JP2011045280A

JP2011045280A - Seedling transplanter

Info

Publication number: JP2011045280A
Application number: JP2009195788A
Authority: JP
Inventors: Shiro Katsuno; 勝野　　志郎; Masami Muranami; 村並　　昌実; Yoshihiko Okubo; 大久保　　嘉彦; Nobuhiro Yamane; 暢宏山根; Kota Azuma; 幸太東
Original assignee: Iseki and Co Ltd; Iseki Agricultural Machinery Mfg Co Ltd
Current assignee: Iseki and Co Ltd; Iseki Agricultural Machinery Mfg Co Ltd
Priority date: 2009-08-26
Filing date: 2009-08-26
Publication date: 2011-03-10

Abstract

<P>PROBLEM TO BE SOLVED: To provide a seedling transplanter capable of preventing generation of slip by keeping a relatively long grounding area even in the case of vertically oscillating right and left crawler traveling devices on a field having relatively many uneven portions. <P>SOLUTION: Supporting parts (16h, etc.) for front and rear wheels are placed between a driving wheel 16a and a follower wheel 16b of the crawler traveling device 2, and are provided with a second track roller supporting plate 16m which is swingable forward and backward using a top end as a swinging support point P, and a plurality of track rollers (16d, 16e) rotatably supported longitudinally under the second track roller supporting plate 16m. The crawler 16j is constantly grounded to prevent generation of slip by the multiple track rollers (16d, 16e) supported by the longitudinally swinging second track roller supporting plate 16m even if the crawler traveling device 2 is vertically oscillated on an uneven face of the field. The grounding area of the crawler traveling device 2 is decreased to enable easy and good gyrating motion by providing a gyration lowering mechanism to ground only a rear track roller 16e in the case of gyrating a machine body. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

この発明は、種々な畝に対して苗の植付けが行える苗移植機に関するものである。 The present invention relates to a seedling transplanting machine that can plant seedlings on various cocoons.

従来、クローラなどの走行装置上に野菜などの苗を載置する苗載置部から苗を受け取って苗を植え付ける苗植付装置を備える苗移植機が知られている。
このような苗移植機では、種々な畝に対して苗の植付けが行えるように、広幅に固定された左右車輪に対して、苗植付装置等を有する機体を左右移動するものがある。 2. Description of the Related Art Conventionally, a seedling transplanting machine including a seedling planting device that receives seedlings from a seedling placement unit that places seedlings such as vegetables on a traveling device such as a crawler and plants seedlings is known.
Among such seedling transplanting machines, there is one that moves a machine body having a seedling planting device and the like to the left and right with respect to the left and right wheels fixed to be wide so that seedlings can be planted on various ridges.

しかし、固定された左右車輪では一定の畝幅のみしか対応できないため、畝幅が種々異なる場合でも汎用性に富むように、下記特許文献１には、苗植付装置を有する機体に対して、該機体左右両側に設けた左右クローラ走行装置を各々左右方向に位置調節自在に設けたり、該左右クローラ走行装置を駆動軸回りに上下回動調節可能に構成された苗移植機が開示されている。
この構成によると、種々な畝幅の畝に対応した苗の植付けが行なえると共に、左右クローラ走行装置であるから、安定した走行性能が発揮されて苗の植付け株間が一定となり、特に、山間地等の傾斜した圃場での苗の植付け性能が向上する。 However, since the fixed left and right wheels can handle only a certain ridge width, the following patent document 1 describes the machine body having a seedling planting device in order to provide versatility even when the ridge width varies. A seedling transplanting machine is disclosed in which left and right crawler travel devices provided on the left and right sides of the machine body are provided so as to be adjustable in position in the left and right directions, and the left and right crawler travel devices can be adjusted up and down around a drive shaft.
According to this configuration, it is possible to plant seedlings corresponding to various ridge widths, and since it is a left and right crawler traveling device, stable traveling performance is exhibited and the planting strain of seedlings becomes constant, especially in mountainous areas. The planting performance of seedlings in sloping fields such as is improved.

特開２０００−２８７５１０号公報JP 2000-287510 A

上記特許文献１記載の構成により、種々な畝幅の畝に対応した苗の植付けが行なえると共に、左右クローラ走行装置であるから、安定した走行性能が発揮されて苗の植付け株間が一定となり、特に、山間地等の傾斜した圃場での苗の植付け性能が向上する。 With the configuration described in Patent Document 1, it is possible to plant seedlings corresponding to various ridge widths, and because it is a left and right crawler traveling device, stable traveling performance is demonstrated and the planting strain of seedlings is constant, In particular, planting performance of seedlings in an inclined field such as a mountainous area is improved.

しかし、凹凸のある圃場で左右クローラ走行装置が上下動した場合に、圃場面に接地する車輪の数が少なくなって、スリップが生じ易くなる。特許文献１記載の構成のように、前輪と後輪とを連結するフレームに遊転輪を設けた場合は、ある程度クローラ走行装置の接地部分を長くすることができるが、凹凸の比較的多い圃場では、左右クローラ走行装置の上下動が頻繁になる。この場合、遊転輪は前輪と後輪とを連結するフレームと共に上下動するため、クローラを接地させる遊転輪の数が少なくなってクローラ走行装置の接地部分を長く保つことは難しい。 However, when the left and right crawler travel device moves up and down in an uneven field, the number of wheels that come in contact with the field scene decreases, and slipping is likely to occur. When the idler wheel is provided in the frame that connects the front wheel and the rear wheel as in the configuration described in Patent Document 1, the ground contact portion of the crawler traveling device can be lengthened to some extent, Then, the vertical movement of the left and right crawler traveling device becomes frequent. In this case, since the idler wheel moves up and down together with the frame connecting the front wheel and the rear wheel, it is difficult to keep the grounding part of the crawler traveling device long by reducing the number of idler wheels that ground the crawler.

そこで、本発明の課題は、凹凸の比較的多い圃場で左右クローラ走行装置が上下動した場合でも、比較的長い接地面を保ち、スリップの発生を防止できる苗移植機を提供することである。 Therefore, an object of the present invention is to provide a seedling transplanting machine that can maintain a relatively long contact surface and prevent occurrence of slip even when a left and right crawler traveling device moves up and down in a field with relatively many irregularities.

上記課題は、下記構成によって達成される。
すなわち、請求項１に係る発明は、左右の駆動前輪（１６ａ）と左右の従動後輪（１６ｂ）と該左右の駆動前輪（１６ａ）と左右の従動後輪（１６ｂ）との外側に巻き掛けられたクローラ（１６ｊ）とを備えた左右クローラ走行装置（２）と、該左右クローラ走行装置（２）の上方に苗を植え付ける植付部（１ｂ）とを設けた苗移植機において、前記左右の駆動前輪（１６ａ）及び左右の従動後輪（１６ｂ）間に設けられ、前記前輪（１６ａ）及び従動後輪（１６ｂ）を支持するための前後輪支持部（１６ｆ、１６ｈ）と、該前後輪支持部（１６ｆ、１６ｈ）に上端部が連結し、該上端部を揺動支点（Ｐ）として前後方向に揺動可能である転輪支持部（１６ｍ）と、前記転輪支持部（１６ｍ）の下部であって前後方向に複数個、回動自在に支持されて、前記植付部（１ｂ）によって苗を植付ける際の左右クローラ走行装置（２）による走行時に前記転輪支持部（１６ｍ）の揺動に連動して前後方向に揺動し、クローラ（１６ｊ）の内側に接してクローラ（１６ｊ）を接地させる転輪（１６ｄ、１６ｅ）とを設けた苗移植機である。 The said subject is achieved by the following structure.
That is, the invention according to claim 1 is wound around the outer sides of the left and right driving front wheels (16a), the left and right driven rear wheels (16b), the left and right driving front wheels (16a), and the left and right driven rear wheels (16b). In the seedling transplanting machine provided with a left and right crawler traveling device (2) having a crawler (16j) and a planting part (1b) for planting a seedling above the left and right crawler traveling device (2), Front and rear wheel support portions (16f, 16h) for supporting the front wheel (16a) and the driven rear wheel (16b) provided between the driving front wheel (16a) and the left and right driven rear wheels (16b), An upper end portion is connected to the wheel support portions (16f, 16h), and a wheel support portion (16m) that can swing in the front-rear direction using the upper end portion as a swing fulcrum (P), and the wheel support portion (16m ) And a plurality of pivotal supports in the front-rear direction. When the seedlings are planted by the planting portion (1b), the left and right crawler traveling device (2) swings in the front-rear direction in conjunction with the swinging of the wheel support portion (16m) during traveling. (16j) is a seedling transplanter provided with rolling wheels (16d, 16e) that contact the inside of (16j) and ground the crawler (16j).

請求項２に係る発明は、前後輪支持部（１６ｆ、１６ｈ）の前記転輪支持部（１６ｍ）との連結部である揺動支点（Ｐ）の前方及び後方に、前記転輪支持部（１６ｍ）の揺動を妨げるストッパ（７５）を設け、苗移植機の旋回時に、左右クローラ走行装置（２）の前記左右の従動後輪（１６ｂ）側が下動すると、前記前後輪支持部（１６ｆ、１６ｈ）の後端部側が下動して前記後方側のストッパ（７５ｂ）が前記転輪支持部（１６ｍ）の後部に当たると共に、前記転輪支持部（１６ｍ）の前部及び該転輪支持部（１６ｍ）により支持された転輪（１６ｄ、１６ｅ）のうち、前方側の転輪（１６ｄ）が前記前後輪支持部（１６ｆ、１６ｈ）に連動して上動し、前記前方側の転輪（１６ｄ）によるクローラ（１６ｊ）の接地状態が解かれ、後方側の転輪（１６ｅ）のみによりクローラ（１６ｊ）を接地させる旋回下動機構を設けた請求項１記載の苗移植機である。 According to a second aspect of the present invention, the front and rear wheel support portions (16f, 16h) are connected to the wheel support portions (16m) at the front and rear of the swing fulcrum (P). 16m) is provided with a stopper (75) that prevents the swinging movement of the seedling transplanter, and when the left and right driven rear wheels (16b) side of the left and right crawler travel device (2) moves downward, the front and rear wheel support portions (16f) , 16h) the rear end side of the rear end moves downward so that the stopper (75b) on the rear side contacts the rear portion of the wheel support portion (16m), and the front portion of the wheel support portion (16m) and the wheel support. Among the wheels (16d, 16e) supported by the portion (16m), the front wheel (16d) moves up in conjunction with the front and rear wheel support portions (16f, 16h), and the front wheel The grounding state of the crawler (16j) by the wheel (16d) is released, and the rear side Track roller (16e) is a seedling transplantation machine of claim 1, wherein providing the turning under dynamic mechanism for grounding the crawler (16j) by only.

