JP2018166496A - Seedling transplanter - Google Patents

Abstract

To provide a seedling transplanter which can detect a feed amount of a seedling mat at any time.SOLUTION: A seedling transplanter comprises: a seedling placing table in which placing faces on which seedling mats are placed in inclined states are aligned in a machine-body width direction according to the number of rows; a planting claw for scraping seedlings from a lower end of the seedling mat, and transplanting them; a lateral feed mechanism for reciprocating the seedling mat to the machine-body width direction of the seedling placing table; and a vertical feed mechanism for downwardly feeding the seedling mat which is placed on the seedling placing table. The seedling transplanter also comprises a rotating body which is arranged so as to protrude upwardly rather than the placing face from a rear surface side of the placing face, and rotates in conjunction with the vertical feed of the seedling mat by the vertical feed mechanism, and detects a feed amount of the seedling mat on the basis of a rotation number of the rotating body.SELECTED DRAWING: Figure 12

Description

  The present invention relates to a seedling transplanter.

  When planting in paddy fields, the number of strains per field area and the number of seedling mats necessary for planting are set in advance in anticipation of the yield per field area. Then, during the planting operation, by grasping the number of seedling mats used for planting, each part is controlled so that the remaining seedling mats can be consumed with respect to the remaining work area. For example, the consumption rate of the seedling mat is changed by adjusting the vertical amount of the seedling mat scraped off by the planting claws.

  Patent Document 1 includes sensors for determining the presence / absence of a seedling mat at the upper position and the lower position of the seedling platform, respectively, and integrating the number of seedling mats each time the seedling mat is detected by the upper presence / absence sensor. A configuration is disclosed in which the number of consumed sheets is counted, and a seedling consumption rate indicating the number of seedling mats consumed per unit area is calculated based on the travel distance during planting work and the counted number of sheets. Here, as a presence / absence sensor, an optical sensor that detects the presence / absence of a seedling mat without contact and a limit switch that detects the presence / absence of the seedling mat by detecting the weight of the seedling mat are used.

JP 2013-5748 A

  The presence / absence sensor described in Patent Literature 1 is configured to detect the feed amount of the seedling mat only when the seedling mat has been sent to a predetermined position of the seedling mount. Then, the seedling transplanter of this invention aims at providing the seedling transplanter which can detect the feed amount of a seedling mat at any time.

  The seedling transplanting machine of the present invention scrapes off the seedling from a seedling mounting base on which a mounting surface placed in a state where the seedling mat is inclined is arranged in the machine width direction according to the number of lines, and a lower end of the seedling mat. In a seedling transplanting machine comprising a planting claw to be transplanted, a lateral feed mechanism that reciprocates in the machine body width direction of the seedling stage, and a vertical feeding mechanism that sends a seedling mat placed on the seedling stage downward, The rotating body is provided so as to protrude upward from the back surface side of the mounting surface, and rotates in conjunction with the vertical feed of the seedling mat by the vertical feeding mechanism, and the rotational speed of the rotating body Based on the above, the feed amount of the seedling mat is detected.

  The rotating body is provided on the back surface of the mounting surface, and is rotatably supported at the tip of a swing arm that swings in a separating direction and a proximity direction with respect to the back surface of the mounting surface. A gear that rotates together with the rotating body is provided at the tip of the arm, and a biasing member that biases the swing arm toward the back surface of the mounting surface on the back surface of the mounting surface, and the biasing member A claw that maintains meshing with the gear of the swing arm is provided by the biasing force, and rotates in conjunction with the vertical feed of the seedling mat of the rotating body in a state where the gear and claw of the swing arm are engaged. Rotation in the direction opposite to the rotation direction is restricted, and the urging force of the urging member is set so as to release the engagement between the gear and the claw according to the weight of the seedling mat placed on the rotator. .

  The gear and the claw are configured to allow rotation in a direction interlocked with the vertical feed of the seedling mat in the engaged state.

  The outer peripheral portion of the rotating body is provided with a plurality of protrusions arranged radially with respect to the center of rotation, and the surface of the protrusion that contacts the seedling mat has a shape that warps upstream in the rotation direction. Have.

  According to the present invention, the consumption efficiency of the seedling mat can be improved.

Side view of rice transplanter. The top view of a rice transplanter. One side view of a planting work machine. The other side view of a planting work machine. (A) Rear view and side view of placement surface for each row of seedling mounting table provided with upstream rotating body and downstream rotating body (b) Seedling mounting table provided with upstream rotating body and downstream rotating body The rear view and side view of the mounting surface for every stripe. The figure which shows the detection of the seedling number of times of a seedling mat. The figure which shows correction | amendment of the seedling | jointing frequency | count of a seedling mat. The figure which shows correction | amendment of the residual amount of the seedling mat estimated. The side view which shows the structure of a downstream rotation body. The rear view which shows the structure of a downstream rotary body. The front view which shows the structure of a downstream rotation body. Side surface sectional drawing which shows contact | abutting with a downstream rotary body and a seedling mat. Side surface sectional drawing which shows another embodiment of a downstream rotary body. (A) Side sectional view showing a state where the meshing of the gear and the claw is released by the weight of the seedling mat (b) The state where the meshing of the gear and the claw is not released by the floating of the seedling mat from the mounting surface Side surface sectional drawing shown. Side surface sectional drawing which shows another embodiment of a nail | claw. (A) Rear view of seedling mounting table showing positional relationship between seedling holding bar, downstream rotating body and upstream rotating body (b) Second implementation of positional relationship between seedling holding bar, downstream rotating body and upstream rotating body Rear view of seedling mounting table showing form (c) Rear view of seedling mounting table showing third embodiment of positional relationship of seedling holding bar, downstream rotating body and upstream rotating body (d) seedling holding bar and downstream side The rear view of the seedling mounting stand which shows 4th embodiment of the positional relationship of a rotary body and an upstream rotary body. The block diagram which shows vertical amount control. The control block diagram of a seedling amount calculation part. The graph which shows the correlation with the amount of subsidence to the field of a rear wheel, and a slip rate. (A) Side view showing the amount of settlement of the rear wheel to the field (b) Side view showing the height from the ground contact surface of the rear wheel to the bottom of the float. The side view which shows the height from the ground-contact plane of a rear wheel to a rice field.

  Hereinafter, with reference to FIG.1 and FIG.2, the whole structure of the rice transplanter 1 which is one Embodiment of a seedling transplanter is demonstrated. The rice transplanter 1 includes a traveling machine body 2 and a planting work machine 3 attached to the rear part thereof, and performs planting work by the planting work machine 3 while traveling by the traveling machine body 2.

  The traveling machine body 2 includes an engine 4, a transmission 5 that shifts power from the engine 4, a vehicle body frame 6 that supports the engine 4 and the transmission 5, a front wheel 7 and a rear wheel that are driven by power transmitted from the engine 4 and the transmission 5. 8 etc.

