JP2021029216A

JP2021029216A - Seedling transplanter

Info

Publication number: JP2021029216A
Application number: JP2019156561A
Authority: JP
Inventors: 奨細沼; Susumu Hosonuma; 慎高木; Shin Takagi
Original assignee: Iseki and Co Ltd; Iseki Agricultural Machinery Mfg Co Ltd
Current assignee: Iseki and Co Ltd; Iseki Agricultural Machinery Mfg Co Ltd
Priority date: 2019-08-29
Filing date: 2019-08-29
Publication date: 2021-03-01
Anticipated expiration: 2039-08-29
Also published as: JP7103322B2

Abstract

To provide a seedling transplanter in which a plurality of liquid tanks is mounted on a travel vehicle body for performing irrigation in seedling transplant, and which can perform a preferable seedling transplant work by suppressing inclination of the travel vehicle body even when a water storage amount on some liquid tanks is reduced.SOLUTION: A seedling transplanter comprises a travel vehicle body 1 mounted with a plurality of liquid tanks 18L, 18R, 17L, 17R, and supplies water into a seedling planting device 3 at a time of seedling transplant. The seedling transplanter is provided with normal/reverse feeding pumps 21, 22, 24, 26 between respective liquid tanks 18l, 18R, 17L, 17R, and when inclination detection means KS for detecting a longitudinal and lateral inclination of the travel vehicle body 1 detects the inclination of the travel vehicle body 1, a liquid is fed by the normal/reverse feeding pumps 21, 22, 24, 26 to the liquid tanks 18L, 18R, 17L, 17R on an inclination upper side from the liquid tanks 18L, 18R, 17L, 17R on an inclination lower side, for controlling to eliminate inclination of the travel vehicle body 1 so as to maintain the travel vehicle body 1 in a horizontal state.SELECTED DRAWING: Figure 1

Description

本発明は、圃場に苗を移植する苗移植機の潅水装置に関する。 The present invention relates to an irrigation device for a seedling transplanter that transplants seedlings to a field.

苗移植機は、下記の特許文献１や特許文献２に記載の如く、苗トレイから一株毎取り出した移植苗を苗移植具で圃場の畝に移植する農作業機で、作業者が機体の後部を追従歩行したり、機体上に設けた座席に座ったりして移植作業を行っている。 As described in Patent Document 1 and Patent Document 2 below, the seedling transplanting machine is an agricultural work machine in which transplanted seedlings taken out from the seedling tray one by one are transplanted to the ridges of the field with a seedling transplanting tool. The transplanting work is carried out by following and walking or sitting on the seat provided on the aircraft.

苗の移植は、移植と共に苗の根元に潅水したり液肥を供給したりするが、特許文献１には、座席の左右側部に液体タンクを載せるタンク載置台を設ける構成が記載されている。 In the transplantation of seedlings, water is irrigated or liquid fertilizer is supplied to the roots of the seedlings at the same time as the transplantation. Patent Document 1 describes a configuration in which tank mounting stands on which liquid tanks are placed are provided on the left and right sides of the seat.

特開２０１６−０２９８９２号公報Japanese Unexamined Patent Publication No. 2016-0299892 特開２０１８−０１４９６７号公報Japanese Unexamined Patent Publication No. 2018-014967

走行車体の左右に搭載した液体タンクに溜めた水や液肥等の液体は、左右片側の液体タンクから使用するが、液体タンク内の液体が減少すると軽くなり、走行車体の左右重量バランスが悪くなり、軟らかい圃場を走行する走行車体は軽い側が圃場から浮き上がって、走行車体が未消費の液体タンク側に傾く傾向になり、直進走行が困難になったり移植苗が傾いて移植されたりすることになる。傾いて移植された苗は、風で倒れたり移植後の生育が悪くなったりする。 Liquids such as water and liquid fertilizer stored in the liquid tanks mounted on the left and right sides of the traveling vehicle body are used from the liquid tanks on one side of the left and right, but when the liquid in the liquid tank decreases, it becomes lighter and the left and right weight balance of the traveling vehicle body becomes poor. As for the traveling vehicle body traveling in a soft field, the light side rises from the field, and the traveling vehicle body tends to tilt toward the unused liquid tank side, which makes it difficult to drive straight or the transplanted seedlings are tilted and transplanted. .. Seedlings transplanted at an angle may collapse due to the wind or grow poorly after transplanting.

本発明は、走行車体に複数の液体タンクを搭載して苗の移植時に潅水する苗移植機において、一部の液体タンクの貯水量が減少しても走行車体が傾かないようにして良好な苗の移植作業を行えるようにすることを課題とする。 According to the present invention, in a seedling transplanting machine in which a plurality of liquid tanks are mounted on a traveling vehicle body and irrigated at the time of transplanting seedlings, good seedlings are prevented so that the traveling vehicle body does not tilt even if the amount of water stored in some of the liquid tanks decreases. The challenge is to be able to carry out the porting work of.

上記本発明の課題は、次の技術手段により解決される。 The above-mentioned problem of the present invention is solved by the following technical means.

請求項１の本発明は、
走行車体（１）に液体を貯める複数の液体タンク（１８Ｌ、１８Ｒ、１７Ｌ、１７Ｒ）を搭載して苗植付装置（３）の苗移植時に潅水する苗移植機において、前記各液体タンク（１８Ｌ、１８Ｒ、１７Ｌ、１７Ｒ）の間に正逆送りポンプ（２１、２２、２４、２６）を設け、前記走行車体（１）の前後又は及び左右の傾きを検出する傾斜検出手段（ＫＳ）で前記走行車体（１）の傾きを検出すると、傾斜下側の前記液体タンク（１８Ｌ、１８Ｒ、１７Ｌ、１７Ｒ）から傾斜上側の前記液体タンク（１８Ｌ、１８Ｒ、１７Ｌ、１７Ｒ）に前記正逆送りポンプ（２１、２２、２４、２６）で前記液体を送り、前記走行車体（１）の傾きを修正することを特徴とする苗移植機である。 The present invention of claim 1
In the seedling transplanting machine in which a plurality of liquid tanks (18L, 18R, 17L, 17R) for storing liquids are mounted on the traveling vehicle body (1) and irrigated at the time of seedling transplanting of the seedling planting device (3), each of the liquid tanks (18L) is described. , 18R, 17L, 17R), a forward / reverse feed pump (21, 22, 24, 26) is provided, and the inclination detecting means (KS) for detecting the front-rear or left-right inclination of the traveling vehicle body (1) is used. When the inclination of the traveling vehicle body (1) is detected, the forward / reverse feed pump (18L, 18R, 17L, 17R) is transferred from the liquid tank (18L, 18R, 17L, 17R) on the lower side of the inclination to the liquid tank (18L, 18R, 17L, 17R) on the upper side of the inclination. The seedling transplanting machine is characterized in that the liquid is sent by 21, 22, 24, 26) to correct the inclination of the traveling vehicle body (1).

請求項２の本発明は、前記走行車体（１）の前後及び左右の対称位置に平面積の等しい前記複数の液体タンク（１８Ｌ、１８Ｒ、１７Ｌ、１７Ｒ）を配置し、前記傾斜検出手段（ＫＳ）は、前記各液体タンク（１８Ｌ、１８Ｒ、１７Ｌ、１７Ｒ）に設ける水位センサ（３３ＬＳ、３３ＲＳ、３４ＲＬ、３４ＲＳ）の水位の違いで、前記走行車体（１）の傾斜を検出することを特徴とする請求項１に記載の苗移植機である。 According to the second aspect of the present invention, the plurality of liquid tanks (18L, 18R, 17L, 17R) having the same flat area are arranged at symmetrical positions in the front-rear and left-right directions of the traveling vehicle body (1), and the inclination detecting means (KS) is provided. ) Is characterized in that the inclination of the traveling vehicle body (1) is detected by the difference in the water level of the water level sensors (33LS, 33RS, 34RL, 34RS) provided in each of the liquid tanks (18L, 18R, 17L, 17R). The seedling transplanting machine according to claim 1.

