JP2011244733A - Seedling transplanter - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a seedling transplanter capable of aiming at the reduction of labor of an operator, since the On and Off of a seedling transplanting device or lifting up and down of the seedling-transplanting part are not performed by the operator and also improving the efficiency of the seedling-transplanting work.SOLUTION: This seedling transplanter is provided by installing left and right front wheels 10, left and right rear wheels 11, a frame 15, a handle 34 for the steering operation of the left and right front wheels 10, a cutting angle sensor 93 for detecting the steering angle of the handle 34, a seedling-transplanting part 4 linked at the rear direction of the frame 15 through a lifting up and down linking device 3 as capable of lifting up and down and equipped with a seedling-loading stand 51 and a seedling-transplanting device 52, a working state-switching lever 68 of the seedling-transplanting device 52, a lifting up and down means such as the hydraulic cylinder 46, oil pressure valve 80, etc., of the lifting up and down linking device 3 and a controlling device 100 for controlling the lifting up and down of the seedling-transplanting part 4 by the lifting up and down means and the switch of the switching lever 68 in accordance with the value of the cutting angle sensor 93. Since the lifting up and down of the seedling-transplanting part 4 and the On and Off of the seedling-transplanting device 52 are jointly moving with a handle operation, it is not necessary for an operator to perform the On and Off of the seedling-transplanting device 52, and labor is reduced.

Description

  The present invention relates to a seedling transplanting machine in which a seedling planting device is connected to a traveling vehicle body.

  Conventionally, a seedling platform that supplies a plurality of seedlings on the left and right corresponding to the seedling mounting section corresponding to the seedling mounting section by placing the seedlings on the seedling mounting sections provided on the left and right and moving left and right, A seedling planting unit equipped with a plurality of seedling planting devices provided on the left and right sides for taking and planting the seedlings at the outlet, and mounted on the rear side of the traveling vehicle body so as to be capable of ascending and descending via a lifting link device, and fertilizer that becomes powder And a granular material discharge device comprising a granular material storage part for storing chemicals and chemicals and a feeding part for feeding out the granular material in the granular material storage part by a predetermined amount, and a float for leveling while sliding on the seedling planting surface A multi-row planting type rice transplanter that is a seedling transplanter provided with the above is known.

  As an example of such a multi-row planting type rice transplanter, the following Patent Document 1 supports the power of the engine on the left and right rear wheels and the left and right front wheels in order to simplify the transmission system to the left and right front wheels. It is configured to transmit to the front axle case, the power transmitted to the front axle case without providing a differential mechanism in the front axle case is branched to the right and left via the lateral transmission shaft in the front axle case, A riding type rice transplanter configured such that the front wheels are always at a constant speed is disclosed.

JP 2007-276777 A

According to the riding type rice transplanter described in Patent Document 1, when the front wheel is steered at a set angle or more during turning of the body, the side clutch of the rear wheel that is on the inside of the turn is operated in conjunction with this. Thus, a three-wheel drive state is performed with the steered left and right front wheels and one rear wheel on the outside of the turn, and a small turn is performed.
At the time of turning, it is usually necessary for the operator to manually turn on and off the seedling planting device and to raise and lower the seedling planting unit, which increases the labor of the operator.

  And if the seedling planting device is kept on when the aircraft is turning, the seedling planting device takes out the seedling from the seedling mount and performs the planting operation, and the seedling is released to the field without being planted. It is also possible. In addition, it is necessary to start planting seedlings promptly after the turning of the aircraft so that the work efficiency of the planting work does not decrease.

In addition, if the seedling planting part is not raised during the turning of the machine body, the seedling mounting table and the seedling planting device may come into contact with the field scene, which is not preferable. On the other hand, if the seedling planting part is kept raised at the end of turning of the aircraft, the seedling planting device will take out the seedling from the seedling stage and plant it, and in this case the seedling will not be planted It will be released to the field.
And even if you lower the seedling planting part at the end of turning the aircraft, if you do not enter the seedling planting device, you will not be able to start planting seedlings at the appropriate planting start position, and work at the place where you forgot to plant at the end of planting work It may be possible for the worker to manually plant seedlings, increasing the labor of the worker.

  Therefore, the problem of the present invention is that it is not necessary for the operator to manually turn on and off the seedling planting device and to raise and lower the seedling planting part, and the labor of the operator can be reduced, and seedling planting work It is to provide a seedling transplanter that improves work efficiency.

The said subject is achieved by the following structure.
That is, the invention according to claim 1 is provided on the left and right front wheels (10) and the left and right rear wheels (11), and on the left and right front wheels (10) and the left and right rear wheels (11). A frame (15) that supports the front wheel (10) and the left and right rear wheels (11), a steering operation means (34) for steering the left and right front wheels (10), and the steering operation means ( The steering angle detecting means (93) for detecting the steering angle of 34) is connected to the rear of the frame (15) so as to be movable up and down via the lifting link device (3), and a seedling to be planted in the field is placed. A seedling planting part (4) provided with a seedling mounting table (51) for seedling and a seedling planting device (52) for planting seedlings on the seedling mounting table (51) in a field, and the seedling planting device Switch between a working state in which (52) operates and a non-working state in which the operation of the seedling planting device (52) stops. Planting switching means (68), lifting / lowering means (46, 80) for raising / lowering the lifting / lowering link device (3), and raising / lowering according to the detected value by the steering angle detecting means (93) A seedling transplanting machine provided with a control device (100) having a function of operating the means (46, 80) and switching the planting switching means (68).

  The invention according to claim 2 is provided on the left and right front wheels (10) and the left and right rear wheels (11), and on the left and right front wheels (10) and the left and right rear wheels (11). 10) and a frame (15) for supporting the left and right rear wheels (11), a steering operation means (34) for steering the left and right front wheels (10), and the steering operation means (34). Steering angle detection means (93) for detecting the steering angle of the frame (15) and the frame (15) are connected to the rear of the frame (15) through a lifting link device (3) so as to be able to be lifted and lowered to place seedlings to be planted in a field. A seedling planting part (4) provided with a seedling stage (51) and a seedling planting device (52) for planting seedlings on the seedling platform (51) in a field, and the seedling planting device (52 Planting for switching to a working state in which the operation of the seedling planting device (52) stops A float (68), a lifting means (46, 80) for raising and lowering the lifting link device (3), and a float for leveling the field (provided under the seedling platform (51)) 55, 56), a float angle detecting means (57) for detecting the angle of the float (55, 56) in the front-rear direction with respect to the horizontal plane, a detected value by the steering angle detecting means (93), and the float angle A seedling transplanter provided with a control device (100) having a function of operating the elevating means (46, 80) and switching the planting switching means (68) according to the detection value by the detecting means (57). is there.

