JP2015159739A - seedling transplanting machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a seedling transplanting machine that can properly control a fertilizing amount according to a state of the field.SOLUTION: A rolling sensor 101 detects a rotation amount centered on a rolling shaft 44 for turnably supporting a seedling tank 51, and a control device 110 makes the seedling tank 51 move up and down based on the rotation amount to adjust a planting depth, and adjusts a fertilizing amount of a fertilizing device 5, and thereby the fertilizing amount can properly be controlled according to a state of the field. For example, when one end in the width direction is deep to the other end and the rotation amount centered on the rolling shaft 44 is large with respect to the width direction of a traveling vehicle body 2, the fertilizing amount is adjusted to prevent a lack of fertilizer or an excessive fertilizer application, and thereby the growth of the seedlings can be improved. Also, for example, a planting depth is adjusted according to the rotation amount centered on the rolling shaft 44, and thereby the growth failure due to falling or being buried too much of the seedlings can also be reduced.

Description

  The present invention relates to a seedling transplanter equipped with a fertilizer application apparatus.

  In the seedling transplanter, a technology is known that detects changes in the depth of the field by turning the center float up and down at the bottom of the seedling tank, raises and lowers the seedling tank, and aligns the seedling planting depth for each place in the field. (Patent Document 1).

  In addition, information such as fertilizer concentration, water temperature, and field depth in the field is detected by sensors provided in each part of the machine, and the amount of fertilizer supplied from the fertilizer application is changed for each field location based on the detected information. The technique to do is also known (patent document 2).

JP2012-55287A JP 2013-146219 A

  However, the center float described in Patent Document 1 moves along the topsoil of the field, tends to detect a depth different from the actual field depth, the seedling planting depth becomes too shallow, May be washed away by wind or water, and the seedlings may be planted too deeply, so that the seedlings may not receive sufficient sunlight and grow slowly.

  Also, depending on the depth of the field, there are places where the fertilizer is easy to reach in the soil and places where it is difficult to reach, but if a depth different from the actual field depth is detected, the fertilizer necessary for seedling growth will be insufficient. The growth of some of the seedlings is delayed, making it impossible to carry out additional fertilization work and harvesting work in a planned manner, and there is a problem that the quality of the harvest obtained after growing the seedlings deteriorates due to excessive fertilizer.

  Furthermore, because the planting depth cannot be changed due to the softness of the field, the planting depth of the seedling becomes too shallow in areas where the soil quality is hard, causing the seedling to be washed away by wind or water flow. At the same time, the planting depth of the seedling becomes too deep at the place where the soil quality is soft, so that the seedling may not receive sufficient sunlight and the growth may be delayed.

  Moreover, in the seedling transplanter described in Patent Document 2, if the mud in the field floats up due to the traveling of the aircraft or the planting of seedlings, the floating mud will hinder accurate measurement. Depending on the conditions, an incorrect field depth is detected, the planting depth and fertilizer amount do not match, and there is a problem of causing poor growth and poor quality of the harvest.

  In addition, since the amount of fertilizer cannot be increased or decreased according to the hardness of the field, fertilizer shortages tend to occur in hard fields where fertilizer is difficult to penetrate, and excessive fertilizer tends to occur in soft areas where the fertilizer tends to penetrate. There is a problem that causes poor growth and quality degradation of the harvest.

  Then, the subject of this invention is providing the seedling transplanting machine with an appropriate amount of fertilization according to the state of a farm field.

The above-described problems of the present invention are solved by the following solution means.
That is, the invention described in claim 1 includes a front vehicle body (10) and a rear wheel (11), a traveling vehicle body (2) traveling on a farm field, and an elevating link device (3) at the rear of the traveling vehicle body (2). A seedling tank (51) that is supported so as to be able to move up and down, and extends in a direction crossing the width direction of the traveling vehicle body (2) and the raising and lowering direction of the seedling tank (51), and the seedling tank (51) A rolling shaft (44) rotatably supported, a seedling planting device (52) for planting seedlings in the seedling tank (51), a fertilizer application device (5) for supplying fertilizer to the field, and a seedling tank (51) And a rolling sensor (101) for detecting a rotation amount around the rolling shaft (44), and based on the rotation amount, the seedling tank (51) is moved up and down to adjust the planting depth, and Control device (1 0) is a seedling transplantation machine, characterized in that the provided.

  The invention according to claim 2 is based on the amount of rotation detected by the fertilizer discharge ports (61a) provided on at least both sides in the width direction of the traveling vehicle body (2) and the rolling sensor (101). The seedling transplanter according to claim 1, further comprising the control device (110) for reducing the fertilization amount on the deeper side of the field in the width direction of the vehicle body (2).

  According to a third aspect of the present invention, the travel is based on the fertilizer discharge ports (61a) provided on at least both sides in the width direction of the travel vehicle body (2) and the rotation amount detected by the rolling sensor (101). The seedling transplanter according to claim 1, comprising the control device (110) for increasing the fertilization amount on the deeper side of the field in the width direction of the vehicle body (2).

  According to a fourth aspect of the present invention, there is provided a pitching sensor (47) for detecting a moving amount of the seedling tank (51) in the up-and-down direction, and the moving amount detected by the pitching sensor (47) is a predetermined value or more. The seedling according to any one of claims 1 to 3, further comprising the control device (110) for increasing the planting depth and adjusting a fertilizing amount of the fertilizing device (5). It is a transplanter.

  The invention according to claim 5 is a pitching sensor (47) for detecting the amount of movement of the seedling tank (51) in the vertical direction, and when the amount of movement detected by the pitching sensor (47) is a predetermined value or more, The seedling according to any one of claims 1 to 3, further comprising the control device (110) for reducing the planting depth and adjusting a fertilizer amount of the fertilizer device (5). It is a transplanter.

  The invention according to claim 6 adjusts the planting depth when the softness sensor (102) for detecting the softness of the farm scene and the detection result of the softness sensor (102) is "hard". The seedling transplanter according to any one of claims 1 to 5, further comprising the control device (110) for increasing a fertilizing amount of the fertilizing device (5).

  According to the seventh aspect of the present invention, when the setting of the soft / soft setting member (103) that can be set by an operator according to the softness of the field and the setting of the hard / soft setting member (103) is “hard” The said control apparatus (110) which adjusts the said planting depth and increases the fertilizer application amount of the said fertilizer application apparatus (5) is provided, The one of Claim 1 thru | or 5 characterized by the above-mentioned. It is a seedling transplanter.

  According to the first aspect of the present invention, the rotation amount around the rolling shaft (44) that rotatably supports the seedling tank (51) is detected by the rolling sensor (101), and the control device (110). However, based on the amount of rotation, the seedling tank (51) is moved up and down to adjust the planting depth, and by adjusting the fertilizer amount of the fertilizer application device (5), the fertilizer amount can be adjusted according to the state of the field. Can be adjusted appropriately. For example, when one end in the width direction is deeper than the other end with respect to the width direction of the traveling vehicle body (2) and the amount of rotation around the rolling shaft (44) is large, the fertilizer amount is adjusted and fertilizer Insufficiency and excessive fertilizer can be prevented, and seedling growth can be improved. In addition, for example, by adjusting the planting depth in accordance with the amount of rotation about the rolling shaft (44), it is possible to reduce poor growth due to seedling lodging or overfilling.