請求項３の本発明は、
前記走行車体（１）の傾きは前後方向及び左右方向の傾きであり、
前記傾斜検出手段（ＫＳ）で検出してその傾きを修正する場合、前記前後方向より前記左右方向を優先することを特徴とする請求項１に記載の苗移植機である。 The present invention of claim 3
The inclination of the traveling vehicle body (1) is an inclination in the front-rear direction and a left-right direction.
The seedling transplanter according to claim 1, wherein when the inclination is detected by the inclination detecting means (KS) and the inclination is corrected, the left-right direction is prioritized over the front-rear direction.

請求項４の本発明は、
走行車体（１）に液体を貯める複数の液体タンク（１８Ｌ、１８Ｒ、１７Ｌ、１７Ｒ）を搭載して苗植付装置（３）の苗移植時に潅水する苗移植機において、前記各液体タンク（１８Ｌ、１８Ｒ、１７Ｌ、１７Ｒ）の間に設けられた正逆送りポンプ（２１、２２、２４、２６）と、前記走行車体（１）を走行させる走行装置の左右駆動輪（１０Ｌ）、（１０Ｒ）への動力伝動を行う左走行クラッチ（３１Ｌ）と右走行クラッチ（３１Ｒ）の入・切を検出する左クラッチセンサ（３１ＬＳ）と右クラッチセンサ（３１ＲＳ）とを備え、前記左クラッチセンサ（３１ＬＳ）と前記右クラッチセンサ（３１ＲＳ）の内いずれかがクラッチ切を検出した場合、そのクラッチ切を検出した側に配置する液体タンク（１８Ｌ、１８Ｒ、１７Ｌ、１７Ｒ）へ、前記クラッチ切が検出されていない側の前記液体タンク（１８Ｌ、１８Ｒ、１７Ｌ、１７Ｒ）から送水するように、前記正逆移りポンプ（２１、２２、２４、２６）の駆動を制御することを特徴とする苗移植機である。 The present invention of claim 4
In the seedling transplanting machine in which a plurality of liquid tanks (18L, 18R, 17L, 17R) for storing liquids are mounted on the traveling vehicle body (1) and irrigated at the time of seedling transplanting of the seedling planting device (3), each of the liquid tanks (18L) is described. , 18R, 17L, 17R) and the left and right drive wheels (10L), (10R) of the traveling device for traveling the traveling vehicle body (1) and the forward / reverse feed pumps (21, 22, 24, 26). The left clutch sensor (31LS) is provided with a left clutch sensor (31LS) and a right clutch sensor (31RS) for detecting the on / off of the left traveling clutch (31L) and the right traveling clutch (31R) for power transmission to the left clutch sensor (31LS). When any one of the right clutch sensor (31RS) detects the clutch disengagement, the clutch disengagement is detected in the liquid tanks (18L, 18R, 17L, 17R) arranged on the side where the clutch disengagement is detected. It is a seedling transplanting machine characterized in that the drive of the forward / reverse transfer pump (21, 22, 24, 26) is controlled so that water is sent from the liquid tank (18L, 18R, 17L, 17R) on the non-side side. ..

請求項５の本発明は、
走行車体（１）に液体を貯める前側の液体タンク（１８Ｌ、１８Ｒ）と後側の液体タンク（１７Ｌ、１７Ｒ）を搭載するとともに、前記前側液体タンク（１８Ｌ、１８Ｒ）と後側液体タンク（１７Ｌ、１７Ｒ）とを前後正逆送りポンプ（２４）、（２６）で連結して苗植付装置（３）の苗移植時に潅水する苗移植機において、走行装置の前側で接地して回転する左右前輪（１２Ｌ、１２Ｒ）の回転数を検出する前輪回転センサ（２７Ｓ）を設け、該前輪回転センサ（２７Ｓ）の検出回転数が、走行速度対応回転数に対応する左右後輪（１０Ｌ、１０Ｒ）の回転数より低下すると、前記前後正逆送りポンプ（２４、２６）によって、前記後側液体タンク（１７Ｌ、１７Ｒ）から前記前側液体タンク（１８Ｌ、１８Ｒ）へ送水させることを特徴とする苗移植機である。
請求項６の本発明は、
前記傾斜検出手段（ＫＳ）が傾斜センサ（３２Ｓ）であることを特徴とする請求項１に記載の苗移植機である。 The present invention of claim 5
The front liquid tank (18L, 18R) and the rear liquid tank (17L, 17R) for storing the liquid are mounted on the traveling vehicle body (1), and the front liquid tank (18L, 18R) and the rear liquid tank (17L) are mounted. , 17R) are connected by forward / backward forward / reverse feed pumps (24) and (26) to irrigate the seedling planting device (3) at the time of seedling transplantation. A front wheel rotation sensor (27S) for detecting the rotation speed of the front wheels (12L, 12R) is provided, and the detected rotation speed of the front wheel rotation sensor (27S) corresponds to the running speed corresponding rotation speed of the left and right rear wheels (10L, 10R). Seedling transplantation characterized in that water is sent from the rear side liquid tank (17L, 17R) to the front side liquid tank (18L, 18R) by the front-rear forward / reverse feed pump (24, 26) when the number of rotations is lower than the above-mentioned rotation speed. It is a machine.
The present invention of claim 6 is
The seedling transplanter according to claim 1, wherein the tilt detecting means (KS) is a tilt sensor (32S).

請求項７の本発明は、
走行車体（１）に液体を貯める複数の液体タンク（１８Ｌ、１８Ｒ、１７Ｌ、１７Ｒ）を搭載して苗植付装置（３）の苗移植時に潅水する苗移植機において、前記複数の液体タンク（１８Ｌ、１８Ｒ、１７Ｌ、１７Ｒ）の少なくとも１つに異種の液体を貯留し、前記液体タンク（１８Ｌ、１８Ｒ、１７Ｌ、１７Ｒ）から放出される水量を増減させるタンクバルブ（５４、５５、５６、５７）を各々設け、前記潅水装置（３６）の潅水量及び異種の液体の濃度を調節する入力装置（４２）を設け、該入力装置（４２）には、潅水量を増減させる潅水量ボタン（４４、４５）と、異種の液体の濃度を増減させる濃度増減ボタン（４６、４７）を各々設け、設定した灌水を潅水装置（３６）から放出させることを特徴とする苗移植機である。 The present invention of claim 7 is
In the seedling transplanting machine in which a plurality of liquid tanks (18L, 18R, 17L, 17R) for storing liquids are mounted on the traveling vehicle body (1) and irrigated at the time of seedling transplanting of the seedling planting device (3), the plurality of liquid tanks (18L, 18R, 17L, 17R) Tank valves (54, 55, 56, 57) that store different types of liquids in at least one of 18L, 18R, 17L, 17R) and increase or decrease the amount of water discharged from the liquid tanks (18L, 18R, 17L, 17R). ) Is provided, and an input device (42) for adjusting the irrigation amount of the irrigation device (36) and the concentration of different kinds of liquids is provided, and the input device (42) is provided with an irrigation amount button (44) for increasing or decreasing the irrigation amount. , 45) and a concentration increase / decrease button (46, 47) for increasing / decreasing the concentration of different kinds of liquids, respectively, to discharge the set irrigation from the irrigation device (36).