  The invention according to claim 3 is provided at the upper part of the left and right front wheels (10) and the left and right rear wheels (11) and the left and right front wheels (10) and the left and right rear wheels (11). 10) and a frame (15) for supporting the left and right rear wheels (11), a steering operation means (34) for steering the left and right front wheels (10), and the steering operation means (34). Steering angle detection means (93) for detecting the steering angle of the frame (15) and the frame (15) are connected to the rear of the frame (15) through a lifting link device (3) so as to be able to be lifted and lowered to place seedlings to be planted in a field. A seedling planting part (4) provided with a seedling stage (51) and a seedling planting device (52) for planting seedlings on the seedling platform (51) in a field, and the seedling planting device (52 Planting for switching to a working state in which the operation of the seedling planting device (52) stops It is provided between the replacement means (68), the lifting means (46, 80) for raising and lowering the lifting link device (3), and the left and right rear wheels (11) and the frame (15). The vertical movement mechanism (S) for operating the left and right rear wheels (11) up and down with respect to the frame (15) and the vertical movement mechanism (S) of the left and right rear wheels (11) are operated. The vertical movement amount detection means (95) for detecting the vertical movement amount when the vertical movement mechanism (S) is actuated from the reference position that has not been detected, the detected value by the steering angle detection means (93), and the vertical movement A control device having a function of operating the elevating means (46, 80) and switching the planting switching means (68) in accordance with the difference between the detected values of the left and right rear wheels (11) by the amount detecting means (95). (100) is a seedling transplanter.

  According to the seedling transplanting machine according to claim 1, control is performed according to the steering angle of the front wheel (10) by the steering operation means (34), that is, when the steering angle of the front wheel (10) becomes greater than or less than the set angle. The operation of the elevating means (46, 80) and the switching of the planting switching means (68) are performed by the device (100), so that the operator does not need to manually turn the seedling planting device (52) on and off. The labor of the worker can be reduced and the work efficiency of the seedling planting work can be improved.

  For example, when the steering angle of the front wheel (10) by the steering operation means (34) is equal to or larger than the set angle, the seedling planting unit (4) is raised and the seedling planting device (52) is in a non-working state. Thus, when the steering angle of the front wheel (10) by the steering operation means (34) is less than the set angle, the seedling planting unit (4) is lowered so that the seedling planting device (52) is in a working state. Further, the control device (100) can operate the lifting means (46, 80) and the planting switching means (68). In this case, if the steering angle of the front wheel (10) exceeds the set angle by the steering operation means (34) during the turning operation of the seedling transplanter, the seedling transplanting device (52) automatically stops. The seedling planting device (52) is not forgotten to be turned off when the seedling transplanter is turning, and the seedling planting device (52) is planted empty (the seedling is released to the field without being planted) Can be planted without waste, saving seedlings.

  Further, since the turning of the seedling transplanter returns to the straight direction after turning, the steering angle of the front wheel (10) by the steering operation means (34) becomes less than the set angle, and the seedling transplanting device (52 ) Operates, it is possible to start the seedling transplanting machine and start planting the seedling. Therefore, there is no need to plant seedlings in the planting leakage area after the planting work is completed, and the operator's labor is reduced and the work efficiency and work efficiency of the seedling planting work are reduced. Will improve.

  According to the seedling transplanting machine according to claim 2, in addition to the steering angle of the front wheel (10), the float (55) is detected by the float angle detecting means (57) so that the float (55) detects the angle in the front-rear direction. ), It is determined whether or not the seedling planting device (52) is at the planting work position, so that the seedling planting device (52) is interlocked with the vertical movement of the seedling planting unit (4). You can switch on and off. Therefore, when the seedling transplanter (4) is raised when the seedling transplanter is turned, the seedling is not emptied, so that it is possible to prevent the seedling from being wasted and when the seedling transplanter goes straight ahead. Thus, when the seedling planting part (4) is lowered, the operation of the seedling planting device (52) is forgotten and planting is prevented from starting at a position away from the planting start position. And since it is such, there is no need for an operator to plant a seedling by hand in a planting omission part after completion | finish of a planting work, and a worker's labor is reduced and work efficiency improves.

  According to the seedling transplanting machine according to claim 3, in addition to the steering angle of the front wheel (10), the raising operation of the rear outer wheel (11) that rises at the start of the turning of the seedling transplanting machine (the rear wheel inside the turning) (11) stays on the spot, the rear wheel (11) outside the turn slightly rises due to centrifugal force) and the downward movement of the rear wheel (11) outside the turn that descends at the end of the turn. ) To detect the start and end of the turning motion.

For example, at the start of turning, the raising / lowering means (46, 80) is actuated upward to raise the seedling planting part (4) and the planting switching means (68) can be switched to the non-working state side. (51) and the seedling planting device (52) can be prevented from coming into contact with the field scene, and the seedling table (51) and the seedling planting device (52) can be prevented from being damaged.
At the end of turning, the raising / lowering means (46, 80) is actuated downward to lower the seedling planting part (4) and the planting switching means (68) can be switched to the working state side. (51) and the seedling planting device (52) can be lowered to the working position, and forgetting to lower at the planting start position can be prevented.

It is a side view of the riding type rice transplanter of one embodiment of the present invention. It is a top view of the riding type rice transplanter of FIG. It is a side view of the principal part of the riding type rice transplanter of FIG. It is a block diagram of the control apparatus of the riding type rice transplanter of FIG. It is explanatory drawing (side view) of the operation mechanism of the planting operation lever and planting clutch of the riding type rice transplanter of FIG. It is an example (flow) of control of the control apparatus of the riding type rice transplanter of FIG. It is an example (flow) of control of the control apparatus of the riding type rice transplanter of FIG. It is an example (flow) of control of the control apparatus of the riding type rice transplanter of FIG.

An embodiment of the present invention will be described with reference to the drawings.
FIG. 1 shows a left side view of a four-row planted rice transplanter as a seedling transplanter according to an embodiment of the present invention, FIG. 2 shows a plan view of the rice transplanter of FIG. 1, and FIG. The side view of the principal part of the rice transplanter of FIG. 1 is shown, and the block diagram of the control apparatus of the rice transplanter of FIG. 1 is shown in FIG. FIG. 5 is an explanatory view of the operation mechanism of the planting operation lever and the planting clutch of the rice transplanter. Moreover, the enlarged view of the pitching mechanism of a rice transplanter is shown in the round frame part X of FIG.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In the present specification, the left and right directions in the forward direction of the rice transplanter are respectively left and right, the forward direction is forward, and the backward direction is rear.
In this riding type rice transplanter 1 with a fertilizer application, a seedling planting portion 4 is mounted on the rear side of the traveling vehicle body 2 at the rear end portion of the main frame 15 via a lifting link device 3 so as to be movable up and down. The main body portion of the fertilizer applicator 5 is provided on the rear upper side.

  The traveling vehicle body 2 is a four-wheel drive vehicle including a pair of left and right front wheels 10 and 10 and a pair of left and right rear wheels 11 and 11 as drive wheels, and a transmission case 12 is disposed at the front of the fuselage. Front wheel final cases 13, 13 are provided on the left and right sides of the case 12, and the left and right front wheels are mounted on the left and right front wheel axles projecting outward from the respective front wheel support portions capable of changing the steering direction of the left and right front wheel final cases 13, 13. 10 and 10 are respectively attached. Power is transmitted from the left and right rear wheel transmission shafts 18a and 18a connected to the left and right rear wheel drive shafts provided so as to protrude from the rear wall of the transmission case 12 to the left and right rear wheel transmission cases 18 and 18, so that the left and right rear wheels 11 and 11 Driven. The left and right front wheels 10 and the left and right rear wheels 11 are supported by a main frame 15 above the front wheels 10 and the rear wheels 11.

