JP2010029091A - Seedling planter - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide problems that a sensor composed of a pendulum is generally known as an inclination sensor, is difficult in the adjustments of inclination detection accuracy and sensitivity, and requires complicated control constitution, while a height sensor for detecting the vertical height of a vehicle body from the surface of a field and the inclination sensor for detecting the inclination in the lateral direction are disposed for the upward or downward control and rolling control of a seedling planter. <P>SOLUTION: The seedling planter is equipped with a rolling actuator 17 for changing the relative heights of right and left wheels 10 to control the lateral inclination of the machine frame, and with right and left planting hoppers 3 which are upward or downward operated to plant seedlings in the field. The seedling planter is further installed with right and left compactors 4 for compacting right and left seedling-planted positions with the right and left planting hoppers 3, respectively, disposing right and left sensor arms 47 operated in cooperation with the vertical movements of the right and left compactors 4 at a distance, and further installed with a vehicle body posture controller for detecting the inclination of the machine frame due to the change of the distance between the right and left sensor arms 47 to operate the rolling actuator 17. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a seedling transplanter provided with a posture control device for controlling the posture of a vehicle body.

The left and right wheel cases with left and right traveling wheels are moved up and down by detection of the ground sensor to control the vehicle body up and down, and the vehicle body is rolled by moving the wheel case on one side up and down by detecting the left and right inclination of the vehicle body by the inclination sensor. A technique of an attitude control device to be controlled is known.
JP 2002-46661 A

  In the vertical control and rolling control of the seedling transplanter, a height sensor for detecting the vertical height of the vehicle body from the farm scene and a tilt sensor for detecting the horizontal tilt are provided. As this tilt sensor, a pendulum sensor is generally known. However, it is difficult to adjust the accuracy and sensitivity of the tilt detection, and the control configuration is complicated.

In order to solve the above problems, the present invention has taken the following technical means.
That is, the invention according to claim 1 is provided with a rolling actuator 17 that changes the relative height of the left and right wheels 10 to control the horizontal inclination of the aircraft and a left and right seedling planting hopper 3 that operates vertically to plant seedlings in a field. The left and right seedling planting machine is provided with a left and right pressure suppressor 4 that suppresses the left and right seedling planting positions by the left and right seedling planting hopper 3, and the left and right sensor arms 47 that operate in cooperation with the vertical movement of the left and right pressure suppressor 4 A seedling transplanter provided with a vehicle body posture control device for detecting the tilt of the machine body by the fluctuation of the distance between the left and right sensor arms 47 and operating the rolling actuator 17 is provided.

  Therefore, according to the first aspect of the present invention, at the time of seedling planting action by raising and lowering the left and right seedling planting hopper 3, the right and left pressure suppressor 4 suppresses the planted soil surface and appropriately transplants the seedling with good posture. At this time, the left and right pressure suppression tools 4 move up and down in accordance with the height of the farm scene, reduce the pressure so that it acts at a constant height, and as the pressure is reduced, Then, the tilt is detected, and the rolling actuator 17 is operated to change the relative height of the left and right wheels 10 to perform rolling control so as to maintain the aircraft in a desired left and right tilt posture.

  In the invention according to claim 2, the left and right sensor arms 47 are configured so as to be rotatable about the respective coaxial axes, and the distal ends of the left and right sensor arms 47 are extended in parallel with a space therebetween. The outer wire receiver 50a and the inner wire receiver 50b of the sensor wire 50 are provided in each of the extended portions, and the outer wire receiver 50a and the inner wire receiver 50b are moved closer to and away from the rotation axis of the left and right sensor arms 47. The seedling transplanter according to claim 1, wherein the seedling transplanter is configured to be movable and fixed in a direction so as to detect a change in the interval between the left and right sensor arms 47 by the sensor wire 50.

  Therefore, in addition to the operation of the first aspect, the vehicle body can be simply obtained by moving the outer wire receiver 50a and the inner wire receiver 50b with respect to the left and right sensor arms 47 without removing the sensor wires 50 from the left and right sensor arms 47. Sensitivity adjustment for posture control can be performed.