請求項３に係る発明は、前後輪支持部（１６ｆ、１６ｈ）の下部であって前記複数個の転輪（１６ｄ、１６ｅ）よりも前方に、前記クローラ（１６ｊ）の内側に接してクローラ（１６ｊ）を接地させる前方転輪（１６ｃ）を、該前方転輪（１６ｃ）の下端部が、前記左右クローラ走行装置（２）の略水平状態における前記複数個の転輪（１６ｄ、１６ｅ）の下端部と上下高さが略同じ高さとなるように回動可能に設けた請求項１又は２に記載の苗移植機である。 The invention according to claim 3 is a lower part of the front and rear wheel support portions (16f, 16h) and in front of the plurality of wheels (16d, 16e), in contact with the inside of the crawler (16j) ( 16j) is connected to the front wheel (16c), and the lower end of the front wheel (16c) is connected to the plurality of wheels (16d, 16e) in the substantially horizontal state of the left and right crawler travel device (2). It is a seedling transplanter of Claim 1 or 2 provided so that rotation was possible so that a lower end part and an up-down height might become substantially the same height.

請求項４に係る発明は、苗移植機の旋回時に、左右クローラ走行装置（２）の前記左右の従動後輪（１６ｂ）側を下動させるほど、前記前後輪支持部（１６ｆ、１６ｈ）の後端部側が下動し、該前後輪支持部（１６ｆ、１６ｈ）の前端部及び前方転輪（１６ｃ）が上動して、該前方転輪（１６ｃ）によるクローラ（１６ｊ）の接地状態が解かれ、前記前方転輪（１６ｃ）の下端部と前記転輪支持部（１６ｍ）により支持された転輪（１６ｄ、１６ｅ）のうち、後方側の転輪（１６ｅ）の下端部とを結ぶ接線（Ｑ）から前方側の転輪（１６ｄ）の下端部が下方に突出することで、クローラ（１６ｊ）を強く張るクローラ張度変化機構を設けた請求項３記載の苗移植機である。 In the invention according to claim 4, when the seedling transplanter is turning, the left and right driven rear wheels (16b) side of the left and right crawler traveling device (2) is moved downward so that the front and rear wheel support portions (16f, 16h) The rear end side moves down, the front end of the front and rear wheel support portions (16f, 16h) and the front wheel (16c) move upward, and the crawler (16j) is grounded by the front wheel (16c). The lower end of the front wheel (16c) and the lower edge of the rear wheel (16e) among the wheels (16d, 16e) supported by the wheel support (16m) are connected. The seedling transplanter according to claim 3, further comprising a crawler tension changing mechanism for tightly tensioning the crawler (16j) by projecting the lower end of the front roller (16d) downward from the tangent line (Q).

請求項５に係る発明は、前記左右クローラ走行装置（２）の前記左右の従動後輪（１６ｂ）側が下動して、前記転輪支持部（１６ｍ）により支持された転輪（１６ｄ、１６ｅ）のうち最後部の転輪（１６ｅ）と前記左右の従動後輪（１６ｂ）との間のクローラ（１６ｊ）を接地させた場合に、機体側面視で該クローラ（１６ｊ）の接地部の上方位置に苗移植機の重心位置がある構成とした請求項１から４のいずれかに記載の苗移植機である。 In the invention according to claim 5, the left and right driven rear wheels (16b) side of the left and right crawler traveling device (2) is moved downward, and the wheels (16d, 16e) supported by the wheel support portions (16m). ), When the crawler (16j) between the rearmost wheel (16e) and the left and right driven rear wheels (16b) is grounded, above the grounding portion of the crawler (16j) in a side view of the body The seedling transplanting machine according to any one of claims 1 to 4, wherein the center of gravity of the seedling transplanting machine is located at a position.

請求項１記載の苗移植機によれば、植え付け作業範囲でクローラ走行装置（２）が上下動しても、転輪支持部（１６ｍ）が前後方向に揺動することで、該転輪支持部（１６ｍ）に支持された複数個の転輪（１６ｄ、１６ｅ）も前後に揺動してクローラ（１６ｊ）を接地させるため、常に複数個の転輪（１６ｄ、１６ｅ）によってクローラ（１６ｊ）を圃場面に接地できる。したがって、前後に長い接地部を形成することができ、スリップの発生を防止できる。そして、スリップの少ない良好な走行性能を発揮して、適切な移植作業を行うことができる。 According to the seedling transplanting machine according to claim 1, even if the crawler traveling device (2) moves up and down in the planting work range, the wheel support portion (16m) swings in the front-rear direction, thereby supporting the wheel support. Since the plurality of rollers (16d, 16e) supported by the portion (16m) also swing back and forth to ground the crawler (16j), the crawler (16j) is always driven by the plurality of rollers (16d, 16e). Can be grounded to the farm scene. Therefore, a long grounding part can be formed in front and back, and the occurrence of slip can be prevented. Then, it is possible to perform an appropriate transplanting operation while exhibiting good running performance with less slip.

請求項２記載の苗移植機によれば、上記請求項１記載の苗移植機の効果に加えて、機体旋回時には後方の転輪（１６ｅ）のみ接地してクローラ走行装置（２）の接地面積が少なくなるため、容易且つ良好な旋回が行える。 According to the seedling transplanting machine according to claim 2, in addition to the effect of the seedling transplanting machine according to claim 1, only the rear wheel (16e) is grounded and the ground contact area of the crawler traveling device (2) is turned when the vehicle is turning. Therefore, easy and good turning can be performed.

請求項３記載の苗移植機によれば、上記請求項１又は２記載の苗移植機の効果に加えて、前後輪支持部（１６ｆ、１６ｈ）により支持された転輪（１６ｃ）と転輪支持部（１６ｍ）により支持された複数個の転輪（１６ｄ、１６ｅ）の下端部が略同じ高さであるため、平畝等の比較的低い畝では転輪支持部（１６ｍ）により支持された複数の転輪（１６ｄ、１６ｅ）のみならず、前後輪支持部（１６ｆ、１６ｈ）によって支持された転輪（１６ｃ）によってもクローラ（１６ｊ）を圃場面に接地できる。したがって、前後に長い接地部を形成することができ、更にスリップの発生を防止でき、適切な移植作業が行うことができる。 According to the seedling transplanter of claim 3, in addition to the effect of the seedling transplanter of claim 1 or 2, the wheel (16c) and the wheel supported by the front and rear wheel support portions (16f, 16h). Since the lower ends of the plurality of wheels (16d, 16e) supported by the support portion (16m) are substantially the same height, the lower support rods such as flat rods are supported by the wheel support portion (16m). In addition to the plurality of wheels (16d, 16e), the crawler (16j) can be grounded to the farm scene not only by the wheels (16c) supported by the front and rear wheel supports (16f, 16h). Therefore, a long grounding portion can be formed in the front and rear, and further slipping can be prevented, and an appropriate transplanting operation can be performed.

請求項４記載の苗移植機によれば、上記請求項３記載の苗移植機の効果に加えて、クローラ張度変化機構によりクローラ走行装置（２）を下動させるほど、クローラ（１６ｊ）が強く張る。傾斜地でクローラ走行装置（２）を下動させて機体を水平状態にして移植作業をする場合に、谷側のクローラ（１６ｊ）の方が下動した状態なので、クローラ（１６ｊ）が強く張っており、谷側のクローラの方が山側のクローラに比べて接地推進力が大きくなる。したがって、駆動前輪（１６ａ）、従動後輪（１６ｂ）、転輪（１６ｃ、１６ｄ、１６ｅ）の全てとクローラ（１６ｊ）とのスリップが減り、機体が低い谷側に下降するように進行方向が曲がって前進することを防止し、良好な直進性を発揮して適切な移植作業が行うことができる。 According to the seedling transplanting machine according to claim 4, in addition to the effect of the seedling transplanting machine according to claim 3, the crawler (16j) is more moved down the crawler traveling device (2) by the crawler tension changing mechanism. Tighten tightly. When the crawler traveling device (2) is moved downward on an inclined ground to perform the transplanting work with the aircraft in a horizontal state, the crawler (16j) is strongly stretched because the valley-side crawler (16j) is moved downward. In addition, the ground-side crawler has a greater grounding propulsive force than the mountain-side crawler. Therefore, the slip of the crawler (16j) with all of the driving front wheels (16a), the driven rear wheels (16b), the wheels (16c, 16d, 16e) is reduced, and the traveling direction is lowered so that the airframe descends to the lower valley side. It is possible to prevent the vehicle from being bent and move forward, exhibit a good straightness, and perform an appropriate transplanting operation.

請求項５記載の苗移植機によれば、上記請求項１から４のいずれかに記載の苗移植機の効果に加えて、最後部の転輪（１６ｅ）と従動後輪（１６ｂ）との間のクローラ（１６ｊ）の接地部の上方に苗移植機の重心位置があるため、機体が後傾した状態の姿勢で安定姿勢とすることができ、機体下部のメンテナンスを容易に行うことができる。 According to the seedling transplanting machine according to claim 5, in addition to the effect of the seedling transplanting machine according to any one of claims 1 to 4, the rear wheel (16e) and the driven rear wheel (16b) Since the center of gravity position of the seedling transplanter is above the grounding part of the crawler (16j) in between, the attitude of the machine body can be set to a stable attitude and the maintenance of the lower part of the machine body can be easily performed. .

本発明の一実施形態の野菜移植機の全体側面図である。It is a whole side view of the vegetable transplanter of one embodiment of the present invention. 図１の野菜移植機の平面図である。It is a top view of the vegetable transplanter of FIG. 図１の野菜移植機の油圧回路図である。It is a hydraulic circuit diagram of the vegetable transplanter of FIG. 図１の野菜移植機の左右クローラ走行装置の後部を下動させた場合の作動状態を示した図（側面図）である（下動初期状態）。It is the figure (side view) which showed the operation state at the time of lowering the rear part of the right-and-left crawler travel apparatus of the vegetable transplanter of FIG. 1 (down movement initial state). 図１の野菜移植機の左右クローラ走行装置の後部を下動させた場合の作動状態を示した図（側面図）である（下動終期状態）。It is the figure (side view) which showed the operation state at the time of lowering the rear part of the right-and-left crawler traveling apparatus of the vegetable transplanter of FIG. 1 (downward movement final state). 図１の野菜移植機の左右クローラ走行装置の後部を下動させた場合の作動状態を示した図（側面図）である（最下動状態）。It is the figure (side view) which showed the operation state at the time of lowering the rear part of the right-and-left crawler traveling apparatus of the vegetable transplanter of FIG. 1 (lowermost movement state). 図３の油圧バルブユニット内の振り子の動きを説明するための図である。It is a figure for demonstrating the motion of the pendulum in the hydraulic valve unit of FIG. 図２の野菜移植機に苗トレイを設置した場合の平面図である。It is a top view at the time of installing a seedling tray in the vegetable transplanting machine of FIG.