  The engine 20 is mounted on the main frame 15, and the rotational power of the engine 20 is transmitted to the transmission case 12 via a belt transmission 21 and a hydraulic continuously variable transmission 23. The rotational power transmitted to the mission case 12 is shifted by a transmission in the case 12 and then separated into traveling power and external power to be extracted. A part of the driving power is transmitted to the front wheel final cases 13 and 13 to drive the front wheels 10 and 10, and the rest is transmitted to the left and right rear wheel transmission cases 18 and 18 to drive the left and right rear wheels 11 and 11. To do. Further, the external extraction power extracted from the right side surface of the mission case 12 is transmitted to the seedling planting unit 4 by the planting transmission shaft 26. Further, power is taken out from the right rear wheel transmission case 18 by the drive shaft and transmitted to the fertilizer feeding mechanism of the fertilizer applicator 5.

  The upper part of the engine 20 is covered with an engine cover 30, and a cockpit 31 is installed thereon. A front cover 32 incorporating various operation mechanisms is provided in front of the cockpit 31, and a handle 34 for steering the front wheels 10 is provided above the front cover 32. The steering angle of the handle 34 is detected by a handle turning angle sensor (steering angle detecting means) (FIG. 4) 93 provided on the shaft of the handle 34. The engine cover 30 and the front cover 32 have horizontal floor steps 35 on the left and right sides of the lower end. A plurality of through-holes 35a are formed in the left and right front portions of the floor step 35, and a driver who is seated in the cockpit 31 and controls the aircraft can see the left and right front wheels 10 and 10 and is easy to control. It has a configuration. Also, mud on the shoes of the operator (operator) walking on the floor step 35 falls on the field.

The rear portion of the floor step 35 is a rear wheel fender 36 that also serves as a rear step. The operator puts his / her feet on the left and right auxiliary steps 28 and 28 to get on and off the aircraft. The front cover 32 can be divided into a front cover 32a and a rear cover 32b, and the covers 32a and 32b are detachably mounted independently.
Further, on both the left and right sides of the front part of the traveling vehicle body 2, the spare seedling platforms 38, 38 on which the replenishment seedlings are placed can be pivoted to a position projecting laterally from the machine body and a position housed inside. Is provided.

  The lifting link device 3 for moving the seedling planting unit 4 up and down has a parallel link configuration, and includes a single upper link 40 and a pair of left and right lower links 41 and 41. These links 40, 41, 41 are pivotally attached to a rear-view portal-shaped link base frame 42 erected on the rear end of the main frame 15, and a vertical link 43 is connected to the tip side. ing.

  A base of a lifting hydraulic cylinder 46 for pivoting the lifting / lowering link device 3 up and down is pivotally supported on the main frame 15, and a tip of the lifting hydraulic cylinder 46 is integrally formed with the lower link 41. By connecting and lowering the lifting hydraulic cylinder 46 with hydraulic pressure, the lifting link device 3 rotates up and down, and the seedling planting portion 4 moves up and down while maintaining a substantially constant posture.

  The seedling planting section 4 has a four-row planting structure, a transmission case 50 that also serves as a frame, a mat seedling, and reciprocates left and right to feed the seedlings one by one to the seedling outlet 51a of each row and for one horizontal row When all the seedlings are supplied to the seedling outlet 51a ..., the seedling mount 51 for transferring the seedling downward by the seedling feeding belt 51b ..., the seedling planting device 52 for planting the seedling supplied to the seedling outlet 51a ... in the field. A pair of left and right drawing markers (not shown) for drawing the aircraft course in the next stroke to the topsoil surface are provided.

In the lower part of the seedling planting part 4, a center float 55 is provided in the center, and side floats 56, 56 are provided on the left and right sides thereof. When the aircraft is advanced with these floats 55, 56, 56 in contact with the mud surface of the field, the floats 55, 56, 56 slide while leveling the mud surface, and the seedling planting device 52 ... Seedlings are planted. Each float 55, 56, 56 is pivotally attached so that the front end side moves up and down according to the unevenness of the field topsoil surface, and the vertical movement of the front part of the center float 55 (front-back direction with respect to the horizontal plane) during planting work Angle change) is detected by an elevation angle sensor (float angle detection means) 57 (FIG. 4).
Further, by arranging the hydraulic valve 80 in front of the mission case 12 and below the front cover 32a and switching the hydraulic valve 80, the elevating hydraulic cylinder 46 is expanded and contracted.

  Then, on / off of the planting clutch 81 (FIG. 4) for operating the seedling planting device 52 is performed by operating the planting operation lever 68. Switching of the planting operation lever 68 is controlled by the control device 100 as described below, but can also be switched by manual operation. FIG. 5A shows a right side view in the case of planting and cutting (the seedling planting device 52 is in a non-working state in which the operation is stopped), and FIG. The right side view in the case of the working state) is shown.

An input gear 70 is attached to the shaft 66 of the connecting portion between the planting operation lever 68 and the planting cam 72, and the input gear 70 is rotated in the forward / reverse direction by the control of the control device (CPU, FIG. 4) 100. The planting operation lever 68 can be switched by the output signal from the control device 100 by meshing with the output gear 69 attached to the output shaft.
5A, when the lever operation motor 71 is operated, the input gear 70 meshed with the output gear 69 of the lever operation motor 71 rotates in the direction of the arrow A1, and is fixed to the shaft of the input gear 70. Similarly, the attachment operating lever 68 and the planting cam 72 rotate in the directions of arrows A2 and A3. The base of the planting operation lever 68 is slidable in the long hole 68a, and the sliding range is regulated by the long hole 68a.

  The planting clutch 81 is turned off when a clutch holding pin 82 provided above the planting clutch 81 comes into contact with the planting clutch 81 and is turned on when the clutch holding pin 82 is separated from the planting clutch 81. is there. The upper portion of the clutch holding pin 82 is connected to one end of a pin arm 86 that is interlocked with the operation of the planting cam 72. Therefore, when the pin arm 86 is operated, the clutch holding pin 82 moves up and down, and the planting clutch 81 is switched between the on state and the off state.

  When the planting operation lever 68 is operated in the direction to set the planting clutch 81 to “ON”, the planting cam 72 moves in the direction of the arrow A3 to switch on / off of the planting clutch 81 at one end (rear part). The planting cam 72 comes into contact with a contact roller 86b provided on a pin arm 86 in which the upper end portion of the clutch presser pin 82 is connected and the other end portion (front portion) is biased upward by a spring 88. When the planting cam 72 comes into contact with the contact roller 86b, the pin arm 86 pivots downward about the fulcrum 86a, the rear part rises, and the clutch holding pin 82 is separated from the planting clutch 81. The clutch 81 is engaged. At this time, the spring 88 is extended, and the tension for pulling up the front portion of the pin arm 86 is increased. However, the force of the planting cam 72 holding the contact roller 86b exceeds this tension, and this state is maintained. Is done. The spring 88 has a lower end attached to the front end of the pin arm 86 and an upper end attached to a support rod 84 provided on the operation frame 79.

  On the other hand, when the planting operation lever 68 is operated in a direction to turn the planting clutch 81 “off”, the planting cam 72 moves in the direction opposite to the arrow A3 direction, and the planting cam 72 moves upward from the pin arm 86. The spring 88 contracts away from each other, and the front portion of the pin arm 86 is pulled upward by the tension of the spring 88. Therefore, the rear part of the pin arm 86 moves downward, the clutch holding pin 82 comes into contact with the planting clutch 81, and the planting clutch 81 is turned off.

