JP2009005666A - Seedling transplanter - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a seedling transplanter exactly carrying out farm works such as seedling planting etc., in a narrow area. <P>SOLUTION: The seedling transplanter is provided with a seedling feeding device 16 on an upper part of a traveling machine body 1 supporting front and rear wheels 3, 4 driven by an electric motor, a seedling transplanting device 7 arranged on the lower part of the machine body 1, a pin 12 penetrating the machine body 1 and connecting the seedling feeding device 16 and the seedling transplanting device 7 as rotatable in substantially horizontal direction, and a hub 6 for rotatably supporting the pin 12. The machine is usable as the seedling transplanter for transplanting a lot of seedlings such as green onions at narrow spacing. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a seedling transplanting machine in which a seedling supply device and a seedling planting device are rotatably attached to a traveling vehicle body.

The seedling transplanter requires the operator to always operate the transplanter for the seedling supply operation and running operation. The seedling transplanting operation is a tedious operation that takes a long time to plant a large amount of seedlings. At the same time, seedlings are often planted in the cold season, which is a tough task.
For this reason, unmanned transplanters that can perform unattended transplanting of seedlings using GPS have been proposed.
JP-A-9-91039

According to the invention described in Patent Document 1, the position of the seedling transplanter is obtained by communication between the GPS, the GPS reference station, and the seedling transplanter, and the movement from one farm work process to the next farm work process is accurately performed. It can be carried out.
However, the configuration described in Patent Document 1 is not configured to accurately perform farming operations such as planting seedlings in a narrow area.

  An object of the present invention is to provide a seedling transplanting machine that can accurately perform agricultural work such as planting seedlings in a narrow area.

The above-described problems of the present invention are achieved by adopting the following configuration.
The invention according to claim 1 is an electric motor driven wheel (3, 4), a traveling vehicle body (1) that supports the wheel (3, 4), and a seedling disposed above the traveling vehicle body (1). A feeding device (16), a seedling planting device (7) disposed below the traveling vehicle body (1), a seedling feeding device (16) and a seedling planting device (7) penetrating the traveling vehicle body (1) It is a seedling transplanting machine provided with the rotating shaft part (6, 12) which connects so that it can rotate freely in a substantially horizontal direction.

  According to the first aspect of the present invention, the seedling transplanting machine has the seedling planting device 7 and the seedling feeding device 16 centered on the rotating shafts 6 and 12 with respect to the traveling vehicle body 1 that supports the traveling wheels 3 and 4. Since the direction can be changed by 180 degrees, seedlings can be easily planted even in a narrow field. In addition, by reversing the orientation of the seedling planting device 7 and the seedling supply device 16 by 180 degrees at the shore of the field, reciprocal planting work can be performed within the field, and the turning of the traveling vehicle body 1 at the shore of the field is unnecessary. It becomes.

Hereinafter, an example of an embodiment of the present invention will be described.
FIG. 1 shows a perspective view of a seedling transplanting machine for a traveling vehicle body 1 of the present embodiment, and FIG. 2 shows a schematic perspective view of the seedling supply device 16 and the seedling planting device 7.

  The seedling transplanter of the traveling vehicle body 1 according to the present embodiment is an unmanned seedling transplanting machine capable of planting seedlings after moving to an appropriate position while detecting the position on the ground by GPS. A seedling planting device 7 to be supported and a seedling supply device 16 for supplying seedlings to the seedling planting device 7 are provided.

  The seedling transplanter has a flat-bed traveling vehicle body 1, a pair of front wheels 3 and 3 and a pair of rear wheels 4 and 4 attached to four corners of the traveling vehicle body 1 via casters 2. Is provided with a hopper 8 and a hopper driving mechanism 9 of a seedling planting device 7 provided on a support member (hub) 6 that penetrates the traveling vehicle body 1 and is fixed to the traveling vehicle body 1. A seedling supply device support frame 10 made of a “U” -shaped member in a plan view is attached to the upper side of the frame. Since the pair of front wheels 3 and 3 and the pair of rear wheels 4 and 4 are rotatably attached to the traveling vehicle body 1, the traveling vehicle body 1 can be turned by adjusting the direction of the front and rear wheels 3 and 4. it can.