  According to the invention described in claim 2, in addition to the effect of the invention described in claim 1, by reducing the fertilization amount on the deeper side of the field in the width direction of the traveling vehicle body (2), it is possible to go deeper. It is possible to suppress the inflow of fertilizer from the surroundings, resulting in excessive fertilizer, and the fertilizer concentration can be made uniform throughout the field. Therefore, generation | occurrence | production of the growth failure of the seedling by excessive fertilizer can be suppressed, and the quality of a crop can be improved.

  According to the invention of claim 3, in addition to the effect of the invention of claim 1, by increasing the amount of fertilization on the deeper side of the field in the width direction of the traveling vehicle body (2), It is possible to prevent the fertilizer from reaching the fertilizer shortage. Therefore, an appropriate amount of fertilizer is supplied throughout the field, and seedling growth failure due to lack of fertilizer can be suppressed.

  According to invention of Claim 4, in addition to the effect of invention of Claim 1, based on the movement amount detected by the pitching sensor (47), the planting depth and the fertilization amount are adjusted according to the depth of the field. By doing so, it is possible to suppress the growth failure due to the lodging or overfilling of the seedlings, and it is also possible to suppress the growth failure due to insufficient fertilizer or excessive fertilizer.

  According to the invention of claim 5, in addition to the effect of the invention of claim 1, when the amount of movement detected by the pitching sensor (47) is a predetermined value or more, by reducing the planting depth, Growth failure due to overfilling of seedlings can be suppressed.

  According to the invention described in claim 6, in addition to the effect of the invention described in claim 1, when the detection result by the hardness / softness sensor (102) is “hard”, the planting depth depends on the depth of the field. By adjusting the thickness, growth defects due to seedling lodging or overfilling can be suppressed. Moreover, although a fertilizer shortage may occur by a fertilizer flowing in a hard place where it is difficult for the fertilizer to permeate, growth failure due to the shortage of fertilizer can be suppressed by increasing the fertilizer application amount.

  According to the invention of claim 7, in addition to the effect of the invention of claim 1, when the setting of the hardness / softness setting member (103) is “hard”, the planting depth depends on the depth of the field. By adjusting, it is possible to suppress poor growth due to seedling lodging or overfilling. Further, in a hard field, fertilizer shortage may occur due to the fertilizer being difficult to permeate the fertilizer, but by increasing the amount of fertilizer, poor growth due to the shortage of fertilizer can be suppressed.

It is a side view of the riding type rice transplanter with a fertilizer application of the example of the present invention. It is a top view of the riding type rice transplanter with a fertilizer application of FIG. It is the figure which showed each function with which the control apparatus of the riding type rice transplanter 1 with a fertilizer application of Example 1 is provided with the block diagram (functional block diagram). It is a flowchart of the planting depth adjustment of the riding type rice transplanter 1 with a fertilizer application of Example 1, and a fertilizer application amount adjustment process. It is a flowchart of the planting fertilization process at the time of the deep planting increase setting of Example 1. FIG. It is a flowchart of the planting fertilization process at the time of the deep planting reduction setting of Example 1. FIG. It is a flowchart of the planting fertilization process at the time of the shallow planting increase setting of Example 1. FIG. It is a flowchart of the planting fertilization process at the time of the shallow planting reduction setting of Example 1. FIG. It is explanatory drawing of the hydraulic circuit of the raising / lowering control valve of Example 1. FIG. It is explanatory drawing of the hydraulic circuit of the conventional raising / lowering control valve. It is a pressure-flow rate characteristic diagram in an example and a conventional raising / lowering control valve, and is a graph which took pressure on the horizontal axis and took flow volume on the vertical axis.

Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.
FIG.1 and FIG.2 represents the riding type rice transplanter with a fertilizer device which mounted | wore with the fertilizer device which is one Example using this invention. 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 via an elevating link device 3 so that the seedling planting portion 4 can be moved up and down. Is provided.

In this specification, the left and right directions are referred to as left and right, respectively, facing the forward direction of the seedling transplanter, the forward direction is referred to as the front, and the backward direction is referred to as the rear.
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. Further, the front end portion of the main frame 15 is fixed to the rear portion of the transmission case 12, and a rear wheel gear case 18, with a rear wheel rolling shaft provided horizontally in the front and rear sides at the rear left and right center of the main frame 15 as a fulcrum. The rear wheels 11 and 11 are attached to a rear wheel axle that is supported in a freely rolling manner and projects outwardly from the rear wheel gear cases 18 and 18.

  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 the first belt transmission device 21 and the HST 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 traveling 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 rear wheel gear cases 18 and 18 to drive the rear wheels 11 and 11. Further, the external take-out power is transmitted to a planting clutch case 25 provided at the rear part of the traveling vehicle body 2, and then transmitted to the seedling planting unit 4 by the planting transmission shaft 26, and also the fertilizer application device 5 by the fertilization transmission mechanism 27. Is transmitted to.

  The upper part of the engine 20 is covered with an engine cover 30, and a seat 31 is installed thereon. A front cover 32 incorporating various operation mechanisms is provided in front of the seat 31, and a handle 34 for steering the front wheels 10 and 10 is provided above the front cover 32. The engine cover 30 and the front cover 32 have horizontal floor steps 35 on the left and right sides of the lower end. The floor step 35 is partly grid-shaped (see FIG. 2), and mud on the shoe of the worker walking through the step 35 falls on the field. The rear part on the floor step 35 is a rear step 36 that also serves as a rear wheel fender.

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 elevating link device 3 has a parallel link configuration, and includes one upper link 40 and a pair of left and right lower links 41, 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 thereof. ing. And the connecting shaft 44 rotatably supported by the seedling planting part 4 is inserted and connected to the lower end part of the vertical link 43, and the seedling planting part 4 is connected so as to be able to roll around the connecting shaft 44. An elevating hydraulic cylinder 46 is provided between a support member fixed to the main frame 15 and a tip of a swing arm 45 formed integrally with the upper link 40, and the upper link 40 is expanded and contracted by hydraulically extending the cylinder. It rotates up and down and the seedling planting part 4 moves up and down while maintaining a substantially constant posture.

  The seedling planting section 4 has a six-row planting structure, a transmission case 50 that also serves as a frame, a mat seedling, and a left and right reciprocating movement to supply seedlings to the seedling outlets 51a,... 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,..., And the seedling supplied to the seedling outlet 51a,. A seedling planting device 52, which is planted in a farm field, and a pair of left and right drawing markers 53, 53 for drawing the aircraft path 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, ... to plant seedlings. Each of the floats 55, 56, and 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 is detected as a vertical movement detection mechanism during planting work. 57.

  The fertilizer application device 5 feeds the granular fertilizer stored in the fertilizer hopper 60 by a predetermined amount by the feeding portions 61,... Are guided to the guides 63, and are dropped into a fertilization structure formed in the vicinity of the side portion of the seedling planting line by grooved bodies 64 provided on the front side of the fertilization guides 63,. The air generated by the blower 67 driven by the electric motor 66 is blown into the fertilizer hose 62,... Via the air chamber 68 that is long in the left-right direction, and the fertilizer in the fertilizer hose 62,. It is supposed to be.

  In the riding type rice transplanter (seedling transplanter) 1 with fertilizer application of the first embodiment, a rolling sensor 101 that detects the amount of rotation (rolling angle) of the connecting shaft 44 is installed in the vicinity of the connecting shaft (rolling shaft) 44. ing.