  Then, the fertilizer application device 5 feeds the granular fertilizer stored in the fertilizer hopper 60 by a certain amount by the feeding unit 61... And applies the fertilizer to the left and right sides of the floats 55, 56 and 56 with the fertilizer hose 62. It guide | induces to the guide 62a ... and it drops into the fertilization structure formed in the side part vicinity of the seedling planting row | line | column by the groove-groove 62b ... provided in the front side of the fertilization guide 62a .... The air generated by the blower 58 driven by the electric motor is blown into the fertilizer hose 62 through the air chamber 59 that is long in the left-right direction, and the fertilizer in the fertilizer hose 62 is forcibly conveyed by wind pressure. It has become.

  The seedling planting section 4 is provided with a leveling rotor 27 for leveling and leveling the mud surface disturbed in the field (in front of the left and right leveling rotors 27a and 27a and the center float 55 arranged in front of each of the left and right side floats 56 and 56). An arranged central leveling rotor 27b) is mounted.

  And according to the rice transplanter of this embodiment, the control apparatus 100 has a function which operates the hydraulic valve 80 and the lever operation motor 71 according to the detected value (steering angle) by the steering wheel turning angle sensor 93. That is, the control device 100 operates the hydraulic valve 80 and the lever operation motor 71 according to the detected value (steering angle) by the steering angle sensor 93 to raise and lower the lifting link device 3 (extension and contraction of the lifting cylinder 46) and planting. A switching operation of the auxiliary operation lever 68 is performed. A signal (sensor value) transmitted from the handle turning angle sensor 93 is input to the control device 100, and the signal from the control device 100 turns on and off the hydraulic valve 80 and the planting operation lever 68 for extending and retracting the elevating cylinder 46. As a result, the elevating cylinder 46 and the planting operation lever 68 are operated.

  When the steering angle of the front wheel 10 by the steering angle sensor 93 becomes equal to or larger than the set angle or less than the set angle, the hydraulic valve 80 and the lever operation motor 71 are operated to raise and lower the lifting link device 3 (raising and lowering the seedling planting unit 4). By switching the planting operation lever 68 (on / off of the planting clutch 81), it is not necessary for the operator to manually turn on / off the seedling planting device 52, and the labor of the operator can be reduced. Work efficiency of seedling planting work is improved. Note that the order of operation of the lever operating motor 71 and the hydraulic valve 80 is not particularly defined, and either may be performed first or simultaneously.

FIG. 6 shows an example (flow) of control by the control device for the riding rice transplanter shown in FIG.
For example, as shown in FIG. 6, when the steering angle of the front wheel 10 by the handle 34 is equal to or larger than the set angle, the seedling planting part 4 is raised and the planting operation lever 68 is cut, and the front wheel by the handle 34 is cut. When the steering angle of 10 is less than the set angle, the hydraulic valve 80 and the lever operation motor 71 can be operated by the control device 100 so that the seedling planting unit 4 is lowered and the planting operation lever 68 is engaged. it can.

In this case, if the steering angle of the front wheel 10 exceeds the set angle by the handle 34 during the turning operation of the rice transplanter, the seedling planting device 52 automatically stops. The device 52 is not forgotten to be cut off, so that the so-called empty planting in which the seedling is released from the seedling planting device 52 without being planted is prevented, so that the seedling can be planted without waste, and the seedling can be saved.
In addition, after the turn of the rice transplanter is finished, the steering wheel 34 returns straight from the turn, so that the steering angle of the front wheel 10 becomes less than the set angle by the handle 34 and the seedling transplanting device 52 automatically operates. The planting of seedlings can be started at the same time as starting the straight movement. Therefore, there is no need to plant seedlings in the planting leakage area after the planting work is completed, and the operator's labor is reduced and the work efficiency and work efficiency of the seedling planting work are reduced. Will improve.

Further, the control device 100 of the rice transplanter 1 in FIG. 1 operates the hydraulic valve 80 and the lever in accordance with the detection value (angle change in the front-rear direction) detected by the elevation angle sensor 57 in addition to the detection value by the steering angle sensor 93. You may have the function to operate the motor 71. FIG.
An angle in the front-rear direction with respect to the horizontal plane of the center float 55 (float inclination angle) is detected by the elevation sensor 57, and the seedling planting unit 4 is the planting work position (lowering position) from the elevation angle of the center float 55 by the control device 100. It is determined whether or not. When the elevation angle is horizontal (approximately 0 degrees), the center float 55 has landed, and when the elevation angle of the center float 55 has increased (greater than or equal to a predetermined value), the seedling planting part 4 has risen and the center float 55 has moved backward. Is determined to be tilted.

  With this configuration, it is determined whether or not the seedling planting unit 4 is in the planting operation position based on the elevation angle of the center float 55. Therefore, the seedling planting device 52 is turned on and off in conjunction with the vertical movement of the seedling planting unit 4. Can be switched. Therefore, when the seedling transplanter 4 is raised when the seedling transplanter is raised, the seedling is not planted empty, so that it is possible to prevent the seedling from being wasted and when the seedling transplanter goes straight ahead. When the planting part 4 is lowered, the operation of the seedling planting device 52 is forgotten and the planting is prevented from starting at a position away from the planting start position. And since it is such, there is no need for an operator to plant a seedling by hand in a planting omission part after completion | finish of a planting work, and a worker's labor is reduced and work efficiency improves.

  And, after reciprocating work, when planting seedlings at the shore, seedlings can be prevented from being planted in the place where the rice transplanter passes, and the seedlings are stepped on by the wheel or the seedling planting device 52 at the time of planting at the shore. Disappears. If the seedlings that have been treaded are alive, the distance between the seedlings planted at the time of the planting operation will be narrowed, which will affect the growth of the seedlings.

  According to the control based on the detection value of the steering angle sensor 93 described above, when the steering angle of the front wheel 10 exceeds the set angle by the handle 34 during the turning operation of the rice transplanter, the lift link device 3 is raised by the hydraulic valve 80. Further, the planting operation lever 68 is turned off by the lever operating motor 71, and the seedling planting part 4 is raised and the planting clutch 81 is turned off. When the rice transplanter turns and returns straight, the steering angle of the front wheel 10 becomes less than the set angle by the handle 34, the lifting link device 3 is lowered by the hydraulic valve 80, and the planting operation lever 68 is turned on. Thus, the seedling planting part 4 is in a working state in which the seedling planting part 4 is lowered and the planting clutch 81 is engaged.

  On the other hand, when the detection angle (detection value) of the elevation angle sensor 57 is horizontal, the planting operation lever 68 is turned on by the lever operation motor 71 (working state), and when the detection angle of the elevation angle sensor 57 is greater than the set angle, the lever The planting operation lever 68 is turned off (non-working state) by the operation motor 71.

In FIG. 7, an example (flow) of control of the control apparatus of the riding type rice transplanter of FIG. 1 is shown.
Based on FIG. 7, the hydraulic valve 80 and the lever operation motor 71 are operated according to the detection value from the steering angle sensor 93 and the detection value from the elevation angle sensor 57 to raise and lower the seedling planting unit 4 and the planting operation lever. A case where 68 is turned on and off will be described.

  When the steering angle of the front wheel 10 (the sensor value of the steering angle sensor 93) exceeds the set angle by the handle 34 during the turning operation of the rice transplanter, the elevating link device 3 starts to rise by the hydraulic valve 80, and further the lever operating motor 71 causes the planting operation lever 68 to move to the cutting side. At this time, if the elevation angle of the center float 55 is substantially horizontal (less than the set angle), this is basically a state that can only occur immediately after the start of turning. In the illustrated example, the lever operation motor 71 is operated before the hydraulic valve 80, but the order of these operations may be simultaneous or reverse. The hydraulic valve 80 and the lever operation motor The order of operation of 71 is not particularly defined.