  Further, the pin 12 fixedly erected on the center portion of the planting device support case 30 is inserted into the center hole of the hub 6 so as to be loosely fitted, and the case 30, the pin 12 and the hub 6 are connected to the rear surface of the vehicle body 1. The hub 6 is welded to the traveling vehicle body by being inserted into the opening provided in the center of the vehicle body 1 from the side.

  A gear 28 is fixed to the pin 12 protruding from the upper side of the traveling vehicle body 1, and the upper pin 12 of the gear 28 is fixed to a hub support plate 24 that is integral with the seedling supply device support frame 10.

  Accordingly, the seedling supply device support frame 10 and the planting device support case 30 integral with the pin 12 rotate integrally with the traveling vehicle body 1 so as to be rotatable.

  FIG. 2A shows a tray case 14 on which a tray 26 (see FIG. 1) having a large number of pots 26a is placed, and seedlings from the pots 26a in each of the trays 26 having a quarter size in the tray case 14. 2 is a perspective view of a pair of seedling sandwiching arms 27 for picking up the seedlings, a drive unit thereof, a seedling sandwiching arm 27 and a seedling supply device 16 that supports the drive unit, and FIG. FIG. 2C is a perspective view of a part of the seedling supply device support frame 10 to which the plate 24 is attached. FIG. 2C shows the hub 6 disposed at a position penetrating the traveling vehicle body 1 above and below the traveling vehicle body 1 and related parts. FIG. 2D is a perspective view of a seedling planting device 7 including a seedling planting hopper 8 disposed below the traveling vehicle body 1.

  As shown in FIG. 2 (c), a turning motor 29 is arranged on the lower surface of the traveling vehicle body 1, and a gear 29 b provided on the rotating shaft 29 a of the turning motor 29 passes through the traveling vehicle body 1 and rotates together with the pin 12. 28.

  Moreover, the link support case 32 which supports one end rotatably to the link member 17 of a pair of seedling planting hopper 8 is integrally connected to both ends of the planting device support case 30.

  Therefore, when the turning motor 29 attached to the lower surface of the traveling vehicle body 1 is driven, the seedling supply device support frame 10 and the planting device support case 30 integrated with the pin 12 around the pin 12 rotate relative to the traveling vehicle body 1. The seedling supply device 16 attached to the seedling supply device support frame 10, the seedling supply device 16 attached to the planting device support case 30, and the seedling planting device 7, which rotate integrally with each other, are attached to the traveling vehicle body 1. It can be rotated 180 degrees integrally.

  Further, a planting motor 34 is disposed on the planting device support case 30, and an eccentric ring 35 fixed to a rotation shaft 34 a of the planting motor 34 and a link arm 36 rotatably connected to the ring 35. Is linked to the lower link member 17b in the vertical movement link member 17, so that when the planting motor 34 is driven, the hopper 8 can move up and down.

  It should be noted that one end of the upper link member 17a of the pair of vertical movement link members 17 can be pivoted on the side surface of a rotatable disc 32a provided on the link support case 32 at the end of the link support case 32 side. The link member 17c is connected to. The other end of the link member 17c is connected to the end portion of the upper link member 17a in the vertically moving link member 17, and the seedling planting hopper 8 is obtained by combining these connected disks 32a and the link members 17a, 17c. Moves up and down while changing the front-rear posture, so that it is possible to draw a planting operation locus in a loop shape in a side view.