  Therefore, the present invention has a simple configuration in which the right and left inclined state of the farm scene is accurately detected and the relative height of the left and right wheels 10 is changed based on the difference in height between the left and right pressure suppressors 4 that suppress the left and right seedling planting farm scene. This makes it possible to perform stable vehicle body posture control and to perform accurate seedling planting work.

  A two-row planting seedling planting machine according to an embodiment of the present invention will be described below. In the following description, the side on which the steering handle 8 is disposed is the rear, and the opposite side, that is, the side on which the engine 6 is disposed is the front. Then, the right hand side of the worker standing toward the front side of the machine body at the rear part of the machine body is set to the right, and the left hand side is set to the left.

  The vehicle body 2 is provided with an engine 6 and a transmission case 7 at the front, a steering handle 8 is provided at the rear end, and swings up and down around the left and right axle housings 9 projecting on both sides of the transmission case 7. The left and right wheel cases 1 are provided, the wheels 10 are mounted on the axle 11 provided at the rear end of the wheel case 1, and the left and right wheels 10 and the front wheel shaft 12 provided at the front end of the vehicle body 2 are mounted. The vehicle is configured to travel with the left and right front wheels 13.

  The left and right axle housings 9 to which the left and right wheel cases 1 are integrally attached are provided with left and right housing arms 14 and interlocked with the left and right sides of the machine body provided in the upper and lower hydraulic cylinders 15 protruding on the rear side of the transmission case 7. The left and right wheels 10 can be moved up and down simultaneously with respect to the vehicle body 2 by connecting the left and right ends of the arm 16 with a rolling cylinder 17 as a rolling actuator and a rod 18 and expanding and contracting the vertical hydraulic cylinder 15. It is configured. The rolling cylinder 17 is provided on the left side of the machine body (the left side of the upper and lower hydraulic cylinders 15).

  The wheel 10 on this side is connected by the rod 18 on the other side by the expansion and contraction of the rolling cylinder 17 on one side connecting the one housing arm 14 and the side end of the interlocking arm 16. The vehicle body 2 can be rolled up and down with respect to the wheel 10 on the other side to make the vehicle body 2 horizontal and horizontal, or parallel to the soil surface. can do. Such up / down control is performed by detection of an up / down sensor 5 described later, and rolling control is performed by detecting a right / left inclined state by a pressure suppressor 4 that performs a pressure suppression action from the left / right sides of the seedling planted at the seedling planting position. It is what you do.

  Here, in the seedling planting machine in which the left and right wheel cases 1 are provided so as to be able to swing up and down with respect to the vehicle body 2, the left and right seedling planting positions by the left and right seedling planting hoppers 3 arranged in parallel in the left and right direction of the machine body The rolling control is performed by swinging up and down the left and right pressure suppressor 4 that suppresses the pressure. The right and left sides of the seedlings planted in the field by raising and lowering the seedling planting hopper 3 are suppressed by the pressure suppression tool 4 so that the seedling planting posture is stabilized. At this time, the left and right pressure suppression tools 4 that suppress the left and right seedling planting positions are configured to function as sensors that detect the right and left inclination of the seedling planting soil surface. Each of the left and right pressure suppression tools 4 swings up and down independently for each right and left seedling planting position, detects the horizontal inclination of the planting soil surface by the difference in height of the swinging position, The one wheel case 1 is swung up and down by detecting the inclination, and rolling control is performed so as to maintain the vehicle body 2 parallel to the soil surface.

  Further, by swinging the left and right wheel case 1 to the non-planting position (the state in which the left and right wheels 10 are moved to the lowest position to raise the aircraft most), the left and right pressure suppressors 4 are raised to the non-grounding height. It is linked to the configuration. That is, when the aircraft is raised high, the left and right wheel cases 1 are moved to the lowest position to raise the vehicle body 2 to the non-seedling posture, and the left and right pressure suppressor 4 is raised in conjunction with the non-action posture position. It will be in a state where it does not interfere with running and turning, and the aircraft can be turned easily.

