JP2012044897A - Seedling transplanter - Google Patents

Abstract

PROBLEM TO BE SOLVED: To perform a control in which the operation time of a control valve of an actuator is extended when a machine body is inclined at a set angle or larger because the planting depth of seedlings is unstabilized all the more when the planting depth of a planting unit is changed whenever a projection or recess is present in a field.SOLUTION: The transplanter includes: the planting unit 5 with a planting device 4 for planting seedlings, which is disposed at a rear part of a travelling vehicle body 8; and the actuator 9 for lifting the planting unit 5. The transplanter is configured to control the planting and lifting to lift the planting unit 5 to retain the planting depth of seedlings at a prescribed depth by switching the control valve 10 of the actuator 9 with the vertical swing of a center float 1. The transplanter also has an inclination sensor 11 mounted in the travelling vehicle body 8, and performs the control in which the response time from the detection of a value through the output operation of the control valve 10 is extended when the inclination sensor 11 detects the inclination of a set value or larger in the longitudinal direction of the travelling vehicle body 8.

Description

  The present invention relates to a seedling transplanting machine that performs control to raise and lower a planting unit from a traveling vehicle body and maintain a constant seedling planting depth regardless of the soil state.

  There are technologies for detecting the soil state from the vertical swing of the center float and controlling the raising and lowering of the planting part, and technologies for rolling control of the vehicle body by providing a tilt sensor for detecting the horizontal inclination of the vehicle body. (Patent Document 1)

JP 2009-113806 A (page 5, page 7, FIGS. 1 and 4).

  However, in the form of controlling the elevation of the planting part while detecting the depth of the sliding soil surface by the float sensor method, the elevation of the planting part becomes extremely large in a farm field where the soil surface is uneven. There is a problem that the planting part goes down too much and the soil is scooped up by the float and the detection accuracy is lowered.

  On the other hand, there is a problem that the planting system of the seedling is lowered, such as the planting part is too high, the planting depth of the seedling becomes shallow, and the floating seedling phenomenon is likely to occur.

  The invention according to claim 1 is provided with a center float (1) for smoothing and smoothing the soil surface, side floats (2, 2) are provided on the left and right sides of the center float (1), A seedling tank (3) to be fed to the planting part side, and a planting device for planting seedlings separated and held from the seedling tank (3) on a level mark by the center float (1) and side float (2, 2) ( 4) constitutes the planting part (5), and the planting part (5) is arranged at the rear part of the traveling vehicle body (8) in the four-wheel traveling form in which the steering front wheel (6) and the driving rear wheel (7) are arranged. An actuator (9) is provided for moving the planting part (5) up and down, and the control valve (10) of the actuator (9) is switched by the vertical movement of the center float (1) to switch the planting part (5). The planting up and down control is possible to maintain the seedling planting depth at a predetermined depth. In the seedling transplanting machine, the traveling vehicle body (8) is provided with an inclination sensor (11), and when the inclination of the traveling vehicle body (8) detected by the inclination sensor (11) is detected to be greater than the set value in the front-rear direction, the detected value The seedling transplanting machine is characterized in that control is performed to increase the response time from when the control valve (10) is operated to output.

  When traveling on the field with the traveling vehicle body (8), the center float (1) and the pair of left and right side floats (2, 2) of the planting part (5) are brought into contact with the soil surface, and the soil surface is slid to level. The seedling sent out from the seedling tank (3) is separated and held by the planting device (4) constituting the planting part (5), and the center float (1) and the side float (2, 2) are leveled. Plant seedlings at a certain depth on the soil surface.

  When the center float (1) provided in the lower part of the planting part (5) moves up and down significantly due to unevenness or hardness of the soil surface, the control valve (10) is switched and the actuator (9) is expanded and contracted to plant. The planting device (4) performs planting raising / lowering control for keeping the planting depth constant by raising or lowering the attaching part (5).