  Further, the link member 17 attached to the link support case 32 on the upper side (right side in the forward direction of the machine body) in FIG. 2D is driven by the rotation of the motor 34, and the power from the disc 32a is driven on the left hopper drive mechanism. 9 is transmitted by a transmission shaft (not shown) that transmits the driving force of the motor 34 to the right hopper drive mechanism 9, and the hoppers 8, 8 on both sides move up and down simultaneously.

  Although detailed explanation is omitted, when the link member 17 for vertical movement of the hopper 8 moves downward, the hopper 8 with the two members 8a and 8b closed in the front-rear direction is inserted into the field scene. It is the structure by which the seedling previously inserted in the hopper 8 is supplied to a farm field by opening the lower end part of one member 8a, 8b back and forth.

  Furthermore, since the traveling motor 19 is attached to one or more appropriate wheels (rear wheel 4 in FIG. 1), the seedling transplanter can travel in the field. Further, since the wheel turning motor 21 is disposed at a pair of front corners on the upper surface of the traveling vehicle body 1, the caster 2 capable of turning over 360 degrees is appropriately turned to change the direction of the front wheel 3 to advance. Sometimes you can turn.

  An intermediate link 39 is rotatably provided at the top of a pair of support posts 38 provided on rails 37 supported at both ends by the seedling supply device support frame 10, and a pair of seedling sandwiching arms 27, 27 is rotatably connected. Each column 38 facing in the vertical direction is fixed on each base 40 slidably provided on rails 37 supported at both ends by the seedling supply device support frame 10. Each linear motor M0 attached to the base 40 can slide on the rail 37 in the left-right direction.

  Further, a first motor M1 is provided at the top of each column 38, and the intermediate link 39 can be rotated in the vertical direction around the top of the column 38 by the first motor M1. A second motor M2 is provided at each distal end, and a pair of seedling sandwiching arms 27, 27 can be rotated in the vertical direction around the distal end of the intermediate link 39 by each second motor M2.

  The tray 26 is disposed in the tray case 14. As shown in FIG. 1, the tray case 14 is tilted with respect to the traveling vehicle body 1 so that the holding arms 27 are inclined toward the holding arms 27 so that the holding arms 27 can easily hold individual seedlings. The apparatus support frame 10 is fixedly supported.

  As shown in the perspective view of FIG. 3A, the tray case 14 includes a pair of tray vertical feed belts 42 and 42 arranged in parallel and the tray 26 conveyed in the direction of the arrow by the pair of vertical feed belts 42 and 42. It comprises a lateral feed belt 43 for lateral feed. By arranging the lateral feed belt 43 closer to the clamping arm 27, a new tray 26 supplied to the vertical feed belt 42 moves the tray 26 sequentially from each longitudinal feed belt 42 toward the lateral feed belt 43. When all the seedlings in the tray 26 are taken out by the sandwiching arm 27, the lateral feed belt 43 is operated and the tray 26 is discharged from the tray case 14.

  A controller 23 (see FIG. 5) for running the seedling transplanter and controlling seedling supply / planting is disposed on the upper or lower surface of the traveling vehicle body 1 in the vicinity of the wheel turning motor 21. Further, an antenna 25 for transmission / reception with the GPS is attached to an upper end portion of the pin 12 provided through the traveling vehicle body 1. In the traveling control by the controller 23, the seedling transplanter can be operated based on reception from the GPS.

  That is, as shown in FIG. 5, a signal from a communication satellite (GPS) is received by a GPS antenna 25 installed in a seedling transplanter, and is transmitted via a GPS reference station modem and a modem built in each seedling transplanter. Based on the correction data corrected from the difference from the reference position, it is transmitted to the GPS mobile station built in each seedling transplanter, and the traveling path of the seedling transplanter is obtained from the data and the field map recorded in the controller 23. The wheel turning motor 21 and the traveling motor 19 are driven and controlled to move to target positions, and seedlings such as leeks are grasped from the tray 26 on the traveling vehicle body 1 and supplied to the hopper 8 for transplantation. Can do.