  The power from the engine 4 and the transmission 5 is transmitted to the front axle case 9 and the rear axle case 10, respectively. The front axle case 9 is supported by the front part of the body frame 6, and the front wheel 7 is supported by the both right and left ends. Similarly, the rear axle case 10 is supported by the rear portion of the body frame 6, and the rear wheels 8 are supported at both left and right ends thereof. The upper part of the body frame 6 is covered by the step 11, and the operator can move on the step 11.

  The power from the engine 4 and the transmission 5 is transmitted to the planting work machine 3 through an inter-strain transmission (not shown). The inter-strain transmission is configured to change a planting interval of seedlings planted along the traveling direction of the traveling machine body 2. The seedling amount calculation unit 70 described later is connected to the inter-strain setting unit 17 (see FIG. 18) that sets the seedling planting interval steplessly, and is configured to be able to acquire the seedling planting interval.

  A driver's seat 12 is disposed in the middle of the front and rear of the traveling machine body 2, and a steering handle 13, an operating pedal 14, a dashboard 15 and the like are provided in front thereof. In addition to the steering handle 13, an operation tool for various operations and a display device are arranged on the dashboard 15. The dashboard 15 is provided with a select dial 66 as a dial capable of setting various items (planting depth, vertical collection amount, etc.). The select dial 66 is connected to a seedling collection amount calculation unit 70 (see FIG. 18).

  The planting work machine 3 is connected to the traveling machine body 2 via the lifting link mechanism 20. The lifting link mechanism 20 includes a pair of left and right upper links 21 and lower links 22, a lifting cylinder, and the like. The lower link 22 and the upper link 21 are rotated by the lifting cylinder to raise and lower the planting work machine 3.

  The planting work machine 3 includes a planting arm 31, a planting claw 32, a seedling stage 33, a float 34, and the like. The planting claw 32 is attached to the planting arm 31. The planting machine 3 is driven by a PTO shaft 16 extending rearward from the transmission 5. More specifically, power is transmitted from the PTO shaft 16 to the planting transmission case 36 provided in the planting work machine 3 through the planting center case 35, and the planting arm 31 and planting are planted from the planting transmission case 36. Power is distributed to the claws 32. The planting center case 35 is provided with a planting clutch, and the planting clutch is configured to connect and disconnect the transmission of power from the engine 4 to the planting work machine 3.

  The planting arm 31 is rotated by the power transmitted from the planting transmission case 36. A seedling is supplied to the planting claw 32 from a seedling stage 33. With the rotational movement of the planting arm 31, the planting claw 32 is inserted into the field and seedlings are planted so as to have a predetermined planting depth. In this embodiment, a rotary planting claw is employed, but a crank type may be used.

  The seedling stage 33 is composed of a plate-like member, and is disposed so as to incline forward and backward in a side view of the body. On the rear surface of the seedling mounting table 33, a mounting surface on which a seedling mat is mounted is arranged in the machine width direction according to the number of planting arms (the number of rice transplanters). Since the rice transplanter 1 of this embodiment is a six-plant rice transplanter, six placement surfaces are formed. On the placement surface, the seedling mat is placed in an inclined state.

  The front end of the float 34 is supported so as to be swingable in the vertical direction with respect to the planting frame 37, and the rear end thereof can be moved up and down via a link mechanism 39 on a rotation support shaft 38 provided in the planting transmission case 36. It is attached (see FIG. 20B).

  In the float 34, a sensor 40 (see FIG. 21) that detects the field surface (field surface) is provided immediately before the planting position of the planting unit 4. The sensor 40 extends from the front toward the rear. The sensor 40 is supported by the planting frame 37 so as to be swingable in the pitching direction, and hangs down by gravity around the swing fulcrum, so that the state where the tip is in contact with the field surface is maintained. That is, the rice transplanter 1 proceeds so that the tip of the sensor 40 always follows the field surface.

A lateral feed mechanism for reciprocating the seedling stage 33 in the machine body width direction will be described with reference to FIG.
As shown in FIG. 3, the feed screw 41 extends from the planting center case 35 toward one side in the body width direction. A cross-shaped groove is formed on the outer peripheral surface of the feed screw 41 along the axial direction. The feed screw 41 is provided with a slider 42 that can slide along the groove and a slider receiver 43 that supports the slider 42. The slider receiver 43 is formed in a substantially T shape. The slider receiver 43 is provided with a feed screw 41 and accommodates the slider 42 so as to be slidable along the groove of the feed screw 41.

  A lower rail 44 is attached to the lower part of the front surface (back surface of the mounting surface) of the seedling mounting table 33. The lower rail 44 is disposed with the body width direction as a longitudinal direction. A slider receiver 43 is fixed to the lower rail 44 via a support arm 45.

  Below the lower rail 44, a guide rail 46 that supports the lower rail 44 so as to be slidable in the body width direction is provided. The guide rail 46 is disposed with the body width direction as a longitudinal direction. The guide rail 46 includes an engaging portion 46 a that engages with the lower rail 44, and an extending portion 46 b that extends from the engaging portion 46 a along the shape of the bottom of the seedling stage 33. When the lower rail 44 is engaged with the engaging portion 46 a of the guide rail 46, the lower rail 44 is configured to be slidable along the guide rail 46 in the body width direction. A stopper 47 for preventing the lower rail 44 from being detached from the guide rail 46 is detachably attached to the guide rail 46 with a bolt.

  On the side surface of the planting center case 35 where the feed screw 41 is extended, a lateral feed switching lever 48 for adjusting the lateral feed amount of the seedling mounting table 33 is provided. The operator can adjust the lateral feed amount of the seedling stage 33 by operating the lateral feed switching lever 48 and change the number of times of lateral feed of the seedling stage 33. The transverse feed switching lever 48 is provided with a transverse feed number detecting sensor 48a (see FIG. 18) that detects the number of transverse feeds of the seedling table 33 by detecting the position of the transverse feed switching lever. The seedling removal amount calculation unit 70 is connected to the transverse feed number detection sensor 48a, and is configured to be able to detect the number of transverse feeds of the seedling placing table 33.

A vertical feed mechanism that feeds a seedling mat placed on the seedling mount 33 downward will be described with reference to FIG.
As shown in FIG. 4, a longitudinal feed cam shaft 52 to which the longitudinal feed cam 51 is fixed extends from the planting center case 35 toward the other side in the body width direction. The longitudinal feed cam shaft 52 is connected to the feed screw 41 and comes into contact with the driven cam 53 when reaching the stroke end. The driven cam 53 is provided on a conveyor belt drive shaft 55 that drives the conveyor belt 54 below the seedling stage 33. When the longitudinal feed cam 51 and the driven cam 53 come into contact with the rotation of the longitudinal feed cam shaft 52, the driven cam 53 rotates. As the driven cam 53 is rotated, the conveyor belt drive shaft 55 is rotated, whereby the conveyor belt 54 is circulated and the seedling mat placed on the conveyor belt 54 is conveyed by a predetermined distance. The conveyor belt drive shaft 55 is provided with a plurality of longitudinal feed clutches 55a that connect and disconnect the transmission of power to the conveyor belt 54 disposed on a predetermined strip in the machine body width direction. When the longitudinal feed clutch 55a is actuated, power is transmitted to the conveyor belt 54 disposed on the strip corresponding to the longitudinal feed clutch 55a.