  At this stage, the aircraft is still in a substantially straight posture, and the seedling planting unit 4 is in a state where a seedling is planted at the reciprocating planting work position. Therefore, even if the detection value (steering angle) detected by the steering angle sensor 93 is equal to or greater than a predetermined value (setting angle), the planting operation lever 68 is turned off when the detection angle of the elevation sensor 57 is horizontal (in the initial turning state). It does not move to the position, but remains in the state of entering, and the working state in which the seedling planting unit 4 is lowered and the planting clutch 81 is engaged is maintained. That is, the input signal from the elevation sensor 57 is prioritized.

  Then, as the rice transplanter turns, when the lift link device 3 is lifted by the hydraulic valve 80 and the center float 55 is tilted to be equal to or larger than the set angle (the sensor value of the elevation sensor 57 becomes equal to or greater than a predetermined value). Then, the planting operation lever 68 is moved to the cutting position by the lever operation motor 71, and the seedling planting unit 4 is raised and the planting clutch 81 is in the non-working state. In this non-working state, the planting clutch 81 is disengaged, so that it is possible to prevent the seedling from being scraped off in the air and dropped as it is.

  Further, when the rice transplanter turns and returns straight, the steering angle of the front wheel 10 (sensor value of the steering angle sensor 93) is less than the set angle by the handle 34, and the lifting link device 3 is lowered by the hydraulic valve 80. The planting operation lever 68 is further moved to the entry side by the lever operation motor 71. However, when the elevation angle of the center float 55 is equal to or larger than the set angle (the state at the end of turning), the planting operation lever 68 does not move to the entering position but remains cut, and the seedling planting unit 4 is raised. And the non-working state in which the planting clutch 81 is disengaged is maintained.

  When the planting clutch 81 is engaged when the steering angle of the front wheel 10 returns to less than the set angle, there is a possibility that the seedling is scraped off above the farm scene and the seedling is dropped. In addition, if planting is started immediately after the floats 55 and 56 are grounded, seedlings may be planted at the planting work position at the heel. Therefore, even if the sensor value of the steering angle sensor 93 returns to less than the predetermined value, if the sensor value of the elevation sensor 57 is equal to or greater than the predetermined value, the planting operation lever 68 remains in the cut state (non-working state). There is. That is, the input signal from the elevation sensor 57 is prioritized.

  Then, when the rice transplanter becomes almost straight, the steering angle of the front wheel 10 (the sensor value of the steering angle sensor 93) is less than the set angle, and the elevation angle of the center float 55 returns to the horizontal, the reciprocating planting Since there is no problem as a work start position, the lift link device 3 is lowered by the hydraulic valve 80, and the planting operation lever 68 is engaged by the lever operation motor 71, so that the seedling planting unit 4 is lowered and planted. The working state is such that the attached clutch 81 is engaged. The planting operation lever 68 is operated by the lever operation motor 71 controlled by the control device 100, so that there is almost no time lag of lever movement.

  That is, transmission of a signal output from the control device 100 to the lever operating motor 71 is determined by a signal (input signal) transmitted from the elevation angle sensor 57, and the sensor value of the elevation angle sensor 57 is less than a predetermined value (horizontal). When the output signal is transmitted so as to move the lever operation motor 71 to the position where the planting operation lever 68 enters and the sensor value of the elevation sensor 57 is equal to or greater than a predetermined value, the lever operation motor 71 is moved to the planting operation lever 68. An output signal is transmitted to move to the cutting position.

  For example, the reference with which the elevation angle of the center float 55 is horizontal is about 5 degrees. If the signal is transmitted with a very small angle change, there is a possibility of erroneous detection when the center float 55 rides on the unevenness of the field or the accumulation of contaminants. On the other hand, once the angle exceeds the set angle (sensor value) When the elevation angle is detected, the signal is not transmitted until the angle is almost 0 degrees. This is because if the elevation angle of the center float 55 is almost 0 degrees, it is considered that the center float 55 is surely grounded, and the planting clutch 81 is engaged while descending as a setting for transmitting a signal at a fine angle. It is for preventing. A reference angle at which the elevation angle of the center float 55 is horizontal can be set freely.

  With this configuration, even when the seedling planting unit 4 starts to rise at the start of turning of the rice transplanter 1 and the seedling planting device 52 starts to leave the field, the planting clutch is used when the elevation angle of the center float 55 is substantially horizontal. It is possible to plant seedlings without waste as 81 remains. On the other hand, when the seedling planting unit 4 descends at the end of turning of the rice transplanter 1 and the seedling planting device 52 starts to approach the field scene, the planting clutch 81 is engaged if the elevation angle of the center float 55 is not horizontal. Therefore, the seedling is not planted in a state where it does not reach the field scene, and the seedling is not wasted.

  Moreover, in the rice transplanter 1 of FIG. 1, although the rear wheel 11 is each suspended independently on the right and left of the riding type rice transplanter 1, the side view of the part of the right rear wheel 11 is shown in FIG. FIG. 3 shows a vertical movement mechanism S for moving the left and right rear wheels 11, 11 up and down with respect to the main frame 15. The vertical movement mechanism S is mounted on the main frame 15 via the lifting link device 3. The seedling planting part 4 is kept horizontal with respect to the farm scene. Needless to say, the configuration of the left rear wheel 11 is the mirror symmetrical structure of FIG.

  As shown in FIG. 3, a wheel support 75 of the right rear wheel 11 is fixed to both ends of a lateral frame 76 supported by the riding type rice transplanter 1, and a rear wheel transmission case 18 supported by the wheel support 75. The rear wheel transmission case 18 is rotatable about the rotation fulcrum shaft 18b. The transmission shaft 18 c of the rear wheel 11 moves up and down integrally with the rear wheel transmission case 18 by the rotation of the rear wheel transmission case 18. Power is transmitted to the rear wheel transmission case 18 from a rear wheel transmission shaft 18c.

Then, a rubber body (biasing means) 74 is attached between the arm 73 fixed to the left and right wheel support bodies 75 facing rearward and the upper portion of the rear wheel transmission case 18. Further, a rear wheel vertical range regulating member 78 is provided between the tip of the arm 73 and the side surface of the rear wheel transmission case 18.
Therefore, the rear wheel transmission case 18 causes the rotation fulcrum shaft 18b to be driven by the driving reaction force (arrow B) generated when the rear wheel 11 is rotated left and right independently in the traveling direction during forward high load of the riding type rice transplanter 1. The rear side of the riding type rice transplanter 1 is automatically raised by being driven downward to the center.

For example, the rear wheel transmission case 18 is turned by a driving fulcrum shaft 18b by a driving reaction force (acting in the direction of arrow B in FIG. 3) that acts on the rear wheel 11 during forward high load such as when traveling on an uphill or turning on the shore. The pressure by which this force presses the rear wheel 11 against the road surface is further urged by the rubber body 74 provided on the wheel support body 75.
By urging the force that presses the rear wheel 11 against the road surface with the rubber body 74, the rear part of the riding type rice transplanter 1 is lifted, thereby suppressing the front part of the riding type rice transplanter 1 from floating up and down. The wheels 10 and 11 can reliably catch the road surface. Thus, the traveling performance of the rice transplanter at the time of forward high load is improved, and the mud push preventing effect is particularly high at the time of wet fields. Further, the rubber wheel 74 supplements the driving reaction force even when the vehicle body weight is large, so that the rear wheel 11 can be sufficiently lowered.