  When planting a large amount of seedlings at a narrow interval like a leek, it is a boring work for the seedling transplanter to supply and run the seedling, and it is a cold season at the same time. Therefore, planting leeks is not preferred. Moreover, even if it is called the traveling body 1, it travels once for making a groove with the wheels 3 or 4 in advance in order to determine the traveling route, and when it is combined with seedling planting, it travels twice in the same place. Inefficient.

  Therefore, with the precise traveling control using GPS as described above, seedling supply and traveling operation can be performed even if the seedling transplanter travels unattended. However, it is necessary for an operator to supply seedlings to the pot 26a in the tray 26. In addition, since the seedling transplanter of this embodiment has a built-in map of the field, it is not necessary to make a groove for traveling, and the same location is not traveled twice.

  The seedling transplanting machine of the present embodiment has a configuration in which the traveling unit can move laterally at the end of the field. For this purpose, it is necessary to turn the seedling transplanting unit 180 °. The reason is that in order to plant a seedling in the next process after one planting process is completed, it is necessary to change the traveling direction of the seedling transplanter by 180 degrees. In a conventional seedling transplanter, if the support frame that supports the seedling supply device and the planting device is rotated 180 degrees from the traveling vehicle body, the traveling vehicle body, the seedling supply device, and the support frame that supports the planting device interfere with each other. Was in an arrangement relationship.

  However, in the seedling transplanting machine of the present embodiment, as shown in FIG. 2, the seedling supply device 16 and the traveling vehicle body 1 in which the pin 12 fixed to the approximate center of the traveling vehicle body 1 includes the tray case 14 on the upper side of the traveling vehicle body 1. Since the lower seedling planting device 7 is connected, the seedling feeding device 16 and the seedling planting device 7 can rotate 180 ° around the pin 16 in an integrated manner without interfering with the traveling vehicle body 1. It becomes.

FIG. 6 is a flowchart showing an automatic control operation of the seedling transplanter of this embodiment.
After inputting the map of the field to be operated on the CD-ROM, input the planned stock interval and the process interval in advance, and if the field is rectangular, the vertical and horizontal length of the entire field is calculated by the map data or the distance traveled by the aircraft. It is read by detection, for example, when it is confirmed that the tray 26 for one stroke of the straight traveling of the transplanter from one end to the other end of the field is in the tray case 14, it is checked whether there is a seedling transplanter at the field end. If it is at the end of the field, the movement is stopped and the front wheel 3 is rotated 90 degrees to move the transplanter laterally and move to the next next stroke position. Next, in order to travel in the direction opposite to the traveling direction, the seedling planting device 7 is turned, and at the same time, the traveling direction is switched to a reverse direction of 180 degrees from the traveling direction so far. These series of movements of the seedling transplanter in the field are shown in FIG.

  Next, when the preparation for planting is completed, the seedling transplanter runs for the planting process for 12 strips and transplants the seedling while confirming the position in the field by communicating with GPS. Before the planting operation of the seedling in the planned planting process for one line, it is described in the flowchart of FIG. 8 described later that the holding arm 27 has taken the last strain (seedling) in the tray 26 (“J > N "? = Yes), the tray 26 that has been emptied by stopping traveling is automatically replaced with a new tray 26 (can be automatically replaced with the configuration shown in FIG. 3A).

Further, when the seedling transplanter finishes traveling for the planting process for 12 strips and reaches the end of the field, the number of remaining strains (seedlings) in the tray 26 is calculated by Formula (1), Simulate the planting process for one or two stripes and calculate D using equation (2).
C = (number of trays × number of holes) − (number of counters) (1)
The counter number is the number of planted stocks.
D = C- (stroke distance / between shares) × 2 (2)
When D becomes less than zero, the number of strains (seedlings) in the tray 26 is insufficient, and the running of the seedling transplanter is stopped. If D is equal to or greater than zero, rotate the front wheel 3 90 degrees to move the seedling transplanter laterally, then turn the seedling planting part, and simultaneously switch the traveling direction 180 degrees backward from the previous traveling direction , Stop running and manually supply seedlings to the tray.