  The rolling sensor 101 according to the first embodiment detects the amount of rotation around the connection shaft 44 of the seedling mounting base (seedling tank) 51 of the seedling planting unit 4. In Example 1, the state where the seedling stage 51 is parallel to the horizontal direction is set as a reference (the rotation amount is zero), and the case where the right side of the seedling stage 51 is rotated downward with respect to the left side is “+” rotation. When the left side rotates downward relative to the right side, the amount of rotation is detected as “−”.

  In addition, in the fertilizer applicator 5 of Example 1, the electric motor which is not shown in figure is separately installed with respect to each delivery part 61 and ..., and it is the structure which can control the feed amount of a fertilizer for every delivery part 61 and ... Has been.

  Further, in the riding type rice transplanter 1 with the fertilizer application of the first embodiment, the center float 55 includes a vertical motion detection mechanism (pitching sensor) 57 that detects the vertical motion of the front portion of the center float 55, and the topsoil of the farm field. A hardness / softness sensor 102 is also installed for detecting the hardness.

  Note that the vertical motion detection mechanism (pitching sensor) 57 of the first embodiment is based on the state in which the front portion of the center float 55 is horizontal (the pitching amount is zero), and the case where the center float 55 moves downward is a “+” pitching amount, A case of moving upward is detected as a pitching amount of “−”.

  The soft / soft sensor 102 has two rollers supported on the center float 55 via an arm so that the roller can be moved up and down, one roller is pressed against the field by a hard spring, and the other roller is pressed against the field surface by a soft spring. Thus, the vertical movement of the roller (and the rotation of the arm) is detected by a sensor. Therefore, when the field is hard, both rollers move up and down, and when the field is soft, only the soft spring roller rotates, so that the hardness of the field can be detected. The vertical motion detection device (pitching sensor) 57 is described in, for example, Japanese Patent Application Laid-Open No. 2012-55287, and the hard / soft sensor 102 is described in, for example, Japanese Patent Application Laid-Open No. 2010-193727. Since it is publicly known, detailed description is omitted.

  In the riding type rice transplanter 1 with the fertilizer application of the first embodiment, the front cover 32 is provided with a sensitivity dial (hard / soft setting member) 103 that allows an operator to manually set the sensitivity of the hardness / soft sensor 102. Therefore, the operator can adjust and set the degree of the hardness of the field detected as “hard” by adjusting the sensitivity dial 103 according to the hardness of the soil in the field.

  Furthermore, in the riding type rice transplanter 1 with the fertilizer application of the first embodiment, a planting depth setting button 106 and a fertilizer application amount setting button 107 are installed on the front cover 32. The planting depth setting button 106 is configured to be able to set the planting depth in a deep place due to unevenness or the like of the field to either “deep planting” or “shallow planting”. Further, the fertilization amount setting button 107 is configured to be able to set the fertilization amount in a deep place such as unevenness in the field to “increase” or “decrease” compared to the standard. Therefore, the operator operates the planting depth setting button 106 and the fertilizer application amount setting button 107 according to the type of seedling to be planted and the state of the field (water quantity, water flow, soil quality, etc.). The planting depth and fertilizer amount can be set.

FIG. 3 is a block diagram (functional block diagram) illustrating each function provided in the control device of the riding type rice transplanter 1 with the fertilizer application according to the first embodiment.
In FIG. 3, a control device 110 according to the first embodiment includes an input / output interface (I / O) for inputting / outputting signals from / to the outside, and a ROM (read) for storing a program and information for performing necessary processing. Small memory (only memory), RAM (random access memory) for temporarily storing necessary data, CPU (central processing unit) for processing according to the program stored in ROM, etc., and oscillator etc. The processing unit is constituted by a so-called microcomputer, and various functions can be realized by executing a program stored in the ROM.

  Control device 110 receives signals from rolling sensor 101, pitching sensor 57, hardness / softness sensor 102, sensitivity dial 103, planting depth setting button 106, fertilizer application amount setting button 107, and the like.

Further, the control device 110 outputs a control signal to the elevating hydraulic cylinder 46 and the feeding unit 61 of the fertilizer application device 5.
The control device 110 according to the first embodiment includes a setting determination unit 111, a rolling amount determination unit 112, a pitching amount determination unit 113, a hard / soft determination unit 114, a hard / soft setting determination unit 115, a planting depth adjustment unit 116, and a fertilizer application amount adjustment unit 117. Have

The setting discriminating unit 111 discriminates the setting of the planting depth and the fertilizer application amount based on the input of the planting depth setting button 106 and the fertilizer application amount setting button 107.
The rolling amount discriminating unit 112 discriminates the rotation amount (rolling amount) of the seedling planting unit 4 around the connecting shaft 44 based on the detection result of the rolling sensor 101. The rolling amount discriminating means 112 according to the first embodiment determines whether or not the detected amount of rolling A1 (| A1 |) is larger than a predetermined amount α1, that is, a predetermined rotation. It is determined whether or not the rotation is larger than the amount α1.

  The pitching amount discriminating means 113 discriminates the pitching amount that is the magnitude of the vertical movement of the center float 55 based on the detection result of the vertical movement detecting mechanism 57. The pitching amount discriminating means 113 according to the first embodiment discriminates whether or not the detected pitching amount A2 is equal to or less than a predetermined value α2a (<0) set in advance to discriminate the amount of topsoil. That is, when the pitching amount A2 is smaller than the predetermined value α2a, that is, when the center float 55 is moving upward, the pitching amount determination unit 113 determines that there is a lot of topsoil in the field. Further, the pitching amount determination unit 113 according to the first embodiment determines whether the detected value of the pitching amount A2 is equal to or larger than a predetermined value α2b (> 0) set in advance to determine the depth of the field. . That is, when the pitching amount A2 is larger than the predetermined value α2b, that is, when the center float 55 is moving downward, the pitching amount determination unit 113 determines that the depth of the field is deep. In the first embodiment, the predetermined value α2b is set to 10 ° as an example. That is, in Example 1, the depth difference due to the large unevenness of about 10 ° is detected instead of the small unevenness of the field of about 5 °.

The soft / soft discriminating means 114 discriminates whether the field is “hard” or “soft” based on the detection result of the hard / soft sensor 102.
Based on the input of the sensitivity dial 103, the hard / soft setting determining means 115 determines whether it is set to “hard” or “soft” from a preset standard hardness value.

  The planting depth adjusting means 116 moves the seedling planting part 4 up and down via the lifting hydraulic cylinder 46 to adjust the planting depth of the seedling. The planting depth adjusting means 116 according to the first embodiment is based on the setting of the planting depth setting button 106, the rolling amount A1, the pitching amount A2, the field hardness, and the sensitivity dial setting. Adjust the height.

  Specifically, the planting depth adjusting means 116, when the planting depth setting button 106 is set to “deep planting”, the magnitude of the rolling amount | A1 | is equal to or greater than the predetermined value α1. Or, when the pitching amount A2 is greater than or equal to the predetermined value α2b, when the field is determined to be “hard”, and when the sensitivity dial 103 is set to “hard”, the seedling planting unit 4 is moved from the standard position. Adjust to lower and deep plant.

  On the other hand, when the planting depth setting button 106 is set to “shallow planting”, the amount of rolling amount | A1 | is larger than the predetermined value α1, or the pitching amount A2 is larger than the predetermined value α2b. Is larger, the field is determined to be “hard”, and when the sensitivity dial 103 is set to “hard”, the seedling planting portion 4 is raised from the standard position to perform shallow planting. adjust.