  A seedling rail support shaft 56 is supported on the front upper portion of each planting transmission case 36 so as to be rotatable in the body width direction. A plurality of support frames 57 protrude rearward and upward from the seedling rail support shaft 56 at appropriate intervals, and the guide rail 46 is supported by the support frame 57 in the horizontal direction. An arm 58 is attached to the front upper side from the seedling rail support shaft 56. At the other end of the arm 58, a rotation angle detection sensor 59 for detecting the rotation angle of the seed bed rail support shaft 56 is provided. The rotation angle detection sensor 59 is attached to the planting frame 37. The seedling rail support shaft 56 is provided with an actuator 56a (see FIG. 18). The seedling amount calculation unit 70 is connected to the rotation angle detection sensor 59 and can detect the vertical amount from the seedling mat.

  The seedling rail support shaft 56 is configured to be rotatable by driving and controlling the actuator 56a. Therefore, when the support frame 57 is rotated in accordance with the rotation of the seedling rail support shaft 56, the guide rail 46 (the seedling mounting table 36) is moved up and down (configured to be movable up and down). The distance between the planting transmission case 36 to be supported and the seedling stage 33 can be changed. Therefore, the vertical collection amount from the seedling mat by the planting claws 32 can be changed. Here, the vertical cutting amount refers to an amount of scraping off the seedling mat in the traveling direction of the traveling machine body 2 in plan view. By adjusting the amount of vertical harvesting, the amount of seedling mat taken by the planting claws 32 can be changed.

  The seedling rail support shaft 56 is connected to the driven cam 53 via the interlocking wire 60. In accordance with the rotation of the seedling rail support shaft 56, the driven cam 53 is rotated by a predetermined angle by the tension applied to the interlocking wire 60, thereby adjusting the feed amount by the conveyor belt 54 according to the vertical amount from the seedling mat. doing.

  In the above configuration, when the power from the engine 4 is transmitted to the feed screw 41 through the planting center case 35, the slider 42 slides with respect to the groove of the feed screw 41 and slides with this. The child receiver 43 slides in the body width direction. When the slider receiver 43 is slid, the lower rail 44 slides along the guide rail 46 via the support arm 45, and the seedling stage 33 slides in the body width direction along with this. When the seedling stage 33 reaches the stroke end in the machine body width direction, the longitudinal feeding cam 51 comes into contact with the driven cam 53 and the conveyor belt drive shaft 55 rotates to circulate the conveyor belt 54.

  As the slider 42 reciprocates along the groove of the feed screw 41, the seedling stage 33 reciprocates along the guide rail 46. Planting the seedling platform 33 from one side to the other side or from the other side to the one side of the seedling mat placed on the seedling platform 33 by the reciprocating movement of the seedling platform 33 along the guide rail 46 by the lateral feed mechanism. The nail 32 scrapes off the seedling and allows it to be transplanted. When the planting claw 32 scrapes off the seedling on one side or the other side of the seedling mat by the vertical feed mechanism, the transport belt 54 operates to direct the seedling mat toward the lower end (rear end) of the placement surface. It can be transported. As described above, the seedling mat is reciprocated in the width direction of the machine body and appropriately conveyed downward, so that the seedling can be scraped off from the lower end of the seedling mat placed on the seedling mount 33.

The detection of the number of seedlings of the seedling mat will be described with reference to FIGS.
As shown in FIG. 5, a rotating body is provided as a means for detecting the number of seedlings of the seedling mat on the placement surface on which the seedling mat for each line of the seedling placing stand 33 is placed. As a rotator, a downstream rotator 71 provided on the downstream side (downstream in the feeding direction of the seedling mat) on the mounting surface, and an upstream side (upstream in the feeding direction of the seedling mat) from the downstream rotator 71. And an upstream rotating body 81 provided. The seedling amount calculation unit 70 detects the number of times the seedling mat has been added (number of seedlings) based on the rotation state of the downstream rotator 71 and the upstream rotator 81. The seedling amount calculation unit 70 adjusts the vertical amount of the planting claws 32 from the seedling mat so that the planting operation can be performed with a desired number of seedling mats in a desired field.

  The downstream rotating body 71 is provided so as to protrude upward from the placement surface (front surface) from the back surface side of the placement surface. The downstream rotating body 71 is provided to rotate in conjunction with the vertical feeding of the seedling mat by the transport belt 54 in a state where the seedling mat is placed on the downstream rotating body 71.

  The downstream-side rotator 71 is provided at a position where it can rotate in conjunction with the vertical feed of the seedling mat when one seedling mat is placed on the placement surface from the lower end to the upper side. The downstream side rotator 71 is disposed on the lower side from the upper end of the seedling mat with an upper limit at a position spaced by a vertical feed amount F1 for one seedling mat. Further, the downstream side rotator 71 is arranged with the position at a predetermined distance F2 from the lower end of the seedling mat to the upper side as a lower limit. The predetermined interval refers to an interval that takes into account a time lag from when the compression ratio is calculated in one article described later until correction control of the reference longitudinal amount is performed. The downstream rotating body 71 is preferably arranged near the lower end of the placement surface in order to detect the feed amount of the seedling mat based on the rotation interlocked with the vertical feed of the seedling mat. Be placed.

  In addition, as a lower limit at which the downstream rotating body 71 is provided, when a new seedling mat is added after the upper end of the seedling mat is sent below the downstream rotating body 71, the new seedling mat is connected. You may set to the position where the space | interval of the grade which does not consume the seedling mat remaining by adding was added.

  The seedling amount calculation unit 70 adds one seedling number of seedling mats when the downstream rotating body 71 is changed from a state where it is not rotating to a state where it rotates in conjunction with the vertical feed of the seedling mat. . When the state where the downstream side rotating body 71 is not rotating is changed to a state where it rotates in conjunction with the vertical feeding of the seedling mat, the downstream side rotating body 71 is linked with the vertical feeding of the seedling mat from the non-rotating state. This refers to when rotation is detected. The seedling removal amount calculation unit 70 determines whether the rotation is linked to the vertical feed of the seedling mat by the transport belt 54 from the number of rotations per predetermined time.

  When the seedling amount calculating unit 70 detects the rotation of the downstream rotating body 71 linked to the vertical feeding of the seedling mat, the rotation of the downstream rotating body 71 linked to the vertical feeding of the seedling mat is performed within a predetermined time after the rotation. By determining whether or not there is, it is detected whether or not the downstream rotating body 71 is in a state of rotating in conjunction with the vertical feed of the seedling mat. The predetermined time here is set according to the interval at which the seedling stage 33 is vertically fed.

