of the left and right scribers ML, MR is made lower than the reference position, and continues to form a line in the field by the left and right scribers ML.

In addition, when the traveling vehicle 2 is inclined to the left and right due to unevenness of the field, one marker (ML or MR) in the working posture floats up from the field depending on the angle of the inclination, and the line may not be drawn on the field surface. Therefore, in the seedling transplanter 1 of the present embodiment, when the traveling vehicle 2 is inclined to either the left or right due to unevenness of the field, the vertical position of the scribe body ML1 or MR1 of the scribe (ML or MR) on the side opposite to the side inclined downward can be adjusted.

Fig. 10 is a schematic front view of the vicinity of the left marker ML of the seedling transplanter 1 shown in fig. 1, and shows a state in which the traveling vehicle 2 is inclined to the right.

As shown in fig. 10, when the traveling vehicle 2 is inclined to the right by a predetermined angle or more (so-called roll value to the right becomes a predetermined value or more) due to unevenness of the field, the floor step 19 and the marker support 48 are inclined to the right, and the scribe body ML1 of the left marker ML in the working posture is lifted up from the field and separated from the field.

Therefore, even if the left marker ML is in the action posture, the line cannot be formed on the field surface by the left marker ML, and therefore, the control unit C is configured to lower the position of the left marker ML to form the line on the field when it is considered that the traveling vehicle 2 is inclined to the right side continuously, not the instantaneous inclination of the traveling vehicle 2 due to the stones in the field or the like.

Specifically, the control unit C determines whether or not the state in which the traveling vehicle 2 is inclined to the right by a predetermined angle or more continues for 1 second or more based on the detection signal of the inclination angle of the traveling vehicle 2 output from the inclination detection sensor 39 provided in the main frame 3, and when the state continues for 1 second or more, it is considered that the state in which the traveling vehicle 2 is inclined to the right continues, and therefore, the height adjustment motor 49 is driven to rotate the pinion 52, whereby the up-down position of the left marker ML (in the working posture) is lowered together with the rack 53 and the posture switching motor 50 attached to the rack 53 until the scribing body ML1 contacts the ground.

Here, in the present embodiment, the control unit C determines whether or not the scribe body ML1 is in contact with the ground based on the detection signal of the posture detection sensor 28 provided in the posture switching motor 50, specifically, the scribe bar ML2 is in a state of being substantially parallel to the main frame 3 in the normal operation posture, but when the rack 53 is further lowered in a state where the scribe body ML1 is in contact with the field via the height adjustment motor 49, the control unit C considers that the scribe body 1 is in contact with the field at the time point when the relative angle of the scribe bar ML2 with respect to the posture switching motor 50 starts to increase (in other words, the relative position of the scribe body ML1 with respect to the posture switching motor 50 starts to rise), which is detected by the posture detection sensor 28, and thus stops the driving of the height adjustment motor 49.

In fig. 10, the case where the scribe body ML1 of the left-side scribe ML in the operating posture is inclined to the right side of the traveling vehicle 2 and floats from the field, and the line of the field cannot be formed is described, but when the scribe body MR1 of the right-side scribe MR in the operating posture is inclined to the left side of the traveling vehicle 2 and floats from the field, the vertical position of the right-side scribe MR is adjusted in the same manner.

Further, in the present embodiment, in accordance with the traveling of the seedling transplanter 1, not only when a line is formed in the field by at least one marker ML, MR, but also when the seedling transplanter 1 is rotated around the peripheral edge of the field to switch the left or right marker (ML or MR) to the action posture, the traveling vehicle 2 is inclined by a predetermined angle or more due to the unevenness of the field, and thus when the marker (ML or MR) on the side switched to the action posture is lifted thereafter, the control unit C is configured to lower the up-down position of the marker (ML or MR) on the side switched to the action posture until the scribing body (ML1 or MR1) contacts the ground by the above-described method, in order to form a line in the field, based on the detection signal of the inclination angle of the traveling vehicle 2 output from the inclination detection sensor 39 provided on the main frame 3.

Next, in the seedling transplanter 1 of the present embodiment, seedlings can be planted in a field as described below.

As shown in fig. 4, when the seedling transplanter 1 is used in a field and seedlings are transplanted in the seedling transplanting unit 20, first, after the seedling transplanter 1 is moved to the "transplanting start position", the marker bar 16c shown in fig. 3 is operated leftward (in the direction of the "2 nd row" with respect to the "1 st row") in order to form a line at the position of the "2 nd row" which is the row to be driven next following the driving of the 1 st row, then, the seedling transplanting unit elevating bar 16f provided on the main transmission bar 16a is operated downward to lower the seedling transplanting unit 20, and the left marker ML is switched from the inactive posture to the active posture by the posture switching motor 50. In the present embodiment, the left and right scribers ML and MR are not switched to the working postures in the state where the seedling planting part 20 is not lowered.

Next, the insertion switch 16g provided on the main shift lever 16a shown in fig. 3 is pressed to turn on the insertion clutch, so that the main shift lever 16a is operated forward to travel in the "1 st row" of the field, and seedlings are inserted on the left and right sides of the "1 st row" by the seedling insertion unit 20. At this time, the scribe line ML1 rolls in the "2 nd row" of the field, and a line which becomes a reference line when the seedling transplanter 1 travels in the "2 nd row" is formed in the "2 nd row" shown in fig. 4.