  The seedling planting hopper 3 is arranged in a rear width between the left and right wheels 10 as a two-row planting configuration arranged at a constant left and right position. At the rear part of the vehicle body 2, a seedling supply device 20 for connecting and rotating and transporting a plurality of seedling cups 19 to the turntable structure is provided, and the seedling planting hopper 3 is placed on the lower side of the rear side of the body of the seedling supply device 20. Two are arranged. By rotating the seedling cup 19 in the left-right direction, the seedling cup 19 is supplied to each seedling cup 19 while taking out the seedling from the seedling tray mounted in advance on the auxiliary seedling receiving base 21 at the top of the vehicle body 2. When each seedling cup 19 is rotated and positioned above the seedling planting hopper 3, the shutter at the bottom of the cup is opened, and the stored seedling is dropped and supplied to the lower seedling planting hopper 3. It is.

  The seedling planting hopper 3 is provided so as to be capable of opening and closing to the left and right with respect to the seedling planting bracket 22, and has a hopper 23 for guiding the seedling supplied from the seedling cup 19 to fall on the upper side. The case 24 is driven up and down via parallel link arms 25 and 26. The seedling transmission case 24 is fixed to the frame 2 of the vehicle body, and is transmitted from the transmission case 7 part. The upper link arm 25 is moved up and down via the rod 28 by the crank arm shaft 27 rotated by a part of the transmission mechanism, and the seedling planting hopper 3 is planted on the locus P in the vertical direction.

  The lever 29 of the seedling planting bracket 22 and the arm 30 formed at the base end of the lower link arc 26 are connected by a wire 31, and this seedling planting is performed as the seedling planting hopper 3 is raised and lowered. The hopper 3 is opened and closed. By rotating the crank arm shaft 27, the seedling planting hopper 3 is moved up and down while drawing a substantially elliptical planting locus P, and the seedling planting hopper 3 is closed in a process of descending from the position immediately before the top dead center. Open at the lowest position, the ascending stroke remains open.

  On the rear side of the left and right seedling planting hoppers 3, left and right side suppression tools 4 are provided for suppressing and covering the left and right sides of the seedlings planted on the soil surface (畝) A by the left and right seedling planting hoppers 3, respectively. The pressure suppressor 4 has a pair of left and right symmetrical configurations with respect to each seedling planting position, and is configured to be rotatable around the support shaft 32 so that the front side and the upper side are inclined to open left and right. It is said. A seat 33, a step 34, and the like are arranged on the vehicle body 2 so that an operator can board and supply the seedlings of the auxiliary seedling receiving base 21 to the seedling cup 19 of the seedling supply device 20.

Next, the mounting configuration and operation of the left and right pressure suppressor 40 will be described mainly based on FIGS.
A pair of left and right pressure-reducing arm shafts 40 having a hexagonal axis configuration along the lateral direction are rotatably provided on a pressure-reducing frame 39 attached to the rear portion of the vehicle body 2 by a mounting bracket 38 with the inner ends facing each other. And the pressure suppression tool 4 is provided in the rear end of the pressure suppression arm 41 which fixed the front end to the arm boss 42 fitted to this pressure suppression arm axis | shaft 40 by welding. The arm boss 42 is provided so as to be movable and fixed in the horizontal axis direction by tightening the set bolt 43, and the pressure suppression position of the left and right pressure suppression tool 4 can be moved and adjusted left and right.

  The rear end portion of each pressure suppression arm 41 is formed in a gate-shaped rear frame 44 in a rear view, and the pair of left and right pressure suppression tools (pressure suppression wheels) 4 are disposed on the left and right sides of the rear frame 44 to support the shaft. 32 is rotatably supported. The rear frame 44 is configured to be able to move in the forward direction across the upper part of the seedling planted in the heel A. Further, a plurality of balance weights 45 are fitted and supported on the rear frame 44 by a support arm 46, and the pressure reducing pressure can be adjusted by changing the number of the balance weights 45 attached.