この発明の一実施例として苗移植機の一例である野菜移植機を図面に基づき詳細に説明する。図１には野菜移植機１の全体側面図を示し、図２には野菜移植機１の全体平面図を示す。また、図３には野菜移植機１の油圧回路図（平面図）を示す。
この野菜移植機１は、左右クローラ走行装置２及び左右前輪３を有する走行部１ａによって畝Ｕを跨いだ状態で機体を進行させながら、苗供給装置４、苗植付装置５等からなる植付部１ｂで苗トレイ内の野菜のポット苗を畝Ｕの上面に植付ける構成となっている。作業者Ｎは、畝Ｕ間を歩きながら機体後方に設けた操縦ハンドル６で適宜機体を操向操作する。以下、各部の構成について説明する。 As an embodiment of the present invention, a vegetable transplanter as an example of a seedling transplanter will be described in detail with reference to the drawings. FIG. 1 shows an overall side view of the vegetable transplanter 1, and FIG. 2 shows an overall plan view of the vegetable transplanter 1. FIG. 3 shows a hydraulic circuit diagram (plan view) of the vegetable transplanting machine 1.
This vegetable transplanting machine 1 is planted by a seedling supply device 4, a seedling planting device 5 and the like while a machine is advanced in a state of straddling U by a traveling unit 1a having a left and right crawler traveling device 2 and a left and right front wheel 3. It is the structure which plants the pot seedling of the vegetable in a seedling tray in the upper surface of the ridge U by the part 1b. The worker N appropriately steers the aircraft with the steering handle 6 provided at the rear of the aircraft while walking between the toes U. Hereinafter, the configuration of each unit will be described.

走行部１ａは、走行部ミッションケース７の前部にエンジン９が配置されている。エンジン９の左側面部には該エンジンの動力で駆動する油圧ポンプ１０（図３）が設けられている。また、エンジン９の上側には燃料タンク（図示せず）等が設けられ、その上部をボンネット１２が覆っている。作業者は燃料タンクキャップ（蓋）１１ａを開けて燃料タンクに燃料を入れる。
また、走行部１ａと操縦ハンドル６はメインフレーム１４によって繋がっており、メインフレーム１４の後端部に操縦ハンドル６の前端部が回動調節自在に取り付けられており、操縦ハンドル６の左右グリップ６ａは高さ調節できるようになっている。 In the traveling unit 1 a, an engine 9 is disposed in the front part of the traveling unit mission case 7. A hydraulic pump 10 (FIG. 3) that is driven by the power of the engine 9 is provided on the left side surface of the engine 9. Further, a fuel tank (not shown) or the like is provided on the upper side of the engine 9, and the bonnet 12 covers the upper part thereof. The operator opens the fuel tank cap (lid) 11a and puts fuel into the fuel tank.
The traveling unit 1a and the steering handle 6 are connected by a main frame 14, and the front end of the steering handle 6 is attached to the rear end of the main frame 14 so as to be freely adjustable. Can be adjusted in height.

走行部ミッションケース７の左右側面から突出する左右回動筒部１５内に左右駆動軸７ａを走行部ミッションケース７の左右に突出して設け、該左右駆動軸７ａにより左右クローラ走行装置２の前輪である駆動輪１６ａを駆動する。
駆動輪１６ａの駆動軸７ａには支持アーム１６ｆの前端部が回動自在に設けられ、支持アーム１６ｆの後部には、側面視で略三角形状の第１転輪支持プレート１６ｈが連結している。第１転輪支持プレート１６ｈに設けた長穴１６ｈａにピン７０を挿入して支持アーム１６ｆと第１転輪支持プレート１６ｈが遊動自在に連結している。 The left and right drive shafts 7a are provided to protrude from the left and right sides of the traveling unit transmission case 7 in the left and right pivot cylinders 15 projecting from the left and right side surfaces of the traveling unit transmission case 7, and the front wheels of the left and right crawler traveling devices 2 are provided by the left and right driving shafts 7a. A certain driving wheel 16a is driven.
The drive shaft 7a of the drive wheel 16a is rotatably provided with a front end portion of a support arm 16f, and a substantially triangular first wheel support plate 16h is connected to the rear portion of the support arm 16f in a side view. . A pin 70 is inserted into an elongated hole 16ha provided in the first wheel support plate 16h, and the support arm 16f and the first wheel support plate 16h are movably connected.

そして、第１転輪支持プレート１６ｈの後端部（三角形状の後方角部）には、左右クローラ走行装置２の後輪である従動転輪１６ｂの回転軸８ａが回動自在に連結しており、ピン７０が第１転輪支持プレート１６ｈの長穴１６ｈａ内を前後に動くことで、支持アーム１６ｆが矢印Ａ−Ｂ方向に進退可能である。また、ピン７０をきつく閉めることで、支持アーム１６ｆと第１転輪支持プレート１６ｈが一体となり、固定される。このように、支持アーム１６ｆが矢印Ａ−Ｂ方向に進退調節して固定自在に設けられることで、駆動輪１６ａと従動転輪１６ｂ間の距離を調節して、クローラ１６ｊを緩みが無いように張る構成である。これら支持アーム１６ｆ、ピン７０、第１転輪支持プレート１６ｈなどによって駆動輪１６ａと従動転輪１６ｂは連結しており、これらをまとめて前後輪支持部と言う場合がある。 And the rotating shaft 8a of the driven wheel 16b which is a rear wheel of the left and right crawler traveling device 2 is rotatably connected to the rear end portion (triangular rear corner portion) of the first wheel support plate 16h. The pin 70 moves back and forth in the elongated hole 16ha of the first wheel support plate 16h, so that the support arm 16f can advance and retreat in the arrow AB direction. Further, by tightly closing the pin 70, the support arm 16f and the first wheel support plate 16h are integrated and fixed. As described above, the support arm 16f is provided so as to be fixed by being moved forward and backward in the direction of the arrow AB, so that the distance between the driving wheel 16a and the driven wheel 16b is adjusted so that the crawler 16j is not loosened. It is a stretched configuration. The driving wheel 16a and the driven wheel 16b are connected by the support arm 16f, the pin 70, the first wheel support plate 16h, and the like, and these may be collectively referred to as a front and rear wheel support portion.

そして、第１転輪支持プレート１６ｈの前方下端部（三角形状の前方下部の頂点部）には遊転輪１６ｃが回動自在に連結している。なお、複数個の遊転輪を第１転輪支持プレート１６ｈに支持させて設けても良い。また、本実施例では駆動輪１６ａと従動転輪１６ｂ間に、この遊転輪１６ｃを含めて３つの遊転輪１６ｃ〜１６ｅを設けている。
そして、合成ゴムよりなる外周面にラグ１６ｋが一体形成されたクローラ１６ｊが、駆動輪１６ａ及び従動転輪１６ｂ及び遊転輪１６ｃ〜１６ｅの外側に巻き掛けられて左右クローラ走行装置２を構成している。 The idler wheel 16c is rotatably connected to the front lower end portion (the apex portion of the triangular lower front portion) of the first wheel support plate 16h. A plurality of idle wheels may be provided by being supported on the first wheel support plate 16h. In this embodiment, three idle wheels 16c to 16e including the idle wheel 16c are provided between the drive wheel 16a and the driven wheel 16b.
A crawler 16j, in which a lug 16k is integrally formed on the outer peripheral surface made of synthetic rubber, is wound around the outer side of the drive wheel 16a, the driven wheel 16b, and the idle wheels 16c to 16e to constitute the left and right crawler traveling device 2. ing.

このように、左右クローラ走行装置２の各々３つの遊転輪１６ｃ〜１６ｅがクローラ１６ｊを接地させるため、クローラ１６ｊの接地面積が広くなって、滑りにくくなる。
また、左右クローラ走行装置２の後端部は後述の苗供給装置４の苗載台９０（図２）の前部下方位置に配置し、左右クローラ走行装置２は機体前部の走行部ミッションケース７部から機体後部の苗供給装置４の下方位置まで前後方向に長く配置した構成となっている。したがって、前後方向に長く配置した左右クローラ走行装置２は圃場面を確りと捉えて、スリップや機体の蛇行を防止して、機体を直進させ安定した走行が行える。 In this way, each of the three idler wheels 16c to 16e of the left and right crawler traveling devices 2 grounds the crawler 16j, so that the ground contact area of the crawler 16j is widened and slippage is difficult.
Further, the rear end portion of the left and right crawler traveling device 2 is disposed at a lower position in front of a seedling mount 90 (FIG. 2) of the seedling supply device 4 to be described later. It is the structure which has been arrange | positioned long in the front-back direction from 7 parts to the downward position of the seedling supply apparatus 4 of the rear part of the body. Therefore, the left and right crawler traveling devices 2 arranged long in the front-rear direction recognize the farm scene with certainty, prevent slipping and meandering of the aircraft, and can travel stably by moving the aircraft straight.

また、機体を旋回させる場合には、左右クローラ走行装置２の後部を下動させて機体を上昇させて旋回するが、この旋回時には、左右クローラ走行装置２の後方側の遊転輪１６ｅの最も設置面積が少ない部分が接地するので、圃場の土の横押し量も少なく、安定した小回り旋回が行なえ、旋回作業が効率よく且つ容易に行なえる。旋回時の左右クローラ走行装置２の作動については後に詳細に説明する。
また、エンジン９の下側に設けた前輪支持フレーム１７の左右両端部に左右前輪支持ロッド１８が高さ調節可能に取り付けられ、該ロッド１８の下端部に各々従動走行車輪である左右前輪３が軸支されている。 Further, when turning the airframe, the rear part of the left and right crawler traveling device 2 is moved downward to raise the airframe, and during this turning, the idler wheel 16e on the rear side of the left and right crawler traveling device 2 Since the portion with a small installation area is grounded, the amount of lateral pressing of the soil in the field is small, and a stable small turn can be performed, and the turning operation can be performed efficiently and easily. The operation of the left and right crawler traveling device 2 during turning will be described in detail later.
Also, left and right front wheel support rods 18 are attached to the left and right ends of a front wheel support frame 17 provided on the lower side of the engine 9 so that the height can be adjusted, and left and right front wheels 3 that are driven wheels are respectively attached to the lower ends of the rods 18. It is pivotally supported.

走行部１ａには機体に対し左右クローラ走行装置２の後部を上下動させて機体位置を制御する機体制御機構Ｓが設けられている。この機体制御機構（上下動機構）Ｓは、走行部ミッションケース７の上に配置した油圧バルブユニット２０（図２）から後方に向けて昇降シリンダ２１が設けられ、該昇降シリンダ２１のピストンロッドの先端部に天秤杆２２が上下方向の軸まわりに回動自在に取り付けられている。ピストンロッドは、前後両端が前後方向に摺動するようになっている。天秤杆２２の左右両端部と、左右回動筒部１５に固着した左右スイングアーム２５（図３）とが、左右連結ロッド２６（図３）を介して連結されている。左側の連結ロッド２６は、ローリングシリンダ２７（図３）が組み込まれており、該シリンダ２７を伸縮作動させることにより長さを変えられるようになっている。左右連結ロッド２６が縮むと左右クローラ走行装置２の後部が下動する。 The traveling unit 1a is provided with a body control mechanism S that controls the body position by moving the rear part of the left and right crawler traveling device 2 up and down relative to the body. The airframe control mechanism (vertical movement mechanism) S is provided with a lifting cylinder 21 from the hydraulic valve unit 20 (FIG. 2) disposed on the traveling unit transmission case 7 to the rear, and the piston rod of the lifting cylinder 21 A balance rod 22 is attached to the distal end portion so as to be rotatable about a vertical axis. The piston rod is configured such that both front and rear ends slide in the front-rear direction. The left and right ends of the balance rod 22 are connected to the left and right swing arms 25 (FIG. 3) fixed to the left and right pivot cylinder 15 via the left and right connecting rods 26 (FIG. 3). The left connecting rod 26 incorporates a rolling cylinder 27 (FIG. 3), and the length can be changed by extending and contracting the cylinder 27. When the left and right connecting rod 26 contracts, the rear part of the left and right crawler traveling device 2 moves downward.