  As shown in FIG. 4A, a tray 26 is disposed in the tray case 14 in the directions of arrows i and j. FIG. 4B shows a plan view of the pair of seedling clamping arms 27 and 27. Electromagnetic solenoids 47, 47 are provided on the opposing surfaces of the pair of seedling sandwiching arms 27, 27, respectively, and a current is passed through the electromagnetic solenoids 47, 47 so that the seedlings are sandwiched between the tips of the pair of seedling sandwiching arms 27, 27. Can do.

  In the example shown in FIG. 4A, since the color sensor 50 is attached to the base of the pair of seedling holding arms 27, 27, the sensor 50 detects the green color of the seedling with respect to the soil color of the soil in the tray 26. Then, it is the structure which a pair of seedling clamping arms 27 and 27 operate | move.

  In the configuration shown in FIG. 4, the pair of seedling holding arms 27, 27 of the seedling supply device 16 sequentially grips the base of the seedling in the tray 26 while moving to the left and right. If not detected (see FIG. 1), the seedling is planted in the field by the procedure of grasping / pulling the stem of the next seedling and loading it into the hopper 8 of the seedling planting device 7.

  While checking the presence or absence of seedlings in the tray 26 with the color sensor 50, the seedlings can be transferred from the seedling supply device 16 to the seedling planting device 7, so that the seedlings are not planted in the field (it is said that there is a missing strain) The risk of running the seedling transplanter is eliminated.

Thus, if there is a portion without seedling in the tray 26, even if the portion is taken out and planted, it becomes a planting missing strain. It is not necessary to supplementally plant at the missing position in this field (no planting after planting), and if there is no seedling in the tray 26, replenish another seedling to that part in advance. It is necessary to rework, but in this configuration, the rework is not necessary. In the configuration shown in FIG. 4A, a pair of seedling sandwiching arms 27, 27 are used for sequentially holding the strain (seedling) in the tray 26. A flowchart of the operation control of the seedling transplanter is shown in FIG.
Since the tray 26 often has 128 holes and 200 holes, the tray 26 having 128 holes and 200 holes is prepared in this embodiment.

  Tray 26 having 128 holes and 200 holes (in FIG. 4 (a), (a) 128 holes in total (M = 8 holes) provided in the direction of arrow i) and holes provided in the direction of arrow j (N = 16 holes). Or (b) a tray 26 having a total of 200 holes (M = 10 holes) provided in the direction of arrow i and (N = 20 holes) provided in the direction of arrow j). The stock (seed) of the hole provided in the direction is gripped, and the seedling holding arm 27 is moved to a position that matches the left and right positions of the seedling to be taken out by the motor M0. Next, the motor M1 is driven to rotate the intermediate link 39 in the vertical direction to the position for gripping the stock, and the motor M2 is rotated in the vertical direction by the angle θ2 = θ2j. When the green color of the seedling is detected, the solenoid 47 of the seedling holding arm 27 is operated to hold the strain (seedling).

  Next, the motor M2 is rotated in the vertical direction by the angle θ2 = θ2 + α to pull out the stock (seed) from the tray 26, and then the motor M1 is rotated in the vertical direction by the angle θ1 = θ1h, and at the same time, the motor M2 is rotated in the vertical direction by the angle θ2 = θ2h. Further, the solenoid 47 is operated to release the stock (seed) held by the seedling holding arms 27, 27 to the hopper 8 of the seedling planting device 7, and further the motor M2 is rotated in the vertical direction by an angle θ1 = θ10. At the same time, the seedling holding arm 27 is retracted by rotating the motor M2 in the vertical direction by an angle θ2 = θ10.