  The upstream rotating body 81 is provided so as to protrude upward from the placement surface (front surface) from the back surface side of the placement surface. The upstream rotating body 81 is provided to rotate in conjunction with the vertical feeding of the seedling mat by the transport belt 54 in a state where the seedling mat is placed on the upstream rotating body 81.

  The upstream rotator 81 has, on the mounting surface, at least one seedling mat at a position larger than the vertical length of at least one seedling mat from the lower end to the upper side and from the downstream rotator 71 to the upper side. When placed, it is provided at a position that can rotate in conjunction with the vertical feed of the seedling mat. The upstream side rotator 81 is arranged from the upper end of the seedling mat to the lower side with a position spaced by a vertical feed amount F1 for one seedling mat as an upper limit. In the present embodiment, the upstream side rotator 81 is disposed in the vicinity of a position spaced apart by a vertical length of one seedling mat from the lower end to the upper side.

  In the state where the downstream rotating body 71 rotates in conjunction with the vertical feeding of the seedling mat, the seedling amount calculating unit 70 operates in conjunction with the vertical feeding of the seedling mat from the state where the upstream rotating body 81 does not rotate. When transitioning to a rotating state, add one seedling number of seedling mats. When the state is changed from the state where the upstream side rotator 81 is not rotated to the state where the upstream side rotator 81 is rotated in conjunction with the vertical feed of the seedling mat, the upstream side rotator 81 is linked from the non-rotated state to the vertical feed of the seedling mat. This refers to when rotation is detected. The seedling removal amount calculation unit 70 determines whether the rotation is linked to the vertical feed of the seedling mat by the transport belt 54 from the number of rotations per predetermined time.

  When the seedling amount calculation unit 70 detects the rotation of the upstream rotating body 81 linked to the vertical feeding of the seedling mat, the rotation of the upstream rotating body 81 linked to the vertical feeding of the seedling mat is performed within a predetermined time after the rotation. By determining whether or not there is, it is detected whether or not the upstream rotating body 81 is in a state of rotating in conjunction with the vertical feed of the seedling mat. The predetermined time here is set according to the interval at which the seedling stage 33 is vertically fed.

  The seedling amount calculation unit 70 calculates the compression ratio of the seedling mat when the state changes from the state of being rotated in conjunction with the vertical feed of the seedling mat of the upstream rotating body 81 to the state of not rotating. The compression rate includes the length in the feeding direction of the seedling mat placed on the seedling stage 33 (the length from the lower end of the placement surface measured in advance to the upstream side rotating body 81) and the downstream side rotating body 71. It is calculated by adding the feed amount of the seedling mat calculated from the number of rotations and dividing by the length of the seedling mat for the number of times of seedling passage.

  With reference to FIG. 6, detection of the number of seedling passages during planting work will be described. Here, the seedling amount calculation unit 70 is configured to be able to store the number of times of seedling passage. The seedling amount calculation unit 70 is configured to detect the rotational state and the rotational speed of the downstream side rotating body 71 and the upstream side rotating body 81 when the planting clutch is operated.

  In the present embodiment, two seedling mats are placed on the placement surface of the seedling placing stand 33. From here, the planting clutch is operated to start the planting work. When the seedling mat located on the lower end side is vertically fed by the transport belt 54, the downstream side rotator 71 rotates. When the seedling amount calculating unit 70 detects the rotation of the downstream rotating body 71 in conjunction with the vertical feeding of the seedling mat by the conveyor belt 54, the seedling amount calculating unit 70 adds one seedling joining number (detects the first seedling mat). .

  As the first seedling mat is vertically fed, the upstream rotating body 81 is rotated by vertically feeding the seedling mat on the upper side of the first seedling mat to the lower end side. . When the seedling amount calculation unit 70 detects the rotation of the upstream rotating body 81 in conjunction with the vertical feed of the seedling mat, the seedling amount calculation unit 70 adds one to the number of seedling joining (detects the second seedling mat).

  When the second seedling mat is vertically fed to the lower side of the upstream rotating body 81, the upstream rotating body 81 is changed from the state of rotating in conjunction with the vertical feeding of the seedling mat to the state of not rotating. The The seedling amount calculation unit 70 calculates the compression ratio of the seedling mat when detecting the state where the upstream rotating body 81 is not rotating. The seedling amount calculating unit 70 adds the length in the feeding direction of the seedling mat placed on the seedling stage 33 and the feeding amount of the seedling mat calculated from the number of rotations of the downstream rotating body 71. The compression ratio is calculated by dividing by the length of the seedling mat for the number of seedlings.

  And in the state where the upper end of the second seedling mat is located above the downstream side rotator 71 and below the upstream side rotator 81, when the seedling mat is added, The seedling collection amount calculation unit 70 adds one seedling number of times by detecting the rotation of the upstream rotating body 81 in conjunction with the vertical feed of the seedling mat (detects the third seedling mat).

  Similarly, when the third seedling mat is vertically fed to the lower side of the upstream rotating body 81, the upstream rotating body 81 is not rotated from the state of rotating in conjunction with the vertical feeding of the seedling mat. Transition to. The seedling amount calculation unit 70 calculates the compression ratio of the seedling mat when detecting the state where the upstream rotating body 81 is not rotating.

  As described above, when one seedling mat is placed on the placement surface from the lower end to the upper side, the downstream rotating body 71 is provided at a position that can rotate in conjunction with the vertical feed of the seedling mat. Thus, the first seedling mat placed on the placement surface can be detected.

  The upstream rotator 81 has, on the mounting surface, at least one seedling mat at a position larger than the vertical length of at least one seedling mat from the lower end to the upper side and from the downstream rotator 71 to the upper side. When the seedling mat is placed, it is provided at a position that can rotate in conjunction with the vertical feed of the seedling mat, so that the seedling mat is placed on the downstream side rotating body 71 (the downstream side rotating body 71 is placed on the seedling mat). When the seedling mat is newly added in a state where the seedling mat is rotated in conjunction with the vertical feed), the seedling mat can be detected.

  Further, since the downstream rotating body 71 is configured to rotate in conjunction with the vertical feed of the seedling mat, the seedling mat feed amount can be calculated based on the rotational speed of the downstream rotating body 71. That is, the downstream rotating body 71 is used as a seed mat feed amount detection means. In addition, the length from the lower end of the placement surface to the upstream side rotator 81 is measured in advance, and from the state of rotating in conjunction with the vertical feed of the seedling mat of the upstream side rotator 81 to the state of not rotating. The compression rate can be calculated by detecting the transition.

  In the above configuration, the seedling amount calculation unit 70 uses the compression ratio to determine the seedling based on the length of the seedling mat before compression from the seedling mat feed amount calculated from the rotation speed of the downstream rotating body 71. The number of mats used can be calculated.