請求項８の本発明は、
前記正逆移りポンプ（２１、２２、２４、２６）の制御装置（３０）に清掃モードを設け、前記清掃モード時に前記正逆送りポンプ（２１、２２、２４、２６）を所定時間正逆転駆動して前記液体タンク（１８Ｌ、１８Ｒ、１７Ｌ、１７Ｒ）及び連結パイプ内を循環させることを特徴とする請求項１に記載の苗移植機である。 The present invention of claim 8 is
A cleaning mode is provided in the control device (30) of the forward / reverse transfer pump (21, 22, 24, 26), and the forward / reverse feed pump (21, 22, 24, 26) is driven forward / reverse for a predetermined time in the cleaning mode. The seedling transplanter according to claim 1, wherein the liquid tank (18L, 18R, 17L, 17R) and the connecting pipe are circulated.

請求項１の発明で、複数の液体タンク１８Ｌ、１８Ｒ、１７Ｌ、１７Ｒに溜めた液体は苗植付装置３の移植動作時に消費されて一部の液体タンク１８Ｌ、１８Ｒ、１７Ｌ、１７Ｒが軽くなって走行車体１が傾くと傾斜検出手段ＫＳで傾斜方向を検出して傾斜下側の液体タンク１８Ｌ、１８Ｒ、１７Ｌ、１７Ｒから傾斜上側の液体タンク１８Ｌ、１８Ｒ、１７Ｌ、１７Ｒに液体が正逆送りポンプ２１、２２、２４、２６の駆動で送られて走行車体１の傾斜が修正されるので、苗植付装置３の苗移植が正常に行われる。 In the invention of claim 1, the liquids stored in the plurality of liquid tanks 18L, 18R, 17L, 17R are consumed during the transplanting operation of the seedling planting device 3, and some of the liquid tanks 18L, 18R, 17L, 17R become lighter. When the traveling vehicle body 1 is tilted, the tilting direction is detected by the tilt detecting means KS, and the liquid is forward / reversely fed from the liquid tanks 18L, 18R, 17L, 17R on the lower side of the slope to the liquid tanks 18L, 18R, 17L, 17R on the upper side of the slope. Since the inclination of the traveling vehicle body 1 is corrected by being driven by the pumps 21, 22, 24, and 26, the seedling transplantation of the seedling planting device 3 is normally performed.

請求項２の発明で、請求項１の効果に加えて、走行車体１の前後左右に液体タンク１８Ｌ、１８Ｒ、１７Ｌ、１７Ｒを配置するので、多くの液体を走行車体１に搭載出来て液体補給のタイミングを長く出来る効果と共に、液体タンク１８Ｌ、１８Ｒ、１７Ｌ、１７Ｒの水位が水位センサ３３ＬＳ、３３ＲＳ、３４ＲＬ、３４ＲＳで検出されて、その水位が同一になるように正逆移りポンプ２１、２２、２４、２６を駆動して液体を移動するので、一部の液体タンクの液体が減少しても走行車体１の重量バランスが崩れることなく、苗植付装置３が苗を良好に移植できる。 In the invention of claim 2, in addition to the effect of claim 1, since the liquid tanks 18L, 18R, 17L, and 17R are arranged on the front, rear, left and right sides of the traveling vehicle body 1, a large amount of liquid can be mounted on the traveling vehicle body 1 and the liquid is replenished. The water levels of the liquid tanks 18L, 18R, 17L, and 17R are detected by the water level sensors 33LS, 33RS, 34RL, and 34RS, and the forward and reverse transfer pumps 21, 22, and so that the water levels are the same. Since the liquids are moved by driving 24 and 26, the seedling planting device 3 can satisfactorily transplant the seedlings without losing the weight balance of the traveling vehicle body 1 even if the liquid in a part of the liquid tanks decreases.

請求項３の発明で、請求項１の効果に加えて、走行車体１の傾きは前後方向よりも左右方向が大きくなる傾向があるが、その走行車体１の左右傾きを傾斜検出手段ＫＳで検出して傾きが大きくなる前に修正するので、苗植付装置３の苗移植を正常に維持出来る。 In the invention of claim 3, in addition to the effect of claim 1, the inclination of the traveling vehicle body 1 tends to be larger in the left-right direction than in the front-rear direction, but the left-right inclination of the traveling vehicle body 1 is detected by the inclination detecting means KS. Since the correction is made before the inclination becomes large, the seedling transplantation of the seedling planting device 3 can be maintained normally.

請求項４の発明で、走行車体１を走行させる走行装置は左走行クラッチ３１Ｌと右走行クラッチ３１Ｒを切操作することでその切操作側を旋回内側にして旋回するが、正逆移りポンプ２１、２２、２４、２６が旋回内側の液体タンク１８Ｌ、１８Ｒ、１７Ｌ、１７Ｒに液体を送って旋回内側の車体重量を重くすることで旋回動作が安定して操縦操作も容易になり、苗植付装置３の苗移植姿勢が安定する。 According to the invention of claim 4, the traveling device for traveling the traveling vehicle body 1 turns by turning the left traveling clutch 31L and the right traveling clutch 31R so that the turning operation side is inside the turning operation. 22, 24, 26 send liquid to the liquid tanks 18L, 18R, 17L, 17R inside the turning to increase the weight of the vehicle body inside the turning, so that the turning operation is stable and the maneuvering operation becomes easy, and the seedling planting device The seedling transplanting posture of 3 is stable.

請求項５の発明で、前輪回転センサ２７Ｓで検出する左右前輪１２Ｌ、１２Ｒの回転数が左右後輪１０Ｌ、１０Ｒの回転数より少なくなれば走行車体１の前側が浮き上がっている可能性があるので、前側の液体タンク１８Ｌ、１８Ｒに送水して走行車体１の前側を重くして前後水平に戻して苗植付装置３の苗移植姿勢を安定するが、直接走行車体１の前浮き上がりを検出するので、前側液体タンク１８Ｌ、１８Ｒと後側液体タンク１７Ｌ、１７Ｒの容積形状が異なっても走行車体１の前後傾斜修正が可能である。 In the invention of claim 5, if the rotation speeds of the left and right front wheels 12L and 12R detected by the front wheel rotation sensor 27S are less than the rotation speeds of the left and right rear wheels 10L and 10R, the front side of the traveling vehicle body 1 may be lifted. , Water is sent to the liquid tanks 18L and 18R on the front side to make the front side of the traveling vehicle body 1 heavier and return to the front-rear horizontal position to stabilize the seedling transplanting posture of the seedling planting device 3, but directly detect the front floating of the traveling vehicle body 1. Therefore, even if the volume shapes of the front liquid tanks 18L and 18R and the rear liquid tanks 17L and 17R are different, the front-rear inclination of the traveling vehicle body 1 can be corrected.

請求項６の発明で、走行車体１の前後左右傾きを傾斜センサ３２Ｓで検出するので、傾斜検出精度が高く素早く走行車体１の傾き修正が行われる。 According to the sixth aspect of the present invention, since the front / rear / left / right tilt of the traveling vehicle body 1 is detected by the inclination sensor 32S, the inclination detection accuracy is high and the inclination of the traveling vehicle body 1 is quickly corrected.

請求項７の発明で、作業者が潅水と同時に行う施肥や消毒の薬剤混合率を変更設定できるので、作業が効率的である。 According to the invention of claim 7, the work is efficient because the chemical mixing ratio for fertilization and disinfection performed by the operator at the same time as irrigation can be changed and set.

請求項８の発明で、移植作業後に行う移植作業機の清掃で、液体タンク１８Ｌ、１８Ｒ、１７Ｌ、１７Ｒ内や正逆送りポンプ２１、２２、２４、２６及び配管の清掃が容易に行える。 According to the invention of claim 8, by cleaning the transplanting work machine performed after the transplanting work, the inside of the liquid tanks 18L, 18R, 17L, 17R, the forward / reverse feed pumps 21, 22, 24, 26 and the piping can be easily cleaned.