  Left and right sensor arms 47 that rotate integrally are provided at the inner ends of the left and right pressure-reducing arm shafts 40, and the rear ends of the sensor arms 47 are configured to be parallel to each other. An outer wire receiver 50a for the sensor wire 50 for switching the rolling valve 48 is mounted on the arm 47, and an inner wire receiver 50b for the sensor wire 50 is mounted on the other sensor arm 47. Therefore, when the left and right pressure suppressors 4 move up and down in the same direction, the distance between the rear ends of the sensor arms 47 does not change, so that the sensor wire 50 does not switch the rolling valve 48. Further, when the heights of the upper surfaces of the left and right eyelids A are different and the amount of vertical movement of the left and right pressure suppressors 40 is different, the distance between the rear ends of the sensor arms 47 changes, so that the sensor wire 50 switches the rolling valve 48. Operate. For example, when the right pressure suppressor 4 moves higher than the position of the left pressure suppressor 4 (畝 A is in the left-right direction of the body and the right side is higher), the distance between the rear ends of the sensor arms 47 is reduced, and the sensor wire 50 The inner wire IN-W is pushed and the rolling valve 48 is switched, the rolling cylinder 17 is contracted, the left wheel 10 is moved down, and rolling control is performed so that the aircraft is parallel to the left and right sides of the aircraft. To do. On the contrary, when the left pressure suppressor 4 is moved higher than the position of the right pressure suppressor 4 (when the left side is higher in the left-right direction of the aircraft), the distance between the rear ends of the sensor arms 47 increases, and the sensor wire 50 inner wire IN-W is pulled and the rolling valve 48 is switched to operate to extend the rolling cylinder 17 and the left wheel 10 is moved upward so that the aircraft is parallel to the left and right sides of the aircraft. Control rolling.

  In addition, elongated holes 47a in the front-rear direction are provided in the rear end portions of the sensor arms 47 that are provided in parallel, and the outer wire receiver 50a and the inner wire receiver are respectively provided in the elongated holes 47a. 50b is provided so as to be movable in the front-rear direction and fixed in position by a tightening knob bolt 50c.

  Accordingly, when the knob bolt 50c is loosened and the outer wire receiver 50a and the inner wire receiver 50b are moved and fixed in front of the sensor arms 47, the inner wire IN Since the push-pull amount of -W is reduced, the rolling control state becomes insensitive so that the rolling control does not operate unless the change in the vertical operation amount of the left and right pressure reducing wheels 4 is large. On the contrary, the knob bolt 50c is loosened to When the wire receiver 50a and the inner wire receiver 50b are moved and fixed in the rearward direction of each sensor arm 47, the amount of pushing and pulling of the inner wire IN-W increases with respect to the change in the vertical operation amount of the left and right pressure reducing wheels 4. Sensitive rolling control state in which the rolling control is activated even if the change in the vertical operation amount of the left and right pressure reducing wheels 4 is small. To become. Therefore, the sensitivity of rolling control can be easily adjusted by simply sliding the outer wire receiver 50a and the inner wire receiver 50b on the sensor arms 47 without removing the sensor wires 50 from the sensor arms 47. . Each sensor arm 47 is engraved with a mark M indicating a sensitivity adjustment position.

  In addition, the vertical control for moving the left and right wheels 10 up and down simultaneously with respect to the vehicle body 2 by expanding and contracting the vertical hydraulic cylinder 15 is performed by detecting the vertical sensor 5 that detects the distance between the machine body and the farm scene (the upper surface of the basket A). This is done by switching the upper and lower valves 49.

  That is, the upper and lower sensor support plates 5a are rotatably supported by the support shafts 5b provided in the left-right direction of the machine body at the front ends of the support arms 39a fixed by welding to the front portion of the pressure suppressing frame 39. Left and right and up and down sensors 5 are provided on both sides so that the left and right positions can be adjusted by bolts 5c. Then, when the vertical sensor support plate 5a rotates around the support shaft 5b in the detection of the height variation of the farm scene (畝 A surface) of the left / right vertical sensor 5, the vertical valve 49 is rotated via the connecting rod 5d. Is configured to be switched.