  At this time, the control response time (t) from the detection of the vertical movement position of the center float (1) to the output of the control valve (10) in the planting elevation control is set to a constant state. This control response time is also called a delay time.

  When the traveling vehicle body (8) is greatly inclined in the front-rear direction due to unevenness of the soil surface or changes in hardness, etc., and the inclination sensor (11) detects an inclination angle equal to or greater than the set value, the control response time of the planting elevation control Control is performed to extend (t) to the extension control response time (t1). The extended control response time (t1)> the control response time (t).

  Thereby, when the traveling vehicle body (8) is inclined abnormally at the set angle, the extension control response time (t1) is opened, the actuator (9) is expanded and contracted, and the planting part (5) is controlled to be raised or lowered. It is.

  Further, when the inclination detected by the inclination sensor (11) becomes an angle equal to or smaller than the set value, the extension control response time (t1) is switched to the control response time (t) of the normal time control, and the planting part (5) Is controlled.

  The invention according to claim 2 is a control for making the expansion / contraction operation speed of the actuator (9) when the inclination sensor (11) detects an inclination equal to or greater than a set value faster than the expansion / contraction operation speed of the normal lifting control. The seedling transplanter according to claim 1, wherein the seedling transplanter is configured to perform.

  As described above, the control response time (t) of the raising / lowering operation of the planting part (5) is the extended control response time (when the tilt sensor (11) detects a front-rear direction tilt greater than the set value of the traveling vehicle body (8)). At this time, control is performed to switch the expansion / contraction operation speed of the actuator (9) to the increased expansion / contraction operation speed (v1) faster than the normal expansion / contraction operation speed (v).

  Further, when the inclination in the front-rear direction of the traveling vehicle body (8) detected by the inclination sensor (11) is reduced, control for switching from the increased expansion / contraction operation speed (v1) to the normal expansion / contraction operation speed (v) is performed.

  According to a third aspect of the present invention, when the planting part (5) is controlled to be lower than the expansion / contraction operation speed of the actuator (9) when the planting part (5) is controlled to be lifted by the actuator (9). The seedling transplanting machine according to claim 1 or 2, wherein the actuator (9) is configured to perform a control for increasing an expansion / contraction operation speed.

  The raising / lowering control of the planting part (5) is performed by setting the control response time (t) to the extended control response time (t1) when the inclination sensor (11) detects the inclination of the traveling vehicle body 8 in the longitudinal direction or more. The height at which the planting device (4) can properly plant seedlings on the soil surface by switching or switching the expansion / contraction operation speed (v) of the actuator (9) to the acceleration / contraction operation speed (v1) The vertical height of the planting part (5) is changed.

  In this case, the expansion / contraction operation speed (v) of the actuator (9) is increased only when the inclination of the inclination sensor (11) or more is detected and the planting part (5) is lowered. By performing the control to switch to (v1), even when the planting part (5) is significantly raised, the planting part (5) can be quickly lowered to the set height.

  According to the first aspect of the present invention, when the tilt sensor (11) detects a front / rear tilt greater than the set value of the traveling vehicle body 8, the control response time (t) until the control valve (10) is actuated is set to the extended control response time. Since the control to switch to (t1) is performed, when the traveling vehicle body (8) is slightly tilted in the front-rear direction, the planting part (5) can be prevented from frequently swinging up and down, so that it continues in a short time. The vertical movement of the planting part (5) due to the vertical movement is prevented, and the planting device (4) does not move above the soil surface and the seedling cannot be planted in the field. There is no need to manually plant seedlings and spend extra effort.

And it can prevent that a planting apparatus (4) sinks below a soil surface, and the planting depth of a seedling becomes deep too much and a seedling stops growing, Therefore The planting precision of a seedling improves.
Further, by preventing frequent vertical movement of the planting part (5), it is possible to suppress the swinging of the planting part (5) due to the change of the center of gravity position of the machine body, so the vibration of the machine body due to work is reduced. Even when working for a long time, the labor of the operator is reduced.