  When all the stocks (seedlings) in the holes provided in the direction of the arrow i have been released into the hopper 8 (I> M), the stocks (seedlings) in the holes provided in the (j + 1) th row in the direction of the arrow j Move to the operation of sequentially gripping in the i direction. When all the stocks (seedlings) of the holes provided in the respective rows in the direction of arrow j have been released to the hopper in this way (J> N), the empty tray 26 in the tray case 14 is replaced with a new tray 26. replace.

FIG. 9 shows a perspective view of another seedling transplanter.
A pair of front wheels 101 and rear wheels 102 are supported on the traveling vehicle body 100, and an actual travel distance sensor 103 supported on the traveling vehicle body 100 is disposed between the front and rear wheels 101, 102. A traveling motor 106 that controls the rotation of the drive shaft 105 of the pair of front wheels 101 and its battery 107 are mounted on the traveling vehicle body 100, and a seedling tray 109, a hopper 110, and a hopper 110 are driven up and down in the rear half of the traveling vehicle body 100. A seedling planting device 111 is provided, which includes an attaching motor 113 and a pair of left and right parallel links 115 driven by the motor 113.

  Also, a pair of arms 117 that integrally move the members constituting the seedling planting device 111, a screw screw 118 that passes through the arms 117, a lateral movement motor 119 that rotates the screw screw 118 forward or backward, and the pair of arms. A linear potentiometer 121 attached to the arm 117 and a swing motor 123 that swings a caster (support arm) 122 of the rear wheel 102 are disposed.

  The planting motor 113 is provided with an n rotation speed sensor 113 a of the motor 113, the rear wheel 102 is provided with an N rotation speed sensor 102 a of the rear wheel 102, and a lower rear end portion of the traveling vehicle body 1. A vertical control sensor 125 for the traveling vehicle body 100 is provided.

  A handle 126, a touch panel 127 attached to the handle 126, a controller 129, and a side clutch lever 130 of the rear wheel 102 attached to the handle 126 are attached to the rear end portion of the traveling vehicle body 100.

  As the seedling planting device 111 moves downward, the seedlings that are manually input to the hopper 110 are opened, and the tip of the hopper 110 that is inserted into the field is opened, so that the seedling is planted in the field.

FIG. 10 shows a flowchart of control of the seedling transplanter shown in FIG.
Further, by controlling the rotation speeds respectively measured by the n rotation speed sensor 113a of the planting motor 113 and the N rotation speed sensor 102a of the rear wheel 102, the distance between the seedling planting plants (seedlings) becomes a predetermined value. The n rotation speed of the planting motor 113 and the N rotation speed of the rear wheel 102 can be controlled. This step is shown as a step beginning with * in FIG.

  As shown in FIG. 10, after planting seedlings from the hopper 110 into the field, when the lateral movement motor 119 rotates a predetermined amount forward or backward while moving forward by a predetermined amount, the seedling planting device 111 in either the left or right direction. Is then moved laterally, and then seedlings are planted in the field from the hopper 110 to enable two-row planting. After planting seedlings, staggering can be done by moving forward half of the predetermined amount of advancement distance and moving the half of the predetermined amount laterally to replant the seedlings.

  In addition, the setting of the seedling planting position by the planting apparatus 111 is performed by pressing “left” or “right” on the touch panel 127 as shown in the flowchart of control of the lateral movement motor 119 in FIG. The lateral movement position in the left-right direction with respect to the traveling vehicle body 100 can be set. As shown in FIG. 11, when a plurality of strips are planted using the lateral movement motor 119 of the seedling transplanter, the left strip planting position can be set.

  Furthermore, as shown in the flowchart of the control of the present seedling transplanting machine in FIG. 12, three-row or four-row planting is possible by the amount of movement of the seedling planting device 111 in the left-right direction by the lateral movement motor 119. In addition, one seedling transplanting machine is used, which does not perform reciprocal planting by reciprocating movement to both ends of the field, and uses a single planting device 111 when traveling to one side of the field. There is an advantage that planting, three-row planting, four-row planting and staggered planting are possible.