Next, when the seedling transplanter 1 travels in the "1 st row" and approaches the end of the field, the operator moves the seedling planting section elevating rod 16f upward to raise the seedling planting section 20, and turns the steering handle 17 to the left to rotate the seedling transplanter 1. Although the steering handle 17 is largely rotated when the seedling transplanter 1 is rotated, in the present embodiment, since the markers ML and MR in the action posture are automatically switched to the non-action posture when the steering handle 17 is largely rotated by a predetermined angle or more, the marker ML on the left side in the action posture is switched to the non-action posture when the seedling transplanter 1 is rotated, and both the markers ML and MR on the right and left sides take the non-action posture.

When the seedling transplanter 1 starts transplanting again after turning around, the operator lowers the seedling transplanting unit 20 by operating the seedling transplanting unit lift lever 16f downward, and in order to form a line as an index of the traveling position at the position of the "3 rd row" which is the next traveling row, the operator operates the marker lever 16c rightward to switch the right marker MR to the action posture, and then, the traveling vehicle 2 travels so that the center marker 40 is formed on the line at the position of the "2 nd row" when traveling at the position of the "1 st row", and seedlings are transplanted.

Here, in the present embodiment, the rotation control switch 16d provided in the operation unit 16 is pressed and turned on, so that the seedling planting unit 20 is automatically raised by the control unit C when the seedling transplanter 1 rotates, and the seedling planting is automatically started by the seedling planting unit 20 after the seedling transplanter 1 rotates.

Specifically, when the steering sensor 17s detects that the steering handle 17 is turned by a predetermined angle or more, the control part C stops the driving of the transplanting device 20a, and the lifting hydraulic cylinder 23 is extended and contracted by the electronic hydraulic valve 23a through hydraulic pressure, thereby the seedling transplanting part 20 is lifted, then, the number of rotations of the rear wheel 6 is counted by a rear wheel rotation sensor 14s incorporated in the rear wheel gear box 14, and thereafter, when the steering sensor 17s detects that the steering handle 17 is returned to the original position and the number of rotations of the rear wheel 6 counted by the rear wheel rotation sensor 14s reaches the number set by the rotational operation of the insertion start adjustment dial 16e provided in the operation unit 16, the control section C automatically lowers the seedling planting section 20 to start planting seedlings by the planting device 20a (hereinafter, this series of control is referred to as "rotation control").

In the present embodiment, the rotation control switch 16d is turned on, and the insertion start adjustment dial 16e is set to be rotated to the position where the timing of the insertion start is the latest (the position of "automatic raising" in fig. 3) based on the rotation control by the control unit C. In this state, when it is detected that the steering handle 17 is turned by a predetermined angle or more, the control unit C can automatically raise the seedling planting unit 20. That is, in this state, when the steering handle 17 is turned by a predetermined angle or more, the control unit C does not perform the control of automatically lowering the seedling planting unit 20 and starting the seedling planting by the planting device 20a after the rotation of the seedling transplanter 1.

Further, in the seedling transplanter 1 of the present embodiment, since the control unit C can execute the turning control even in a state where the marker bar 16C is not operated and the pair of left and right markers ML and MR are in the standard state, that is, the non-operation posture, the convenience and versatility of the turning control can be improved.

Further, in the present embodiment, when at least one of the left and right scribers ML and MR is in the action posture, the scriber bar 16C is operated in the direction of the scribers ML and MR in the action posture, whereby the left and right scribers (ML or MR) are automatically switched to the action posture by the control part C after the seedling transplanter 1 is rotated.

Specifically, when the steering handle 17 is turned by a predetermined angle or more and the control unit C determines that the seedling transplanter 1 is operated during the rotation, when the seedling transplanting part 20 is lowered by operating the seedling transplanting part elevating rod 16f downward after the rotation of the seedling transplanting machine 1, or when the seedling transplanting part 20 is automatically lowered by the control part C in the rotation control, the marker (ML or MR) on the side opposite to the direction in which the steering handle 17 is rotated (the right side in the case where the steering handle 17 is rotated to the left when the seedling transplanter 1 is rotated, in other words, the side located on the outer side when the seedling transplanter 1 is rotated) is automatically switched to the action posture by the control section C (hereinafter, the control in which one marker (ML or MR) is automatically switched to the action posture by the control section C after the rotation of the seedling transplanter 1 is referred to as "automatic operation"). In the present embodiment, each time the scribe bar 16c is operated in the direction of the scribers ML and MR in the working posture, it is possible to switch between a state in which the automatic operation is performed and a state in which the automatic operation is not performed.

Therefore, in the present embodiment, by turning on the turning control switch 16d, the following turning control is set: when the seedling transplanter 1 rotates, the seedling planting unit 20 automatically ascends, and after the seedling transplanter 1 rotates, the seedling planting by the seedling planting unit 20 is automatically started (except for the case where the planting start adjustment dial 16e is operated to the "automatically ascending" position in fig. 3), and further, when the scriber lever 16c is operated to set the automatic operation in which the scribers ML and MR on the left and right sides are automatically switched to the operation posture after the seedling transplanter 1 rotates, the operator does not need to lower the seedling planting unit 20 and switch the scriber (ML or MR) on the left and right sides to the operation posture after rotating the seedling transplanter 1 at the peripheral edge portion of the field, and can concentrate on the operation of the steering handle 17.

In the seedling transplanter 1 of the present embodiment, as described below, the posture of the left and right scribers ML and MR is switched by using the scriber bar 16C, and the automatic operation can be set to be executed or not executed by the control unit C of the left and right scribers ML and MR.

Fig. 11 is a drawing showing the relationship between the operation of the scriber bar 16c of the seedling transplanter 1 shown in fig. 1 and the postures of the scribers ML and MR.