昇降シリンダ２１及びローリングシリンダ２７は、前記油圧ポンプ１０から供給される作動油を油圧バルブユニット２０内の制御バルブ２０ａ・２０ｂで制御して作動させられる。昇降シリンダ２１を伸縮作動させると、左右のクローラ走行装置２が同方向に同量だけ機体に対し上下動し、機体が昇降する。また、ローリングシリンダ２７を伸縮作動させると、左右のクローラ走行装置２が逆方向に同量だけ機体に対し上下動し、機体が左右に傾斜する。なお、この左右クローラ走行装置２の後部を上下動させて機体位置を制御する上下動機構Ｓである油圧バルブユニット２０や昇降シリンダ２１や昇降シリンダ２１のピストンロッドの先端部に設けた天秤杆２２や左右回動筒部１５に固着した左右スイングアーム２５や左右連結ロッド２６やローリングシリンダ２７により、接地部を変更できる。 The elevating cylinder 21 and the rolling cylinder 27 are operated by controlling the hydraulic oil supplied from the hydraulic pump 10 by the control valves 20 a and 20 b in the hydraulic valve unit 20. When the elevating cylinder 21 is extended and contracted, the left and right crawler travel devices 2 move up and down in the same direction by the same amount, and the aircraft moves up and down. Further, when the rolling cylinder 27 is expanded and contracted, the left and right crawler travel devices 2 move up and down by the same amount in the opposite direction, and the aircraft tilts to the left and right. It should be noted that the balance rod 22 provided at the tip end of the piston rod of the hydraulic valve unit 20, the lift cylinder 21, and the lift cylinder 21, which is a vertical movement mechanism S that controls the body position by moving the rear part of the left and right crawler travel device 2 up and down. Alternatively, the ground contact portion can be changed by the left and right swing arms 25, the left and right connecting rods 26, and the rolling cylinder 27 fixed to the left and right rotating cylinder portion 15.

そして、左右クローラ走行装置２の駆動輪１６ａと従動転輪１６ｂ間には、３つの遊転輪１６ｃ〜１６ｅが第１転輪支持プレート１６ｈにより回動自在に支持されている。第１転輪支持プレート１６ｈの下部には、側面視で三角形状の第２転輪支持プレート１６ｍが前後方向に揺動自在に連結している。第２転輪支持プレート１６ｍの上端部（上方頂点部）が第１転輪支持プレート１６ｈの後方下部にピン７３を介して連結し、第２転輪支持プレート１６ｍの下端部（下方頂点部）に、二つの遊転輪１６ｄ、１６ｅが回動自在に連結している。以下、これら３つの遊転輪１６ｃ〜１６ｅは、前方から前方遊転輪１６ｃ、中央遊転輪１６ｄ、後方遊転輪１６ｅと言うことにする。 And between the drive wheel 16a and the driven wheel 16b of the left and right crawler traveling device 2, three idle wheels 16c to 16e are rotatably supported by a first wheel support plate 16h. A triangle-shaped second wheel support plate 16m is coupled to the lower portion of the first wheel support plate 16h so as to be swingable in the front-rear direction in a side view. The upper end portion (upper apex portion) of the second wheel support plate 16m is connected to the lower rear portion of the first wheel support plate 16h via a pin 73, and the lower end portion (lower apex portion) of the second wheel support plate 16m. In addition, two idler wheels 16d and 16e are rotatably connected. Hereinafter, these three idler wheels 16c to 16e are referred to as a front idler wheel 16c, a central idler wheel 16d, and a rear idler wheel 16e from the front.

そして、このように、前方遊転輪１６ｃと従動転輪１６ｂは第１転輪支持プレート１６ｈに支持されて、その間に位置する中央遊転輪１６ｄと後方遊転輪１６ｅは第１転輪支持プレート１６ｈの下部に連結した第２転輪支持プレート１６ｍによって支持されているため、前方遊転輪１６ｃと従動転輪１６ｂは中央遊転輪１６ｄと後方遊転輪１６ｅよりも上方に位置することになる。したがって、４つの転輪のうち、両端の転輪（前方遊転輪１６ｃと従動転輪１６ｂ）と中央部の転輪（中央遊転輪１６ｄと後方遊転輪１６ｅ）の上下位置が異なる配置になっているため、圃場面に段差があっても上りやすく、走行性能が良い。 Thus, the front idler wheel 16c and the driven idler wheel 16b are supported by the first roller wheel support plate 16h, and the central idler wheel 16d and the rear idler wheel 16e positioned therebetween are supported by the first roller wheel. Since it is supported by the second wheel support plate 16m connected to the lower part of the plate 16h, the front idler wheel 16c and the driven idler wheel 16b are positioned above the central idler wheel 16d and the rear idler wheel 16e. become. Therefore, among the four wheels, the positions of the rollers at both ends (the front idler wheel 16c and the driven wheel 16b) and the center wheels (the center idler wheel 16d and the rear idler wheel 16e) are different in the vertical position. Therefore, it is easy to climb even if there are steps in the farm scene, and the running performance is good.

また、凹凸のある圃場で左右クローラ走行装置２が上下動した場合に、圃場面に接地する車輪の数が少なくなると、スリップが生じ易くなる。従来の前輪と後輪とを連結するフレームに直接遊転輪を設けた場合は、ある程度クローラ走行装置の接地部分を長くすることができるが、凹凸の比較的多い圃場では、左右クローラ走行装置の上下動が頻繁になって、遊転輪がフレームと共に上下動するため、クローラを接地させる遊転輪の数が少なくなってクローラ走行装置２の接地部分を長く保つことは難しい。 In addition, when the left and right crawler traveling device 2 moves up and down in an uneven field, slipping is likely to occur if the number of wheels that contact the field scene decreases. When the idler wheel is provided directly on the frame that connects the conventional front wheel and the rear wheel, the ground contact portion of the crawler traveling device can be lengthened to some extent. Since the up and down movement frequently occurs and the idler wheel moves up and down together with the frame, it is difficult to keep the contact portion of the crawler traveling device 2 long by reducing the number of idler wheels that contact the crawler.

本構成では、左右クローラ走行装置２が上下動した場合、その作動に合わせて第１転輪支持プレート１６ｈは支持アーム１６ｆと共に上下動するため、前方遊転輪１６ｃも第１転輪支持プレート１６ｈの作動にしたがって上下動する。しかし、中央遊転輪１６ｄと後方遊転輪１６ｅは第１転輪支持プレート１６ｈに直接連結しているのではなく、第１転輪支持プレート１６ｈとは別の第２転輪支持プレート１６ｍに回動自在に連結しており、第２転輪支持プレート１６ｍは第１転輪支持プレート１６ｈとの連結部を揺動支点Ｐとして前後方向に揺動する。 In this configuration, when the left and right crawler traveling device 2 moves up and down, the first wheel support plate 16h moves up and down together with the support arm 16f in accordance with the operation thereof, so the front idler wheel 16c is also moved to the first wheel support plate 16h. It moves up and down according to the operation of. However, the center idler wheel 16d and the rear idler wheel 16e are not directly connected to the first wheel support plate 16h, but are connected to a second wheel support plate 16m different from the first wheel support plate 16h. The second wheel support plate 16m is pivotably connected and swings in the front-rear direction with the connecting portion with the first wheel support plate 16h as a swing fulcrum P.

したがって、第１転輪支持プレート１６ｈが上下動しても、駆動輪１６ａと従動転輪１６ｂとの間に位置する中央遊転輪１６ｄと後方遊転輪１６ｅは直接第１転輪支持プレート１６ｈに連結していないため、駆動輪１６ａや従動転輪１６ｂが圃場の凹凸により激しく上下動しても、第２転輪支持プレート１６ｍの前後方向の揺動に連動して前後に揺動し、クローラ１６ｊを確実に接地させる。
なお、第２転輪支持プレート１６ｍには、図示した二つの遊転輪１６ｄ、１６ｅのみならず、それ以上の数の遊転輪を設けても良いし、第１転輪支持プレート１６ｈに複数の第２転輪支持プレート１６ｍを設けても良い。 Therefore, even if the first wheel support plate 16h moves up and down, the central idler wheel 16d and the rear idler wheel 16e located between the drive wheel 16a and the driven wheel 16b are directly connected to the first wheel support plate 16h. Therefore, even if the drive wheel 16a and the driven wheel 16b move up and down violently due to the unevenness of the field, the second wheel support plate 16m swings back and forth in conjunction with the back and forth swing, The crawler 16j is securely grounded.
The second wheel support plate 16m may be provided with not only the two idler wheels 16d and 16e shown in the figure but also a larger number of idler wheels, or a plurality of the first wheel support plate 16h. The second wheel support plate 16m may be provided.

このように、本実施形態によれば、植え付け作業範囲でクローラ走行装置２が圃場の凹凸により上下動しても、常に複数個（図示例では二つ、中央遊転輪１６ｄと後方遊転輪１６ｅ）の遊転輪によってクローラ１６ｊを圃場面に接地できるため、前後に長い接地部を形成することができ、スリップの発生を防止できる。そして、スリップの少ない良好な走行性能を発揮して、適切な移植作業が行うことができる。 Thus, according to the present embodiment, even if the crawler traveling device 2 moves up and down due to the unevenness of the field in the planting work range, there are always a plurality (two in the illustrated example, the central idler wheel 16d and the rear idler wheel). Since the crawler 16j can be grounded to the field scene by the idler wheel of 16e), a long grounding part can be formed in the front and rear, and the occurrence of slip can be prevented. Then, it is possible to perform an appropriate transplanting operation while exhibiting good running performance with less slip.

そして、第２転輪支持プレート１６ｍの揺動支点Ｐ（ピン７３の位置）を中央遊転輪１６ｄと後方遊転輪１６ｅの回転軸を結んだ線の垂直２等分線上に位置するように設けても良い。
第２転輪支持プレート１６ｍの揺動支点を中央遊転輪１６ｄと後方遊転輪１６ｅからバランス良く配置することで、圃場面の凹凸を吸収し、すなわち吸収度合いが同じとなり、機体の安定した走行が可能となる。 The swing fulcrum P (the position of the pin 73) of the second wheel support plate 16m is positioned on the perpendicular bisector of the line connecting the rotation shafts of the center idle wheel 16d and the rear idle wheel 16e. It may be provided.
By arranging the swing fulcrum of the second wheel support plate 16m in a balanced manner from the central idler wheel 16d and the rear idler wheel 16e, the unevenness of the field scene is absorbed, that is, the degree of absorption is the same, and the airframe is stable. Driving is possible.