With reference to FIG. 7, correction of the number of seedling joints of the seedling mat is described.
The seedling amount calculation unit 70 calculates the seedling mat number calculated based on the rotation state of the downstream rotating body 71 and the upstream rotating body 81 and the seedling mat calculated from the rotation speed of the downstream rotating body 71. And the remaining amount of the seedling mat placed on the placement surface is estimated from time to time. The seedling amount calculating unit 70 corrects the seedling mating number of times of the seedling mat based on the remaining amount of the seedling mat and the rotation state of the downstream side rotating body 71 and the upstream side rotating body 81.

  In the embodiment shown in FIG. 7, one seedling mat is placed on the placement surface of the seedling placing stand 33, and the planting clutch is operated from here to start the planting operation. When the seedling mat located on the lower end side is vertically fed by the transport belt 54, the downstream side rotator 71 is rotated. When the seedling amount calculating unit 70 detects the rotation of the downstream rotating body 71 in conjunction with the vertical feeding of the seedling mat by the conveyor belt 54, the seedling amount calculating unit 70 adds one seedling joining number (detects the first seedling mat). . The seedling amount calculation unit 70 calculates the feed amount of the seedling mat based on the number of rotations of the downstream rotating body 71, and subtracts the feed amount of the seedling mat from the length of one seedling mat. Estimate the remaining amount.

  In the state where the seedling mat is placed on the downstream rotating body 71, when two new seedling mats are added at the same time, the rotation associated with the vertical feeding of the seedling mat of the upstream rotating body 81 is detected. By doing so, the number of seedling passages is incremented by 1 (the second seedling mat is detected). The feed amount of the seedling mat is calculated from the rotational speed of the downstream rotating body 71, and the remaining amount of the seedling mat is estimated by subtracting the feed amount of the seedling mat from the length of two seedling mats.

  When the estimated seedling mat remaining amount is below the upstream rotating body 81, the seedling amount calculating unit 70 rotates the upstream rotating body 81 in conjunction with the vertical feeding of the seedling mat. Detect whether or not. When rotation associated with the vertical feed of the seedling mat of the upstream rotating body 81 is detected, the seedling mat is placed on the upstream rotating body 81 against the remaining amount of the seedling mat, that is, the estimated seedling mat Since the actual amount of seedling mat is larger than the remaining amount of seedlings, the number of seedlings is corrected. Specifically, the number of seedlings of seedling mat is added by one (correction from two to three) . If it is detected in the above situation that the upstream rotating body 81 has transitioned from the state of rotating in conjunction with the vertical feed of the seedling mat to the state of not rotating, the estimated remaining seedling mat amount And the actual remaining amount of the seedling mat is determined to be the same, and the number of seedlings is not corrected.

  When the third seedling mat is sent to the lower side of the upstream rotating body 81, the upstream rotating body 81 is changed from being rotated in conjunction with the vertical feeding of the seedling mat to being not rotated. Transitioned. The seedling amount calculation unit 70 calculates the compression ratio of the seedling mat when detecting the state where the upstream rotating body 81 is not rotating.

  As described above, the remaining amount of the seedling mat is estimated, and the number of seedlings is corrected based on the estimated remaining amount of the seedling mat and the rotation state of the downstream side rotating body 71 and the upstream side rotating body 81. Thus, for example, even when two seedling mats are seeded at the same time or when one seedling mat is arranged from the downstream rotating body 71 to the upstream rotating body 81, the number of seedlings is accurately detected. can do. Further, when the remaining amount of the seedling mat is estimated, if the compression rate is calculated, the compression rate may be taken into consideration.

The correction of the remaining amount of the seedling mat will be described with reference to FIG.
In the embodiment shown in FIG. 8, the estimated seedling mat remaining amount is lower than the downstream side rotator 71, and the case where the downstream side rotator 71 transitions to a non-rotating state is shown. Assumed. When the seedling amount calculation unit 70 detects that the downstream side rotator 71 has transitioned to a non-rotating state, it is estimated based on the number of rotations of the downstream side rotator 71 that is rotated by the joint of the seedling mat. Correct the remaining amount of the seedling mat.

  After detecting the transition from the state of rotating in conjunction with the vertical feed of the seedling mat of the downstream rotating body 71 to the state of not rotating, when the seedling mat is added, the seedling mat to be added Comes into contact with the downstream rotating body 71 and the downstream rotating body 71 is rotated. Then, the downstream rotating body 71 is rotated until the lower end of the seedling mat to be joined comes into contact with the upper end of the remaining seedling mat. Therefore, if there is a difference between the estimated remaining amount of seedling mat and the actual remaining amount of seedling mat, the seedling mat to be transferred to the actual remaining position of the seedling mat is sent. Therefore, the seedling removal amount calculation unit 70 subtracts the seedling mat feed amount calculated based on the number of rotations of the downstream rotating body 71 from the estimated seedling mat remaining amount. The remaining amount is corrected to be the actual amount of the seedling mat.

  As described above, when it is detected that the downstream rotating body 81 has transitioned to a non-rotating state, the estimation is based on the number of rotations of the downstream rotating body 71 that is generated when a seedling mat is newly added. By correcting the remaining amount of the seedling mat, the remaining amount of the seedling mat can be calculated accurately, and the number of seedlings can be calculated accurately.

  In the above configuration, the downstream rotating body 71 and the upstream rotating body 81 are provided as the seedling passage number detecting means, but the present invention is not limited to this. For example, the number of seedling passages may be detected using only the downstream rotating body 71 while estimating the remaining amount of the seedling mat.

  The configuration of the downstream side rotator 71 will be described with reference to FIGS. 9 to 11. Since the upstream side rotator 81 has the same structure as the downstream side rotator 71, description thereof is omitted. 9, the structure of the downstream side rotator 71 is shown in a side view, and in FIG. 10, the structure of the downstream side rotator 71 is shown in a back view (as viewed from the placement surface side). In FIG. 2, the configuration of the downstream side rotator 71 is shown in a front view (viewed from the back side of the mounting surface).

  A plurality of protrusions 71 a arranged radially with respect to the rotation center are provided on the outer peripheral portion of the downstream rotating body 71. The downstream side rotator 71 is provided such that the protrusion 71a protrudes upward from the placement surface through the through hole 33a from the back surface side of the placement surface. The downstream rotating body 71 is configured to rotate in conjunction with the vertical feed of the seedling mat while the protrusion 71a bites into (engages with) the bottom surface of the seedling mat that is vertically fed on the placement surface.

  The downstream side rotator 71 is provided on the back surface of the seedling stage 33 via the swing arm 73 on the bracket 72. A swing arm 73 is provided on a bracket 72 erected on the rear surface of the placement surface so that the distal end swings in the separation direction and the proximity direction with respect to the rear surface of the seedling table 33 with the base end as a fulcrum. The base end of the swing arm 73 is attached to the support shaft 72 a of the bracket 72. A downstream rotating body 71 is supported at the tip of the swing arm 73 so as to be rotatable around the pitch axis. A biasing member 74 (in this embodiment, a torsion spring) that biases the swing arm 73 toward the rear surface of the mounting surface is provided on the rear surface of the mounting surface.