The rear wheel vertical range regulating member 78 is provided with a long hole 78a whose longitudinal direction is directed in the vertical direction, and a protrusion 18d provided on the side surface of the rear wheel transmission case 18 is engaged with the long hole 78a. . Therefore, the amount of movement of the rear wheel 11 in the direction of arrow B is limited by the projection 18d that engages with the elongated hole 78a of the restricting member 78, and the change in the extreme posture of the riding rice transplanter 1 is prevented and swings. Safety is maintained.
And the seedling planting part 4 can be kept horizontal by the left and right rear wheels 11 and 11 moving up and down in this way.

  Further, the rearward rise of the riding type rice transplanter 1 is detected by a vertical position sensor (vertical movement amount detecting means) 95 (FIG. 4) such as a limit switch, a potentiometer, or a push switch provided in the rear wheel transmission case 18, and the control device (CPU) 100 may automatically correct the hydraulic sensitivity of the hydraulic lifting cylinder 46 of the seedling planting unit 4 to the hard side (= insensitive side) in accordance with the detected amount of after-lifting. When the rear side of the aircraft is positioned higher than the front side due to unevenness of the farm field, the planting part 4 is located at the rear of the aircraft, so that when the riding rice transplanter 1 is in the rear-up state, the field scene and the seedling planting device 52 The distance increases and empty planting occurs (the scraped seedlings are not planted in the field scene but are released in the air and fall to the water surface). These seedlings are washed away by water and wind, and there is no seedling in the place where they are originally planted, so there is no need to manually plant seedlings later. It will occur. When the riding type rice transplanter 1 is in the rearward raising posture, the elevation angle of the center float 55 changes and the hydraulic sensitivity of the lifting control by the hydraulic lifting cylinder 46 changes. However, the change of the hydraulic sensitivity can be prevented by automatic correction.

  In addition to the detection value by the steering angle sensor 93, the control device 100 of the rice transplanter 1 in FIG. 1 moves one side of the left and right vertical position sensors 95 upward of the rear wheel 11 (the difference between the left and right detection values). ) Is detected, the hydraulic valve 80 and the lever operation motor 71 may be activated. That is, the position of the rear wheel 11 in the normal state in which the vertical movement mechanism S is not operated (the axle supporting the rear wheel 11) is set as the reference position (= 0), and the vertical movement mechanism S is operated and the rear wheel 11 is moved. By calculating 0 + X (amount of movement) when moving upward and 0−X when moving downward, the vertical position of the rear wheel 11 is digitized on each of the left and right sides. When the difference between the vertical positions becomes equal to or larger than the set value, the control device 100 operates the lever operation motor 71 to turn off the planting operation lever 68 (non-working state), and the vertical position difference is less than the set value. In this case, the planting operation lever 68 is turned on (working state).

During turning of the rice transplanter, the rear wheel 11 inside the turn remains in place, and the rear wheel 11 outside the turn rises slightly due to centrifugal force. The up / down position sensor 95 detects the ascent operation of the rear outer wheel 11 that rises at the start of turning of the rice transplanter and the lowering action of the rear wheel 11 that goes down at the end of turning of the rice transplanter, thereby starting the turning operation. Therefore, at the start of turning, the hydraulic valve 80 is switched to the upward side to raise the seedling planting unit 4 and the planting operation lever 68 can be switched to the non-working state side. The device 52 can be prevented from coming into contact with the farm scene, and the seedling table 51 and the seedling planting device 52 can be prevented from being damaged.
At the end of turning, the hydraulic valve 80 is switched to the lower side, the seedling planting unit 4 can be lowered and the planting operation lever 68 can be switched to the working state side. Can be lowered to prevent forgetting to drop at the planting start position.

In FIG. 8, an example (flow) of control of the control apparatus of the riding type rice transplanter of FIG. 1 is shown.
Based on FIG. 8, the hydraulic valve 80 and the lever operation motor 71 are operated according to the difference between the detected value from the steering angle sensor 93 and the detected value of the left and right rear wheels 11 from the vertical position sensor 95 to plant seedlings. The case where the part 4 is raised and lowered and the planting operation lever 68 is turned on and off will be described.

  When the steering angle of the front wheel 10 (the sensor value of the steering angle sensor 93) exceeds the set angle by the handle 34 during the turning operation of the rice transplanter, the elevating link device 3 starts to rise by the hydraulic valve 80, and further the lever operating motor 71 causes the planting operation lever 68 to move to the cutting side. However, if the difference between the detected values by the vertical position sensors 95 between the rear wheel 11 outside the turn and the rear wheel 11 inside the turn is less than a predetermined value (set value), the aircraft is still in a substantially straight running posture at this stage. The seedling planting unit 4 is in a state where seedlings are planted at the reciprocating planting work position. Therefore, even if the detected value (steering angle) by the steering angle sensor 93 exceeds a predetermined value, the planting operation lever 68 moves to the cutting position when the left and right rear wheels 11 are horizontal (in the initial turning state). The seedling planting unit 4 is lowered and the planting clutch 81 is engaged. That is, the input signal from the vertical position sensor 95 is given priority. In the illustrated example, the lever operation motor 71 is operated before the hydraulic valve 80, but the order of these operations may be simultaneous or reverse. The hydraulic valve 80 and the lever operation motor The order of operation of 71 is not particularly defined.

  Then, as the rice transplanter turns, the rear wheel 11 on the outside of the turn rises slightly due to centrifugal force, and when the difference between the values detected by the vertical position sensors 95 of the left and right rear wheels 11 exceeds a predetermined value, the lever operation The planting operation lever 68 is moved to the cutting position by the motor 71, and the seedling planting unit 4 is raised and the planting clutch 81 is in the non-working state. In this non-working state, the planting clutch 81 is disengaged, so that it is possible to prevent the seedling from being scraped off in the air and dropped as it is.

  Further, when the rice transplanter turns and returns straight, the steering angle of the front wheel 10 (sensor value of the steering angle sensor 93) is less than the set angle by the handle 34, and the lifting link device 3 is lowered by the hydraulic valve 80. The planting operation lever 68 is further moved to the entry side by the lever operation motor 71. However, for example, when there is a large left-right height difference in the field, such as a paddy field in a mountainous area, and the difference between the detected values by the vertical position sensors 95 of the left and right rear wheels 11 is greater than or equal to a predetermined value, the planting operation lever 68 is The non-working state is maintained in which the seedling planting unit 4 is raised and the planting clutch 81 is off without moving to the entry position. That is, the input signal from the vertical position sensor 95 is given priority.

  If the planting clutch 81 is turned on when the steering angle of the front wheel 10 returns to less than the set angle, the seedling may be scraped up and dropped from the field scene. In addition, if planting is started immediately after the rear wheel 11 on the outside of the turn is grounded, a seedling may be planted at the planting work position at the heel. Therefore, even if the sensor value of the steering angle sensor 93 returns to less than a predetermined value, if the difference between the detected values by the vertical position sensors 95 of the left and right rear wheels 11 is greater than or equal to the predetermined value, the planting operation lever 68 is turned off. The state (non-working state) is maintained.