そして、図示していないが、第２転輪支持プレート１６ｍの揺動支点Ｐを前方遊転輪１６ｃと従動転輪１６ｂの回転軸を結んだ線よりも上方に位置するように設けると、第２転輪支持プレート１６ｍの揺動支点Ｐが前方遊転輪１６ｃと従動転輪１６ｂの回転軸を結んだ線よりも下方に位置している場合に比べて、中央遊転輪１６ｄと後方遊転輪１６ｅの回動軸と揺動支点Ｐ間の距離が長くなる。したがって、左右クローラ走行装置２が圃場面の凹凸により上下動して第２転輪支持プレート１６ｍが揺動しても、クローラ１６ｊの張りが強くならずクローラ１６ｊの周長があまり変わらないため、これらの中央遊転輪１６ｄと後方遊転輪１６ｅが自由に動く。
比較的凹凸が少なく広い圃場の場合は、作業性が良好となる。 Although not shown, if the swing fulcrum P of the second wheel support plate 16m is located above the line connecting the rotation shafts of the front idler wheel 16c and the driven wheel 16b, Compared to the case where the swing fulcrum P of the two-roller support plate 16m is located below the line connecting the rotating shafts of the front idler wheel 16c and the driven idler wheel 16b, the central idler wheel 16d and the rear idler wheel 16d. The distance between the rotating shaft of the wheel 16e and the swinging fulcrum P becomes longer. Therefore, even if the left and right crawler traveling device 2 moves up and down due to the unevenness of the field scene and the second wheel support plate 16m swings, the tension of the crawler 16j is not strong and the circumferential length of the crawler 16j does not change much. The central idler wheel 16d and the rear idler wheel 16e move freely.
In the case of a large field with relatively few irregularities, workability is good.

一方、図１に示すように、第２転輪支持プレート１６ｍの揺動支点Ｐが前方遊転輪１６ｃと従動転輪１６ｂの回転軸を結んだ線よりも下方に位置している場合は、中央遊転輪１６ｄと後方遊転輪１６ｅの回動軸と揺動支点Ｐ間の距離が短くなる。したがって、上記とは反対に第２転輪支持プレート１６ｍが揺動すると、クローラ１６ｊの張りが強くなってクローラ１６ｊの周長が長くなるため、中央遊転輪１６ｄと後方遊転輪１６ｅの位置を戻すためのスプリングなどがなくても、中央遊転輪１６ｄと後方遊転輪１６ｅとの距離が縮まって、両転輪が第２転輪支持プレート１６ｍの中央部に寄る。
比較的凹凸が多い圃場の場合は、クローラ１６ｊの張りが強くなることで駆動力が増し、作業性が良好となる。
第２転輪支持プレート１６ｍの揺動支点Ｐの位置は、圃場の状態や作業条件に応じて適宜変更しても良い。 On the other hand, as shown in FIG. 1, when the swing support point P of the second wheel support plate 16m is located below the line connecting the rotation shafts of the front idler wheel 16c and the driven wheel 16b, The distance between the rotation shafts of the center idler wheel 16d and the rear idler wheel 16e and the swing fulcrum P is shortened. Accordingly, when the second wheel support plate 16m swings contrary to the above, the tension of the crawler 16j is increased and the circumferential length of the crawler 16j is increased, so that the positions of the center idle wheel 16d and the rear idler wheel 16e are increased. Even if there is no spring or the like for returning the wheel, the distance between the center idler wheel 16d and the rear idler wheel 16e is reduced, and both rollers are brought to the center of the second wheel support plate 16m.
In the case of a farm with relatively many irregularities, the tension of the crawler 16j is increased, so that the driving force is increased and the workability is improved.
The position of the swing fulcrum P of the second wheel support plate 16m may be changed as appropriate according to the state of the field and work conditions.

そして、図１に示すように、第１転輪支持プレート１６ｈの第２転輪支持プレート１６ｍとの連結部近傍にはストッパ７５を設けている。ストッパ７５は第２転輪支持プレート１６ｍの揺動支点Ｐの前後に二箇所設け、前方ストッパ７５ａと後方ストッパ７５ｂ間を第２転輪支持プレート１６ｍが揺動可能な構成としている。この揺動範囲が第２転輪支持プレート１６ｍの遊び部分となる。すなわち、第２転輪支持プレート１６ｍが前後に揺動して前方ストッパ７５ａに当たった場合は第２転輪支持プレート１６ｍの前端部に連結している中央遊転輪１６ｄの上動は阻害され、後方ストッパ７５ｂに当たった場合は第２転輪支持プレート１６ｍの後端部に連結している後方遊転輪１６ｅの上動は阻害される。 And as shown in FIG. 1, the stopper 75 is provided in the connection part vicinity with the 2nd wheel support plate 16m of the 1st wheel support plate 16h. Two stoppers 75 are provided before and after the swing support point P of the second wheel support plate 16m, and the second wheel support plate 16m can swing between the front stopper 75a and the rear stopper 75b. This swing range becomes a play portion of the second wheel support plate 16m. That is, when the second wheel support plate 16m swings back and forth and hits the front stopper 75a, the upward movement of the central idler wheel 16d connected to the front end of the second wheel support plate 16m is inhibited. When hitting the rear stopper 75b, the upward movement of the rear idler wheel 16e connected to the rear end of the second wheel support plate 16m is inhibited.

図４及び図５には、図１の野菜移植機の左右クローラ走行装置２の後部を下動させた場合の左右クローラ走行装置２の作動状態を示す。また、図６には、図１の野菜移植機の左右クローラ走行装置の後部を最下動させた場合の側面図を示す。機体を旋回させる場合には、左右クローラ走行装置２の後部を下動させて機体を上昇させて旋回する。 4 and 5 show the operating state of the left and right crawler traveling device 2 when the rear part of the left and right crawler traveling device 2 of the vegetable transplanter in FIG. 1 is moved downward. Moreover, in FIG. 6, the side view at the time of moving the rear part of the right-and-left crawler travel apparatus of the vegetable transplanter of FIG. 1 to the lowest is shown. When turning the airframe, the rear part of the left and right crawler traveling device 2 is moved downward to raise the airframe and turn.

図４（ａ）は、圃場面がほぼ水平で平畝等の低い畝の時の野菜移植機の側面図である。この時、左右クローラ走行装置２は略水平状態であり、前方遊転輪１６ｃ、中央遊転輪１６ｄ、後方遊転輪１６ｅの３つの転輪の下端部は略同じ高さ位置にあり、前方遊転輪１６ｃから後方遊転輪１６ｅ間のクローラ１６ｊは接地状態にある。水平面におけるこれら転輪１６ｃ〜１６ｅの下端部の高さ位置をほぼ同じ位置にすれば、平畝等の低い畝を走行する場合は、接地する転輪の数が多くなって、前後方向に長いクローラ１６ｊの接地部が形成されて、スリップを防止して適切な移植作業を行うことができる。 FIG. 4 (a) is a side view of the vegetable transplanter when the farm scene is almost horizontal and a low ridge such as a flat ridge. At this time, the left and right crawler traveling device 2 is in a substantially horizontal state, and the lower ends of the three wheels of the front idler wheel 16c, the central idler wheel 16d, and the rear idler wheel 16e are at substantially the same height position. A crawler 16j between the idler wheel 16c and the rear idler wheel 16e is in a grounded state. If the height positions of the lower ends of the rollers 16c to 16e on the horizontal plane are set to substantially the same position, the number of the wheels to be grounded increases when traveling on a low ridge such as a flat ridge and is long in the front-rear direction. A ground contact portion of the crawler 16j is formed, and slipping can be prevented to perform an appropriate transplanting operation.

そして、機体の旋回時には、左右クローラ走行装置２の後部は左右駆動軸７ａを支点として矢印Ｋ方向に回動（下動）する。第１転輪支持プレート１６ｈの後部が矢印Ｋ方向に回動すると、第１転輪支持プレート１６ｈの前部に連結した前方遊転輪１６ｃは上動して前方遊転輪１６ｃによるクローラ１６ｊの接地状態が解かれる。
一方、第２転輪支持プレート１６ｍは第１転輪支持プレート１６ｈと揺動自在に連結しているため、第２転輪支持プレート１６ｍに連結する中央遊転輪１６ｄと後方遊転輪１６ｅはクローラ１６ｊを接地させたままであり、前方遊転輪１６ｃと中央遊転輪１６ｄ（又は後方遊転輪１６ｅ）間の距離が次第に開く。 When the aircraft is turning, the rear portion of the left and right crawler traveling device 2 rotates (downward) in the direction of the arrow K with the left and right drive shaft 7a as a fulcrum. When the rear part of the first roller support plate 16h rotates in the direction of arrow K, the front idler wheel 16c connected to the front part of the first roller support plate 16h moves upward and the crawler 16j by the front idler wheel 16c moves. The grounding state is released.
On the other hand, since the second wheel support plate 16m is swingably connected to the first wheel support plate 16h, the central idler wheel 16d and the rear idler wheel 16e connected to the second wheel support plate 16m are The crawler 16j remains grounded, and the distance between the front idler wheel 16c and the central idler wheel 16d (or the rear idler wheel 16e) gradually increases.

そして、第１転輪支持プレート１６ｈに連結した前方遊転輪１６ｃの下端部と後方遊転輪１６ｅの下端部を結ぶ接線Ｑ（図４（ｄ））から中央遊転輪１６ｄの下端部が下方に突出し、前方遊転輪１６ｃ、中央遊転輪１６ｄ、後方遊転輪１６ｅとクローラ１６ｊとの接点を結ぶと三角形状を形成するようになる。
したがって、左右クローラ走行装置２の上下動により、左右の従動後輪１６ｂ側を下動させるほど、前方遊転輪１６ｃの下端部と後方遊転輪１６ｅの下端部を結ぶ接線Ｑから中央遊転輪１６ｄの下端部が下方に突出することで、クローラ１６ｊが徐々に強く張ってクローラ１６ｊの張度が変化し、周長が長くなる（Ｌ２＞Ｌ１となる）。 Then, the lower end of the center idler wheel 16d is connected to the tangent line Q (FIG. 4 (d)) connecting the lower end of the front idler wheel 16c and the lower end of the rear idler wheel 16e connected to the first roller support plate 16h. When projecting downward and connecting the front idler wheel 16c, the center idler wheel 16d, the rear idler wheel 16e and the crawler 16j, a triangular shape is formed.
Accordingly, as the left and right driven rear wheels 16b are moved downward by the vertical movement of the left and right crawler travel device 2, the center idle rotation from the tangent line Q connecting the lower end portion of the front idler wheel 16c and the lower end portion of the rear idler wheel 16e. By projecting the lower end of the wheel 16d downward, the crawler 16j is gradually and strongly tensioned, the tension of the crawler 16j is changed, and the circumferential length is increased (L2> L1).