  A boss portion 71 b is provided at the rotation center of the downstream side rotator 71. The boss portion 71 b is provided with a screw 75 for every 90 degrees in the rotation direction. The screw 75 is detected by a proximity sensor 76 provided on the distal end side of the swing arm 73, thereby rotating the downstream rotary body 71. The number can be detected.

  As shown in FIG. 12, the surface of the protrusion 71 a that constitutes the downstream side rotator 71 on the contact side with the seedling mat has a shape that warps the upstream side in the rotational direction of the downstream side rotator 71. If it says from the relationship between the seedling mounting base 33 and the downstream rotation body 71, the surface of the protrusion 71a on the contact side with the seedling mat is configured by a shape warped toward the seed mat feeding source. In the present embodiment, the protrusion 71a is formed to be curved toward the upstream side in the rotation direction of the downstream side rotating body 71 from the base end portion to the tip end portion in a side view.

  As described above, the surface on the contact side of the protrusion 71a of the downstream rotator 71 with the seedling mat is configured to warp the upstream side in the rotation direction, so that When the seedling mat is sent to the placement surface, the seedling mat is likely to come into contact with the protrusion 71a (easily caught). Therefore, it is possible to prevent the downstream rotating body 71 from slipping and to rotate the downstream rotating body 71 in conjunction with the vertical feed of the seedling mat.

  Further, the protrusion 71a may be formed as a star wheel without curving upstream in the rotation direction from the base end portion to the tip end portion in a side view, for example, as shown in FIG. Further, it may be formed to be inclined toward the upstream side in the rotation direction from the base end portion to the tip end portion, and the tip end portion may be formed in a pointed shape. The protrusion 71a is easily hooked on the downstream side surface or the bottom surface of the seedling mat by forming the tip portion in a pointed shape. Therefore, it is possible to prevent the downstream rotating body 71 from slipping and to rotate the downstream rotating body 71 in conjunction with the vertical feed of the seedling mat.

  In the above configuration, the feed amount of the seedling mat can be calculated by detecting the rotational speed of the downstream side rotator 71. The seedling collection amount calculation unit 70 is connected to the proximity sensor 76 and can detect the number of rotations of the downstream rotating body 71. In the present embodiment, the proximity sensor 76 is used to detect the rotational speed of the downstream-side rotator 71, but the present invention is not limited to this. A rotary encoder may be attached to the rotating shaft of the downstream rotating body 71 to calculate the number of rotations (rotational angle) of the downstream rotating body 71, or a potentiometer is attached to the rotating shaft of the downstream rotating body 71, You may calculate the rotation speed (rotation angle) of the downstream rotation body 71. FIG.

  Further, the downstream rotating body 71 is attached to the tip of the swing arm 73 that swings in the separation direction and the proximity direction with respect to the mounting surface, so that the mounting surface of the seedling stage 33 and the downstream rotating body 71 Clearance is ensured, and accumulation of mud and the like can be prevented.

  As shown in FIG. 12, a gear 77 a that rotates together with the downstream rotating body 71 is provided at the tip of the swing arm 73. On the back surface of the mounting surface, a claw 77b is provided that is maintained in mesh with the gear 77a of the swing arm 73 by the urging force of the urging member 74.

  As shown in FIG. 14A, the urging force of the urging member 74 is such that when the seedling mat is sent onto the downstream rotating body 71, the gear 77a and the claw 77b are disengaged by the weight of the seedling mat. Set to In the present embodiment, the claw 77b is formed such that the contact surface with the mounting surface of the bracket 72 extends downstream, and is formed at the extension destination. The claw 77b is provided on the bracket 72, but is not limited thereto, and may be provided on the back side of the placement surface. For example, as shown in FIG. 15, you may comprise so that it may form directly on the back surface of a mounting surface.

  The gear 77a and the claw 77b have a ratchet structure, and are configured to allow rotation in a direction interlocked with the vertical feed of the seedling mat in the engaged state, and the vertical feed of the seedling mat of the downstream rotating body 71 Rotation in the direction opposite to the direction of rotation in conjunction with is restricted.

  As described above, when the seedling mat is not placed on the downstream side rotating body 71, the placement surface of the seedling placing table 33 in a state where the outer peripheral teeth of the gear 77 a and the claw 77 b are engaged with each other by the urging member 74. Therefore, the downstream side rotator 71 and the seedling stage 33 are locked. Therefore, the rotation of the downstream rotating body 71 can be prevented by an unintended external force.

  Further, the urging force of the urging member 74 is set so that the gear 77a and the claw 77b are disengaged by the weight of the seedling mat, so that the downstream rotating body 71 is rotated when the seedling mat is sent. Can do.

  As shown in FIG. 14 (b), the gear 77a and the claw 77b are provided so as to have a ratchet structure, and only the rotation in the direction interlocking with the vertical feeding of the seedling mat is allowed, so that the bottom surface of the seedling mat is mounted. Even when the gear 77a and the claw 77b are not completely disengaged from each other, the downstream rotary body 71 can be rotated in conjunction with the vertical feed of the seedling mat. it can.

  Moreover, when providing the downstream rotation body 71 in the mounting surface of the existing rice transplanter 1, the nail | claw 77b and the bracket 72 are comprised integrally compared with the case where the nail | claw 77b is directly formed in the back surface of a mounting surface. Therefore, it is only necessary to form the through hole 33a on the mounting surface, and attachment is easy.

  In the above configuration, the rotating body is used as the seedling mat feed amount detection means, but is not limited to this. In the contact type measurement method, a capacitance type gauge, a load cell, or the like can be considered. For example, the capacitance type gauge is installed over the entire placement surface, so that the feed amount and the remaining amount of the seedling mat of the seedling placing stand 33 can be accurately measured. Moreover, the load cell can detect the feed amount of the seedling mat based on the load of the seedling mat placed on the placement surface, for example, by being attached to the support member of the seedling placing stand 33.

  Further, in the non-contact type measurement method, a laser distance meter, image processing of a captured image of a camera, an optical sensor, a brightness sensor, and the like can be considered. For example, the laser distance meter is provided so as to be able to measure the distance from the upper side of the placement surface to the upper end surface of the seedling mat placed, thereby detecting the feed amount of the seedling mat. . Further, the camera can detect the feed amount of the seedling mat by performing image processing on the photographed image by providing the seedling mat placed on the placement surface so as to be capable of photographing. The optical sensor includes, for example, a light emitting unit and a light receiving unit that detects that a light beam from the light emitting unit is blocked by the seedling mat, so that the feeding amount of the seedling mat can be detected.

  The position of the downstream side rotary body 71 and the upstream side rotary body 81 in the body width direction will be described with reference to FIG.

  The seedling holding bar has a role of holding the seedling mat placed on the placement surface of each strip from above to perform smooth conveyance, and is formed in a bar shape with the feeding direction of the seedling mat of the seedling mounting table 33 as the longitudinal direction. Is done. In the embodiment shown in FIG. 16A, the long-diameter seedling presser bar 88a is provided symmetrically with respect to the center of the placement surface, and the short-diameter seedling presser bar 88b is provided at the center of the placement surface.