  The fertilizing amount adjusting means 117 controls the feeding amount of the feeding unit 61 to adjust the fertilizing amount. The fertilizer application amount adjusting means 117 according to the first embodiment adjusts the fertilizer application amount based on the setting of the fertilizer application amount setting button 107, the rolling amount A1, the pitching amount A2, the field hardness, and the sensitivity dial.

  Specifically, the fertilizing amount adjusting means 117 determines that the topsoil is large (when the amount of rolling amount | A1 | is equal to or greater than the predetermined value α1 and the pitching amount A2 is equal to or smaller than the predetermined value α2a), the pitching amount A2 Is larger than the predetermined value α2b, when “increase” is set by the fertilizer application amount setting button 107, the feed amount is increased from the standard amount and the fertilizer application amount is increased. When set to “decrease”, the amount of fertilization is reduced by making the total feed amount smaller than the standard amount.

  Further, the fertilizer application amount adjusting means 117 of the first embodiment is set to “increase” by the fertilizer application amount setting button 107 and when it is determined that the topsoil is small (the amount of rolling amount | A1 | is equal to or greater than the predetermined value α1). And when the pitching amount A2 is larger than the predetermined value α2a), if the rolling amount A1 is positive, the fertilizing amount on the right side is increased and the fertilizing amount on the left side is decreased. On the other hand, if the rolling amount A1 is negative, the left side Increase fertilizer and decrease fertilizer on the right side. That is, when the right side is deep, the right fertilizer is increased, and when the left side is deep, the left fertilizer is increased.

  Further, the fertilizer application amount adjusting means 117 of the first embodiment is set to “decrease” with the fertilizer application amount setting button 107 and it is determined that the topsoil is low (the amount of rolling amount | A1 | is equal to or greater than the predetermined value α1). When the pitching amount A2 is larger than the predetermined value α2a), if the rolling amount A1 is positive, the left fertilizing amount is increased and the right fertilizing amount is decreased. If the rolling amount A1 is negative, the right side fertilizing amount is increased. Increase fertilizer application and decrease left fertilizer application. That is, when the right side is deep, the right fertilizer is decreased, and when the left side is deep, the left fertilizer is decreased.

  In addition, the fertilizer application amount adjusting unit 117 according to the first embodiment, when the field is determined to be “hard” regardless of the setting of the fertilizer application amount setting button 107, and when the sensitivity dial 103 is set to “hard”. Increase the amount of fertilization by increasing the total feeding amount from the standard amount.

FIG. 4 is a flowchart of the planting depth adjustment and fertilizer application amount adjustment processing of the riding type rice transplanter 1 with the fertilizer application according to the first embodiment.
Next, a processing flow of the control device 110 according to the first embodiment will be described with reference to a flowchart. The processing of each ST (step) in the flowchart of FIG. 4 is performed according to a program stored in the control device 110. Moreover, this process is performed in parallel with other various processes of the riding type rice transplanter 1.

The flowchart shown in FIG. 4 is started when the riding rice transplanter 1 is activated.
In ST1 of FIG. 4, it is determined whether or not seedling planting work has been started in accordance with the operator's operation. If yes (Y), the process proceeds to ST2. If no (N), ST1 is repeated.

  In ST2, it is determined whether or not the setting of the planting depth by the planting depth setting button 106 is “deep planting”. If yes (Y), the process proceeds to ST3. If no (N), the process proceeds to ST6.

In ST3, it is determined whether or not the fertilization amount setting with the fertilization amount setting button 107 is “increase”. If yes (Y), the process proceeds to ST4, and if no (N), the process proceeds to ST5.
In ST4, a planting fertilization process (see the flowchart of FIG. 5 described later) at the time of setting deep planting is executed, and the process returns to ST1.

In ST5, the planting fertilization process (refer to the flowchart of FIG. 6 described later) at the time of setting deep planting reduction is executed, and the process returns to ST1.
In ST6, it is determined whether or not the fertilization amount setting by the fertilization amount setting button 107 is “increase”. If yes (Y), the process proceeds to ST7, and if no (N), the process proceeds to ST8.

In ST7, the planting fertilization process (refer to the flowchart of FIG. 7 described later) at the time of setting shallow planting is executed, and the process returns to ST1.
In ST8, a planting fertilization process (refer to a flowchart of FIG. 8 described later) at the time of setting shallow planting reduction is executed, and the process returns to ST1.

FIG. 5 is a flowchart of planting fertilization processing at the time of deep planting increase setting according to the first embodiment.
In ST11 of FIG. 5, it is determined whether or not the amount of rolling amount | A1 | is equal to or greater than a predetermined value α1. If yes (Y), the process proceeds to ST12. If no (N), the process proceeds to ST17.

In ST12, it is determined whether or not the pitching amount A2 is equal to or less than a predetermined value α2a. If yes (Y), the process proceeds to ST13. If no (N), the process proceeds to ST14.
In ST13, the following processes (1) and (2) are executed, and the process proceeds to ST22.
(1) The seedling planting part 4 is lowered and moved to the deep planting position.
(2) The total fertilizer application amount of the fertilizer application device 5 is increased.

  In ST14, it is determined whether or not the rolling amount A1 is 0 or more, that is, whether or not the rolling amount A1 is a positive value. If yes (Y), the process proceeds to ST15, and, if no (N), the process proceeds to ST16.

In ST15, the following processes (1) and (2) are executed, and the process proceeds to ST22.
(1) The seedling planting part 4 is lowered and moved to the deep planting position.
(2) Increase the amount of fertilization on the right side and decrease the amount of fertilization on the left side.

In ST16, the following processes (1) and (2) are executed, and the process proceeds to ST22.
(1) The seedling planting part 4 is lowered and moved to the deep planting position.
(2) Increase the amount of fertilization on the left side and decrease the amount of fertilization on the right side.

In ST17, it is determined whether or not the pitching amount A2 is equal to or larger than a predetermined value α2b. If no (N), the process proceeds to ST18, and if yes (Y), the process proceeds to ST20.
In ST18, it is determined whether or not the detection result of the hardness / softness sensor 102 is “hard”. If no (N), the process proceeds to ST19, and if yes (Y), the process proceeds to ST20.

In ST19, it is determined whether or not the setting of the sensitivity dial 103 is “hard”. If yes (Y), the process proceeds to ST20. If no (N), the process proceeds to ST21.
In ST20, the following processes (1) and (2) are executed, and the process proceeds to ST22.
(1) The seedling planting part 4 is lowered and moved to the deep planting position.
(2) The total fertilizer application amount of the fertilizer application device 5 is increased.

In ST21, the following processes (1) and (2) are executed, and the process proceeds to ST22.
(1) The seedling planting part 4 is moved to the standard planting depth position.
(2) The fertilizer application amount of the fertilizer application device 5 is set to a standard fertilizer application amount.

In ST22, it is determined whether or not the planting work has been completed. If the answer is no (N), the process returns to ST11. If the answer is yes (Y), the planting fertilization process in FIG. 5 is terminated, and the process returns to the process in FIG.
FIG. 6 is a flowchart of planting fertilization processing at the time of setting deep planting reduction according to the first embodiment.