In fig. 11, the postures of the left and right scribers ML and MR before the tilting operation of the scribe bar 16C, the direction of the tilting operation of the scribe bar 16C, the contents of the processing of the control section C caused by the tilting operation of the scribe bar 16C, and the postures of the left and right scribers ML and MR after the tilting operation of the scribe bar 16C are shown in the C1 column to C4 column, respectively.

As shown in the R1 th line and the R2 th line of fig. 11, when it is desired to switch the markers ML, MR in the inactive posture to the active posture, the marker bar 16c is tilted in the direction of the markers ML, MR desired to be switched to the active posture, as described above, and thus can be switched to the active posture independently from the left and right. Therefore, when it is desired to switch both the left and right scribes ML and MR in the non-operating posture to the operating posture, the scriber bar 16c is tilted to one of the left and right sides to switch one of the scribes ML and MR to the operating posture, and then the scriber bar 16c is tilted to the other side as shown in the R5 th line and the R7 th line, whereby the left and right scribes ML and MR can be switched to the operating posture.

Further, when it is desired to set the seedling transplanter 1 to rotate and then to execute a state of automatic operation in which the left and right scribers (ML or MR) are automatically switched to the operating posture by the control unit C, the control unit C can be set to execute the automatic operation by tilting the scriber bar 16C in the direction of the scribers ML and MR in the operating posture as shown in the R4 th, R8 th, R10 th and R11 th lines of fig. 11.

On the other hand, when the scriber bar 16C is tilted in the direction of the scribers ML and MR in the working posture in the state already set to perform the automatic operation, the automatic operation of the scribers ML and MR is not performed by the control section C (the setting of the automatic operation is released). As shown in the column C4 of the R4 th row, the R8 th row, the R10 th row and the R11 th row, the postures of the left and right scribers ML and MR are not switched by the tilting operation for setting the automatic operation based on the scriber bar 16C, and the posture of the scriber bar 16C before the operation is maintained.

As shown in the R6 th, R9 th and R12 th lines of fig. 11, when at least one of the scribers ML and MR is in the working posture, and when it is desired to switch the left and right scribers ML and MR in the working posture to the non-working posture, the scriber bar 16c can be tilted forward as described above to switch the position to the non-working posture. In addition, when the scribe bar 16C is tilted forward with both the left and right scribers ML and MR in the inactive posture, the control unit C does not perform any processing because there are no scribers ML and MR to be switched to the inactive posture.

According to the present embodiment, the posture switching motor 50 is driven by tilting the marker bar 16c provided in the seedling operating section 16 to the left or right, so that the pair of left and right markers ML and MR can be switched from the non-acting posture in which the marker bodies ML1 and MR1 do not contact the field to the acting posture in which the marker bodies ML1 and MR1 contact the field, independently from the left and right. Therefore, when the traveling vehicle 2 repeats traveling and turning and seedlings are planted in a field by the seedling planting section 20, the marker (ML or MR) on one side of the row in which seedling planting is to be performed next can be switched to the active posture from the beginning, and further, when both the left and right markers ML, MR are in the active posture, the posture switching motor 50 can be driven by tilting the marker bar 16c forward, and the pair of markers ML, MR can be simultaneously switched to the inactive posture, so that the operability of the pair of markers ML, MR can be improved.

Further, according to the present embodiment, when at least one of the scribers ML and MR is in the working posture, each time the scriber bar 16C is tilted in the direction (left or right) of the scriber ML or MR in the working posture, the control section C can switch between the state in which the control section C automatically operates the left or right scriber (ML or MR) (when the steering sensor 17s detects that the steering handle 17 is turned by a predetermined angle or more, the control section C automatically switches the outer scriber (ML or MR) to the working posture at the time point when the seedling transplanting unit 20 is lowered after the rotation of the seedling transplanting machine 1), and the state in which the automatic operation is not performed. Further, it is not necessary to additionally provide a trigger unit for setting to execute an automatic operation or setting not to execute an automatic operation, and the number of components can be reduced, and the configuration can be simplified.

Further, according to the present embodiment, the trigger means for switching the left-side scribe ML to the operative posture, the trigger means for switching the right-side scribe MR to the operative posture, and the trigger means for switching the left-side scribes ML and MR to the inoperative posture are integrated into one scribe bar 16c, so that when it is desired to switch the postures of the scribes ML and MR, it is possible to prevent confusion about selection of the trigger means and to quickly perform the operation.

Fig. 12 is an explanatory view showing the position of the lifting/lowering handle 61 provided on the preliminary seedling stage 37 of the seedling transplanter 1 according to another preferred embodiment of the present invention, fig. 12 (a) is a schematic right side view of the right preliminary seedling stage 37, and fig. 12 (b) is a schematic front view of the vicinity of the right preliminary seedling stage 37.

As shown in fig. 12 (a) and 12 (b), the right-side preliminary seedling stage 37 includes a 1 st preliminary seedling stage 37a, a 2 nd preliminary seedling stage 37b, and a 3 rd preliminary seedling stage 37c, and the preliminary seedling stage 37 is supported by a support frame 55, and the support frame 55 is attached to a lower portion of the floor panel 19. In the present embodiment, the preliminary seedling stage 37 is configured such that the 1 st to 3 rd preliminary seedling stages 37a, 37b, and 37c are fixed in a state of being arranged in the vertical direction, and the 1 st to 3 rd preliminary seedling stages 37a, 37b, and 37c cannot be expanded in the front-rear direction.

As shown in fig. 12 (a) and 12 (b), the lifting/lowering handle 61 is provided on the preliminary seedling stage 37 so as to straddle the upper portion of the support frame 55 and the 1 st preliminary seedling stage 37a, and a pedal 60 is attached to the lower surface on the right side of the front end portion of the floor step 19. Therefore, when stepping on the steps 60 from the front of the traveling vehicle 2 to the floor step 19, the traveling vehicle 2 can be safely and comfortably ridden by gripping the boarding/alighting handle 61.