  The upstream rotating body 81 is provided at the center of the placement surface. The downstream-side rotator 71 is arranged below the short-diameter seedling holding bar 88b (in the direction of pressing the seedling mat).

  As described above, the downstream side rotator 71 is disposed below the short-diameter seedling holding bar 88b, so that there is no gap between the seedling mat and the downstream side rotator 71, and the downstream rotator 71 is downstream of the seedling mat. The side rotating body 71 can be bitten. Therefore, the downstream rotating body 71 can be prevented from slipping, and the feed amount of the seedling mat can be accurately calculated from the rotational speed of the downstream rotating body 71.

  In the embodiment shown in FIG. 16 (b), the upstream side rotator 81 is disposed below (in the direction of pressing the seedling mat) a long-diameter seedling pressing bar 88a located on the right side. Therefore, similarly, the upstream side rotator 81 can be prevented from slipping, and the feed amount of the seedling mat can be accurately calculated from the number of rotations of the upstream side rotator 81.

  In the embodiment shown in FIG. 16C, three long-diameter seedling holding bars 88a are arranged side by side symmetrically with respect to the center of the placement surface. The upstream side rotator 81 and the downstream side rotator 71 are arranged below the long-diameter seedling presser bar 88a arranged in the center (in the direction of pressing the seedling). Therefore, the same effect is produced.

  In the embodiment shown in FIG. 16D, two long-diameter seedling holding bars 88a are arranged side by side symmetrically with respect to the center of the placement surface. The upstream rotating body 81 is disposed below the long-diameter seedling holding bar 88a located on the right side (in the direction of pressing the seedling mat). Therefore, the same effect is produced.

  As described above, the upstream side rotary body 81 and the downstream side rotary body 71 are prevented from slipping by arranging the upstream side rotary body 81 and the downstream side rotary body 71 below the seedling presser bar (in the direction of pressing the seedling mat). It is possible to accurately calculate the feed amount of the seedling mat from the rotational speed. Further, a plurality of upstream side rotators 81 and downstream side rotators 71 may be arranged side by side at the same height.

The reference vertical amount of the planting claw 32 will be described with reference to FIGS. 17 and 18.
The reference vertical amount refers to a vertical amount that becomes a reference when a predetermined number of seedling mats are used to plant a predetermined field. The operator uses the select dial 66 to input the number of seedling mats to be used and the field area to the seedling harvesting amount calculation unit 70 before performing seedling planting work in the field. That is, the select dial 66 is provided as a field area input unit and a seedling mat number setting unit. The seedling amount calculation unit 70 calculates a reference vertical amount based on the input number of seedling mats and the field area, and drives and controls the actuator 56a. The seedling amount calculation unit 70 is configured to be able to detect the number of strains (the number of strains per predetermined area calculated from the planting interval set by the operator) from the detected value of the inter-strain setting unit 17. The seedling amount calculation unit 70 is configured to be able to calculate the number of strains in consideration of a slip rate described later. Here, the slip ratio is set from the amount of settlement of the rear wheel 8 in the field at the work start point or a predetermined reference value.

  The seedling collection amount calculation unit 70 calculates the target number of mats (number of seedling mats per predetermined area) from the field area and the number of seedling mats. Then, the seedling amount calculation unit 70 calculates the reference vertical amount from the target number of mats, the number of times of horizontal feeding of the seedling mount 33 and the number of strains (or the number of strains considering the slip rate).

  In the above configuration, by driving and controlling the actuator 56a so as to achieve the reference vertical amount, when performing planting work on a desired field with a desired number of seedling mats without depending on the experience and intuition of the operator. The required vertical amount can be set.

  When the planting work is started, the seedling amount calculation unit 70 is configured to determine the reference vertical amount based on the actual work area where the actual planting work was performed and the number of seedling mats used in the actual planting work. Is corrected from time to time. Specifically, the seedling amount calculation unit 70 calculates the actual vertical amount based on the actual work area and the number of seedling mats used. The seedling removal amount calculation unit 70 then calculates the remaining work area calculated by subtracting the actual work area from the work area, and the number of remaining seedling mats calculated by subtracting the number of seedling mats used from the number of seedling mats. Based on the above, the target vertical amount is calculated. The seedling amount calculation unit 70 corrects the reference vertical amount by adding a value obtained by subtracting the actual vertical amount from the target vertical amount to the reference vertical amount as a correction amount.

The calculation of the actual work area will be described with reference to FIGS.
The actual work area is calculated from the vehicle speed of the traveling machine body 2 in consideration of the slip rate and the work width set from the number of strips on which the planting work is performed. The vehicle speed of the traveling machine body 2 is calculated using the rotational speed of the traveling wheel. In the present embodiment, calculation is performed using the rotation speed of the rear wheel 8 as the traveling wheel. A rear wheel rotational speed detection sensor 8 a for detecting the rotational speed is provided on the rotational shaft of the rear wheel 8. The seedling amount calculation unit 70 is connected to the rear wheel rotation speed detection sensor 8a and is configured to be able to detect the rotation speed of the rear wheel 8.

  As shown in FIG. 19, the slip ratio and the amount of settlement of the traveling wheel (rear wheel 8 in the present embodiment) on the field have a linear function correlation. The amount of subsidence of the rear wheel 8 on the field refers to the height from the ground contact surface to the field of the rear wheel 8 to the rice field (field surface). As the amount of subsidence of the rear wheels 8 on the field increases, the slip ratio increases in a linear function.

The amount of subsidence of the rear wheels 8 on the field will be described with reference to FIG.
The amount of subsidence of the rear wheel 8 in the field is provided in the planting work machine position detection sensor 82 and the link mechanism 39 of the float 34 or the rotation support shaft 38, which are composed of appropriate sensors such as a potentiometer sensor provided in the lifting link mechanism 20. It is calculated from a planting depth detection sensor 39a (see FIG. 18) comprising an appropriate sensor such as a potentiometer. The planting work machine position detection sensor 82 is provided on the lift link frame 83 to which the rear end portions of the pair of left and right upper links 21 and lower links 22 are respectively attached. The seedling amount calculation unit 70 is connected to the planting work machine position detection sensor 82, and determines the height (distance) of the lowest point of the planting work machine 3 with respect to the traveling machine body 2, specifically, the planting claws 32. Configured to be detectable. The seedling collection amount calculation unit 70 is connected to the planting depth detection sensor 39a and configured to detect the height from the bottom surface of the float 34 of the planting work machine 3. The planting depth detection sensor 39a is configured to detect the nail projection h1 of the planting claw 32 (the distance between the tip of the planting claw 32 and the bottom surface of the float).