  Then, the rice transplanter moves substantially straight, the steering angle of the front wheel 10 (the sensor value of the steering angle sensor 93) is less than the set angle, and the difference between the detection values by the vertical position sensors 95 of the left and right rear wheels 11 is When it returns below the predetermined value, there is no problem as a starting position for the reciprocating planting operation. Therefore, the lift link device 3 is lowered by the hydraulic valve 80, and the planting operation lever 68 is turned on by the lever operation motor 71. Thus, the seedling planting unit 4 is in a working state in which the seedling planting unit 4 is lowered and the planting clutch 81 is engaged. The planting operation lever 68 is operated by the lever operation motor 71 controlled by the control device 100, so that there is almost no time lag of lever movement.

  That is, transmission of a signal output from the control device 100 to the lever operating motor 71 is determined by a signal (input signal) transmitted from the vertical position sensor 95, and the difference between the sensor values of the left and right vertical position sensors 95 is less than a predetermined value. In the case of (horizontal), an output signal is transmitted so as to move the lever operation motor 71 to the position where the planting operation lever 68 enters, and when the difference between the sensor values of the left and right vertical position sensors 95 is a predetermined value or more, An output signal is transmitted so that the lever operation motor 71 is moved to the cutting position of the planting operation lever 68.

  4 shows a case where the lever operation motor 71 and the hydraulic valve 80 are respectively operated by the control device 100. However, an interlocking mechanism is provided between the planting operation lever 68 and the hydraulic valve 80 to plant When one of the operation lever 68 and the hydraulic valve 80 is operated, the other may be interlocked. For example, the planting operation lever 68 may be moved in conjunction with the operation of the hydraulic valve 80 without providing the lever operation motor 71.

  That is, when the steering wheel 34 is operated and the steering angle sensor 93 detects a steering angle equal to or larger than the set angle, the control device 100 operates the hydraulic valve 80 to contract the lifting hydraulic cylinder 46 and raise the seedling planting unit 4. In addition, the planting operation lever 68 may be moved in the “cut” direction of the planting clutch 81 via an interlocking rod or the like that is interlocked with the operation of the hydraulic valve 80.

  When the steering angle sensor 93 detects a steering angle less than the set angle, the hydraulic valve 80 is actuated, the lifting hydraulic cylinder 46 is extended to lower the seedling planting unit 4, and the hydraulic valve 80 is operated. The planting operation lever 68 may be moved in the “in” direction of the planting clutch 81 via an interlocking rod or the like that interlocks.

  Alternatively, a connecting mechanism for connecting the planting operation lever 68 and the hydraulic valve 80 is provided, and the planting operation lever 68 is operated in the planting “in” direction by detecting the steering angle less than the set angle by the handle break angle sensor 93. Then, the connecting mechanism operates a spool (not shown) of the hydraulic valve 80 to extend the lifting hydraulic cylinder 46 to lower the seedling planting portion 4 and to operate the steering angle sensor 93 or more by a steering angle sensor 93. When the orientation angle is detected and the planting operation lever 68 is operated in the planting “cutting” direction, the coupling mechanism operates the spool of the hydraulic valve 80 and contracts the lifting hydraulic cylinder 46 to move the seedling planting unit 4. It is good also as a structure to raise.

In addition, a pitching mechanism (vertical swing mechanism) for maintaining the horizontal posture in the front-rear direction by changing the front-back tilt posture of the seedling stage 51 at the time of planting work (when the planting clutch 81 is engaged) may be provided. .
The pitching mechanism is configured to operate by a forward / reverse rotation motor 83 for fine adjustment in addition to the lift hydraulic cylinder 46 for rotating the lift link device 3 up and down.

  The fine adjustment pitching mechanism includes a forward / reverse motor 83 provided on the upper link 40, an output gear 85 fixed to the rotation shaft 83 a of the forward / reverse motor 83, a fan-shaped gear 87 meshing with the output gear 85, and an upper end. The link arm 90 is rotatably connected to the sector gear 87 and the lower end is rotatably connected to the rear end of the upper link 40.

  When the forward / reverse motor 83 is driven, the rotary shaft 83a rotates, and the fan-shaped gear 87 that meshes with the output gear 85 rotates in the direction of arrow C or in the direction opposite to the direction of arrow C. The planting part 4 tilts back and forth (pitching). The forward / backward inclination angle of the seedling stage 51 is detected by the elevation angle sensor 57 (FIG. 4). When the sector gear 87 is rotated in the direction of arrow C, the link arm 90 is rotated in the direction of arrow D, the seedling stage 51 is in the rear up / forward / down position, and the sector gear 87 is rotated in the direction opposite to the arrow C direction. Then, the link arm 90 rotates in the direction opposite to the arrow D direction, and the seedling stage 51 takes the forward ascending / rearward descending posture, thereby maintaining the horizontal posture in the front-rear direction.

Conventionally, when the aircraft is tilted back and forth, the vertical tilting posture of the seedling platform 51 is finely adjusted by the lifting hydraulic cylinder 46 to set the planting angle of the seedling platform 51 to an appropriate angle. There is a range that cannot be finely adjusted due to large vertical movement behavior.
However, according to this configuration, the vertical movement height can be adjusted using the forward / reverse rotation motor 83, and it is possible to cope with subtle changes, the posture of the seedling table 51 is maintained substantially horizontal, and the seedling planting accuracy is improved. . Further, since the seedling stage 51 can be prevented from shaking up and down when the seedling stage 51 is moved up and down, the seedlings loaded on the seedling stage 51 are prevented from being displaced or dropped, and an operator picks up and loads them. There is no need to fix it, improving work efficiency.

  Specifically, when the difference between the signal (sensor value) transmitted from the elevation sensor 57 and the reference value set in the control device 100 is less than a predetermined value, the forward / reverse rotation motor 83 is driven as a minute change to drive the seedling. The level of the front and back of the seedling stage 51 is adjusted by driving the elevating hydraulic cylinder 46 as a large change when the difference between the sensor value of the elevation sensor 57 and the reference value is greater than or equal to a predetermined value. To do.

  That is, the signal (sensor value) transmitted from the elevation sensor 57 is a first set value (0 to less than K degrees, set in the control device 100, where the reference value is set to an angle of 0, where K is the reference value. If the second set value (greater than K degrees), the forward / reverse rotation motor 83 is driven to adjust the horizontal level before and after the seedling stage 51 as a minute change. The raising / lowering hydraulic cylinder 46 is driven to adjust the front / rear level of the seedling stage 51.

If the horizontal posture before and after the seedling stage 51 is disturbed, the distance from the seedling planting device 52 to the field scene changes. And if the seedling planting depth is insufficient, the seedling may be washed away by wind or water, resulting in a shortage. When a lack of stock occurs, the yield is reduced by that amount, and the harvesting efficiency may be deteriorated due to a shift in timing during harvesting operations such as a combine.
On the other hand, if the seedling planting depth is too deep, most of the seedlings are buried in the field scene, so that they are not sufficiently exposed to sunlight and may cause poor growth. If the seedlings are poorly grown, only that part is harvested in an immature state or harvested in a state where the seeds are not yet produced, resulting in a decrease in the yield. And it will die as it is, and the same problem as the above-mentioned stock loss occurs.