  In FIG. 6, the planting fertilization processing at the time of setting deep planting reduction in Example 1 is ST31, ST15, ST16 of the planting fertilization processing at the time of setting deep planting increase described above in FIG. 5 to ST31, ST32, ST33. The point is different. The process proceeds to ST20 in the case of YES (Y) in ST18 and ST19 is the same as the process of FIG. 5, but the process proceeds to ST34 in the case of YES (Y) in ST17. Since other processes are the same as those in FIG. 5, only ST31 to ST34 will be described, and description of other ST processes will be omitted.

In ST31, the following processes (1) and (2) are executed, and the process proceeds to ST22.
(1) The seedling planting part 4 is lowered and moved to the deep planting position.
(2) The fertilizer amount of the entire fertilizer application device 5 is reduced.

In ST32, the following processes (1) and (2) are executed, and the process proceeds to ST22.
(1) The seedling planting part 4 is lowered and moved to the deep planting position.
(2) Increase the amount of fertilization on the left side and decrease the amount of fertilization on the right side.

In ST33, the following processes (1) and (2) are executed, and the process proceeds to ST22.
(1) The seedling planting part 4 is lowered and moved to the deep planting position.
(2) Increase the amount of fertilization on the right side and decrease the amount of fertilization on the left side.

In ST34, the following processes (1) and (2) are executed, and the process proceeds to ST22.
(1) The seedling planting part 4 is lowered and moved to the deep planting position.
(2) The fertilizer amount of the entire fertilizer application device 5 is reduced.

FIG. 7 is a flowchart of the planting fertilization process at the time of setting shallow planting increase in the first embodiment.
In FIG. 7, the planting fertilization process at the time of setting shallow planting increase in Example 1 is ST13, ST15, ST16, ST20 of the planting fertilization process at the time of deep planting increase setting described in FIG. 5, ST41, ST42, ST43. , ST44, and other processes are common, so only ST41, ST42, ST43, and ST44 will be described, and descriptions of other ST processes will be omitted.

In ST41 of FIG. 7, the following processes (1) and (2) are executed, and the process proceeds to ST22.
(1) Raise the seedling planting part 4 and move it to the position of shallow planting.
(2) The total fertilizer application amount of the fertilizer application device 5 is increased.

In ST42, the following processes (1) and (2) are executed, and the process proceeds to ST22.
(1) Raise the seedling planting part 4 and move it to the position of shallow planting.
(2) Increase the amount of fertilization on the right side and decrease the amount of fertilization on the left side.

In ST43, the following processes (1) and (2) are executed, and the process proceeds to ST22.
(1) Raise the seedling planting part 4 and move it to the position of shallow planting.
(2) Increase the amount of fertilization on the left side and decrease the amount of fertilization on the right side.

In ST44, the following processes (1) and (2) are executed, and the process proceeds to ST22.
(1) Raise the seedling planting part 4 and move it to the position of shallow planting.
(2) The total fertilizer application amount of the fertilizer application device 5 is increased.

FIG. 8 is a flowchart of planting fertilization processing at the time of setting shallow planting reduction in Example 1.
In FIG. 8, the planting fertilization process at the time of setting shallow planting reduction in Example 1 is replaced with ST51, ST32, ST33, ST34, and ST20 of the planting fertilization process at the time of setting deep planting reduction described above with reference to FIG. , ST52, ST53, ST54, and ST44 (see FIG. 7) are different. Since other processes are the same as those in FIG. 6, only ST51 to ST54 will be described, and description of other ST processes will be omitted.

In ST51 of FIG. 8, the following processes (1) and (2) are executed, and the process proceeds to ST22.
(1) Raise the seedling planting part 4 and move it to the position of shallow planting.
(2) The fertilizer amount of the entire fertilizer application device 5 is reduced.

In ST52, the following processes (1) and (2) are executed, and the process proceeds to ST22.
(1) Raise the seedling planting part 4 and move it to the position of shallow planting.
(2) Increase the amount of fertilization on the left side and decrease the amount of fertilization on the right side.

In ST53, the following processes (1) and (2) are executed, and the process proceeds to ST22.
(1) Raise the seedling planting part 4 and move it to the position of shallow planting.
(2) Increase the amount of fertilization on the right side and decrease the amount of fertilization on the left side.

In ST54, the following processes (1) and (2) are executed, and the process proceeds to ST22.
(1) Raise the seedling planting part 4 and move it to the position of shallow planting.
(2) The fertilizer amount of the entire fertilizer application device 5 is reduced.

  As described above, in this riding type rice transplanter 1, the sensitivity dial 103, the planting depth setting button 106, and the fertilizer application amount setting button 107 are operated by the operator according to the type of seedling to be planted and the state of the field. When the setting is performed, processing (FIGS. 5 to 8) according to the setting is executed.

When “Deep planting” is set with the planting depth setting button 106 and “Increase” is set with the fertilization amount setting button 107, the processing shown in FIG. 5 is executed.
In FIG. 5, when the amount of rolling amount | A1 | is equal to or greater than a predetermined value α1 and the rolling amount A1 is positive (0 or more), the seedling planting portion 4 is centered on the connecting shaft 44 and the right side is downward. It is rotating greatly. That is, the right side of the rice transplanter 1 is deeper than the left side with respect to the traveling direction of the rice transplanter 1. In this case, in the process of ST15, the plant is deeply planted and a large amount of fertilizer is supplied on the deep right side. On the other hand, when the rolling amount A1 is negative (less than 0), the left side of the rice transplanter 1 is deep, so that in the process of ST16, deep planting is performed and a large amount of fertilizer is supplied to the left side. Therefore, when not deeply planted in a deep field, the planting depth of the seedling becomes shallow, and there is a risk that the lodging of the seedling or the seedling may be washed away by the wind or water flow. The lodging of seedlings is reduced. Moreover, when there is not much fertilization amount to the deep side, a fertilizer may not reach topsoil and there exists a possibility of becoming the poor growth accompanying a fertilizer shortage. That is, there may be unevenness in the concentration of fertilizer in the entire field and unevenness in growth. On the other hand, in Example 1, the fertilizer shortage and the poor growth are reduced by the processing of ST15 and ST16, and the quality of the harvest is improved.

  Further, in FIG. 5, when the pitching amount A2 is equal to or larger than the predetermined value α2b, the center float 55 moves downward, so that the depth of the field is deep. Therefore, in the process of ST20, deep planting is performed and the amount of fertilization is increased. Thus, lodging of seedlings and the like are reduced, and poor growth due to lack of fertilizer is reduced.

  Further, in FIG. 5, when the topsoil is hard as detected by the hardness / softness sensor 102, deep planting is performed and the amount of fertilization is increased in the process of ST <b> 20. If the top soil is hard and the standard planting depth is set, the seedlings may not be planted deeply, and the planting posture may be disturbed and fall down. In addition, when the topsoil is hard and the fertilizer is set to a standard fertilizer amount, it is difficult for the fertilizer to permeate into the topsoil, and the topsoil is washed away by water and wind, which may result in a shortage of fertilizer. On the other hand, in Example 1, while planting deeply, the amount of fertilizer application is increased, the lodging of a seedling is reduced, and the growth failure accompanying the lack of fertilizer is reduced.

  In FIG. 5, when the setting of the sensitivity dial 103 is “hard”, deep planting is performed and the amount of fertilization is increased in the process of ST20. In other words, when the worker has set up to cope with the hard topsoil of the field, deep planting and increasing the amount of fertilization to reduce seedling lodging and poor growth due to lack of fertilizer Reduce.