そして、第２転輪支持プレート１６ｍが後方側ストッパ７５ｂに当たり（図５（ｃ）の状態）第２転輪支持プレート１６ｍの遊びがなくなると、第２転輪支持プレート１６ｍは第１転輪支持プレート１６ｈと一体となって、第２転輪支持プレート１６ｍと第１転輪支持プレート１６ｈが後方下り傾斜となるように矢印Ｋ方向に回動する（図５（ｄ）の状態）。
更に左右クローラ走行装置２を下動させると、第２転輪支持プレート１６ｍの前端部に連結している中央遊転輪１６ｄが上動して中央遊転輪１６ｄによるクローラ１６ｊの接地状態が解かれ、後方遊転輪１６ｅのみがクローラ１６ｊを接地させ、この状態で機体を旋回させる（図５（ｄ）の状態）。
このように、機体旋回時にはクローラ走行装置２の接地面積が少なくなるため、容易且つ良好な旋回が行える
そして、更に後傾させた最下動状態では、図６に示すように、後方遊転輪１６ｅ及び従動転輪１６ｂの二つの転輪によりクローラ１６ｊを接地させた状態となる。
最下動状態では、後方遊転輪１６ｅと従動転輪１６ｂがちょうど地面に接するように傾斜角度θを設定し、後方遊転輪１６ｅ及び従動転輪１６ｂ間のクローラ１６ｊが接地した時に、側面視でこのクローラ１６ｊの接地部の上方、すなわち後方遊転輪１６ｅの回転軸と従動転輪１６ｂの回転軸８ａとの間（Ｗ）に機体の重心位置がある構成とすると良い。例えば、後方遊転輪１６ｅの回転軸と従動転輪１６ｂの回転軸８ａを結んだ線の垂直線上に機体中心（重心位置）がくるように、後方遊転輪１６ｅ及び従動転輪１６ｂを配置する。 When the second wheel support plate 16m hits the rear side stopper 75b (the state shown in FIG. 5C) and the play of the second wheel support plate 16m is eliminated, the second wheel support plate 16m is supported by the first wheel support. Together with the plate 16h, the second wheel support plate 16m and the first wheel support plate 16h rotate in the direction of the arrow K so as to be inclined backward and downward (state shown in FIG. 5D).
When the left and right crawler traveling device 2 is further moved downward, the center idler wheel 16d connected to the front end of the second roller support plate 16m moves upward, and the ground contact state of the crawler 16j by the center idler wheel 16d is solved. Then, only the rear idler wheel 16e causes the crawler 16j to contact the ground, and the body is turned in this state (the state shown in FIG. 5 (d)).
Thus, since the ground contact area of the crawler traveling device 2 is reduced when the aircraft is turning, easy and good turning can be performed. Further, in the lowest moving state tilted backward, as shown in FIG. The crawler 16j is grounded by the two wheels 16e and the driven wheel 16b.
In the lowest movement state, the inclination angle θ is set so that the rear idler wheel 16e and the driven roller 16b are just in contact with the ground, and when the crawler 16j between the rear idler wheel 16e and the driven roller 16b is grounded, It is preferable that the center of gravity of the fuselage is located above the grounding portion of the crawler 16j, that is, between the rotating shaft of the rear idler wheel 16e and the rotating shaft 8a of the driven roller 16b (W). For example, the rear idler wheel 16e and the driven wheel 16b are arranged so that the center of the body (center of gravity) is on the vertical line of the line connecting the rotary shaft of the rear idler wheel 16e and the rotary shaft 8a of the driven wheel 16b. To do.

本構成を採用することにより、機体の最大上昇時の機体が後傾した状態の姿勢で後方遊転輪１６ｅ及び従動転輪１６ｂ間のクローラ１６ｊが接地するため、安定姿勢となり安全である。また、クローラ１６ｊの接地部上方に機体の重心位置があることで、作業者の操縦ハンドル６を支える力が少なくて済み、安定した旋回ができる。更に、安定姿勢であるため左右前輪３間の距離調節（トレッド調節）や機体下部のメンテナンスを容易に行うことができる。 By adopting this configuration, the crawler 16j between the rear idler wheel 16e and the driven wheel 16b is grounded in a posture in which the vehicle body is tilted rearward when the vehicle body is raised to the maximum, so that the posture is stable and safe. In addition, since the center of gravity of the fuselage is located above the grounding portion of the crawler 16j, less force is required to support the operator's steering handle 6, and stable turning is possible. Further, since the posture is stable, the distance between the left and right front wheels 3 (tread adjustment) and the maintenance of the lower part of the machine body can be easily performed.

また、図１に示すように、第２転輪支持プレート１６ｍの揺動支点Ｐ（ピン７３の位置）を、中央遊転輪１６ｄと後方遊転輪１６ｅの回転軸を結んだ線の垂直２等分線上よりも後方遊転輪１６ｅ側に寄せた位置としても良い。
第２転輪支持プレート１６ｍの回動支点Ｐを後方の後方遊転輪１６ｅ側に寄せることで、第２転輪支持プレート１６ｍの揺動支点Ｐを前方の前方遊転輪１６ｄ側に寄せた場合と比べて中央遊転輪１６ｄの回転軸と揺動支点Ｐ間の距離が長くなるため、機体の旋回時に接線Ｑからの中央遊転輪１６ｄの下方への突出度合いが大きくなり、クローラ１６ｊの張りが強くなって周長が長く伸びるため、谷側のクローラ１６ｊの駆動力が強くなって機体が低い谷側に下降するように進行方向が曲がって前進することを防止できる。したがって、機体が水平の時に谷側のクローラ１６ｊを下げると走行速度が速くなり、直進性が良好となる。 Further, as shown in FIG. 1, the swing fulcrum P (the position of the pin 73) of the second wheel support plate 16m is set to the vertical 2 of the line connecting the rotation shafts of the center free wheel 16d and the rear free wheel 16e. The position may be closer to the rear idler wheel 16e than on the bisector.
By moving the pivot point P of the second wheel support plate 16m toward the rear rear idler wheel 16e, the swing point P of the second wheel support plate 16m is moved toward the front idler wheel 16d. Compared to the case, the distance between the rotating shaft of the center idler wheel 16d and the swinging fulcrum P becomes longer, so that the degree of protrusion of the center idler wheel 16d downward from the tangent line Q when the machine turns is increased, and the crawler 16j Therefore, the driving force of the crawler 16j on the valley side is increased and the aircraft body can be prevented from being bent and advanced so as to descend to the lower valley side. Accordingly, when the trough-side crawler 16j is lowered when the aircraft is horizontal, the traveling speed is increased and the straightness is improved.

また、前記のように、第２転輪支持プレート１６ｍの揺動支点Ｐの前後にストッパ７５が二箇所設けられていることで、機体の上昇時に後方側ストッパ７５ｂによって中央遊転輪１６ｄ及び後方遊転輪１６ｅが固定されるため、操縦ハンドル６を押し下げて機体を上昇させやすい。
そして、この機体の上昇時には、第２転輪支持プレート１６ｍの揺動支点Ｐが後方遊転輪１６ｅの回転軸より前方に位置するように後方側ストッパ７５ｂを設けると、後方遊転輪１６ｅは支点越えをしないため、後方側ストッパ７５ｂにより固定される。 Further, as described above, the two stoppers 75 are provided in front of and behind the swing fulcrum P of the second wheel support plate 16m, so that the center idler wheel 16d and the rear wheel are moved by the rear stopper 75b when the machine body is raised. Since the idler wheel 16e is fixed, it is easy to push down the steering handle 6 to raise the aircraft.
Then, when the machine body is lifted, if the rear stopper 75b is provided so that the swing fulcrum P of the second wheel support plate 16m is positioned in front of the rotating shaft of the rear idler wheel 16e, the rear idler wheel 16e is In order not to exceed the fulcrum, it is fixed by the rear side stopper 75b.

また、クローラ１６ｊを張るためのテンションローラ（図示せず）をクローラ１６ｊの内側に設けても良い。テンションローラを設けることで、簡単にクローラ１６ｊの張り具合を調節できる。
また、このテンションローラのローラ（図示せず）はクローラ１６ｊの上部中央（前後方向の中央部）の内側に接してクローラ１６ｊを内側から押さえるように配置すると良い。クローラ１６ｊの上部中央を押すことで比較的弱い力で張り具合を調節できる。 Further, a tension roller (not shown) for tensioning the crawler 16j may be provided inside the crawler 16j. By providing the tension roller, the tension of the crawler 16j can be easily adjusted.
In addition, the roller (not shown) of the tension roller may be disposed so as to be in contact with the inside of the upper center (center portion in the front-rear direction) of the crawler 16j and press the crawler 16j from the inside. By pressing the upper center of the crawler 16j, the tension can be adjusted with a relatively weak force.

更に、このテンションローラは、一端がローラの回転軸に回動可能に連結し、他端が機体のメインフレーム１４などに連結して、機体の連結側を支点としてローラを回動させるテンションアーム（図示せず）を有するものでよい。テンションローラの張り具合はテンションアームを調節することで容易にできる。
本構成とすれば、クローラ１６ｊの張り具合を調節することで、左右クローラ走行装置２の走行速度を変えることができ、ハンドル操作の微調整も可能となる。 Further, the tension roller has one end rotatably connected to the rotating shaft of the roller, the other end connected to the main frame 14 of the machine body, and the like, and a tension arm that rotates the roller using the connection side of the machine body as a fulcrum. (Not shown). The tension roller can be easily tensioned by adjusting the tension arm.
With this configuration, by adjusting the tension of the crawler 16j, the traveling speed of the left and right crawler traveling device 2 can be changed, and fine adjustment of the steering wheel operation is also possible.

そして、テンションアームはワイヤーで操縦ハンドル６近傍に設けたテンション調節用ハンドル（図示せず）と繋がっている構成としても良い。テンション調節用ハンドルを操作することで手元で容易にクローラ１６ｊの張り具合を調節できる。
そして、テンション調節用ハンドルは右に回すとワイヤーが引かれてクローラ１６ｊが張り、左に回すとワイヤーが戻ってクローラ１６ｊが弛むような構成にしても良い。操縦ハンドル６を右に回すと機体が右に寄り、操縦ハンドル６を左に回すと機体が左に寄るので、本構成とすることでクローラ１６ｊの張り具合の調節操作がしやすくなる。
そして、テンションアームのワイヤーをサブシリンダー（図示せず）に繋げて、サブシリンダーを作動させることでテンションがかけられるようにすると、確実にテンションがかかって、クローラ１６ｊが張り、傾斜地で機体が谷側に移動することを防止できる。 The tension arm may be connected to a tension adjusting handle (not shown) provided in the vicinity of the steering handle 6 with a wire. The tension of the crawler 16j can be easily adjusted by hand by operating the tension adjusting handle.
The tension adjusting handle may be configured such that when it is turned to the right, the wire is pulled and the crawler 16j is stretched, and when it is turned to the left, the wire is returned and the crawler 16j is slackened. When the steering handle 6 is turned to the right, the aircraft is moved to the right, and when the steering handle 6 is turned to the left, the aircraft is moved to the left. With this configuration, it is easy to adjust the tension of the crawler 16j.
When the tension arm wire is connected to the sub cylinder (not shown) and the sub cylinder is operated so that the tension can be applied, the tension is surely applied, the crawler 16j is stretched, and the airframe is raised on the slope. Can be prevented from moving to the side.