本発明の実施の形態にかかる苗移植機を模式的に表した平面図である。It is a top view which represented typically the rice transplanter which concerns on embodiment of this invention. 同苗移植機の自動制御のブロック図である。It is a block diagram of the automatic control of the same seedling transplanter. 同苗移植機の潅水量調整制御のブロック図である。It is a block diagram of the irrigation amount adjustment control of the same seedling transplanter. 同苗移植機の水位センサによる車体重量バランス制御のフローチャート図である。It is a flowchart of the body weight balance control by the water level sensor of the same seedling transplanter. 同苗移植機の旋回時の車体重量バランス制御のフローチャート図である。It is a flowchart of the body weight balance control at the time of turning of the same seedling transplanter. 同苗移植機の走行車体前部の浮き上がり検出による車体重量バランス制御のフローチャート図である。It is a flowchart of the vehicle body weight balance control by detecting the lift of the front part of the traveling vehicle body of the same seedling transplanter. 同苗移植機の行車体の傾斜検出による車体重量バランス制御のフローチャート図である。It is a flowchart of the body weight balance control by the inclination detection of the row body of the rice transplanter. 同苗移植機の傾斜センサでの車体重量バランス制御のフローチャート図である。It is a flowchart of the body weight balance control by the inclination sensor of the same seedling transplanter. 同苗移植機の液肥混合時の操作フローチャート図である。It is an operation flowchart figure at the time of liquid fertilizer mixing of the same seedling transplanter.

以下、本発明の苗移植機の潅水装置を図面に示す実施例を参照しながら説明する。なお、実施例の説明においては、機体の前進方向に向かって左右方向をそれぞれ左、右といい、前進方向を前、後進方向を後というが、本発明の構成を限定するものでは無い。また、本発明の潅水とは純粋な水にかぎらず、液肥などの液体も含む。 Hereinafter, the irrigation apparatus of the seedling transplanter of the present invention will be described with reference to the examples shown in the drawings. In the description of the embodiment, the left and right directions are referred to as left and right, respectively, the forward direction is referred to as forward, and the reverse direction is referred to as backward toward the forward direction of the aircraft, but the configuration of the present invention is not limited. Further, the irrigation of the present invention is not limited to pure water, but also includes liquids such as liquid fertilizer.

図１は、苗移植機の簡略平面図を示している。 FIG. 1 shows a simplified plan view of the rice transplanter.

走行車体１の前側から後側に向けて、原動ボックス２と苗植付装置３と苗タンク４を搭載し、最後部に操作部６を設け、後方に向けてループ状のハンドル杆５を設けて、作業者が走行車体１の後方を歩きながらハンドル杆５を持って操縦操作を行う。 A driving box 2, a seedling planting device 3, and a seedling tank 4 are mounted from the front side to the rear side of the traveling vehicle body 1, an operation unit 6 is provided at the rearmost portion, and a loop-shaped handle rod 5 is provided toward the rear. Then, the operator walks behind the traveling vehicle body 1 and holds the handle rod 5 to perform the maneuvering operation.

苗タンク４にはトレイ切れセンサ４Ｓを設けて、苗タンク４上のトレイ切れを検出して作業者にブザー等で報知し、操作部６には、操作パネル７と水量調節ボタン８を設けて、作業者が作業条件を設定するようにしている。 The seedling tank 4 is provided with a tray out sensor 4S to detect the tray out on the seedling tank 4 and notify the operator with a buzzer or the like, and the operation unit 6 is provided with an operation panel 7 and a water amount adjustment button 8. , The worker sets the working conditions.

エンジンを搭載した原動ボックス２から走行車体１の左右に設ける左右走行伝動ケース９Ｌ、９Ｒに動力を伝動し、さらに左右後輪１０Ｌ、１０Ｒに動力を伝動し、さらに左右走行伝動ケース９Ｌ、９Ｒから前輪支持アーム１１Ｌ、１１Ｒを介して左右前輪１２Ｌ、１２Ｒを游転可能に軸支する。左右前輪１２Ｌ、１２Ｒには前輪回転センサ２７Ｓを設けて接地して回転する速度を検出している。 Power is transmitted from the driving box 2 equipped with the engine to the left and right traveling transmission cases 9L and 9R provided on the left and right of the traveling vehicle body 1, and further the power is transmitted to the left and right rear wheels 10L and 10R, and further from the left and right traveling transmission cases 9L and 9R. The left and right front wheels 12L and 12R are pivotally supported via the front wheel support arms 11L and 11R. Front wheel rotation sensors 27S are provided on the left and right front wheels 12L and 12R to detect the speed at which they touch the ground and rotate.

走行車体１の前端には畝に接地して回転する畝端センサローラ２８を設け、畝の終端に達して畝端センサローラ２８が下方へ落ちることで畝の終端に達したことを報知するようにしている。 A ridge sensor roller 28 that rotates in contact with the ridge is provided at the front end of the traveling vehicle body 1, and the ridge sensor roller 28 reaches the end of the ridge and falls downward to notify that the end of the ridge has been reached. I have to.

左右走行伝動ケース９Ｌ、９Ｒには後タンク支柱１３Ｆ、１３Ｒを介して左右後液体タンク１７Ｌ、１７Ｒを設け、前伝動ケース１１Ｌ、１１Ｒには前タンク支柱１４Ｆ、１４Ｒを介して左右前液体タンク１８Ｌ、１８Ｒを設けている。右後液体タンク１７Ｌ、１７Ｒと左右前液体タンク１８Ｌ、１８Ｒは、平面視で同じ面積で、液量が水深（水位）に比例するようにしている。 The left and right traveling transmission cases 9L and 9R are provided with the left and right rear liquid tanks 17L and 17R via the rear tank columns 13F and 13R, and the front transmission cases 11L and 11R are provided with the left and right front liquid tanks 18L via the front tank columns 14F and 14R. , 18R is provided. The right rear liquid tanks 17L and 17R and the left and right front liquid tanks 18L and 18R have the same area in a plan view, and the amount of liquid is proportional to the water depth (water level).

また、前液体タンク１８Ｌ、１８Ｒは左右前送りポンプ２２を介して前パイプ２０で連結し、後液体タンク１７Ｌ、１７Ｒは左右後送りポンプ２１を介して後パイプ１９で連結している。さらに、前左液体タンク１８Ｌと後左液体タンク１７Ｌは、左前後送りポンプ２６を介して左パイプ２５で連結し、前右液体タンク１８Ｒと後右液体タンク１７Ｒは、右前後送りポンプ２４を介して右パイプ２３で連結している。 Further, the front liquid tanks 18L and 18R are connected by the front pipe 20 via the left and right front feed pumps 22, and the rear liquid tanks 17L and 17R are connected by the rear pipe 19 via the left and right rear feed pumps 21. Further, the front left liquid tank 18L and the rear left liquid tank 17L are connected by the left pipe 25 via the left front / rear feed pump 26, and the front right liquid tank 18R and the rear right liquid tank 17R are connected via the right front / rear feed pump 24. Is connected by the right pipe 23.

図２は、苗移植機の水平自動制御ブロック図で、制御装置３０への入力は、左右の前輪回転センサ２７Ｓからの回転数と、左走行クラッチ３１Ｌの左クラッチセンサ３１ＬＳのオン・オフ信号と、右走行クラッチ３１Ｒの右クラッチセンサ３１ＲＳのオン・オフ信号と、角速度センサ３２Ｓによる走行車体１の傾斜角度と、左前液体タンク１８Ｌの水位を測る左前水位センサ３３ＬＳの水位と、右前液体タンク１８Ｒの水位を測る右前水位センサ３３ＲＳの水位と、左後液体タンク１７Ｌの水位を測る左後水位センサ３４ＬＳの水位と、右後液体タンク１７Ｒの水位を測る右後水位センサ３４ＲＳの水位である。 FIG. 2 is a horizontal automatic control block diagram of the seedling transplanter, and the inputs to the control device 30 are the number of rotations from the left and right front wheel rotation sensors 27S and the on / off signal of the left clutch sensor 31LS of the left traveling clutch 31L. , The on / off signal of the right clutch sensor 31RS of the right traveling clutch 31R, the inclination angle of the traveling vehicle body 1 by the angular speed sensor 32S, the water level of the left front water level sensor 33LS for measuring the water level of the left front liquid tank 18L, and the water level of the right front liquid tank 18R. The water level of the right front water level sensor 33RS for measuring the water level, the water level of the left rear water level sensor 34LS for measuring the water level of the left rear liquid tank 17L, and the water level of the right rear water level sensor 34RS for measuring the water level of the right rear liquid tank 17R.