  In other words, the lower end of the left / right / up / down sensor 5 is in contact with the farm scene (畝 A surface), and when the farm scene (場面 A surface) becomes higher, the lower end of the left / right / up / down sensor 5 moves upward, and the upper / lower sensor support plate 5a. Is rotated around the support shaft 5b in the direction B, and the connecting rod 5d is pushed to switch the upper and lower valves 49, and the upper and lower hydraulic cylinders 15 are operated to extend to move the left and right wheels 10 downward. The vertical control is performed so that the distance from the (A-face A) is an appropriate position. On the other hand, when the farm scene (surface A) is lowered, the lower end of the left / right up / down sensor 5 moves downward to rotate the up / down sensor support plate 5a around the support shaft 5b in the opposite direction and pull the connecting rod 5d. The upper and lower valves 49 are switched and the upper and lower hydraulic cylinders 15 are operated in a contracting direction to move the left and right wheels 10 upward so that the space between the machine body and the farm scene (surface A) becomes an appropriate position. Control up and down.

  Then, the ground contact portion 5 ′ at the lower end of the left / right up / down sensor 5 is provided by adjusting the left / right position so as to be positioned in front of the left / right pressure suppressor 4. The left and right seedling planting hopper 3 plants seedlings on the field scene (surface A), and then the left and right suppressor 4 suppresses the seedling. Therefore, the left / right up / down sensor 5 also has a function of a front preliminary pressure reducing action. The horizontal width B1 of the field ground contact portion 5 ′ at the lower end of the left / right vertical sensor 5 is configured to be wider than the width B <b> 2 of the pressure suppressor 4.

  Also, the reason why the vertical sensor 5 is divided into left and right is, for example, when the left and right wheels 10 travel over two ridges and plant seedlings on the two ridges, respectively, and the ground contact at the lower end of the left and right vertical sensor 5 If the seedling planting operation is performed so that each of the parts 5 'is in contact with the upper surface of each of the two bases, it is possible to detect any height of the two bases that the left and right wheels 10 straddle. It can be done and appropriate seedling planting work can be done. Furthermore, since the left and right pressure suppressors 4 are grounded on the two wheels that the left and right wheels 10 straddle and perform rolling control, the vertical control and the rolling control are performed on the two wheels that the left and right wheels 10 straddle. On the other hand, seedling can be planted properly at an appropriate seedling planting depth.

  Further, the distance L2 between the support shaft 5b and the field ground contact portion 5 ′ at the lower end of the left vertical sensor 5 is longer than the distance L1 between the support shaft 5b and the field ground contact portion 5 ′ at the lower end of the right vertical sensor 5. The left / right up / down sensor 5 is arranged. This is because the rolling cylinder 17 is provided on the left side of the fuselage, and the left side of the fuselage has a large amount of vertical movement due to the influence of the rolling control, but the right side of the fuselage is less affected by the rolling control. The distance L2 between the lower end of the left upper / lower sensor 5 and the field ground contact portion 5 ′ which is greatly received is increased to make it less susceptible to the influence of rolling control. As a result, appropriate vertical control of the aircraft can be performed.

  On the other hand, the rear ends of the inner wires 51a of the lift wires 51 are connected to the base ends of the left and right sensor arms 47, and the front ends of the outer wires 51b of the lift wires 51 are provided on the left and right axle housings 9 respectively. Each of the lift wires 51 is connected to the housing arm 14 and the front end of the inner wire 51a is fixed to the airframe. By connecting the lift wires 51, the left and right sensor arms 47 can be pivoted up and down by the elevation of the left and right wheel cases 1, and the left and right pressure-reducing arms 41 can be forcibly rotated upward. When the left and right wheels 10 are moved to the lowest position during turning to raise the aircraft, the left and right pressure suppressors 4 are automatically housed and rotated upward so that the aircraft can be easily turned.

  When the pressure reducing arm 41 is moved and adjusted to the left and right, a cutout mark 55 is formed around the pressure reducing arm shaft 40 in order to facilitate the adjustment operation, and the position of the arm boss 42 is set at the position of the mark 55. By combining them, it is possible to perform pressure reduction positioning to an accurate planting strip position.