Fig. 13 is a schematic plan view of the vicinity of the operation part 16 of the seedling transplanter 1 according to another preferred embodiment shown in fig. 12.

As shown in fig. 13, in the present embodiment, in place of the scribe bar 16c provided in the operation portion 16 in the above-described embodiment, a left scribe switch 16L functioning as a first trigger means for switching the posture of the left scribe ML, a right scribe switch 16R functioning as a second trigger means for switching the posture of the right scribe MR, and a scribe off switch 16i functioning as a third trigger means for switching one or both of the left and right scribes ML and MR in the operative posture to the inoperative posture are provided. These switches are connected to the control unit C, and by pushing the switches, signals are transmitted from the switches to the control unit C, and the control unit C drives the posture switching motor 50 based on the signals received from the switches and the detection results output from the posture detection sensor 28, thereby switching the postures of the left and right scribers ML and MR.

In the seedling transplanter 1 of the present embodiment, the postures of the left and right scribers ML and MR can be switched as follows using the left and right scriber switches 16L and 16R and the scriber off switch 16i configured as described above.

Fig. 14 is a drawing showing a relationship between pressing operations of the left and right scriber switches 16L, 16R and 16i and postures of the left and right scribers ML, MR of the seedling transplanter 1 of another preferred embodiment shown in fig. 12.

In fig. 14, the postures of the left and right scribers ML and MR before the pressing operation of the switch, the type of the switch for the pressing operation, the processing content of the control unit C caused by the pressing operation of the switch, and the postures of the left and right scribers ML and MR after the pressing operation of the switch are shown in columns C1 to C4, respectively.

In the present embodiment, as in the above-described embodiments, the left and right scribers ML, MR are configured in the non-operating posture in the normal state, and when it is desired to switch the left and right scribers ML, MR in the non-operating posture to the operating posture, as shown in the R1 th line and the R2 th line of fig. 14, one of the scriber switches (the left scriber switch 16L or the right scriber switch 16R) which is desired to be switched to the operating posture is pressed, whereby the scriber ML, MR on the side which is desired to be switched can be switched to the operating posture. Therefore, when it is desired to switch both the left and right scribes ML, MR from the inactive posture to the active posture, after the left or right scriber switch 16L or 16R is pressed to switch one of the left and right scribes ML, MR to the active posture, the right or left scriber switch 16R or 16L opposite to the side pressed last time is pressed as shown in the R5 th line and the R7 th line, whereby the left and right scribes ML, MR can be switched to the active posture.

In the seedling transplanter 1 of the present embodiment, the left and right scribers ML and MR are configured such that, when the main shift lever 16a is operated to the front side and the seedling transplanter 1 is moved backward or the seedling transplanting portion lift lever 16f is tilted upward during traveling of the traveling vehicle 2 in accordance with seedling transplanting by the seedling transplanting portion 20, the control portion C raises the seedling transplanting portion 20 to switch the left and right scribers ML and MR in the operating posture to the non-operating posture, but in this case, when traveling in accordance with seedling transplanting by the seedling transplanting portion 20 is resumed, by pressing one of the scriber switches 16L and 16R which is desired to be switched to the operating posture, it is possible to switch the scriber (ML or MR) in either one of the operating postures.

As shown in the R4 th, R8 th, R10 th and R11 th lines of fig. 14, when it is desired to switch the marker (ML or MR) in the active posture to the inactive posture, the switch (the left marker switch 16L or the right marker switch 16R) which is desired to be switched to the inactive posture is pressed, whereby the marker (ML or MR) which is desired to be switched to the inactive posture can be switched to the inactive posture.

As shown in the R6 th, R9 th and R12 th rows, the scribe off switch 16i is pressed to switch one or both of the left and right scribes ML and MR in the active posture to the inactive posture.

On the other hand, as shown in the R3 th line, when the scribe off switch 16i is pressed with both the left and right scribes ML and MR in the inactive posture, there are no scribes ML and MR to be switched to the inactive posture, and therefore the control unit does not perform any processing.

After the steering handle 17 is turned by a predetermined angle or more and the seedling transplanter 1 of the present embodiment is turned, the control unit C automatically switches the marker (ML or MR) located on the outer side at the time of turning to the working posture as described below.

Fig. 15 shows a procedure in which the control unit C controls the postures of the left and right scribers ML and MR, fig. 15 (a) is a flowchart showing a procedure in which the postures of the left and right scribers ML and MR are controlled when the turning control switch 16d is not turned on in the seedling transplanter 1 of the other preferred embodiment shown in fig. 12, and fig. 15 (b) is a flowchart showing a procedure in which the postures of the left and right scribers ML and MR are controlled when the turning control switch 16d is turned on in the seedling transplanter 1 of the other preferred embodiment shown in fig. 12.

In the present embodiment, when the rotation control switch 16d is not turned on, the control unit C does not automatically switch the outer marker ML or MR to the action posture (does not automatically operate) after the seedling transplanter 1 rotates, and when the rotation control switch 16d is turned on, the control unit C automatically switches the outer marker ML or MR to the action posture after the seedling transplanter 1 rotates.

Specifically, when the rotation control switch 16d is not turned on and the seedling transplanter 1 rotates, the seedling planting unit 20 is raised by the operation of the seedling planting unit raising/lowering lever 16f, and as shown in fig. 15 a, when the steering handle 17 is turned by a predetermined angle or more (step S1) and a detection signal is output from the steering sensor 17S to the control unit C, the control unit C first determines the posture of the left and right scribers ML and MR based on the detection signal output from the posture detection sensor 28 and determines whether or not there are scribers ML and MR in the operating posture (step S2).