  In this way, the stock setting can be adjusted only by controlling the n rotation speed of the planting motor 113 and the N rotation speed of the rear wheel 102 by inputting from the touch panel 127, and a complicated gear change type machine becomes unnecessary.

  Moreover, since all the drive parts drive this electric seedling transplanter using an electric device, since exhaust gas does not come out, it can be used in the nursery house.

  The present invention is not limited to leeks, and can harvest a variety of crops.

It is a perspective view of the seedling transplanting machine of one Example of this invention. It is an exploded view of the principal part of the seedling transplanter of FIG. They are a perspective view (Drawing 3 (a)) of a tray frame of a seedling transplanter of Drawing 1, and a longitudinal section (Drawing 3 (b)) of a tray. They are a perspective view (Drawing 4 (a)) which shows arrangement of a tray in a tray case of a seedling transplanter of Drawing 1, and a top view (Drawing 4 (b)) of a pair of seedling pinching frames. It is a figure which shows the structure of the transmission / reception apparatus with GPS of the seedling transplanter of FIG. It is a flowchart which shows the operation | movement procedure of the seedling transplanter of FIG. It is a figure which shows the motion of the seedling transplanter in the field of the seedling transplanter of FIG. It is a flowchart which shows the operation | movement procedure which takes out the seedling in the tray of the seedling transplanter of the seedling transplanting machine of FIG. 1 with a clamping frame. It is a perspective view of the seedling transplanting machine of one Example of this invention. It is a flowchart which shows the operation | movement procedure of the seedling transplanter of FIG. It is a flowchart which shows the operation | movement procedure of the seedling transplanter of FIG. It is a flowchart which shows the operation | movement procedure of the seedling transplanter of FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Traveling vehicle body 2 Caster 3 Front wheel 4 Rear wheel 6 Support member (hub) 7 Seedling planting device 8 (8a, 8b) Hopper 9 Hopper drive mechanism 10 Seedling supply device support frame 12 Pin 14 Tray case 16 Seedling supply device 17 (17a) 17b, 17c) Link member 19 Traveling motor 21 Wheel turning motor 23 Controller 24 Hub support plate 25 GPS (For transmission / reception) antenna 26 Tray 26a Pot 27 Seedling holding arm 28 Gear 29 Turning motor 29a Rotating shaft 29b Gear 30 Planting device support Case 32 Link support case 34 Planting motor 34a Rotating shaft 35 Eccentric ring 36 Link arm 32a Disk 37 Rail 38 Post 39 Intermediate link 40 Base M0 Linear motor M1 First motor M2 Second motor 42 Vertical feed belt 43 Horizontal feed belt 47 electromagnetic solenoid 50 Color sensor 100 Traveling vehicle body 101 Front wheel 102 Rear wheel 102a N rotation speed sensor 103 Actual travel distance sensor 105 Drive shaft 106 Traveling motor 107 Battery 109 Seedling tray 110 Hopper 113 Planting motor 113a n Number of rotation sensor 115 Parallel link 111 Planting Device 117 Arm 118 Screw screw 119 Horizontal movement motor 121 Linear potentiometer 122 Caster (support arm)
123 Swing motor 125 Vertical control sensor 126 Handle 127 Touch panel 129 Controller 130 Side clutch lever

Claims (1)

Electric motor driven wheels (3, 4);
A traveling vehicle body (1) that supports the wheels (3, 4);
A seedling supply device (16) disposed above the traveling vehicle body (1);
A seedling planting device (7) disposed below the traveling vehicle body (1);
A rotating shaft portion (6, 12) that penetrates the traveling vehicle body (1) and rotatably connects the seedling supply device (16) and the seedling planting device (7) in a substantially horizontal direction;
A seedling transplanter characterized by comprising:

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