Next, an example in which a leveling body 60 for leveling the upper surface of the bag A shown in FIG. 7 is provided will be described. The configuration other than the smooth body 60 is exactly the same as the above example.
The leveling body 60 that contacts the upper surface of the heel A and leveles the left and right planting positions is obtained by fixing the base portions to the left and right boss portions 61 that are rotatably provided on the inner end side of the left and right suppression arm shaft 40, respectively. It is fixed to the rear end portion of the leveling body support arm 62 by welding. Reference numeral 63 denotes a snap pin that restricts left-right movement of the left-right boss portion 61.

  The left and right leveling body 60 is arranged in a letter C shape so that the left and right ends are located forward and the center side is located rearward in plan view on the left and right sides of the aircraft. Is formed with a space K. Further, the left and right leveling body 60 is disposed in front of the aircraft relative to the left and right seedling planting hopper 3, and before the left and right seedling planting hopper 3 plantes seedlings, the solid lump on the upper surface of the heel A is removed. The upper surface of the heel A is leveled while being collected in the central portion, and the earth lump collected from the space K is discharged to the center of the heel A. Therefore, since soil accumulates in the center of the ridge A, the soil at the center of the ridge can be used at the time of middle tillage, so that the workability is good and the middle tillage work can be performed.

  In addition, since the left and right bosses 61 and the left and right leveling body support arms 62 of the left and right leveling body 60 are arranged at the center of the machine body, the left and right pressure reducing device 4 does not interfere with the left and right position adjustment, and the spacing between the planting lines can be freely adjusted. This can expand the adaptability of seedling transplanting work.

  Reference numeral 64 denotes a left / right upward movement arm in which the base is welded and fixed to the left / right sensor arm 47, and the tip is leveled to the lower side of the body support arm 62. When the left and right pressure-reducing arms 41 are forcibly turned upward, the right and left leveling body 60 is lifted upward by the left and right upper moving arms 64 together, and the aircraft is turning. When the left and right wheels 10 are moved to the lowest position and the body is raised, the left and right pressure suppressor 4 and the left and right leveling body 60 are automatically housed and rotated upward, so that the body can be easily turned.

Next, an example in which the stand 70 shown in FIG. 8 is provided will be described. The configuration other than the stand 70 is exactly the same as the above example.
A regular hexagonal left and right through hole 71 is provided in the left and right side walls of the pressure reducing frame 39, the right hexagonal shaft 72 is passed through the left and right through hole 71, and a stand operation handle is protruded from the left side wall of the pressure reducing frame 39 of the regular hexagonal axis 72. 73 is fixed, a washer 75 whose position is regulated by a nut 74 is provided at the right end of the regular hexagon shaft 72 protruding from the right side wall of the pressure reducing frame 39, and a compression spring 76 is provided between the washer 75 and the right side wall of the pressure reducing frame 39. Yes. Then, the right and left boss portions 70 a provided at the base of the stand 70 are fitted on the regular hexagon shaft 72 and the left and right positions are fixed by bolts 77. The left and right boss portions 70a are provided with regular hexagonal holes that are externally fitted to the regular hexagonal shaft 72.

  Further, the regular hexagon shaft 72 is provided with a cylindrical portion by cutting the hexagonal portion. In the state of FIG. 8, the regular hexagon shaft 72 engages with the regular hexagonal left and right through holes 71 of the pressure reducing frame 39 to rotate. When the operator grips the stand operation handle 73 and moves the regular hexagonal shaft 72 to the left against the compression spring 76 from this state, the regular hexagon is moved. The cylindrical portion of the shaft 72 is positioned in the left and right through holes 71, and the operator can freely rotate the regular hexagon shaft 72 by grasping the stand operation handle 73, and is shown in the imaginary line. When the hand is released after rotating to the position, the regular hexagon shaft 72 is moved to the right by the compression spring 76, and the regular hexagon shaft 72 is again engaged with the right hexagonal left and right through holes 71 of the pressure reducing frame 39 to rotate. Non-moving state (stand 0 in a non-working state) housing a. When the stand 70 is changed from the non-operation state to the operation state, the same procedure as described above is performed.