  Furthermore, in FIG. 5, when there is much topsoil (when the depth is shallow), it is deeply planted and the amount of fertilization increases in the process of ST13. Therefore, in places where there is a lot of topsoil, there is a tendency for irregularities to occur easily because there are many voids in the soil, and when seedlings are planted in such a place at a standard planting depth, the planting posture of the seedlings is disturbed and collapses There is a fear. In addition, depending on the conditions of the field, when the amount of fertilization is standard or small, the fertilizer is likely to be washed away by water convection and the like, and there is a risk that the fertilizer may be insufficient. On the other hand, in Example 1, while being deep-planted, the amount of fertilizer application has increased, and lodging of seedlings and lack of fertilizer are reduced.

Further, when “deep planting” is set with the planting depth setting button 106 and “decrease” is set with the fertilization amount setting button 107, the processing shown in FIG. 6 is executed.
In FIG. 6, when the right side of the rice transplanter 1 is deep, in the process of ST32, deep planting is performed and the amount of deep right fertilizer is set to be small. Moreover, when the left side of the rice transplanter 1 is deep, in the process of ST33, it is deeply planted and a small amount of fertilizer is supplied to the left side. When the amount of water is sufficient and convection is likely to occur or there is a flow of water depending on the field conditions, fertilizer may flow in and stay with water from the surroundings in a deep place. Therefore, in the case of the standard fertilizer application amount, the fertilizer in a deep place may become excessive. Excess fertilizer can cause seedlings to grow poorly and can adversely affect the quality of the harvest. On the other hand, in Example 1, since the amount of fertilization on the deep side is reduced, excessive fertilizer is suppressed and the quality of the harvest can be improved. Moreover, lodging of seedlings and the like is suppressed by deep planting.

  In addition, in FIG. 6, when it is detected that the depth of the field is deep based on the pitching amount A2, in the process of ST34, deep planting is performed and the fertilizer application amount is reduced. Therefore, lodging of seedlings and the like are reduced, and poor growth due to excessive fertilizer is reduced.

  Further, in FIG. 6, when the topsoil is hard as detected by the hardness / softness sensor 102, the planting is deeply planted and the amount of fertilization is increased in the process of ST20. Therefore, lodging of seedlings is reduced, and poor growth due to lack of fertilizer is reduced.

  In FIG. 6, when the setting of the sensitivity dial 103 is “hard”, deep planting is performed and the amount of fertilization is increased in the process of ST20. Therefore, the lodging of seedlings is reduced, and poor growth due to a shortage of fertilizer is caused.

  Furthermore, in FIG. 6, when there is a lot of topsoil (when the depth is shallow), in the process of ST31, deep planting is performed and the amount of fertilization decreases. Depending on the conditions of the field, the shallow depth may be a place where rice straw and rice stock are buried in the soil when cultivated before rice planting, and the rice straw is a nutrient in the soil. If the same amount of fertilizer as other places is supplied to such a place, the amount of fertilizer becomes excessive, which may cause poor growth. On the other hand, in Example 1, in the place where there is much topsoil, the amount of fertilization is reduced by ST31, the growth failure due to excessive fertilizer is reduced, and the lodging of seedlings is reduced.

When “shallow planting” is set with the planting depth setting button 106 and “increase” is set with the fertilization amount setting button 107, the processing shown in FIG. 7 is executed.
In FIG. 7, when the right side of the rice transplanter 1 is deep, in the process of ST42, shallow planting is performed and a large amount of fertilizer on the deep right side is set. Moreover, when the left side of the rice transplanter 1 is deep, in the process of ST43, it is planted shallowly and a lot of fertilizer is supplied to the left side. Depending on the type of seedling and the state of the field (soil quality, etc.), if deep planting is performed in a deep place, the seedling may be overfilled, resulting in poor growth. On the other hand, in Example 1, it can reduce that a seedling is overfilled by planting shallowly, and can reduce the growth failure of a seedling. Moreover, since the amount of fertilization on the deep side is reduced, excessive fertilizer can be suppressed and the quality of the harvest can be improved.

  In FIG. 7, when it is detected that the depth of the field is deep on the basis of the pitching amount A2, the planting is shallow and the fertilization amount is increased in the process of ST44. Therefore, the growth failure of a seedling is reduced and the growth failure accompanying a fertilizer shortage is reduced.

  Further, in FIG. 7, when the topsoil is hard as detected by the hardness / softness sensor 102, shallow planting is performed and the amount of fertilization is increased in the process of ST <b> 44. If the topsoil is hard and standard or deep planting is performed, the seedlings will be affected by the hardness of the field, the roots will be hard to stretch, it will be difficult to separate, the area of the lower part of the leaves will be buried in the soil and exposed to sunlight It may decrease and growth failure may occur. In addition, when the topsoil is hard and standard or deep planting is performed, a load is applied to the seedling planting device 52, causing a failure. On the other hand, in Example 1, when topsoil is hard, since shallow planting is performed, the growth of a seedling is easy to be stabilized, and the failure of the seedling planting device 52 can be reduced. Moreover, the fertilizer application amount is increasing and the poor growth accompanying a fertilizer shortage is also reduced.

  In FIG. 7, when the setting of the sensitivity dial 103 is “hard”, the planting is shallow and the fertilization amount is increased in the process of ST44. Therefore, the growth of the seedling is easy to stabilize, and the growth failure due to the lack of fertilizer is caused.

  Furthermore, in FIG. 7, when there is a lot of topsoil (when the depth is shallow), the planting is shallow and the amount of fertilization increases in the process of ST41. Depending on the type of seedling and the situation of the field, deep planting in a shallow place may cause the seedling to be overfilled, resulting in poor growth. On the other hand, in Example 1, shallow planting is performed and the growth failure of a seedling is reduced. In addition, poor growth due to lack of fertilizer is reduced.

When “shallow planting” is set with the planting depth setting button 106 and “decrease” is set with the fertilization amount setting button 107, the process shown in FIG. 8 is executed.
In FIG. 8, when the right side of the rice transplanter 1 is deep, in the process of ST52, the planting is shallow, and the fertilizer on the deep right side is set to be small. Moreover, when the left side of the rice transplanter 1 is deep, in the process of ST53, while being planted shallowly, less fertilizer is supplied to the left side. Therefore, it is possible to reduce the growth failure due to overfilling of the seedlings, to suppress excessive fertilizer due to the inflow of fertilizer, and to improve the quality of the harvested product.

  Further, in FIG. 8, when it is detected that the depth of the farm field is deep based on the pitching amount A2, in the process of ST54, shallow planting is performed and the fertilizer application amount is reduced. Therefore, the growth failure due to the overfilling of the seedlings is reduced, and the excessive fertilizer due to the inflow of fertilizer is suppressed, and the growth failure due to the excessive fertilizer is reduced.

  Further, in FIG. 8, when the topsoil is hard as detected by the hardness / softness sensor 102, the planting is shallowly performed and the fertilization amount is increased in the process of ST44. Therefore, the growth of the seedling is easily stabilized, the failure of the seedling planting device 52 can be reduced, and the growth failure due to the lack of fertilizer is also reduced.