また、制御装置３０からの出力は、潅水ポンプ３６を駆動する潅水ポンプモータ３５と、左右前送りポンプ２２を駆動する左右前送りポンプモータ３７と、左右後送りポンプ２１を駆動する左右後送りポンプモータ３８と、左前後送りポンプ２６を駆動する左前後送りポンプモータ３９と、右前後送りポンプ２４を駆動する右前後送りポンプモータ４０である。 The outputs from the control device 30 are the irrigation pump motor 35 that drives the irrigation pump 36, the left and right forward pump motors 37 that drive the left and right forward pumps 22, and the left and right rearward pumps that drive the left and right rearward pumps 21. The motor 38, the left front-rear feed pump motor 39 for driving the left front-rear feed pump 26, and the right front-rear feed pump motor 40 for driving the right front-rear feed pump 24.

図３に示すのは、入力装置４２に設ける潅水量増ボタン４４、潅水量減ボタン４５、濃度増ボタン４６、濃度減ボタン４７、及び第１から第４のタンクバルブ開閉スイッチ４８、４９、５０、５１の操作により、前液体タンク１８Ｌ、１８Ｒ及び後液体タンク１７Ｌ、１７Ｒに各々設けた第１から第４のタンクバルブ５４、５５、５６、５７の開度を増減させる、あるいは第１から第４のタンクバルブ５４、５５、５６、５７の開閉を操作することで、前液体タンク１８Ｌ、１８Ｒ及び後液体タンク１７Ｌ、１７Ｒに貯留した灌水用の水と、前液体タンク１８Ｌ、１８Ｒ及び後液体タンク１７Ｌ、１７Ｒの少なくとも１つに貯留した肥料や薬剤（殺菌剤、忌避剤等）を混和させ、所定の肥料濃度または薬剤濃度で潅水させる制御を示す制御ブロック図である。 FIG. 3 shows an irrigation amount increase button 44, an irrigation amount decrease button 45, a concentration increase button 46, a concentration decrease button 47, and first to fourth tank valve open / close switches 48, 49, 50 provided in the input device 42. , 51 increases or decreases the opening degree of the first to fourth tank valves 54, 55, 56, 57 provided in the front liquid tanks 18L, 18R and the rear liquid tanks 17L, 17R, respectively, or the first to first. By operating the opening and closing of the tank valves 54, 55, 56, 57 of No. 4, the water for irrigation stored in the front liquid tanks 18L, 18R and the rear liquid tanks 17L, 17R, and the front liquid tanks 18L, 18R and the rear liquid It is a control block diagram which shows the control which mixes the fertilizer and the chemicals (bactericidal agent, repellent, etc.) stored in at least one of the tanks 17L, 17R, and irrigates with a predetermined fertilizer concentration or a chemical concentration.

図４は、左右後送りポンプ２１と左右前送りポンプ２２と右前後送りポンプ２４と左前後送りポンプ２６の自動制御フローチャートである。 FIG. 4 is an automatic control flowchart of the left / right rear feed pump 21, the left / right front feed pump 22, the right front / rear feed pump 24, and the left front / rear feed pump 26.

まず、ステップＳ１で後液体タンク１７Ｌ、１７Ｒと前液体タンク１８Ｌ、１８Ｒの水位を各水位センサで検出し、ステップＳ２で相互の水位差を算出して、ステップＳ３で水位の差があるのは前後か左右かを判断する。 First, in step S1, the water levels of the rear liquid tanks 17L and 17R and the front liquid tanks 18L and 18R are detected by each water level sensor, the mutual water level difference is calculated in step S2, and the difference in water level is found in step S3. Judge whether it is front / back or left / right.

水位の差が前後であれば、ステップＳ３０で水位が高いのが後であれば、ステップＳ３０１，３０２で右前後送りポンプ２４か左前後送りポンプ２６を前送りに駆動し、ステップＳ３０で水位が高いのが前であれば、ステップＳ３０３，３０４で右前後送りポンプ２４か左前後送りポンプ２６を後送りに駆動する。 If the difference in water level is before and after, if the water level is high in step S30 later, the right front-rear feed pump 24 or left front-rear feed pump 26 is driven forward in steps S301 and 302, and the water level is raised in step S30. If the higher is the front, the right front / rear feed pump 24 or the left front / rear feed pump 26 is driven to the rear feed in steps S303 and 304.

また、ステップＳ３で水位の差が左右であれば、ステップＳ３１の水位高さの左右判断で右であれば、ステップＳ３１１，３１２で左右後送りポンプ２１か左右前送りポンプ２２を左送りに駆動し、ステップＳ３１の水位高さの左右判断で左であれば、ステップＳ３１３，３１４で左右後送りポンプ２１か左右前送りポンプ２２を右送りに駆動する。 If the difference in water level is left and right in step S3, and if the difference in water level in step S31 is right, then the left and right rear feed pumps 21 or left and right front feed pumps 22 are driven to the left in steps S311 and 312. If the water level in step S31 is left and right, the left and right rear feed pumps 21 or the left and right front feed pumps 22 are driven to the right in steps S313 and 314.

なお、ステップＳ３で水位差が前後と左右の両方の場合は次に述べるように、前後の方を優先して処理することで移植を適正に行うことが出来る。 When the water level difference is both front and back and left and right in step S3, the transplant can be properly performed by treating the front and back with priority as described below.

即ち、ステップＳ３の判断で、水位の差が前後と左右の両方であれば、ステップＳ４で水位が高いのは左か右を判断し、右であれば、ステップＳ４０Ｒ１で左右前送りポンプ２２及び左右後送りポンプ２１を作動させ、ステップＳ４０Ｒ２で右前液体タンク１８Ｒ及び右後液体タンク１７Ｒから左前液体タンク１８Ｌ及び左後液体タンク１７Ｌに移動させる。そして、ステップＳ４１で前後を判断して後であればステップＳ４２、４３で右前後送りポンプ２４を駆動し、水を前送りにし、前であればステップＳ４４、４５で右前後送りポンプ２４を駆動し、水を後送りにする。 That is, in the judgment of step S3, if the difference in water level is both front and back and left and right, it is judged in step S4 that the water level is high on the left or right, and if it is on the right, the left and right forward pump 22 and the left and right forward pump 22 and in step S40R1. The left and right rear feed pumps 21 are operated, and in step S40R2, the right front liquid tank 18R and the right rear liquid tank 17R are moved to the left front liquid tank 18L and the left rear liquid tank 17L. Then, the front-rear direction is determined in step S41, and if it is after, the right front-rear feed pump 24 is driven in steps S42 and 43 to advance the water, and if it is before, the right front-rear feed pump 24 is driven in steps S44 and 45. And put the water back.