  According to the second aspect of the present invention, in addition to the effect of the first aspect, the control response time (t) of the control valve (10) when the traveling vehicle body (8) is inclined in the front-rear direction larger than the set value. ) Is switched to the extended control response time (t1) to make the control sensitivity insensitive, and the expansion / contraction operation speed (v) of the actuator (9) operated by the switching control of the control valve (10) is increased. ), The planting part (5) is accurately lowered to the appropriate seedling planting posture position with respect to the soil surface, and the planting posture and planting depth of the seedling due to the delay of the lifting control are disturbed. This can prevent seedling planting accuracy.

  In addition to the effect of the invention of claim 1 or 2, the invention of claim 3 makes the sensitivity of operating the control valve (10) insensitive when raising the planting part (5). The center float (1) and the side floats (2, 2) are gently separated from the soil surface to reduce sudden load fluctuations due to the lifting control of the planting part (5). The durability of the actuator (9) and the control valve (10) is improved.

  Further, when the planting part (5) is controlled to descend, the center float (1) and the center float (1) and the planting part (5) are increased by increasing the descending speed by utilizing the weight of the planting part (5) acting on the actuator (9). Since it can be made easy to return to the seedling planting posture in which the side floats (2, 2) are grounded, the seedling planting accuracy is improved.

Side view of seedling transplanter Top view of seedling transplanter Side view of center float part of seedling transplanter Block diagram of the seedling raising / lowering control unit of the seedling transplanting machine Flow chart of seedling raising / lowering control unit Enlarged front view of part of fertilizer application equipment

  Based on the illustrated example, the seedling transplanting machine has a planting part 5 capable of planting multiple strips (six strips) through a lift link 12 in the form of a parallel link at the rear part of the traveling vehicle body 8 in the riding four-wheel traveling form. Concatenated.

  The traveling vehicle body 8 is provided with an engine 13, and a driver's seat 14 on which an operator rides is mounted on the upper side of the engine 13, and a steering handle 16, a transmission lever 17, a finger gap on a steering post 15 on the front side. A lever-shaped seedling planting lever 18 or the like is provided. And the seedling frame 20 which supports the mat seedling for replenishment is provided in the outer side of the side floor 19 located in the lower left and right sides.

  A hydraulic continuously variable transmission 21 and a transmission case 22 that are belt-transmitted from the engine 13 are arranged at the front part of the traveling vehicle body 8, and both end portions of a front axle housing 23 projecting to the left and right sides of the transmission case 22 are arranged. Further, the steering front wheels 6 and 6 are respectively mounted on the shaft.

Further, the wheel interlocking shaft 25 is taken out from the transmission case 22 to the rear rear axle housing 24, and the PTO shaft 26 is taken out.
A rear frame 27 is erected at the rear end of the traveling vehicle body 8 to connect the lift link 12, and a fertilizer 28 is attached to the upper end of the rear frame 27.

  Between the traveling vehicle body 8 and the lift link 12, a lift cylinder 9 that is extended and contracted by a hydraulic circuit is provided, and the lift cylinder 9 is expanded and contracted by switching control of the lift control valve 10 in the hydraulic circuit of the lift cylinder 9, The planting part 5 is configured to move up and down.

  A seedling planting transmission case in which a planting part 5 mounted so as to be rotatable about a rolling shaft 30 with respect to a hitch link 29 at the rear end of the lift link 12 is equipped with a transmission mechanism linked to the PTO shaft 26. The center part 1 and the center float 1 and the side floats 2 and 2 on the left and right side parts are arranged below the seedling planting transmission case 31 with the center float 31 as a main body, and the center float 1 and the side floats 2 and 2 are placed in the soil. Glide to the surface and propel it.