  In FIG. 8, when the setting of the sensitivity dial 103 is “hard”, the planting is shallow and the fertilization amount is increased in the process of ST44. Therefore, the growth of the seedling is easy to stabilize, and the growth failure due to the lack of fertilizer is caused.

  Furthermore, in FIG. 8, when there is a lot of topsoil (when the depth is shallow), the planting is shallow and the amount of fertilizer is reduced in the process of ST51. Therefore, the growth failure due to the seedling being excessively buried is reduced, and excessive fertilizer due to nutrients such as rice straw is suppressed, and the growth failure caused by excessive fertilizer is also reduced.

FIG. 9 is an explanatory diagram of a hydraulic circuit of the lift control valve according to the first embodiment.
In FIG. 9, in the elevation control valve 200 according to the first embodiment, the P port 201 connected to the hydraulic pump is connected to the input side of the ascending flow rate control valve 202. A pressure compensating valve 204 is disposed between the P port 201 and the N port 203 connected to the HST 23. A pilot check valve 207 is arranged between the output side of the ascending flow control valve 202 and the C port 206 connected to the elevating hydraulic cylinder 46. A pressure reducing valve 208 and a descending flow rate control valve 209 are arranged between the output side of the ascending flow rate control valve 202 and the tank port T1 returning to the oil tank. A proportional pressure reducing valve 211 is disposed between the pilot port 202 a of the upstream flow control valve 202 and the P port 201. Further, a three-way valve 212 is disposed between the pilot port 207 a of the pilot check valve 207 and the P port 201. The output of the three-way valve 212 is connected to a tank port T2 that returns to the oil tank. The output side of the upstream flow rate control valve 202 and the pilot port 204a of the pressure compensation valve 204 are connected by a pilot line 213 with a minute flow rate. A relief valve 214 is disposed between the pilot line 213 and the N port 203.

  Therefore, in the lift control valve 200 of the embodiment, when raising the seedling planting part 4, the proportional solenoid 211 a of the proportional pressure reducing valve 211 is operated according to the lift amount, and the pilot port of the lift side flow control valve 202 is operated. The pilot pressure at 202a changes. Accordingly, the ascending flow control valve 202 is actuated (moved to the left from the state of FIG. 9), and the pressure oil from the P port 201 is supplied toward the pilot check valve 207. In the pilot check valve 207, when the pressure oil pressure reaches the cracking pressure, the check valve (one-way valve, check valve) 207b is pushed open, pressure oil is supplied to the C port 206, and the seedling planting unit 4 goes up.

  For the HST 23, the pressure compensation valve 204 supplies pressure oil having a predetermined pressure or higher from the P port 201. Further, when the pressure oil pressure becomes the relief pressure, the pressure compensation valve 204 is opened and the pressure oil is released.

  When the seedling planting part 4 is lowered, the proportional pressure reducing valve 211 is turned off according to the amount of lowering, and the ascending flow control valve 202 is returned to the initial state by the spring 202b. Then, the three-way valve 212 is actuated (moved to the left from the state shown in FIG. 9), and the pilot pressure acts on the pilot port 207a of the pilot check valve 207. Therefore, the pressure oil can flow from the C port 206 side. Then, the proportional solenoid 209a of the descending flow rate control valve 209 is actuated (moved to the right from the state of FIG. 9), the pressure oil on the C port 206 side is decompressed by the decompression valve 208, and the descending flow rate control valve 209 is reached. Through to the tank port T1. Therefore, the seedling planting part 4 descends.

FIG. 10 is an explanatory diagram of a hydraulic circuit of a conventional lift control valve.
In FIG. 10, in the conventional lift control valve 01, the P port 02 is connected to the input side of the lift-side direct acting proportional flow control valve 03. A check valve (check valve) 06 is disposed between the ascending-side direct acting proportional flow control valve 03 and the C port 04. A relief valve 08 and a pressure compensation valve 09 are connected in parallel between the P port 02 and the N port 07. A pressure reducing valve 012 and a descending direct acting proportional flow control valve 013 are connected in series between the C port 04 and the T port 011.

  In the conventional raising / lowering control valve 01, when raising the seedling planting part 4, the proportional solenoid 03a of the ascending direct flow proportional flow control valve 03 is activated, the variable throttle 03b is connected, and the pressure from the P port 02 is increased. Oil is supplied to C port 04 through check valve 06.

  When the seedling planting part 4 is lowered, the proportional solenoid 013a of the descending direct acting proportional flow control valve 013 is actuated, and the pressure oil in the C port 04 is depressurized by the decompression valve 012. It returns to the T port 011 through the direct type proportional flow control valve 013.

  In the conventional lift control valve 01 shown in FIG. 10, the proportional solenoid 03a directly operates the proportional flow control valve 03 when operating the ascending-side direct acting proportional flow control valve 03. Therefore, it is necessary to use a powerful solenoid as the proportional solenoid 03a. Therefore, there is a problem that the manufacturing cost becomes high. On the other hand, in the lift control valve 200 of the embodiment shown in FIG. 9, the proportional solenoid 211a does not directly actuate the upstream flow control valve 202, but changes the pilot pressure in the pilot line 211b with a minute flow rate. There is only. Therefore, it is possible to use a weak solenoid. Further, since the proportional solenoid 209a of the descending flow rate control valve 209 is decompressed by the decompression valve 208, it is possible to use a solenoid having a weak force. Therefore, in the embodiment, as compared with the conventional configuration, it is possible to increase the choices of usable solenoids, increase the degree of design freedom, and suppress the manufacturing cost.

  In the conventional lift control valve 01 shown in FIG. 10, a check valve 06 is disposed on the ascending side, and a check valve 013b is disposed on both the descending side and the descending direct acting proportional flow control valve 013. . Therefore, two check valves 06 and 013b are provided. On the other hand, in the embodiment, only the check valve 207 b is provided in the pilot check valve 207. Therefore, in the configuration of the embodiment, the amount of leakage can be reduced compared to the conventional configuration.

  Further, in the conventional lift control valve 01, a check valve 013b is provided inside the downstream direct acting proportional flow control valve 013, and the ascending direct acting proportional flow control valve 03 and the descending direct acting proportional flow control valve 03 are provided. Since the configuration of the control valve 013 is different, there is a problem that it is difficult to share parts and the number of parts increases. On the other hand, in the first embodiment, the flow control valves 202 and 209 can have a common configuration, the number of parts can be reduced, and the cost can be reduced.

  Further, the pilot check valve 207 of the embodiment is switched by the three-way valve 212. The conventional lift control valve 01 is provided with a check valve 06 on the upstream side and a check valve 013 on the downstream side. When hydraulic oil leaks from these check valves 06 and 013, the amount of oil slightly increases when the lift cylinder expands and contracts. May be insufficient. When the amount of oil is insufficient, there is a problem that it takes time for expansion and contraction or the timing at which expansion and contraction is started is delayed.

  If the rise is delayed, the timing of the end of planting of the seedling is delayed at the start of turning, and the seedling is scraped off in the air, generating a wasteful consumed seedling. Further, in the case of reverse travel, the lower side of the seedling planting unit 4 comes into contact with the farm scene at the start of reverse travel, and mud soil adheres to the fertilizer application guide 63 and the grooving body 64, so that fertilizer cannot be supplied to the farm scene. is there.

  On the other hand, if the descent is delayed, it becomes difficult to match the planting start position during turning to the planting end position before turning. Depending on how the timing is delayed, there will be an empty space of about one stock, and it will be necessary to plant seedlings there manually.