When at least one of the scribes ML and MR is in the action posture as a result of the determination, the control unit C drives the posture switching motor 50 to switch the scribes ML and MR in the action posture to the non-action posture (step S3), and ends the control of the scribes ML and MR in accordance with the rotation of the seedling transplanter 1. Therefore, when the rotation control switch 16d is not turned on, the control unit C does not automatically switch the marker ML or MR located outside during rotation to the action posture after the rotation of the seedling transplanter 1.

On the other hand, when the rotation control switch 16d is turned on, as shown in fig. 15 (b), when the steering handle 17 is turned by a predetermined angle or more (step S1) and a detection signal is output from the steering sensor 17S to the control unit C, the control unit C first stops the driving of the transplanting device 20a and raises the seedling transplanting unit 20. Then, the rear wheel rotation sensor 14S starts counting the number of rotations of the rear wheel 6, determines the postures of the left and right scribes ML and MR based on the signal output from the posture detection sensor 28, and determines whether or not the scribes ML and MR in the working posture are present (step S2).

When at least one of the scribes ML and MR is in the working posture as a result of the determination, the control unit C drives the posture switching motor 50 to switch the scribes ML and MR in the working posture to the non-working posture (step S3).

After the rotation of the seedling transplanter 1 is completed, the steering handle 17 is returned to the original state (step S4), and a signal is output from the steering sensor 17S to the control unit C.

Then, when the count of the number of rotations of the rear wheel 6 by the rear wheel rotation sensor 14S reaches the number set by the rotation operation of the transplanting start adjustment dial 16e provided in the operation unit 16 (step S5), the control unit C lowers the seedling transplanting unit 20 to the working position, automatically switches the marker (ML or MR) on the side opposite to the direction in which the steering handle 17 is rotated (the side located on the outer side during rotation) to the action posture (step S6), and ends the control of the markers ML, MR in accordance with the rotation of the seedling transplanter 1.

In addition, when the insertion start adjustment dial 16e is operated to the "automatically raised" position shown in fig. 13 even in a state where the rotation control switch 16d is turned on, the marker (ML or MR) on the side opposite to the direction in which the steering handle 17 is turned (the side located on the outer side during rotation) is automatically switched to the action posture by the control portion C at the time when the seedling insertion part 20 is lowered to the operation position by tilting the seedling insertion part elevating lever 16f downward.

When the rotation control switch 16d is turned on, the control unit C is configured not to automatically switch the left and right scribes ML and MR to the operating posture after the seedling transplanter 1 rotates when the pair of left and right scribes ML and MR are in the inactive posture at the time when the steering handle 17 is turned when the seedling transplanter 1 rotates.

On the other hand, fig. 16 is a diagram illustrating how the markers ML and MR switched to the action postures are determined after the seedling transplanter 1 is rotated when the rotation control switch 16d is turned on in the seedling transplanter 1 of the other preferred embodiment shown in fig. 12.

That is, in the present embodiment, the control unit C determines which of the left and right scribes ML and MR is to be switched to the working posture after the seedling transplanter 1 turns as follows.

As shown in fig. 16, the seedling transplanter 1 reaches the end of the field while traveling in the nth row (N is a natural number) in the field, and when the steering handle 17 is turned leftward (step s1) as shown by the "1 st lever operation" in order to turn one of the rows traveling next (the row on the left side of the nth row in fig. 16), the steering sensor 17s detects that the steering handle 17 is turned leftward by a predetermined angle or more as described above, and outputs the detection result to the control unit C.

The control unit C determines that the hand is operated during the turning operation based on the output detection signal, and switches the marker ML, MR in one or both of the left and right sides of the action posture to the non-action posture (step s 2). At this time, the rotation control switch 16d is turned on, and therefore, the control unit C switches the postures of the markers ML and MR and raises the seedling planting unit 20 according to the handle operation at the time of rotation.

In the present embodiment, as described above, when the rotation control switch 16d is turned on, the rotation control and the automatic operation of the marker (ML or MR) are performed by the control unit C after the seedling transplanter 1 rotates.

The rotation control by the control unit C is to raise the seedling planting unit 20 when the seedling transplanter 1 rotates, and automatically restart the seedling planting by the seedling planting unit 20 after the seedling transplanter 1 rotates, and the automatic operation is to automatically switch the marker (ML or MR) on the side located on the outer side when the seedling transplanter 1 rotates to the action posture after the seedling transplanter 1 rotates.

After the postures of the markers ML, MR are switched, normally, the seedling transplanter 1 is rotated along a trajectory indicated by a broken line as "route 1" in fig. 16, and when the count of the number of rotations of the rear wheel 6 by the rear wheel rotation sensor 14s reaches the number set by the operation of the transplanting start adjustment dial 16e, the control unit C lowers the seedling transplanting unit 20 and automatically switches the marker MR on the side opposite to the direction in which the steering handle 17 is rotated (the side located on the outer side at the time of rotation) to the action posture (step s 3).

On the other hand, when the steering handle 17 is turned right again (step s4) due to the fact that the operator has determined that the "N +1 th row" which is the next row to be driven is on the right side of the nth row (step s1) and the operator has determined that the seedling transplanter 1 is turned right along the trajectory indicated by the one-dot chain line as the "route 2", the control unit C of the seedling transplanter 1 of the present embodiment determines the actual turning direction indicated by the "2 nd hand grip operation" in fig. 16 based on the difference in the number of rotations of the left and right rear wheels 6 detected by the rear wheel rotation sensors 14s incorporated in the left and right rear wheel gear boxes 14, and can switch the appropriate one of the markers (ML or MR) to the active posture (step s 5).