  Further, on the upper side of the seedling planting transmission case 31, a multi-planted seedling tank 3 inclined downward at the rear end is supported, and reciprocating in the left and right directions over the interval corresponding to one mat seedling width by the rotation of the lead cam shaft. The seedling feed port at the rear lower end of the seedling tank 3 is guided to the seedling inlet frame 32 in which the seedling inlet 34 on which the seedling planting claws 33 of the planting device 4 act is formed.

  The seedling inlet frame 32 is attached to the seedling planting transmission case 31 side, and a planting claw 33 at the tip of the planting device 4 arranged at each seedling planting position at the rear of the seedling planting transmission case 31 is applied. Each planting device 4 operates the planting claw 33 at the tip to a substantially elliptical planting locus line D and intervenes in the seedling inlet 34 of the seedling inlet frame 32 when descending the upper fulcrum position. The seedlings fed from the seedling tank 3 can be separated and held, and the held seedlings are planted on the soil surface at a certain depth by descending to the lower fulcrum portion. Each of these seedling planting claws 33 is configured in a multi-row planting form so as to be planted on the soil surface of the leveling trace leveled by the center float 1 and the side floats 2 and 2.

  The raising / lowering control of the planting part 5 is performed by outputting the raising / lowering control valve 10 of the hydraulic circuit that operates the lift cylinder 9 from the controller 35. When the soil tiller on which the vehicle body 8 travels is deep due to the vertical swing of the center float 1 arranged at the center of the planting unit 6, the lift cylinder 9 is extended to raise the planting unit 5 and plow. When the board is shallow, it is lowered, and the raising / lowering control is performed so that the seedling planting depth by the planting device 4 is substantially constant.

  The planting part 5 has a planting part frame 36 that supports the upper end bottom part of the seedling tank 3 movably on the front part of the seedling planting transmission case 31, and on the front side of the planting part frame 36, A float support arm 37 is provided so as to be movable up and down via a link arm 38, and a float sensor 39 is provided at the lower end portion of the float support arm 37 by turning the center float 1 up and down, and the front end portion of the center float 1 is provided. In conjunction with the link 40, the float sensor 39 can detect the amount of vertical swing of the center float 1.

  The center float 1 and the side floats 2 on the left and right sides of the center float 1 have a rear end pivotally supported by a float arm 41, and the float arm 41 is rotated up and down around a support shaft 43 with respect to the seedling transmission case 31. It is made into the form which can be adjusted and the attachment support position with respect to the seedling planting transmission case 31 of the center float 1 and the side floats 2 and 2 can be adjusted up and down.

  On the front side of the center float 1 and the side floats 2 and 2, scraper rotors 44 and 45 are arranged, and the soil surface leveled by the floats 1 and 2 is crushed by the scraper rotors 44 and 45 in advance and leveled. It is easy to do. The scraper rotors 44, 45 have a center rotor 44 disposed on the front side of the center float 1, a side rotor 45 disposed on the front side of the side float 2, and a rotor shaft at the front end portion and the rear end portion of the rotor frame 46. The rotor frame 46 is driven and rotated by interlocking the input shaft at the front end portion of the rotor frame 46 with the transmission mechanism portion of the rear axle housing 24 via the interlocking shaft 49. .

  Reference numeral 50 denotes a rotor suspension spring that suspends the front end portion of the rotor frame 46 to the upper end portion of the planting portion frame 36. When the planting part 5 is moved up and down largely, the chamfering rotors 44 and 45 can also be moved up and down via the link arm 38, the float support arm 37 and the like. Since the support arm 37 can move up and down with respect to the planting part frame 36, the center rotor 44, while adjusting the scraping position with respect to the soil surface up and down and changing the inclination angle of the rotor frame 46, In addition, the side rotor 45 is brought into contact with the soil surface evenly so as to perform a crushing action.

  On the input side of the controller 35 is provided a lift sensor 39 for detecting the vertical swing angle of the center float 1 and a tilt sensor 11 for detecting the tilt angle of the traveling vehicle body 8 in the front-rear direction, and a hydraulic circuit on the output side. The lift control valve 10 is configured to operate electromagnetically.