  On the other hand, in the elevation control valve 200 of the embodiment, the pilot check valve 207 is switched by the three-way valve 212, and the pilot check valve 207 can be used for both raising and lowering. Therefore, the check valve 207b is provided in one place, the occurrence of an instantaneous oil shortage due to oil leak is prevented, the raising / lowering speed and operation timing of the seedling planting unit 4 are stabilized, and the seedling planting accuracy is improved.

  In the embodiment, a relief valve 214 is connected to the pilot line 213 of the pressure compensation valve 204. In the conventional configuration, when the pressure is higher than the relief pressure, the entire flow rate is released from the relief valve 08. Therefore, there is a problem that the size of parts is large and the configuration is complicated. On the other hand, in Example 1, the relief valve 214 is also received by the pilot line 213 with a minute flow rate, and can be reduced in size and configured at a lower cost than the conventional configuration.

FIG. 11 is a pressure-flow rate characteristic diagram in the example and the conventional lift control valve, and is a graph in which the horizontal axis represents pressure and the vertical axis represents flow rate.
Further, in the conventional lift control valve 01, when a predetermined pressure is applied, the hydraulic oil is released only by opening the relief valve 08. The relief valve 08 is configured to quickly reduce the pressure to less than a predetermined value by increasing the size, but there is a problem that the configuration becomes complicated and the arrangement space is limited.

  Further, as shown by the broken line in FIG. 11, the conventional relief valve 08 has a pressure approximately proportionally after being opened, that is, when cracking pressure is applied and the oil amount starts to rise before reaching the relief pressure. Increase.

  On the other hand, since the relief valve 214 of the embodiment is connected to the pilot line 213 of the pressure compensation valve 204, the pressure can be reduced at a speed equal to or higher than that of the conventional one even if a small-sized object is used. become. In addition, since the change in pressure is small for a while after the cracking pressure is applied and finally increases at a stroke, the override characteristic is high (the difference between the cracking pressure and the relief pressure is small), and chattering (fine vibration) ) Is less likely to occur, the pressure in the hydraulic circuit is stabilized, and the expansion and contraction of the lifting cylinder is stabilized.

DESCRIPTION OF SYMBOLS 1 Riding type rice transplanter with fertilizer 2 Traveling vehicle body 3 Elevating link device 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 gear case 20 Engine 21 First belt transmission device 23 HST
25 Planting clutch case 26 Planting transmission shaft 27 Fertilizer transmission mechanism 30 Engine cover 31 Seat 32 Front cover 34 Handle 35 Floor step 36 Rear step (fender)
38 Preliminary seedling stage 40 Upper link 41 Lower link 42 Link base frame 43 Vertical link 44 Connecting shaft 45 Swing arm 46 Lifting hydraulic cylinder 50 Transmission case 51 Seedling stage 51a Seedling outlet 51b Seedling feeding belt 52 Seedling planting device 52a Seedling Planting tool 53 Line drawing marker 55 Center float 56 Side float 57 Vertical motion detection mechanism 58 Feeding amount adjustment rod support plate 60 Fertilizer hopper 60a Lid 61 Feeding part 61a Discharge port 62 Fertilizer hose 63 Fertilizer guide 64 Groove body 66 Electric motor 67 Blower 68 Air chamber 101 Rolling sensor 102 Hardness / softness sensor 103 Sensitivity dial 106 Planting depth setting button 107 Fertilizer application amount setting button 110 Controller 111 Setting determination means 112 Rolling amount determination means 113 Pitching amount determination means 114 Hardness / softness Discriminating means 115 Hard / soft setting discriminating means 116 Planting depth adjusting means 117 Fertilization amount adjusting means 200 Lifting control valve 201 P port 202 Ascending flow rate control valve 202a Pilot port 202b Spring 203 N port 204 Pressure compensation valve 204a Pilot port 206 C port 207 Pilot check valve 207a Pilot port 207b Check valve (one-way valve, check valve)
208 Pressure reducing valve 209 Lowering flow control valve 209a Proportional solenoid 211 Proportional reducing valve 211a Proportional solenoid 211b Pilot line 212 Three-way valve 213 Pilot line 214 Relief valve T1 Tank port T2 Tank port 01 Lift control valve 02 P port 03 Ascending side direct acting Proportional flow control valve 03a Proportional solenoid 03b Variable throttle 04 C port 06 Check valve (check valve)
07 N port 08 Relief valve 09 Pressure compensation valve 011 T port 012 Pressure reducing valve 013 Lowering direct acting proportional flow control valve 013a Proportional solenoid 013b Check valve

Claims (7)

A traveling vehicle body (2) that includes a front wheel (10) and a rear wheel (11), and that travels in a field;
A seedling tank (51) for loading seedlings supported by the rear portion of the traveling vehicle body (2) through a lifting link device (3) so as to be lifted and lowered;
A rolling shaft (44) extending in a direction intersecting the width direction of the traveling vehicle body (2) and the raising / lowering direction of the seedling tank (51) and rotatably supporting the seedling tank (51);
A seedling planting device (52) for planting seedlings in the seedling tank (51);
A fertilizer application device (5) for supplying fertilizer to the field;
A rolling sensor (101) for detecting a rotation amount around the rolling shaft (44) of the seedling tank (51);
A control device (110) for adjusting the planting depth by raising and lowering the seedling tank (51) based on the rotation amount and adjusting the fertilization amount of the fertilizer application device (5).
A seedling transplanter characterized in that A fertilizer outlet (61a) provided on at least both sides in the width direction of the traveling vehicle body (2);
The control device (110) for reducing the fertilization amount on the deeper side of the field in the width direction of the traveling vehicle body (2) based on the rotation amount detected by the rolling sensor (101).
The seedling transplanter according to claim 1, further comprising: A fertilizer outlet (61a) provided on at least both sides in the width direction of the traveling vehicle body (2);
The control device (110) for increasing the fertilization amount on the deeper side of the field in the width direction of the traveling vehicle body (2) based on the rotation amount detected by the rolling sensor (101).
The seedling transplanter according to claim 1, further comprising: A pitching sensor (47) for detecting the amount of movement of the seedling tank (51) in the vertical direction;
When the movement amount detected by the pitching sensor (47) is a predetermined value or more, the control device (110) adjusts the fertilization amount of the fertilizer application (5) while increasing the planting depth.
The seedling transplanter according to any one of claims 1 to 3, further comprising: A pitching sensor (47) for detecting the amount of movement of the seedling tank (51) in the vertical direction;
The said control apparatus (110) which adjusts the fertilization amount of the said fertilizer (5) while making the said planting depth shallow, when the said movement amount detected by the said pitching sensor (47) is more than predetermined value.
The seedling transplanter according to any one of claims 1 to 3, further comprising: A softness sensor (102) for detecting the softness of the field scene;
When the detection result of the hardness / softness sensor (102) is “hard”, the control device (110) adjusts the planting depth and increases the fertilizer application amount of the fertilizer application device (5).
The seedling transplanter according to any one of claims 1 to 5, further comprising: A hardness setting member (103) that can be set by an operator according to the hardness of the field;
When the setting of the hard / soft setting member (103) is “hard”, the control device (110) adjusts the planting depth and increases the fertilizer application amount of the fertilizer application device (5).
The seedling transplanter according to any one of claims 1 to 5, further comprising:

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