  However, according to this configuration, when the lifting / lowering hydraulic cylinder 46 and the forward / reverse rotation motor 83 are provided in the lifting / lowering link device 3 of the seedling stage 51 and the difference between the detected value by the elevation sensor 57 and the set value is less than a predetermined value, the forward / reverse rotation The raising / lowering link device 3 is moved up and down so that the detected value by the elevation angle sensor 57 becomes a set value by rotating the motor 83 forward or backward, so that the posture of the seedling table 51 is maintained substantially horizontal, and the seedling planting accuracy is improved. improves.

In addition, by adjusting the front-rear height with the forward / reverse rotation motor 83, it is possible to adjust the fine vertical movement height and to prevent the seedling stage 51 from shaking up and down during the vertical movement, It is prevented that the seedling loaded on the seedling stage 51 is shifted or dropped, and it is not necessary for the operator to pick up and reload the seedling, so that the work efficiency is improved.
When the difference between the detected value by the elevation angle sensor 57 and the set value is equal to or greater than a predetermined value, the lift hydraulic cylinder 46 is operated so that the detected value by the elevation angle sensor 57 becomes the set value by operating the hydraulic valve 80. Thus, the posture of the seedling table 51 is quickly maintained substantially horizontal, and the seedling planting accuracy is improved.

  In this way, a somewhat large change (normal adjustment) in the forward / backward tilt posture of the seedling stage 51 is quickly performed using the lift hydraulic cylinder 46, and a fine change (fine adjustment) in the forward / backward tilt position of the seedling stage 51 is performed. By performing finely using the forward / reverse rotation motor 83, the forward / backward inclined posture of the seedling stage 51 can be quickly adjusted to an appropriate posture. And the attitude | position of the seedling stand 51 is kept substantially horizontal, and the planting precision of a seedling improves.

  The seedling transplanter of the present invention is not limited to a rice transplanter, and may be used as a seedling transplanter for planting other seedlings such as vegetable seedlings.

DESCRIPTION OF SYMBOLS 1 Riding type rice transplanter 2 Traveling vehicle body 3 Elevating link apparatus 4 Seedling planting part 5 Fertilizer 10 Front wheel 11 Rear wheel 12 Transmission case 13 Front wheel final case 15 Main frame 18 Rear wheel transmission case 18a Rear wheel transmission shaft 18b Rotation fulcrum shaft 18c Rear wheel transmission shaft 18d Projection 20 Engine 21 Belt transmission 23 Hydraulic continuously variable transmission 26 Planting transmission shaft 27 Leveling rotor 28 Auxiliary step 30 Engine cover 31 Pilot seat 32 Front cover 34 Handle 35 Floor step 35a Through hole 36 Rear Wheel fender 38 Preliminary seedling stage 40, 41, 41 Link 42 Link base frame 43 Vertical link 46 Lifting hydraulic cylinder 50 Transmission case 51 Seedling stage 51a Seedling outlet 51b Seedling feed belt 52 Seedling planting device 55 Center float 56 Side float 57 Elevation Sen 58 Blower 59 Air chamber 60 Fertilizer hopper 61 Feeding portion 62 Fertilizer hose 62a Fertilizer guide 62b Groove body 66 Shaft 68 Planting operation lever 68a Long hole 69 Output gear 70 Input gear 71 Lever operation motor 72 Planting cam 73 Arm 74 Rubber Body 75 Wheel support 76 Horizontal frame 77 Roller arm 78 Rear wheel vertical range regulating member 78a Long hole 79 Operation frame 80 Hydraulic valve 81 Planting clutch 82 Clutch restraining pin 83 Forward / reverse motor 83a Rotating shaft 84 Support rod 85 Output gear 86 Pin arm 87 sector gear 90 link arm 93 steering angle sensor 95 vertical position sensor 100 control unit (CPU)

Claims (3)

Left and right front wheels (10) and left and right rear wheels (11);
A frame (15) provided on the left and right front wheels (10) and the left and right rear wheels (11) and supporting the left and right front wheels (10) and the left and right rear wheels (11);
Steering operation means (34) for steering the left and right front wheels (10);
Steering angle detection means (93) for detecting the steering angle of the steering operation means (34);
A seedling stage (51) for placing a seedling to be planted in a farm field, and a seedling on the seedling stage (51) connected to the rear of the frame (15) via a lifting link device (3) so as to be movable up and down. A seedling planting section (4) comprising a seedling planting device (52) for planting the plant in the field,
Planting switching means (68) for switching between a working state in which the seedling planting device (52) operates and a non-working state in which the operation of the seedling planting device (52) stops;
Elevating means (46, 80) for elevating the elevating link device (3);
And a control device (100) having a function of operating the lifting and lowering means (46, 80) and switching the planting switching means (68) in accordance with a value detected by the steering angle detecting means (93). A seedling transplanter characterized by that. Left and right front wheels (10) and left and right rear wheels (11);
A frame (15) provided on the left and right front wheels (10) and the left and right rear wheels (11) and supporting the left and right front wheels (10) and the left and right rear wheels (11);
Steering operation means (34) for steering the left and right front wheels (10);
Steering angle detection means (93) for detecting the steering angle of the steering operation means (34);
A seedling stage (51) for placing a seedling to be planted in a farm field, and a seedling on the seedling stage (51) connected to the rear of the frame (15) via a lifting link device (3) so as to be movable up and down. A seedling planting section (4) comprising a seedling planting device (52) for planting the plant in the field,
Planting switching means (68) for switching between a working state in which the seedling planting device (52) operates and a non-working state in which the operation of the seedling planting device (52) stops;
Elevating means (46, 80) for elevating the elevating link device (3);
A float (55, 56) provided at a lower portion of the seedling platform (51) for leveling the field;
A float angle detecting means (57) for detecting an angle of the float (55, 56) in the front-rear direction with respect to a horizontal plane;
The raising / lowering means (46, 80) is operated and the planting switching means (68) is switched according to the detected value by the steering angle detecting means (93) and the detected value by the float angle detecting means (57). A seedling transplanter provided with a control device (100) having a function. Left and right front wheels (10) and left and right rear wheels (11);
A frame (15) provided on the left and right front wheels (10) and the left and right rear wheels (11) and supporting the left and right front wheels (10) and the left and right rear wheels (11);
Steering operation means (34) for steering the left and right front wheels (10);
Steering angle detection means (93) for detecting the steering angle of the steering operation means (34);
A seedling stage (51) for placing a seedling to be planted in a farm field, and a seedling on the seedling stage (51) connected to the rear of the frame (15) via a lifting link device (3) so as to be movable up and down. A seedling planting section (4) comprising a seedling planting device (52) for planting the plant in the field,
Planting switching means (68) for switching between a working state in which the seedling planting device (52) operates and a non-working state in which the operation of the seedling planting device (52) stops;
Elevating means (46, 80) for elevating the elevating link device (3);
A vertical movement mechanism (S) provided between the left and right rear wheels (11) and the frame (15) for operating the left and right rear wheels (11) up and down relative to the frame (15). When,
Vertical movement amount detection means (95) for detecting the vertical movement amount when the vertical movement mechanism (S) is operated from the reference position where the vertical movement mechanism (S) of each of the left and right rear wheels (11) is not operated. When,
The operation of the elevating means (46, 80) according to the difference between the detected value by the steering angle detecting means (93) and the detected value of the left and right rear wheels (11) by the vertical movement amount detecting means (95) A seedling transplanter provided with a control device (100) having a function of switching the planting switching means (68).

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