  Further, the controller 35 that moves up and down the planting unit 5 and detects the operation angle of the lift lever 51 on the input side electromagnetically operates the elevation control valve 10. When this lift lever 51 is operated to a fixed position, the planting part 5 is fixed at that position without being raised or lowered, but when it is operated to the raised or lowered position, the planting part 5 is raised or lowered accordingly. Since it is raised to the non-working position or lowered to the work position, the worker can improve the planting accuracy by adjusting the seedling planting depth to an arbitrary height.

  In addition, when the planting operation is not performed, such as when turning or when the operation is interrupted for replenishment of seedlings and fertilizers, and when the planting operation is not performed, the planting unit 5 can be prevented from coming into contact with the field scene or the shoreline. Therefore, the trace of the planting part 5 is left in the field scene, and it is possible to prevent the planting depth from changing when the seedling is planted on the heel. Damage is prevented and durability is improved.

When the lift lever 51 is operated to the automatic position at the lowered position, the planting unit 5 is controlled to move up and down by the vertical movement of the center float 1.
Further, a switch for detecting the operation position of the seedling operation lever (fingap lever) 18 is provided on the input side of the controller 35. When the seedling operation lever 18 is operated upward, the PTO clutch of the PTO shaft 26 is operated. The fertilizer 28 transmitted by the PTO shaft 26 and the transmission of the planting unit 5 are stopped, and the elevating control valve 10 is switched to the raised position to raise the planting unit 5. When the seedling planting operation lever 18 is operated once to the lowered position, the automatic position is reached, the elevation control valve 10 is switched by the vertical movement of the center float 1, and the planting part 5 is controlled to rise and fall to the seedling planting posture. The

  Further, when the operation is further performed once downward, the PTO clutch is switched to the engaged position in the automatic position, and the fertilizer 28 and the planting unit 5 are transmitted. Thereafter, each time the seedling operation lever 18 is operated to move downward once, the PTO clutch is switched to the engaged position or the cut position in the automatic position.

  Here, there are a center float 1 for smoothing the soil surface and side floats 2 and 2 on both the left and right sides, a seedling tank 3 for feeding out the mat mat seedling to the planting part side, and this seedling tank 3 A four-wheeler having a planting part 5 comprising a planting device 4 and the like for planting the separated seedlings on the leveling traces of the center float 1 and the side floats 2 and 2 and a steering front wheel 6 and a driving rear wheel 7. At the rear part of the traveling vehicle body 8 in the traveling form, the lift cylinder 9 is mounted so as to be movable up and down, and the center float 1 swings up and down to switch the lift control valve 10 of the hydraulic circuit of the lift cylinder 9 so that the planting is performed. In the seedling transplanting machine that controls the raising and lowering of the seedlings so as to keep the seedling planting depth constant by raising and lowering the portion 5, the inclination sensor 11 provided on the traveling vehicle body 8 is greater than or equal to a set value in the longitudinal direction of the traveling vehicle body When tilt is detected The control response time t between the detection until the output operation of the lift control valve 10 configured to perform control for switching to the extended control response time t1.

  While the float 1 and 2 of the planting part 5 slide and level the soil surface by traveling of the traveling vehicle body 8, the seedlings fed from the seedling tank 3 are separated and held by the planting device 4, and the float 1, Planted at a constant depth on the soil surface of the flat trace by 2. When the center float 1 of the planting part 5 moves up and down largely depending on the state of the soil surface, the lifting control valve 10 is switched, the lift cylinder 9 is expanded and contracted, and the seedling planting depth with respect to the soil leveling surface by the planting device 4 The raising / lowering control of the planting part 5 is performed so as to keep the height constant.

  The control response time t (delay time) from the detection of the vertical movement position of the center float 1 to the output of the lift control valve 10 in the seedling raising / lowering control at this time is set to a constant state.