一方、苗植付位置５の後方には、左右一対の鎮圧輪８０が配置されている。この左右鎮圧輪８０は、下部ほど互いの間隔が狭くなるように斜めに取り付けられ、機体の進行に伴って畝面を転動し、苗が植付けられた後の苗移植穴の周囲の土を崩落させて穴を埋め戻すと共に、その跡を軽く鎮圧するようになっている。また、畝上面を検出するセンサ９２（図３）を設け、センサ９２が上下回動すると、その回動を上下制御バルブ２０ａに伝え、センサ９２の角度が元に戻る方向に昇降シリンダ２１を作動させる。これにより、畝の上面から機体までの高さを一定に維持するように機体を昇降制御し、畝の高さの変更に係わらず常に苗の植付深さが一定になるように制御され、植付後の苗の成育が良い。 On the other hand, a pair of left and right pressure-reducing wheels 80 are disposed behind the seedling planting position 5. The left and right pressure wheels 80 are obliquely attached so that the distance between them is narrower toward the lower part, and rolls on the heel as the aircraft progresses, so that the soil around the seedling transplant hole after the seedling is planted is removed. It collapses to refill the hole and lightly crushes the trace. In addition, a sensor 92 (FIG. 3) for detecting the upper surface of the saddle is provided, and when the sensor 92 is vertically rotated, the rotation is transmitted to the vertical control valve 20a, and the lifting cylinder 21 is operated in a direction in which the angle of the sensor 92 is restored. Let Thereby, the aircraft is controlled to move up and down so that the height from the upper surface of the cocoon to the aircraft is kept constant, and the planting depth of the seedlings is always controlled regardless of the change in the height of the cocoon, The growth of seedlings after planting is good.

そして、油圧バルブユニット２０（図３）内の左右傾斜制御バルブ２０ｂは左右傾斜検出用の振り子１００の動きに連動して切り替わるようになっている。
図７には、図３の油圧バルブユニット２０（図３）内の振り子１００の動きを説明するための図を示す。図７（ａ）は側面図を示し、図７（ｂ）は正面図を示す。
図３に示すように、機体が左右に傾斜すると振り子１００が傾斜を検出して左右傾斜制御バルブ２０ｂを切替えてローリングシリンダ２７が適宜作動し、機体を左右水平に戻すように制御する。 The left / right inclination control valve 20b in the hydraulic valve unit 20 (FIG. 3) is switched in conjunction with the movement of the left / right inclination detection pendulum 100.
FIG. 7 is a view for explaining the movement of the pendulum 100 in the hydraulic valve unit 20 (FIG. 3) of FIG. Fig.7 (a) shows a side view, FIG.7 (b) shows a front view.
As shown in FIG. 3, when the aircraft tilts to the left and right, the pendulum 100 detects the tilt and switches the left and right tilt control valve 20 b so that the rolling cylinder 27 operates appropriately to control the aircraft to return horizontally.

この左右傾斜制御バルブ２０ｂを手動で切替え可能な手動レバー１０１（図１）を設ける。手動レバー１０１の先端はアーム１０２の一端部に固定され、アーム１０２の他端部が左右連結軸１０４の左端部に回動可能に連結している。そして、左右連結軸１０４の右端部は側面視でＬ字型のロックアーム１０５に固着している。
ロックアーム１０５はＬ字の折れ曲がり部で第１支持部材１０７ａに回動可能に連結しており、ロックアーム１０５は第１支持部材１０７ａとの連結部Ｒを支点として矢印Ｅ−Ｆ方向に回動可能である。また、第１支持部材１０７ａには振り子１００の上端部が固着連結している。更に、ロックアーム１０５の上端部にはロックワイヤー１０９が連結しており、ロックワイヤー１０９を操作（引く、戻す）することでロックアーム１０５が矢印Ｅ−Ｆ方向に回動する。 A manual lever 101 (FIG. 1) capable of manually switching the left / right tilt control valve 20b is provided. The distal end of the manual lever 101 is fixed to one end portion of the arm 102, and the other end portion of the arm 102 is rotatably connected to the left end portion of the left and right connecting shaft 104. The right end of the left and right connecting shaft 104 is fixed to the L-shaped lock arm 105 in a side view.
The lock arm 105 is pivotally connected to the first support member 107a at an L-shaped bent portion, and the lock arm 105 pivots in the direction of arrow EF with the connection portion R with the first support member 107a as a fulcrum. Is possible. The upper end portion of the pendulum 100 is fixedly connected to the first support member 107a. Further, a lock wire 109 is connected to the upper end portion of the lock arm 105, and the lock arm 105 is rotated in the direction of an arrow EF by operating (pulling or returning) the lock wire 109.

ロックワイヤー１０９が矢印Ｇ方向に作動するとワイヤーが弛んで、ロックアーム１０５が矢印Ｅ方向に回動する。そして、第１支持部材１０７ａの下部に設けられ、振り子１００とボルト１０６により固着した第２支持部材１０７ｂの図示しないフックにロックアーム１０５の下端部が引っかかってロックアーム１０５は第２支持部材１０７ｂに係合し、振り子１００と一体化する。
一方、ロックワイヤー１０９が矢印Ｇ方向とは反対方向に作動するとワイヤーが引かれてロックアーム１０５が矢印Ｆ方向に回動し、ロックアーム１０５と第２支持部材１０７ｂとの係合が解除される。 When the lock wire 109 operates in the arrow G direction, the wire is loosened, and the lock arm 105 rotates in the arrow E direction. Then, the lower end portion of the lock arm 105 is hooked to a hook (not shown) of the second support member 107b that is provided below the first support member 107a and is fixed by the pendulum 100 and the bolt 106, and the lock arm 105 is attached to the second support member 107b. Engage and integrate with pendulum 100.
On the other hand, when the lock wire 109 operates in the direction opposite to the arrow G direction, the wire is pulled and the lock arm 105 rotates in the arrow F direction, and the engagement between the lock arm 105 and the second support member 107b is released. .

ロックアーム１０５が第２支持部材１０７ｂに係合していないときは、左右傾斜制御（水平制御）は手動操作により行う。手動レバー１０１を矢印Ｈ方向又は矢印Ｈ方向とは反対方向に操作することで、アーム１０２の下端部及び左右連結軸１０４の左端部が矢印Ｉ方向又は矢印Ｉ方向とは反対方向に作動して、左右連結軸１０４の右端部が矢印Ｊ方向又は矢印Ｊ方向とは反対方向に作動し、振り子１００が矢印Ｍ方向又は矢印Ｍ方向とは反対方向に作動する。 When the lock arm 105 is not engaged with the second support member 107b, the left / right tilt control (horizontal control) is performed manually. By operating the manual lever 101 in the direction of arrow H or in the direction opposite to the direction of arrow H, the lower end of the arm 102 and the left end of the left and right connecting shaft 104 operate in the direction of arrow I or in the direction opposite to the direction of arrow I. The right end of the left and right connecting shaft 104 operates in the direction opposite to the arrow J direction or the arrow J direction, and the pendulum 100 operates in the direction opposite to the arrow M direction or the arrow M direction.

一方、ロックアーム１０５が第２支持部材１０７ｂに係合し、振り子１００と一体化したときは、手動レバー１０１によらずに圃場の凹凸によって振り子１００が作動することで、自動的に左右傾斜制御が行われる。
このように、簡易な構成で機体の左右傾斜制御を手動レバー１０１による手動操作と自動制御とに切り換えることができる。 On the other hand, when the lock arm 105 engages with the second support member 107b and is integrated with the pendulum 100, the pendulum 100 is automatically operated by the unevenness of the field without depending on the manual lever 101, so that the left and right tilt control is automatically performed. Is done.
In this way, the left-right tilt control of the machine body can be switched between manual operation by the manual lever 101 and automatic control with a simple configuration.

また、ロックアーム１０５を作動させるためのロックワイヤー１０９をロックアーム１０５の回動支点である第１支持部材１０７ａとの連結部Ｒ（Ｌ字の折れ曲がり部）の近傍に設けると、ロックワイヤー１０９の動きが少なくてもロックアーム１０５を作動させることができるため、ロックワイヤー１０９が振り子１００や第１支持部材１０７ａの動きの妨げとならない。 Further, if a lock wire 109 for operating the lock arm 105 is provided in the vicinity of the connecting portion R (L-shaped bent portion) with the first support member 107a which is a pivotal fulcrum of the lock arm 105, the lock wire 109 Since the lock arm 105 can be operated even if the movement is small, the lock wire 109 does not hinder the movement of the pendulum 100 and the first support member 107a.

また、ロックアーム１０５の下端部にはスプリング１１０の一端部が連結し、スプリング１１０の他端部は、油圧バルブユニット２０本体に固定されている。ロックアーム１０５が第２支持部材１０７ｂに係合していない、すなわち手動操作時ではスプリング１１０が伸びた状態であり、スプリング１１０の張力で中立状態に戻る。一方、ロックアーム１０５が第２支持部材１０７ｂに係合した自動制御時ではスプリング１１０が弛んだ状態となり、スプリングの張力が弱くなって振り子１００の動きが優先されて、振り子１００による左右傾斜制御が行える。 One end of a spring 110 is connected to the lower end of the lock arm 105, and the other end of the spring 110 is fixed to the hydraulic valve unit 20 body. The lock arm 105 is not engaged with the second support member 107 b, that is, the spring 110 is in an extended state during manual operation, and returns to the neutral state by the tension of the spring 110. On the other hand, during the automatic control in which the lock arm 105 is engaged with the second support member 107b, the spring 110 is in a loosened state, the tension of the spring is weakened, and the movement of the pendulum 100 is prioritized, and the horizontal tilt control by the pendulum 100 is performed. Yes.

そして、ロックワイヤー１０９を植付昇降レバー１０３（図１）に繋げても良い。植付昇降レバー１０３により植付クラッチを入操作すると、ロックワイヤー１０９が引かれてロックアーム１０５と第２支持部材１０７ｂの係合は解除され、手動レバー１０１によって振り子１００を操作できる。植付時には水平制御を手動操作にすることで、傾斜地でも畦の中央に植え付けが可能となる。一方、植付昇降レバー１０３により植付クラッチを切操作すると、ロックワイヤー１０９が弛んで（戻り）ロックアーム１０５が第２支持部材１０７ｂに係合し、自動で水平制御が行える。植付切り時は旋回時または路上走行時であるため、振り子１００の動きで左右傾斜を自動制御することで機体を水平にして安定旋回ができ、運転がし易くなる。 And you may connect the lock wire 109 to the planting raising / lowering lever 103 (FIG. 1). When the planting clutch 103 is turned on by the planting lift lever 103, the lock wire 109 is pulled, the engagement between the lock arm 105 and the second support member 107b is released, and the pendulum 100 can be operated by the manual lever 101. By setting the horizontal control to manual operation when planting, it is possible to plant in the center of the fence even on sloping ground. On the other hand, when the planting clutch is disengaged by the planting lift lever 103, the lock wire 109 is loosened (returned) and the lock arm 105 is engaged with the second support member 107b, so that the horizontal control can be performed automatically. Since planting is during turning or running on the road, the left and right inclination is automatically controlled by the movement of the pendulum 100, the aircraft can be leveled and stable turning can be facilitated.