ステップＳ４で水位が高いのが左であれば、ステップＳ４０Ｌ１で左右前送りポンプ２２及び左右後送りポンプ２１を作動させ、ステップＳ４０Ｌ２で左前液体タンク１８Ｌ及び左後液体タンク１７Ｌから右前液体タンク１８Ｒ及び右後液体タンク１７Ｒに移動させる。そして、ステップＳ４６で前後を判断して、後であればステップＳ４７、４８で左前後送りポンプ２６を駆動し、水を前送りにし、前であればステップＳ４９、５０で左前後送りポンプ２６を駆動し、水を後送りにする。 If the water level is high on the left in step S4, the left and right front feed pumps 22 and the left and right rear feed pumps 21 are operated in step S40L1, and the left front liquid tank 18L and the left rear liquid tank 17L to the right front liquid tank 18R and the right front liquid tank 18R in step S40L2. Move to the right rear liquid tank 17R. Then, the front-rear direction is determined in step S46, and if it is later, the left front-rear feed pump 26 is driven in steps S47 and 48 to feed the water forward, and if it is before, the left front-rear feed pump 26 is driven in steps S49 and 50. Drive and postpone water.

図５は、走行車体１の旋回に伴う水移動の制御で、旋回内側に水を移動して車体を安定させるようにした。 FIG. 5 shows the control of water movement accompanying the turning of the traveling vehicle body 1 so that the water is moved inside the turning to stabilize the vehicle body.

左右後輪１０Ｌ、１０Ｒ０と前輪１２Ｌ、１２Ｒに動力を伝動する走行伝動ケース９Ｌ、９Ｒ内に設けるサイドクラッチは切にするとその側を旋回内側として旋回するので、クラッチセンサの出力で送りポンプの駆動を制御する。 When the side clutches provided in the traveling transmission cases 9L and 9R that transmit power to the left and right rear wheels 10L and 10R0 and the front wheels 12L and 12R are turned off, the side clutch turns as the turning inside, so the output of the clutch sensor drives the feed pump. To control.

ステップＳ６で左クラッチセンサ３１ＬＳと右クラッチセンサ３１ＲＳの出力を検出し、ステップＳ７で走行クラッチが切りになったのは左か右を判断し、左であればステップＳ７１に移行し、右であればステップＳ８１に移行する。 In step S6, the outputs of the left clutch sensor 31LS and the right clutch sensor 31RS are detected, and in step S7, it is determined whether the traveling clutch is disengaged on the left or right. If so, the process proceeds to step S81.

ステップＳ７１では左右後送りポンプ２１と左右前送りポンプ２２を駆動して、ステップＳ７２で後液体タンク１７Ｌ、１７Ｒと前液体タンク１８Ｌ、１８Ｒの水を右から左に移動する。ステップＳ７３でクラッチセンサの出力を検出しステップＳ７４で入になればステップＳ７５で左右後送りポンプ２１と左右後送りポンプ２１を逆駆動して、ステップＳ７６で後液体タンク１７Ｌ、１７Ｒと前液体タンク１８Ｌ、１８Ｒの水を左から右に移動して戻す。 In step S71, the left and right rear feed pumps 21 and the left and right forward pumps 22 are driven, and in step S72, the water in the rear liquid tanks 17L and 17R and the front liquid tanks 18L and 18R is moved from right to left. If the output of the clutch sensor is detected in step S73 and turned on in step S74, the left and right rear feed pumps 21 and the left and right rear feed pumps 21 are reversely driven in step S75, and the rear liquid tanks 17L and 17R and the front liquid tank are driven in step S76. Move 18L and 18R water from left to right and return.

ステップＳ８１では左右後送りポンプ２１と左右後送りポンプ２１を駆動して、ステップＳ８２で後液体タンク１７Ｌ、１７Ｒと前液体タンク１８Ｌ、１８Ｒの水を左から右に移動する。ステップＳ８３でクラッチセンサの出力を検出しステップＳ８４で入になればステップＳ８５で左右後送りポンプ２１と左右後送りポンプ２１を逆駆動して、ステップＳ８６で後液体タンク１７Ｌ、１７Ｒと前液体タンク１８Ｌ、１８Ｒの水を右から左に移動して戻す。 In step S81, the left and right back feed pumps 21 and the left and right back feed pumps 21 are driven, and in step S82, the water in the rear liquid tanks 17L and 17R and the front liquid tanks 18L and 18R is moved from left to right. If the output of the clutch sensor is detected in step S83 and turned on in step S84, the left and right back feed pumps 21 and the left and right back feed pumps 21 are reversely driven in step S85, and the rear liquid tanks 17L and 17R and the front liquid tank are driven in step S86. Move 18L and 18R water from right to left and return.

図６は、走行車体１が前上がり状態になったのを検出して後液体タンク１７Ｌ、１７Ｒと前液体タンク１８Ｌ、１８Ｒの水量を調整して走行車体１の前上がりを修正する自動制御のフローチャートである。 FIG. 6 shows an automatic control that detects that the traveling vehicle body 1 is in the forward rising state and adjusts the amount of water in the rear liquid tanks 17L and 17R and the front liquid tanks 18L and 18R to correct the front rising of the traveling vehicle body 1. It is a flowchart.

ステップＳ１１で左右の前輪回転センサ２７Ｓの回転数を検出し、ステップＳ１２で左右前輪１２Ｌ、１２Ｒのどちらか一方の回転数が走行速度対応回転数未満であれば、走行車体１の前側が浮き上がっていると判断して、ステップＳ１３で右前後送りポンプ２４か左前後送りポンプ２６の何れかを駆動してステップＳ１４で水を前液体タンク１８Ｌ、１８Ｒに前送りし、ステップＳ１５で再度左右の前輪回転センサ２７Ｓの回転数を検出し、ステップＳ１６で左右前輪１２Ｌ、１２Ｒの回転数が走行速度対応回転数であると走行車体１の前側浮き上がりが解消したものとして右前後送りポンプ２４と左前後送りポンプ２６の駆動を停止する。 In step S11, the rotation speeds of the left and right front wheel rotation sensors 27S are detected, and in step S12, if the rotation speed of either the left and right front wheels 12L or 12R is less than the rotation speed corresponding to the traveling speed, the front side of the traveling vehicle body 1 is lifted. In step S13, either the right front-rear feed pump 24 or the left front-rear feed pump 26 is driven to forward the water to the front liquid tanks 18L and 18R in step S14, and the left and right front wheels are again in step S15. When the rotation speed of the rotation sensor 27S is detected and the rotation speeds of the left and right front wheels 12L and 12R are the rotation speeds corresponding to the traveling speed in step S16, it is assumed that the front side lifting of the traveling vehicle body 1 has been eliminated, and the right front-rear feed pump 24 and the left front-rear feed Stop driving the pump 26.

図７は、走行車体１の左右傾きを検出して水の移動を行う制御で、傾斜上側の液体タンクに水を移動して車体を安定させるようにした。 FIG. 7 is a control for detecting the left-right tilt of the traveling vehicle body 1 to move the water, and the water is moved to the liquid tank on the upper side of the tilt to stabilize the vehicle body.

ステップＳ２１で傾斜センサである角速度センサ３２Ｓの出力を検出し、ステップＳ２２で走行車体１の傾斜方向は左か右を判断し、左であればステップＳ２３に移行し、右であればステップＳ４１に移行する。 In step S21, the output of the angular velocity sensor 32S, which is an inclination sensor, is detected, and in step S22, the inclination direction of the traveling vehicle body 1 is determined to be left or right. Transition.

ステップＳ２３では左右後送りポンプ２１と左右前送りポンプ２２を駆動して、ステップＳ２４で後液体タンク１７Ｌ、１７Ｒと前液体タンク１８Ｌ、１８Ｒの水を右から左に移動する。ステップＳ２５で角速度センサ３２Ｓの出力を検出しステップＳ２６で走行車体１のローリング傾斜角が許容範囲になればステップＳ２７で左右後送りポンプ２１と左右前送りポンプ２２の駆動を停止する。 In step S23, the left and right rear feed pumps 21 and the left and right forward pumps 22 are driven, and in step S24, the water in the rear liquid tanks 17L and 17R and the front liquid tanks 18L and 18R is moved from right to left. When the output of the angular velocity sensor 32S is detected in step S25 and the rolling inclination angle of the traveling vehicle body 1 becomes within the allowable range in step S26, the left and right rear feed pumps 21 and the left and right forward pumps 22 are stopped in step S27.