  The seedling amount calculation unit 70 detects the length from the planting work machine position detection sensor 82 and the planting depth detection sensor 39a to the bottom surface of the float 34 with respect to the traveling machine body 2. The seedling amount calculation unit 70 subtracts the length from the lowest point (grounding surface) of the rear wheel 8 to the traveling machine body 2 to the bottom surface of the float 34 with respect to the traveling machine body 2, thereby The amount of subsidence h0 is calculated. Further, the amount of settlement of the rear wheel 8 in the field may be calculated using the sensor 40 in consideration of the amount of settlement d of the float 34 in the field (see FIG. 21).

  The work width indicates the length in the machine width direction set from the planting interval in the machine width direction of the rice transplanter 1 and the number of strips on which the planting work is performed. The number of strips on which planting work is performed is detected by the connection / disconnection state of a unit clutch that connects / disconnects transmission of power to the planting arm 31 for each strip. The seedling amount calculation unit 70 is connected to a unit clutch sensor 63a (see FIG. 18) that detects connection / disconnection of the unit clutch, and is configured to be able to detect the number of lines on which planting work is performed.

  In the above configuration, the travel distance of the rear wheel 8 in consideration of the slip ratio can be calculated from the slip ratio calculated from the sinking amount of the rear wheel 8 to the field and the rotation speed of the rear wheel 8. Then, the actual work area is calculated from the work distance set according to the travel distance of the rear wheel 8 in consideration of the slip ratio and the number of strips on which planting work is performed.

  In the above configuration, the seedling amount calculation unit 70 calculates the actual vertical amount based on the actual work area and the total number of seedling mats used. The seedling amount calculation unit 70 calculates the number of actual mats (number of seedling mats used per predetermined area) from the number of seedling mats used by adding all the numbers of seedling mats used for each line and the actual work area. Then, the seedling amount calculation unit 70 calculates the actual vertical amount from the number of actual mats, the number of horizontal feeds of the seedling mount 33, and the number of strains in consideration of the slip rate.

  The seedling amount calculation unit 70 calculates the remaining work area calculated by subtracting the actual work area from the field area and the number of remaining seedling mats calculated by subtracting the number of seedling mats used from the number of seedling mats. Based on this, the target longitudinal amount is calculated. The seedling collection amount calculation unit 70 calculates a target mat number (number of seedling mats per predetermined area) from the remaining work area and the number of remaining seedling mats. The seedling amount calculation unit 70 calculates the target vertical amount from the target mat number, the number of horizontal feeds of the seedling mount 33, and the number of strains in consideration of the slip rate.

  When the seedling amount calculation unit 70 calculates the actual vertical amount and the target vertical amount, a value obtained by subtracting the actual vertical amount from the target vertical amount is added as a correction amount to the reference vertical amount, thereby obtaining a reference The vertical take-up amount is corrected and the actuator 56a is driven and controlled.

  In the above configuration, the actual vertical amount is calculated from the actual work area and the number of seedling mats used for all the strips, and the target vertical amount is calculated from the remaining work area and the number of remaining seedling mats for all the strips. Although the amount of correction for all the strips is calculated from the amount and the target longitudinal amount, it is not limited to this, the amount of correction is calculated for each strip, and the amount of correction for all strips based on the amount of correction for each strip May be calculated.

  The seedling amount calculation unit 70 calculates the number of actual mats for each strip from the actual work area for each strip and the number of seedling mats used for each strip, Calculate the actual amount taken up for each item from the number of shares in consideration of the slip ratio. Then, the seedling amount calculation unit 70 calculates the target mat number for each strip from the remaining work area for each strip and the number of remaining seedling mats for each strip, and the lateral feed of the target mat count for each strip and the seedling mount 33 Calculate the target vertical amount for each item from the number of shares in consideration of the frequency and slip rate. The seedling amount calculation unit 70 calculates the correction amount for each line by subtracting the target vertical amount from the actual vertical value calculated for each line, and calculates the total amount based on the correction amount calculated for each line. You may calculate the correction amount of a rule.

  Further, the correction amount is calculated by subtracting the target vertical amount from the actual vertical amount, but the present invention is not limited to this. For example, it is corrected by dividing the difference in the number of seedling mats per predetermined area by subtracting the number of remaining seedling mats from the number of actual mats by the number of vertical feeds per predetermined area (calculated from the number of strains per side and the number of horizontal feeds) The amount may be calculated.

  In the above configuration, the correction control of the reference vertical amount is performed after the number of seedling mats used for all the number of lines to be planted is calculated. Therefore, the correction control is performed after one line calculates the compression ratio. There will be a time lag before Therefore, in consideration of the time lag, the downstream side rotator 71 is arranged on the placement surface of each row of the seedling placing table 33 with a predetermined interval upward from the lower end.

  As described above, by making it possible to calculate the actual work area where the actual planting work was performed and the number of seedling mats used for the actual planting work during planting work, It can be corrected. Therefore, planting work can be performed with a desired number of seedling mats for a desired field. Therefore, the consumption efficiency of the seedling mat can be improved.

  1: Rice transplanter, 32: Planting claw, 33: Seedling stage, 71: Downstream rotating body, 71a: Projection, 73: Swing arm, 74: Biasing member, 77a: Gear, 77b: Claw, 81: Upstream rotor

Claims (4)

The seedling platform on which the placement surface placed in a state where the seedling mat is inclined is arranged in the machine width direction according to the number of strips, the planting claw for scraping and transplanting the seedling from the lower end of the seedling mat, In a seedling transplanting machine comprising: a lateral feed mechanism that reciprocates in the body width direction of the seedling stage; and a vertical feeding mechanism that sends a seedling mat placed on the seedling stage downward,
It is provided so as to protrude upward from the back surface side of the mounting surface, and includes a rotating body that rotates in conjunction with the vertical feed of the seedling mat by the vertical feed mechanism,
A seedling transplanting machine that detects a feed amount of the seedling mat based on the number of rotations of the rotating body. The rotating body is provided on the back surface of the mounting surface, and is rotatably supported at the tip of a swing arm that swings in the separation direction and the proximity direction with respect to the back surface of the mounting surface.
A gear that rotates together with the rotating body is provided at the tip of the swing arm,
The urging member that urges the swing arm toward the back surface of the mounting surface on the back surface of the mounting surface and the urging force of the urging member maintain the state of meshing with the gear of the swing arm. Provided nails,
While the gear of the swing arm and the claw are engaged with each other, the rotation of the rotating body in the direction opposite to the rotation direction rotating in conjunction with the vertical feed of the seedling mat is restricted, and
2. The seedling transplanter according to claim 1, wherein the biasing force of the biasing member is set so as to release the meshing between the gear and the claw according to the weight of the seedling mat placed on the rotating body.   The seedling transplanter according to claim 2, wherein the gear and the claw are configured to allow rotation in a direction interlocked with vertical feeding of the seedling mat in an engaged state. The outer periphery of the rotating body is provided with a plurality of protrusions arranged radially with respect to the center of rotation,
The seedling transplanter according to any one of claims 1 to 3, wherein a surface of the protrusion that is in contact with the seedling mat has a shape that warps upstream in the rotational direction.

Images