植付部１ｂでは、走行部ミッションケース７から植付部ミッションケース３０（図２）及び第一植付伝動ケース３１（図２）を介して第二植付伝動ケース３２（図１、図２）により苗植付装置５へ動力が伝動される。苗植付装置５の苗植付具４２は、走行部１ａの後部側に配置している。
そして、苗載台９０上には縦方向と横方向とに多数収容した苗トレイ（図示せず）を後側が高くなるように傾斜して載置支持しており、前方側に配置されている苗取出爪４１によって苗トレイから苗を一つずつ取出して苗植付具４２へと搬送する。そして、苗植付具４２により苗が植え付けられる。 In the planting part 1b, the second planting transmission case 32 (FIGS. 1 and 2) is transferred from the traveling part mission case 7 through the planting part mission case 30 (FIG. 2) and the first planting transmission case 31 (FIG. 2). ), Power is transmitted to the seedling planting device 5. The seedling planting tool 42 of the seedling planting device 5 is disposed on the rear side of the traveling unit 1a.
A seedling tray (not shown) accommodated in large numbers in the vertical direction and the horizontal direction is placed and supported on the seedling mounting table 90 so that the rear side is elevated, and is arranged on the front side. One seedling is taken out from the seedling tray one by one by the seedling extraction claw 41 and conveyed to the seedling planting tool 42. Then, seedlings are planted by the seedling planting tool 42.

図８には、図２の野菜移植機に苗トレイＴを設置した場合の平面図を示す。
また、植付部ミッションケース３０の上部に基部を固着した左右フレーム３４（図２）に、機体の左右に苗トレイＴを段状（２段）に載せられる左右予備苗載台３６及び中央に苗トレイＴを載せられる中央予備苗載台３７が取り付けられている。 In FIG. 8, the top view at the time of installing the seedling tray T in the vegetable transplanter of FIG. 2 is shown.
In addition, the left and right preliminary seedling mounting stages 36 on the left and right frames 34 (FIG. 2) having the bases fixed to the upper part of the planting part mission case 30 and the left and right sides of the machine body and the center of the seedling trays T can be mounted in two steps. A central preliminary seedling table 37 on which the seedling tray T is placed is attached.

図２に示すように、中央予備苗載台３７は左右方向に長手方向を有する横置きとし、左右予備苗載台３６は前後方向に長手方向を有する縦置きとすることで、予備苗載台が左右に出っ張らずコンパクトな構成となる。したがって、燃料タンクに燃料を供給する際に予備苗載台３６、３７が邪魔にならず作業性が良い。また、エンジン９や走行部ミッションケース７等のメンテナンス性に優れる。
さらに、左右予備苗載台３６が中央予備苗載台３７の上部に重なるように、左右予備苗載台３６をそれぞれ内側に折り畳み可能な構成とすれば、野菜収穫機１の収納時に嵩張らない。 As shown in FIG. 2, the central preliminary seedling stage 37 is horizontally placed having a longitudinal direction in the left and right direction, and the left and right preliminary seedling stage 36 is vertically placed having a longitudinal direction in the front and rear direction. The structure is compact without protruding from side to side. Therefore, when the fuel is supplied to the fuel tank, the spare seedling mounts 36 and 37 do not get in the way and workability is good. Moreover, it is excellent in maintainability, such as the engine 9 and the traveling part mission case 7.
Furthermore, if the left and right spare seedling stage 36 is configured to be foldable inward so that the left and right spare seedling stage 36 overlaps the upper portion of the central preliminary seedling stage 37, the vegetable harvesting machine 1 is not bulky.

１野菜移植機１ａ走行部
１ｂ植付部２左右クローラ走行装置
３左右前輪４苗供給装置
５苗植付装置６操縦ハンドル
６ａ左右グリップ７走行部ミッションケース
７ａ左右駆動軸８ａ回転軸
９エンジン１０油圧ポンプ
１１ａ蓋１２ボンネット
１３連結フレーム１４メインフレーム
１５左右回動筒部１６クローラフレーム
１６ａ駆動輪１６ｂ従動転輪
１６ｃ前方遊転輪１６ｄ中央遊転輪
１６ｅ後方遊転輪１６ｆ支持アーム
１６ｈ第１転輪支持プレート
１６ｈａ長穴１６ｊクローラ
１６ｋラグ１６ｍ第２転輪支持プレート
１７前輪支持フレーム１８左右前輪支持ロッド
２０油圧バルブユニット２０ａ・２０ｂ制御バルブ
２１昇降シリンダ２２天秤杆
２３取付部材２５左右スイングアーム
２６連結ロッド２７ローリングシリンダ
３０植付部ミッションケース
３１第一植付伝動ケース３２第二植付伝動ケース
３４左右フレーム３６左右予備苗載台
３７中央予備苗載台４１苗取出爪
４２苗植付具７０，７３ピン
７５ストッパ８０左右鎮圧輪
９０苗載台９２センサ
１００振り子１０１手動レバー
１０２アーム１０３植付昇降レバー
１０４左右連結軸１０５ロックアーム
１０６ボルト１０７ａ第１支持部材
１０７ｂ第２支持部材１０９ロックワイヤー
１１０スプリング
Ｕ畝
Ｓ機体制御機構（上下動機構）
Ｔ苗トレイ 1 Vegetable transplanter 1a Traveling part
DESCRIPTION OF SYMBOLS 1b Planting part 2 Left and right crawler travel apparatus 3 Left and right front wheel 4 Seedling supply apparatus 5 Seedling planting apparatus 6 Steering handle 6a Left and right grip 7 Traveling part transmission case 7a Left and right drive shaft 8a Rotating shaft 9 Engine 10 Hydraulic pump 11a Lid 12 Bonnet 13 Connection Frame 14 Main frame 15 Left and right pivot cylinder 16 Crawler frame 16a Drive wheel 16b Driven wheel 16c Front idler wheel 16d Center idler wheel 16e Rear idler wheel 16f Support arm 16h First wheel support plate
16ha long hole 16j crawler 16k lug 16m second wheel support plate 17 front wheel support frame 18 left and right front wheel support rod 20 hydraulic valve unit 20a / 20b control valve 21 lifting cylinder 22 balance rod 23 mounting member 25 left and right swing arm 26 connecting rod 27 rolling Cylinder 30 Planting part mission case 31 First planting transmission case 32 Second planting transmission case 34 Left and right frame 36 Left and right spare seedling stage 37 Central spare seedling stage 41 Seedling extraction claw 42 Seedling planting tool 70, 73 Pin 75 Stopper 80 Left and right pressure reducing wheel 90 Seedling stage 92 Sensor 100 Pendulum 101 Manual lever 102 Arm 103 Planting lift lever 104 Left and right connecting shaft 105 Lock arm 106 Bolt 107a First support member 107b Second support member 109 Lock wire 110 Sp Packaging U ridge S aircraft control mechanism (vertical movement mechanism)
T seedling tray

本発明の苗移植機は、野菜移植機に限らず、田植機などのその他の苗を植え付ける苗移植機として利用可能性がある。また、乗用型の苗移植機でも歩行型の苗移植機でもよい。 The seedling transplanter of the present invention is not limited to a vegetable transplanter and can be used as a seedling transplanter for planting other seedlings such as a rice transplanter. Also, a riding seedling transplanter or a walking seedling transplanter may be used.

Claims

The left and right driving front wheels (16a), the left and right driven rear wheels (16b), and the left and right driving front wheels (16a) and a crawler (16j) wound around the left and right driven rear wheels (16b). In a seedling transplanter provided with a left and right crawler traveling device (2) and a planting part (1b) for planting a seedling above the left and right crawler traveling device (2),
Front and rear wheel support portions (16f, 16h) provided between the left and right driving front wheels (16a) and the left and right driven rear wheels (16b) for supporting the front wheels (16a) and the driven rear wheels (16b);
A wheel support portion (16m) having an upper end coupled to the front and rear wheel support portions (16f, 16h) and capable of swinging in the front-rear direction with the upper end portion serving as a swing fulcrum (P);
Traveling by the left and right crawler travel device (2) when a seedling is planted by the planting part (1b), which is rotatably supported in the front-rear direction at the lower part of the wheel support part (16m). Occasionally, there are provided rolling wheels (16d, 16e) that swing back and forth in conjunction with swinging of the wheel support portion (16m) and contact the inside of the crawler (16j) to ground the crawler (16j). A seedling transplanter characterized by that.

A stopper that prevents the front and rear wheel support portions (16f, 16h) from swinging the front and rear of the swing support point (P) that is a connection portion between the front and rear wheel support portions (16f, 16h) and the wheel support portion (16m). (75)
When the left and right driven rear wheels (16b) side of the left and right crawler traveling device (2) moves down during turning of the seedling transplanter, the rear end side of the front and rear wheel support portions (16f, 16h) moves down and moves backward The side stopper (75b) hits the rear part of the wheel support part (16m), and the front part of the wheel support part (16m) and the wheel (16d, 16e) supported by the wheel support part (16m). ), The front wheel (16d) moves up in conjunction with the front and rear wheel support portions (16f, 16h), and the crawler (16j) is ungrounded by the front wheel (16d). The seedling transplanting machine according to claim 1, further comprising a turning-down mechanism for grounding the crawler (16j) only by the rear wheel (16e).

A front rolling wheel below the front and rear wheel support portions (16f, 16h) and in front of the plurality of rolling wheels (16d, 16e) and in contact with the inside of the crawler (16j) to ground the crawler (16j) (16c), the lower end of the front wheel (16c) is substantially the same as the lower end of the plurality of wheels (16d, 16e) in the substantially horizontal state of the left and right crawler travel device (2). The seedling transplanter according to claim 1 or 2, wherein the seedling transplanter is provided so as to be rotatable so as to have the same height.

When the seedling transplanter turns, the rear end side of the front and rear wheel support portions (16f, 16h) moves down as the left and right driven rear wheels (16b) of the left and right crawler travel device (2) are moved downward. The front end portion of the front and rear wheel support portions (16f, 16h) and the front wheel (16c) move upward, the grounding state of the crawler (16j) by the front wheel (16c) is released, and the front wheel ( 16c) of the wheels (16d, 16e) supported by the roller support portion (16m), the tangent line (Q) connecting the lower end of the rear wheel (16e) to the front side. The seedling transplanter according to claim 3, further comprising a crawler tension changing mechanism for tensioning the crawler (16j) by projecting the lower end of the roller (16d) downward.

The left and right driven rear wheels (16b) side of the left and right crawler traveling device (2) is moved downward, and the rearmost wheel of the wheels (16d, 16e) supported by the wheel support portion (16m). When the crawler (16j) between (16e) and the left and right driven rear wheels (16b) is grounded, the center of gravity position of the seedling transplanter is located above the grounding portion of the crawler (16j) in a side view of the body The seedling transplanting machine according to any one of claims 1 to 4, wherein the seedling transplanting machine is provided.