ステップＳ４１では左右後送りポンプ２１と左右前送りポンプ２２を駆動して、ステップＳ４２で後液体タンク１７Ｌ、１７Ｒと前液体タンク１８Ｌ、１８Ｒの水を左から右に移動する。ステップＳ４３で角速度センサ３２Ｓの出力を検出しステップＳ４４で走行車体１のローリング傾斜角が許容範囲になればステップＳ４５で左右後送りポンプ２１と左右前送りポンプ２２の駆動を停止する。 In step S41, the left and right rear feed pumps 21 and the left and right forward pumps 22 are driven, and in step S42, the water in the rear liquid tanks 17L and 17R and the front liquid tanks 18L and 18R is moved from left to right. When the output of the angular velocity sensor 32S is detected in step S43 and the rolling inclination angle of the traveling vehicle body 1 becomes within the allowable range in step S44, the left and right rear feed pumps 21 and the left and right forward pumps 22 are stopped in step S45.

図８は、走行車体１の前後傾斜を検出する角速度センサ３２Ｓによる水平制御のフローチャート図である。 FIG. 8 is a flowchart of horizontal control by the angular velocity sensor 32S that detects the front-rear inclination of the traveling vehicle body 1.

ステップＳ６１で角速度センサ３２Ｓの傾斜信号を読み取り、ステップＳ６２の傾斜判断が前上がりであれば、ステップＳ６３、６４で右前後送りポンプ２４と左前後送りポンプ２６を駆動して後液体タンク１７Ｌ、１７Ｒから前液体タンク１８Ｌ、１８Ｒへ水を送り、ステップＳ６６で再び走行車体１の傾斜を読み、ステップＳ６６で傾斜角度が許容範囲になれば、ステップＳ６７で右前後送りポンプ２４と左前後送りポンプ２６の駆動を停止する。 If the tilt signal of the angular velocity sensor 32S is read in step S61 and the tilt determination in step S62 rises forward, the right front-rear feed pump 24 and the left front-rear feed pump 26 are driven in steps S63 and 64 to drive the rear liquid tanks 17L and 17R. Water is sent from to the front liquid tanks 18L and 18R, the inclination of the traveling vehicle body 1 is read again in step S66, and if the inclination angle becomes within the allowable range in step S66, the right front-rear feed pump 24 and the left front-rear feed pump 26 are made in step S67. Stop driving.

ステップＳ６２の傾斜判断が後上がりであれば、ステップＳ７１、７２で右前後送りポンプ２４と左前後送りポンプ２６を駆動して前液体タンク１８Ｌ、１８Ｒから後液体タンク１７Ｌ、１７Ｒへ水を送り、ステップＳ７３で再び走行車体１の傾斜を読み、ステップＳ７４で傾斜角度が許容範囲になれば、ステップＳ７５で右前後送りポンプ２４と左前後送りポンプ２６の駆動を停止する。 If the inclination determination in step S62 rises backward, the right front-rear feed pump 24 and the left front-rear feed pump 26 are driven in steps S71 and 72 to send water from the front liquid tanks 18L and 18R to the rear liquid tanks 17L and 17R. The inclination of the traveling vehicle body 1 is read again in step S73, and when the inclination angle reaches the allowable range in step S74, the driving of the right front-rear feed pump 24 and the left front-rear feed pump 26 is stopped in step S75.

図９は、後液体タンク１７Ｌ、１７Ｒ及び前液体タンク１８Ｌ、１８Ｒの少なくとも１つに貯留した液体肥料、あるいは薬剤を混和させた潅水の混合率を調整する操作を示す。なお、液体肥料とは、ペースト肥料等の流動性のあるものである。また、薬剤とは、苗の根部、あるいは圃場で繁殖している病気の原因となる雑菌やウィルスを駆除する殺菌剤や、移植後の苗に虫や鳥獣が嫌う成分を付与する忌避剤等である。 FIG. 9 shows an operation of adjusting the mixing ratio of the liquid fertilizer stored in at least one of the rear liquid tanks 17L and 17R and the front liquid tanks 18L and 18R, or the irrigation mixed with the chemical. The liquid fertilizer is a fluid fertilizer such as paste fertilizer. In addition, the chemicals are fungicides that exterminate germs and viruses that cause diseases that are growing in the roots of seedlings or in the field, and repellents that add ingredients that insects and birds and beasts dislike to seedlings after transplanting. is there.

図９では、ステップＳ５０で濃度増ボタン４６または濃度減ボタン４７を操作して潅水中の肥料濃度、または薬剤濃度を選択し、ステップＳ５１で第１から第４のタンクバルブ開閉スイッチ４８、４９、５０、５１を操作して後液体タンク１７Ｌ、１７Ｒ及び前液体タンク１８Ｌ、１８Ｒから水及び肥料または薬剤を放出させるかどうかを各々選択し、ステップＳ５２で潅水量増ボタン４４または潅水量減ボタン４５を操作して潅水量の増減を選択すると、ステップＳ５３で設定に合わせた出力で潅水ポンプモータ３５を作動させ、潅水ポンプ３６から水が放出される。 In FIG. 9, the concentration increase button 46 or the concentration decrease button 47 is operated in step S50 to select the fertilizer concentration or the drug concentration in the irrigation water, and in step S51, the first to fourth tank valve open / close switches 48, 49, Operate 50 and 51 to select whether to release water and fertilizer or chemicals from the rear liquid tanks 17L and 17R and the front liquid tanks 18L and 18R, respectively, and in step S52, the irrigation amount increase button 44 or the irrigation amount decrease button 45. Is selected to increase or decrease the amount of irrigation, the irrigation pump motor 35 is operated with the output matched to the setting in step S53, and water is discharged from the irrigation pump 36.

上記のステップＳ５１において、第１から第４のタンクバルブ開閉スイッチ４８、４９、５０、５１のうち、任意のタンクバルブ開閉スイッチを操作して任意の液体タンクから貯留物を放出させないことにより、肥料、または薬剤が不要な場所（土壌が肥沃な圃場、ハウス内などの管理環境）やでは水だけを供給することを選択できる。また、潅水に肥料と薬剤を両方混和させている作業においては、肥料または薬剤のうち、混和が不要な場所では任意に供給を停止できるので、肥料や薬剤の消費量が抑えられると共に、過剰な肥料や薬剤の供給による弊害の発生が防止される。 In step S51 above, the fertilizer is produced by operating any of the first to fourth tank valve open / close switches 48, 49, 50, 51 to prevent the stored matter from being released from any liquid tank. Or, in places where chemicals are not required (fields with fertilizer soil, controlled environments such as in houses), or in places where chemicals are not required, only water can be supplied. In addition, in the work of mixing both fertilizer and chemicals in irrigation, the supply of fertilizer or chemicals can be stopped arbitrarily in places where mixing is not required, so the consumption of fertilizers and chemicals can be suppressed and excessive. The occurrence of harmful effects due to the supply of fertilizers and chemicals is prevented.

これにより、所定の濃度の肥料または薬剤が含まれる水が、苗の植付と共に圃場に供給され、根部が土中に定着していない状態でも苗が適量の水や肥料を吸収しやすくなるので、苗の生育が安定する。 As a result, water containing a predetermined concentration of fertilizer or chemicals is supplied to the field together with the planting of the seedlings, and the seedlings can easily absorb an appropriate amount of water or fertilizer even when the roots are not settled in the soil. , The growth of seedlings is stable.