  When the traveling vehicle body 8 is largely inclined in the front-rear direction due to unevenness of the soil surface, the inclination angle of the traveling vehicle body 8 is detected by the inclination sensor 11, and the control response time in the seedling raising / lowering control is performed. The control for switching t to the extension control response time t1 is performed. In this way, the seedling raising / lowering control when the traveling vehicle body 8 is tilted is moved up and down based on the extension control response time t1, so that there is unevenness in the field. Even when there are many cases, it is possible to prevent the planting unit 5 from moving up and down each time the tilt sensor 11 detects the front / rear tilt of the aircraft, so that the planting unit 5 does not chatter due to the reaction, and the planting device Since the planting depth of No. 4 seedling is stabilized, planting accuracy is improved.

  Further, since the planting part 5 does not frequently move up and down, the lift cylinder 9 and the lift link 12 are not easily subjected to a load due to the weight of the planting part 5, and the damage of the lift cylinder 9 and the lift link 12 is prevented. Durability is improved.

When the inclination of the traveling vehicle body 8 detected by the inclination sensor 11 becomes less than the set value, the extension control response time t1 is switched to the control response time t of the normal time control.
Further, when the inclination sensor 11 detects an inclination equal to or greater than a set value, the speed at which the lift cylinder 9 expands and contracts is switched to the acceleration / contraction speed v1 that is faster than the expansion / contraction operation speed v of the normal lifting control. The configuration is as follows.

  As described above, the response time t of the seedling raising / lowering control is switched to the long response time t1 by detecting the inclination of the traveling vehicle body 8 when the front / rear direction inclination of the traveling vehicle body 8 becomes larger than a predetermined value, and is Although controlled, the expansion / contraction operation speed of the lift cylinder 9 at this time is switched to a speed v1 that is faster than the expansion / contraction operation speed v of the normal lift control, and the lift control is performed. At this time, when the inclination angle in the front-rear direction of the traveling vehicle body 8 is reduced, the expansion / contraction operation speed is switched from v1 to v, and normal seedling raising / lowering control is performed.

  Furthermore, the expansion / contraction operation of the lift cylinder 9 is performed only when the planting part 5 is controlled to be lowered with respect to the expansion / contraction operation speed of the lift cylinder 9 when the planting part 5 is controlled to be lifted by the lift cylinder 9. Control to increase the speed.

  When the inclination sensor 11 detects a tilt of the traveling vehicle body 8 that is equal to or greater than the set value in the front-rear direction, the planting unit 5 is controlled to switch the lift control response time t to the extended lift control time t1, or the lift cylinder 9 The expansion / contraction operation speed v is controlled to be switched to the acceleration / contraction operation speed v1 so that the ascending / descending operation of the planting unit 5 is appropriately performed.

  Further, only when the inclination sensor 11 detects an inclination greater than a set value and controls the planting portion 5 downward, the expansion / contraction operation speed v of the lift cylinder 9 is switched to the acceleration / contraction operation speed v1. Thus, even when the planting part 5 is significantly raised, the planting part 5 can be quickly lowered by utilizing the dead weight of the planting part 5, so Stabilization depth improves planting accuracy.

  Then, by detecting the vertical movement of the center float 1 by the elevating sensor 39, the control response time t until the elevating control valve 10 is switched is switched to the extended control response time t1 and delayed, or the extended control response time. In order to make a switch so that t1 is shortened and returned to the control response time t, a switching means such as a delay timer or a pulse duty ratio is used.

  In order to switch the expansion / contraction operation speed v of the lift cylinder 9 to the acceleration / contraction operation speed v1 and to switch the acceleration / contraction operation speed v1 to the original expansion / contraction operation speed v, the lifting / lowering in the hydraulic circuit of the lift cylinder 9 is performed. Although it is necessary to switch the opening degree of the control valve 10 and to change the opening time, the control of this time is performed by a timer (not shown) built in the airframe or a pulse signal.