When the seedling transplanter 1 rotates, the number of rotations of the rear wheel 6 positioned on the outer side is usually larger than that of the rear wheel 6 positioned on the inner side, and therefore, as shown by "route 1" in fig. 16, when the seedling transplanter 1 rotates to the left, the number of rotations of the rear wheel 6 positioned on the outer right side should be larger than that of the rear wheel 6 positioned on the inner left side.

However, in the case where the seedling transplanter 1 is rotated along the trajectory shown in "route 2" after the steering handle 17 is turned to the left by a predetermined angle or more in the "1 st handle operation", the number of rotations of the rear wheel 6 positioned on the outer left side is larger than the number of rotations of the rear wheel 6 positioned on the inner right side in the rotation of the seedling transplanter 1 according to the "2 nd handle operation".

Therefore, after the steering handle 17 is turned by a predetermined angle or more (step s1), the number of rotations of the rear wheels 6 reaches the number set by the operation of the planting start adjustment dial 16e, and it is considered that the direction of rotation of the seedling transplanter 1 is changed at the time when the number of rotations of the rear wheels 6 positioned on the left side of the inner side is more than the number of rotations of the rear wheels 6 positioned on the right side of the outer side by 1 st predetermined number or more (the difference in the number of rotations is 1 st predetermined number or more) during the rotation of the seedling transplanter 1 according to the "1 st handle operation" until the seedling planting unit 20 is lowered.

Therefore, when the difference in the number of rotations between the left and right rear wheels 6 becomes equal to or less than the 2 nd predetermined number (the rotation of the seedling transplanter 1 is completed), the control unit C is configured to automatically lower the seedling planting unit 20 and switch the marker ML on the rear wheel 6 side, the number of rotations of which is increased by the "2 nd handle operation", to the operating posture (step s 5).

In addition, even when the rotation control switch 16d is turned on, when the transplanting start adjustment dial 16e is operated to the "automatic raising" position in fig. 13, as shown in the "1 st handle operation", the steering handle 17 is turned by a predetermined angle or more, and after the seedling transplanter 1 rotates (step s1), the seedling transplanting portion elevating rod 16f is operated downward, and it is considered that the direction in which the seedling transplanter 1 rotates is changed when the number of rotations of the rear wheel 6 on the left side on the inner side is larger than the number of rotations of the rear wheel 6 on the right side on the outer side by 1 st predetermined number or more (the difference between the numbers of rotations is 1 st predetermined number or more) during the rotation of the seedling transplanter 1 according to the "1 st handle operation" during the period before the seedling transplanting portion 20 is lowered.

Therefore, the structure is as follows: when the seedling transplanting unit 20 is lowered by the operation of the seedling transplanting unit elevating rod 16f after the rotation of the seedling transplanter 1, the scriber ML on the rear wheel 6 side, the number of rotations of which is increased by the "handle operation 2 nd time", is switched to the action posture by the control unit C (step s 5).

In addition, when the swing control switch 16d is turned on, the following configuration is explained with reference to fig. 16: although the steering handle 17 is turned to the left and then turned to the right again in the "1 st handle operation", the left marker ML is automatically switched to the action posture, in the seedling transplanter 1 of the present embodiment, the right marker MR is automatically switched to the action posture by the control unit C even when the steering handle 17 is turned to the right and then turned to the left again in the "1 st handle operation".

Further, when the seedling transplanter 1 in the present embodiment is rotated, the control unit C turns on the marker lights 15L and 15R provided on the left and right of the monitor 15 as described below.

As shown in fig. 13, the monitor 15 provided in the vicinity of the operation portion 16 has a left marker lamp 15L and a right marker lamp 15R at left and right end portions thereof, and the left and right marker lamps 15L and 15R are connected to the control portion C. Further, as in the case of the above-described embodiment, the control unit C determines the postures of the left and right scribers ML and MR based on the detection signals output from the posture detection sensors 28, and turns on the left-side scriber lamp 15L when the left-side scriber ML is in the operating posture, and turns on the right-side scriber lamp 15R when the right-side scriber MR is in the operating posture.

Here, when the rotation control switch 16d is turned on, when the seedling transplanter 1 rotates, the control unit C automatically raises the seedling planting unit 20, and after one or both of the scribers ML and MR in the operating posture are switched to the non-operating posture, one of the scribers (ML or MR) is automatically switched to the operating posture by the control unit C, but in the seedling transplanter 1 of the present embodiment, the seedling planting unit 20 is automatically raised, and after the scribers ML and MR in the operating posture are automatically switched to the non-operating posture, the control unit C also maintains the left and right scriber lamps 15L and 15R which are lit before the rotation of the seedling transplanter 1 in a lit state. Further, after the seedling transplanter 1 is rotated, the seedling planting unit 20 is automatically lowered by the control unit C, and when one (the marker ML or MR) positioned on the outer side is switched to the action posture at the time of rotation of the seedling transplanter 1, the control unit C turns on only the marker lights 15L and 15R on the side switched to the action posture.

In addition, when the transplanting start adjustment dial 16e is operated to the "automatically-raised" position in fig. 13 even in a state where the rotation control switch 16d is turned on, the control unit C is configured to lower the seedling transplanting unit 20 to the working position by the operation of the seedling transplanting unit elevating lever 16f, and when the marker (ML or MR) on the one side located on the outer side at the time of rotation of the seedling transplanting machine 1 is switched to the action posture, light up only the marker lamps 15L, 15R on the side switched to the action posture.