  A front end of the airframe between the left and right front wheels 13 is provided with a front end sensor 80 for detecting the end of the front end of the reed A by contacting the upper surface of the reed A, and the front end sensor 80 is free of wrinkles due to the forward movement of the front body. However, it is configured to detect that the terminal end of the bag is reached by reaching the place and not sensing the upper surface of the bag. Based on the detection of the end of the cocoon by the heel end sensor 80, the main clutch is automatically disengaged to stop the driving of the left and right wheels 10, the driving of the right and left seedling planting hopper 3 and the seedling supply device 20, and the machine is stopped. At the same time, an alarm (for example, a buzzer or the like) is issued to notify the operator. As a result, the worker sitting on the seat 33 faces backward with respect to the advancing direction of the aircraft, and because it concentrates on seedling replenishment work, it is difficult to confirm the front of the aircraft and does not notice that the aircraft has reached the end of the heel. Although there is a risk of causing an accident such as a collision with surrounding structures, the aircraft end sensor 80 automatically stops the aircraft at the end of the kite and notifies the end of the kite with an alarm. The seedling replenishment work can be concentrated on the seedling supply device 20 without worrying about the situation in front of the machine body and the position of the end of the cocoon, thereby improving the planting work efficiency. The heel end sensor 80 is arranged at the center of the left and right sides of the machine body, and is configured to have a left and right length (left and right side seedling planting position) in which the right and left seedling planting hopper 3 plantes seedlings. And has a function of pre-pressing the seedling planting position of the right and left seedling planting hopper 3. Further, when the left and right wheels 10 travel over two ridges and plant seedlings on the two heels, the heel end sensor 80 can detect both the two heels and perform safe planting work.

  Further, in the above example, the right and left seedling planting hopper 3 is configured to have a left and right length (long cylindrical shape in the left and right direction of the machine body) in the left and right seedling planting positions where the seedlings are planted. Alternatively, a left-right split type configuration may be employed so that the left and right eyelid terminal sensor 80 is positioned at the right. In that case, the left and right heel end sensors 80 are also configured so that the left and right heel end sensors 80 can be adjusted to the left and right so that the left and right seedling planting hoppers 3 can be adjusted in the horizontal direction of the machine body by adjusting the spacing.

It is a perspective view of a pressure suppression tool. It is an expansion perspective view of the principal part. It is an enlarged plan view of the principal part. It is a side view of the whole seedling transplanter. It is a top view of the whole seedling transplanter. It is a perspective view of a seedling planting hopper. It is a perspective view of the principal part which shows another example. It is a perspective view of the principal part which shows another example.

Explanation of symbols

3 Left and right seedling planting hopper 4 Left and right pressure suppressor 10 Left and right wheels 17 Rolling actuator (rolling cylinder)
47 Left and right sensor arms 50 Sensor wire 50a Outer wire receiver 50b Inner wire receiver

Claims (2)

  A seedling planting machine provided with a rolling actuator (17) that controls the horizontal inclination of the aircraft by changing the relative height of the left and right wheels (10) and a right and left seedling planting hopper (3) that is operated up and down to plant seedlings in the field Left and right seedling planting hoppers (3) are provided with left and right pressure suppression tools (4) that suppress the left and right seedling planting positions, and the left and right sensors operate in cooperation with the vertical movement of the left and right pressure suppression tools (4). A vehicle body posture control device is provided in which an arm (47) is provided at an interval, and a tilt of the airframe is detected by a variation in the interval between the left and right sensor arms (47) to operate a rolling actuator (17). Seedling machine.   Each of the left and right sensor arms (47) is configured to be rotatable about a coaxial center, and the distal ends of the left and right sensor arms (47) extend in parallel with a space therebetween, and the left and right sensor arms (47) extend in parallel. Each is provided with an outer wire receiver (50a) and an inner wire receiver (50b) of the sensor wire (50), and the outer wire receiver (50a) and the inner wire receiver (50b) are connected to the rotation shaft of the left and right sensor arms (47). The seedling planting according to claim 1, characterized in that the sensor wire (50) is provided so as to be movable and fixed in a direction approaching and separating from the heart, and a variation in the distance between the left and right sensor arms (47) is detected. Machine.

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