  The inclination sensor 11 is attached to the traveling vehicle body 8. In order to detect the inclination of the airframe without deviation, the front and rear and the left and right frames of the airframe are not interfered with other members. It is good to attach. This prevents the planting part 5 from being raised and lowered despite the irregularities in the field, preventing the planting depth of the seedling from being properly performed, and preventing the planting accuracy from being lowered. When there are many unevenness | corrugations, the planting part 5 will frequently move up and down, the planting depth of a seedling will not be performed appropriately, and it will prevent that a planting precision falls.

  Note that the inclination sensor 11 has a physical influence from the outside when a pendulum is installed in the box, a viscous fluid is installed, or an acceleration sensor that electronically detects the behavior of the airframe is used. The tilt detection accuracy is stable.

  The inclination sensor 11 detects an inclination angle when the traveling vehicle body 8 is inclined. Data detected by the inclination sensor 11 is input to the controller 35, and the controller 35 electromagnetically moves the lift control valve 10. Send output pulse.

  The data processing of the electromagnetic output pulse is performed immediately after the inclination sensor 11 detects an inclination greater than a set value only once, continuously or intermittently over a set value over a predetermined time. Either the form of detecting the slope of the soil, or the form of controlling the output while calculating the average value, accumulated value of the detected slope values, and further the frequency value of the slope value, etc. Used according to work conditions such as wind direction and weather during work.

As described above, since the method of detecting the inclination of the traveling vehicle body 8 can be changed in accordance with the change of the work condition, it is possible to adapt to various work conditions.
In the planting raising / lowering control at the time of seedling planting work, the vertical movement of the center float 1 is detected by the raising / lowering sensor 39 (step S1), and in the place where the soil surface is soft and deep, the whole planting part 5 sinks and the center float 1 Is increased (S2), the lift control valve 10 of this hydraulic circuit is switched by the output from the controller 35, the lift cylinder 9 is extended, and the planting portion 5 is raised.

  On the contrary, when the soil surface is hard and shallow, the orientation angle of the center float 1 becomes small (S3), and the planting part 5 is lowered. In this way, the planting depth by the planting device 4 is controlled by raising and lowering so that the sliding average pressure by the center float 1 and the side floats 2 and 2 is maintained substantially constant regardless of the state and change of the soil surface. Keep the planting posture constant.

  In such seedling raising / lowering control, when the inclination angle in the front-rear direction of the traveling vehicle body 8 becomes larger than a predetermined value, this is detected by the inclination sensor 11 (S4, S5), and by the raising / lowering sensor 39 of the seedling raising / lowering control. From the time of detection, the control control time from the detection side to the output control signal 10 on the output side of the controller 35 until the output of the output signal for switching electromagnetically is lengthened and delayed (S6, S7).

  Further, when the detection angle of the tilt sensor 11 is smaller than a predetermined angle, such control that increases the control response time is not performed, and the vertical movement of the center float 1 is detected by the lift sensor 39. Immediately, the raising / lowering control valve 10 is output and activated to perform seedling raising / lowering control (S8, S9).

  And when extending the control response time of the raising / lowering control valve 10 as mentioned above and outputting (S6, S7), the expansion-contraction operation speed of the lift cylinder 9 is made faster (S10, S11). And the planting part 5 is raised / lowered rapidly, and is raised / lowered to the safe and stable operating position. In particular, when the planting part 5 is controlled to rise, an excessive load may be generated if the plant floats suddenly from the ground sliding state of the center float 1 and the side floats 2 and 2 depending on the working state or the soil state. Therefore, the operating speed for the ascent control at this time is the normal control speed, and only the operating speed when the planting part 5 is controlled to descend can be increased. The output control is performed only when the sensor 39 outputs an output signal in a direction in which the planting unit 5 is lowered (S5, S7).