On the other hand, when the rotation control switch 16d is not turned on and the seedling transplanter 1 is rotated, the steering handle 17 is turned by a predetermined angle or more, and the control unit C switches the markers ML and MR in the operating posture to the non-operating posture, the control unit C ends the lighting of the marker lights 15L and 15R on the side switched to the non-operating posture.

According to the present embodiment, since the left marker switch 16L functioning as the first trigger means for switching the left marker ML to the active posture and the right marker switch 16R functioning as the second trigger means for switching the right marker MR to the active posture are provided in the operation unit 16, the left and right markers ML and MR can be switched from the inactive posture to the active posture independently from each other, and when the running vehicle repeatedly runs and turns and seedlings are planted in the field by the seedling planting unit, the marker on the row on which the seedlings are next planted in the field can be switched to the active posture by the feeling from the beginning.

Further, when it is not necessary to form a line in the field with a pair of scribes with both of the left and right scribes ML and MR in the active posture, the left and right scribes ML and MR can be quickly switched to the inactive posture by pressing the scriber off switch 16i functioning as the third trigger means for switching the left and right scribes ML and MR to the inactive posture.

Further, according to the present embodiment, when at least one of the scribers ML, MR is in the working posture, the scriber switch 16L or 16R on the side of the working posture is pressed, whereby the scriber (ML or MR) in the working posture can be switched to the non-working posture, and therefore, the left and right scribers ML, MR can be switched between the working posture and the non-working posture independently from each other.

Further, according to the present embodiment, in the case where the rotation control switch 16d is turned on and the control unit C is set to perform rotation control (control of automatically stopping the driving of the transplanting device 20a when the seedling transplanter 1 rotates, raising the seedling transplanting unit 20, lowering the seedling transplanting unit 20 after the rotation of the seedling transplanter 1, and automatically restarting the transplanting of seedlings by the transplanting device 20a), the automatic operation of automatically switching the left and right scribers (ML or MR) from the non-operation posture to the operation posture by the control unit C after the rotation of the traveling vehicle 2 is performed, and therefore, in the case where it is desired to set both rotation control and automatic operation, there is no need to set automatic operation in addition to the setting of rotation control, and labor and time can be saved. Furthermore, it is not necessary to additionally provide a trigger unit for setting an automatic operation, the number of components can be reduced, and the structure can be simplified.

The present invention is not limited to the above embodiments, and various modifications can be made within the scope of the invention described in the claims, and these are naturally included in the scope of the present invention.

For example, in the embodiment shown in fig. 1 to 11, 8 insertion claws 20f are provided in the right and left direction in the seedling insertion part 20, and the marker bars ML2, MR2 of the right and left markers ML, MR are set to a predetermined length, but when the seedling insertion parts different in the number of insertion claws 20 are mounted on the traveling vehicle 2, for example, the marker bars ML2, MR2 may be configured to slide in the right and left direction using a pinion, a rack, and a motor, and the position of the line formed by rolling the marker bodies ML1, MR1 of the markers ML, MR can be changed.

In the embodiment shown in fig. 1 to 11, the seedling planting unit 20 is lowered, at least one of the left and right scribes ML and MR is switched to the action posture, and the control unit C calculates the depth of the field (tilling depth) from the detection result of the link sensor 25 when or during the seedling transplanter 1 starts to travel, and adjusts the heights of the scribes ML and MR when the calculated distance is longer than a predetermined distance by 1 second or more, but the distance between the ultrasonic sensor and the field may be calculated by a so-called ToF method based on the time from when the ultrasonic sensor provided at the tip of the traveling vehicle 2 or the like irradiates ultrasonic waves to when the ultrasonic sensor detects ultrasonic waves reflected by the field, and output to the control unit C when the output distance is longer than the predetermined distance by 1 second or more, the height of at least one of the markers ML, MR in the working posture is lowered when the vertical position of the front part of the central float 20c of the float sensor of the seedling planting part 20 is lower than a predetermined value for 1 second or more due to unevenness of the field.

Further, in the embodiment shown in fig. 1 to 11, the pinion 52 is rotated by the height adjusting motor 49, and the rack 53, the posture switching motor 50, and one scribe (ML or MR) in the working posture are integrally moved up and down, thereby adjusting the vertical position of the scribe body (ML1 or MR1), but the height adjusting mechanism of the left and right scribe bodies ML1 and MR1 is not limited thereto, and the vertical position of the scribe bodies ML1 and MR1 may be adjusted by the posture switching motor 50.

In the embodiment shown in fig. 10, the control unit C drives the height adjustment motor 49 to rotate the pinion 52, thereby lowering the vertical position of the one of the left and right scribes (ML or MR) until the scribe body ML1 comes into contact with the field, but when the inclination of the traveling vehicle 2 in the left-right direction is not less than a certain value, the vertical position of the one of the left and right scribes (ML or MR) may be lower than the reference position, and the reference position may be a fixed position or may vary depending on the inclination angle of the traveling vehicle 2.

Further, in the embodiment shown in fig. 1 to 11, the control unit C automatically switches the markers ML, MR in the action posture to the non-action posture based on the detection signal output from the steering sensor 17s when the seedling transplanter 1 is rotated in the state where the rotation control switch 16d is not turned on, but the control unit C may be configured to switch the markers ML, MR in the action posture to the non-action posture based on the signal output from the seedling planting part elevating rod 16f when the seedling planting part elevating rod 16f for elevating the seedling planting part 20 is operated upward.