また、植付前に苗に付着した、あるいは圃場に生息して繁殖した雑菌やウィルスを駆除することにより、苗が病気で枯れることや生育不良を起こすことが防止されると共に、収穫作物の品質や収量、あるいは商品価値（見た目等）の低下が防止される。 In addition, by exterminating germs and viruses that adhere to the seedlings or inhabit the field before planting, it is possible to prevent the seedlings from dying due to disease or causing poor growth, and the quality of the harvested crops. The decrease in yield or commercial value (appearance, etc.) is prevented.

また、植付後に虫や鳥獣が苗に近付きにくくなることにより、苗が食べられることを防止できるので、収穫量の減少が防止される。 In addition, since it becomes difficult for insects and birds and beasts to approach the seedlings after planting, it is possible to prevent the seedlings from being eaten, so that a decrease in the yield is prevented.

なお、後液体タンク１７Ｌ、１７Ｒ及び前液体タンク１８Ｌ、１８Ｒには、化学変化や相互作用により悪影響が生じない組み合わせであれば、水、肥料、薬剤を各々貯留しておき、潅水中に肥料と薬剤が所定濃度ずつ含有されてもよい。また、水の中にあらかじめ肥料や薬剤を溶かしておき、潅水時に混ざり合わせてもよい。 Water, fertilizer, and chemicals are stored in the rear liquid tanks 17L and 17R and the front liquid tanks 18L and 18R, respectively, as long as the combination does not cause an adverse effect due to chemical changes or interactions. The drug may be contained in predetermined concentrations. In addition, fertilizers and chemicals may be dissolved in water in advance and mixed at the time of irrigation.

１走行車体
３苗植付装置
１０Ｌ左駆動輪
１０Ｒ左右駆動輪
１２Ｌ左前輪
１２Ｒ左右前輪
１７Ｌ後側左液体タンク
１７Ｌ後側左液体タンク
１７Ｒ後側右液体タンク
１８Ｌ前側左液体タンク
１８Ｒ前側右液体タンク
２４前後右正逆送りポンプ
２６前後左正逆送りポンプ
３０制御装置
３１Ｌ左走行クラッチ
３１ＬＳ左クラッチセンサ
３１Ｒ右走行クラッチ
３１ＲＳ右クラッチセンサ
３２Ｓ傾斜センサ
４２入力装置
３６潅水ポンプ（潅水装置） 1 Traveling vehicle body 3 Seedling planting device 10L Left drive wheel 10R Left and right drive wheels 12L Left front wheel 12R Left and right front wheels 17L Rear left liquid tank 17L Rear left liquid tank 17R Rear right liquid tank 18L Front left liquid tank 18R Front right liquid tank 24 Front / rear right forward / reverse feed pump 26 Front / rear left forward / reverse feed pump 30 Control device 31L Left traveling clutch 31LS Left traveling clutch 31R Right traveling clutch 31RS Right clutch sensor 32S Tilt sensor 42 Input device 36 Irrigation pump (irrigation device)

Claims

In a seedling transplanter in which a plurality of liquid tanks (18L, 18R, 17L, 17R) for storing liquids are mounted on a traveling vehicle body (1) and water is irrigated at the time of seedling transplanting of the seedling planting device (3).
A forward / reverse feed pump (21, 22, 24, 26) is provided between the liquid tanks (18L, 18R, 17L, 17R) to detect the inclination of the traveling vehicle body (1) in the front-rear direction or the left-right direction. When the inclination of the traveling vehicle body (1) is detected by the means (KS), the liquid tank (18L, 18R, 17L, 17R) on the lower side of the inclination is transferred to the liquid tank (18L, 18R, 17L, 17R) on the upper side of the inclination. A seedling transplanting machine characterized in that the liquid is fed by the forward / reverse feed pumps (21, 22, 24, 26) to correct the inclination of the traveling vehicle body (1).

The plurality of liquid tanks (18L, 18R, 17L, 17R) having the same flat area are arranged at symmetrical positions in the front-rear and left-right directions of the traveling vehicle body (1).
The inclination detecting means (KS) determines the inclination of the traveling vehicle body (1) by the difference in the water level of the water level sensors (33LS, 33RS, 34RL, 34RS) provided in each of the liquid tanks (18L, 18R, 17L, 17R). The seedling transplanter according to claim 1, wherein the seedling transplanter is characterized in that it is detected.

The inclination of the traveling vehicle body (1) is an inclination in the front-rear direction and a left-right direction.
The seedling transplanter according to claim 1, wherein when the inclination is detected by the inclination detecting means (KS) and the inclination is corrected, the left-right direction is prioritized over the front-rear direction.

In a seedling transplanter in which a plurality of liquid tanks (18L, 18R, 17L, 17R) for storing liquids are mounted on a traveling vehicle body (1) and water is irrigated at the time of seedling transplanting of the seedling planting device (3).
Forward and reverse feed pumps (21, 22, 24, 26) provided between the respective liquid tanks (18L, 18R, 17L, 17R) and
The left clutch (31L) that transmits power to the left and right drive wheels (10L) and (10R) of the traveling device that travels the traveling vehicle body (1) and the left clutch that detects the on / off of the right traveling clutch (31R). Equipped with a sensor (31LS) and a right clutch sensor (31RS)
When either the left clutch sensor (31LS) or the right clutch sensor (31RS) detects a clutch disengagement, the liquid tanks (18L, 18R, 17L, 17R) arranged on the side where the clutch disengagement is detected are sent to the liquid tank (18L, 18R, 17L, 17R). It is characterized in that the drive of the forward / reverse transfer pump (21, 22, 24, 26) is controlled so that water is supplied from the liquid tank (18L, 18R, 17L, 17R) on the side where the clutch disengagement is not detected. Seedling transplanting machine.

The front liquid tank (18L, 18R) and the rear liquid tank (17L, 17R) for storing the liquid are mounted on the traveling vehicle body (1), and the front liquid tank (18L, 18R) and the rear liquid tank (17L) are mounted. , 17R) are connected by forward / backward forward / reverse feed pumps (24) and (26) to irrigate the seedling planting device (3) at the time of seedling transplanting.
A front wheel rotation sensor (27S) is provided to detect the rotation speed of the left and right front wheels (12L, 12R) that rotate on the front side of the traveling device, and the detected rotation speed of the front wheel rotation sensor (27S) is the rotation speed corresponding to the traveling speed. When the rotation speed is lower than the rotation speed of the left and right rear wheels (10L, 10R) corresponding to the above, the front-rear liquid tank (17L, 17R) is changed to the front-side liquid tank (18L, 18R) by the front-rear forward / reverse feed pump (24, 26). ), A seedling transplanter characterized by sending water to.

The seedling transplanter according to claim 1, wherein the inclination detecting means (KS) is an inclination sensor (32S).

In a seedling transplanter in which a plurality of liquid tanks (18L, 18R, 17L, 17R) for storing liquids are mounted on a traveling vehicle body (1) and water is irrigated at the time of seedling transplanting of the seedling planting device (3).
A tank valve (54) that stores different types of liquids in at least one of the plurality of liquid tanks (18L, 18R, 17L, 17R) and increases or decreases the amount of water discharged from the liquid tanks (18L, 18R, 17L, 17R). , 55, 56, 57), respectively.
An input device (42) for adjusting the irrigation amount of the irrigation device (36) and the concentration of different liquids is provided.
The input device (42) is provided with an irrigation amount button (44, 45) for increasing / decreasing the amount of irrigation and a concentration increase / decrease button (46, 47) for increasing / decreasing the concentration of different kinds of liquids.
A seedling transplanter characterized by discharging the set irrigation from the irrigation apparatus (36).

A cleaning mode is provided in the control device (30) of the forward / reverse transfer pump (21, 22, 24, 26), and the forward / reverse feed pump (21, 22, 24, 26) is driven forward / reverse for a predetermined time in the cleaning mode. The seedling transplanter according to claim 1, wherein the liquid tank (18L, 18R, 17L, 17R) and the connecting pipe are circulated.