  Then, when the tilt sensor 11 detects on the ascending control side, regardless of whether the tilt angle is large or small, the control process is performed with the control response time lengthened by performing the operation control (S8) at the normal operation speed. It does not work in (S4, S6, S10).

  In the seedling transplanting machine, a fertilizer 28 is attached to the rear portion of the traveling vehicle body 8, and fertilization is performed near the operation place of the seedling planting claws 33 on the soil surface leveled by the center float 1 and the side floats 2 and 2. However, in this fertilizer application device 28, the fertilizer (powder granule) fed from the hopper 56 by the feeding device 55 passes through the fertilizer cylinder 58 and the fertilizer hose 59 for guiding the air blown from the blower 57, and the center float. The fertilizer is conveyed and fertilized to the fertilizer grooving device 60 of 1 and side floats 2 and 2.

  A blower cylinder 62 is provided between the blower outlet 57 and each fertilizer application cylinder 58, and air is sent to the fertilizer application cylinder 58 from the respective air outlets 63 and 64 formed in the blower cylinder 62. The air outlets 63 and 64 are arranged in three places on the upper side of the air outlet 61 side of the air blowing cylinder 62 and in three places on the lower end of the non-end side. Each fertilizer cylinder 58 is connected to the groove cutter 60 at the strip position.

In the air blowing cylinder 62, a simple air passage 65 without an obstacle is formed below the air outlet 63 on the side close to the air outlet 61 to reduce the air blowing resistance to the air outlet 64 at the lower end of the terminal. Yes.
Further, a partition plate 66 is formed on the upper end of the air blowing port 64 at the end portion to prevent escape of wind pressure at the air blowing ports 63 and 64. With such an arrangement form of the air blowing ports 63 and 64, air blown by the blower 57 can be made uniform to each fertilizer cylinder 58 and the fertilizer hose 59, and clogging of fertilizer transfer is less likely to occur.

DESCRIPTION OF SYMBOLS 1 Center float 2 Side float 3 Seedling tank 4 Planting device 5 Planting part 6 Front wheel 7 Rear wheel 8 Car body 9 Lift (elevating) cylinder 10 Elevating control valve (hydraulic valve)
11 Tilt sensor

Claims (3)

A center float (1) for smoothing and smoothing the soil surface, side floats (2, 2) on both the left and right sides of the center float (1), and a seedling tank for feeding the loaded seedling mat to the planting part side (3) and the planting part (5) by the planting device (4) for planting the seedling separated and held from the seedling tank (3) on the flat surface of the center float (1) and the side float (2, 2) The planting part (5) is provided at the rear part of the traveling vehicle body (8) in a four-wheel traveling form in which the front steering wheel (6) and the driving rear wheel (7) are arranged, and the planting part (5) An actuator (9) for raising and lowering the plant, and by switching the control valve (10) of the actuator (9) by vertically swinging the center float (1), the planting part (5) is raised and lowered to plant seedlings. In the seedling transplanting machine configured to be able to control planting lifting to maintain the depth at a predetermined depth,
A tilt sensor (11) is provided on the traveling vehicle body (8), and when the inclination of the traveling vehicle body (8) detected by the tilt sensor (11) is detected to be greater than a set value in the front-rear direction, the control valve (10 A seedling transplanter characterized in that the control is performed to increase the response time until the output is activated.   The tilt sensor (11) is configured to perform control so that the expansion / contraction operation speed of the actuator (9) when detecting the inclination of a set value or more is faster than the expansion / contraction operation speed of the normal lift control. The seedling transplanter according to claim 1.   The expansion / contraction operation speed of the actuator (9) when the planting portion (5) is controlled to be lower than the expansion / contraction operation speed of the actuator (9) when the planting portion (5) is controlled to be lifted by the actuator (9). The seedling transplanting machine according to claim 1 or 2, characterized in that control is performed to speed up the speed.

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