In the embodiment shown in fig. 11, when the scriber bar 16C is tilted forward with one or both of the left and right scribers ML and MR in the active posture, the left and right scribers ML and MR are switched to the inactive posture, but when the control unit C is set to perform the automatic operation of one scriber (ML or MR) when the scriber bar 16C is tilted forward, whereby not only the postures of the left and right scribers ML and MR are switched but also the automatic operation is set not to be performed (that is, the setting of the automatic operation is released).

Further, in the embodiment shown in fig. 12, the lifting/lowering handle 61 is provided only on the right-hand preliminary seedling stage 37, and the step 60 is attached only to the right-hand lower surface of the front end portion of the floor pedal 19, but the lifting/lowering handle 61 may be provided on each of the right and left inner surfaces of the right and left preliminary seedling stages 37, and the step 60 may be provided on each of the right and left lower surfaces of the front end portion of the floor pedal 19.

In the embodiment shown in fig. 12 to 16, when it is desired to simultaneously switch the pair of scribes ML and MR to the inactive posture, the pair of scribes ML and MR can be simultaneously switched to the inactive posture by pressing the scriber off switch 16i provided in the operating portion 16 as shown in the row R12 in fig. 14, but the left and right scriber switches 16L and 16R shown in fig. 13 may be simultaneously pressed, whereby the pair of scribes ML and MR can be simultaneously switched to the inactive posture.

Further, in the embodiment shown in fig. 1 to 11, the operation portion 16 is provided with a scribe bar 16c as a first trigger unit for switching the left scribe ML to the operation posture, a second trigger unit for switching the right scribe MR to the operation posture, and a third trigger unit for switching the pair of scribes ML, MR to the non-operation posture, in the embodiment shown in fig. 12 to 15, the operation portion 16 is provided with a left scribe switch 16L as a first trigger unit for switching the left scribe ML to the operation posture, a right scribe switch 16R as a second trigger unit for switching the right scribe MR to the operation posture, and an off-switch 16i in the form of a push button as a third trigger unit for simultaneously switching the pair of scribes ML, MR from the operation posture to the non-operation posture, however, these trigger means are not limited to the shape of the lever or the button, and may be constituted by a rotary switch, a touch panel switch, or the like.

In each of the embodiments shown in fig. 1 to 16, the control unit C recognizes the rotation of the seedling transplanter 1 based on the output signal from the steering sensor 17s to perform the automatic operation of one marker (ML or MR) (control for automatically switching to the action posture), but the control unit C may recognize the rotation of the seedling transplanter 1 based on the difference in the number of rotations between the left and right rear wheels 6 detected by the rear wheel rotation sensor 14s and the output signal from the geomagnetic sensor or the like to perform the automatic operation of one marker (ML or MR). Further, the content of the automatic operation of the left and right scribers ML and MR by the control unit C may further include the following control: when the seedling transplanter 1 rotates, the scribers ML and MR in the action posture are switched to the non-action posture by the control part C.

Claims (5)

1. A seedling transplanter comprising:

a running vehicle (2);

a seedling planting unit (20) which is mounted to the rear part of the traveling vehicle (2) and has a planting device (20a) for planting seedlings in a field;

a pair of left and right markers (ML, MR) provided on the traveling vehicle (2) or the seedling planting unit (20), the pair of markers (ML, MR) having scribing bodies (ML1, MR1) that roll on a field as the traveling vehicle (2) travels, thereby forming a line on the field that indicates a position where the traveling vehicle (2) travels;

a posture switching unit capable of switching the pair of scribes (ML, MR) between an active posture in which the scribe lines (ML1, MR1) are in contact with a field and an inactive posture in which the scribe lines (ML1, MR1) are not in contact with a field; and

an operation unit (16) capable of operating the posture switching unit,

the seedling transplanter is characterized in that,

the posture switching means is configured to be able to switch the pair of scribes (ML, MR) from the non-acting posture to the acting posture independently of each other, and to be able to switch the pair of scribes (ML, MR) from the acting posture to the non-acting posture simultaneously.

2. Seedling transplanter according to claim 1,

the operation unit (16) is provided with:

a first trigger unit for switching the left Marker (ML) from an inactive posture to an active posture;

a second trigger unit for switching the right-side Marker (MR) from the non-acting posture to the acting posture; and

a third trigger unit for simultaneously switching the pair of scribes (ML, MR) from the active posture to the inactive posture.

3. Seedling transplanter according to claim 2,

the seedling transplanter is provided with a control part (C) which can control the posture switching unit to switch the pair of scribers (ML, MR) between an acting posture and a non-acting posture,

when the left Marker (ML) is in an acting posture, each time the first trigger means is operated, the left marker can be switched between a state in which an automatic operation is performed and a state in which the automatic operation is not performed, wherein the left marker and the right marker are automatically switched from the non-acting posture to the acting posture by the control unit (C) after the running vehicle (2) turns around,

in the case where the right-side scriber (MR) is in an action posture, it is possible to switch between a state in which the automatic action is performed and a state in which the automatic action is not performed each time the second trigger unit is operated.

4. Seedling transplanter according to claim 1 or 2,

the seedling transplanter has a control part (C) capable of automatically executing rotation control for stopping the driving of a transplanting device (20a) and raising the seedling transplanting part (20) when the running vehicle (2) rotates, and controlling the posture switching unit to switch the pair of scribers (ML, MR) between an active posture and an inactive posture,

when the control unit (C) is set to execute the turning control, an automatic operation is executed in which the control unit (C) automatically switches the left and right scribers from the non-operating posture to the operating posture after the running vehicle (2) turns.

5. Seedling transplanter according to claim 2 or 3,

the first trigger unit, the second trigger unit, and the third trigger unit are integrated into one trigger unit.

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