JP2022159678A - rice transplanter - Google Patents

Abstract

To provide a rice transplanter capable of saving labor of work for supplying seedling mats on a seedling tray.SOLUTION: A rice transplanter comprises a seedling planting device W located in a transplanter body rear part and including a seedling tray 22, and a seedling conveying device 30 located in a front side of the seedling tray 22 and conveying seedling mats to the seedling tray 22. The seedling conveying device 30 is configured to convey the seedling mats in a drive state and not to convey the seedling mats in a stop state, and includes a changeover part changing over the state of the seedling conveying device 30 between the drive state and the stop state, and a detection part for detecting a residual seedling amount, the amount of seedlings in the seedling mats placed on the seedling tray 22. The changeover part changes the state of the seedling conveying device 30 from the stop state to the drive state, when the detection part detects that the residual seedling amount is a prescribed first residual amount or less.SELECTED DRAWING: Figure 1

Description

TECHNICAL FIELD The present invention relates to a rice transplanter equipped with a seedling planting device having a seedling platform.

As a rice transplanter as described above, for example, one described in Patent Document 1 is already known. This rice transplanter is equipped with a spare seedling mount on the front part of the machine body. The operator can place a spare seedling mat on this spare seedling placing table.

JP 2006-168512 A

When a seedling planting operation is performed using the rice transplanter described in Patent Document 1, a worker first places a seedling mat on a seedling planting device (“seedling planting device” in Patent Document 1) on a seedling platform (Patent Document 1 Then, place it on the “seedling stand”). Also, the operator places the seedling mat supported by the seedling mat support on the preliminary seedling placement table.

The seedling mat supporting body is a device for supporting the seedling mat, for example, a scooping plate.

Then, the worker starts planting seedlings with the rice transplanter. As the planting of seedlings progresses, the number of seedlings on the seedling mat placed on the seedling placement table decreases.

When the number of seedlings placed on the seedling placement table is reduced to some extent, the operator stops planting the seedlings and stops running the rice transplanter. Next, the operator manually holds the seedling mat placed on the preliminary seedling placement table while being supported by the seedling mat support. Then, the worker separates the seedling mat from the seedling mat support and replenishes the seedling mounting table.

In this way, when the number of seedlings placed on the seedling placement table has decreased to some extent, the operator needs to replenish the seedling placement table with seedling mats. A relatively large amount of labor is required to replenish the seedling mats onto the seedling placement table.

SUMMARY OF THE INVENTION An object of the present invention is to provide a rice transplanter capable of saving labor for replenishing seedling mats to a seedling placement table.

A feature of the present invention is a seedling planting device that is positioned at the rear of the machine body and has a seedling mounting base, and a seedling conveying device that is positioned on the front side of the seedling mounting base and conveys the seedling mat to the seedling mounting base. The seedling conveying device is configured to convey the seedling mat when in a driving state and not to convey the seedling mat when in a stopped state. a switching unit for switching a state between the driving state and the stopped state; The switching section switches the state of the seedling conveying device from the stopped state to the driving state when the detection section detects that the seedling remaining amount is equal to or less than a predetermined first remaining amount.

According to the present invention, when the seedling remaining amount becomes equal to or less than the predetermined first remaining amount, the seedling conveying device is switched to the driving state. As a result, the seedling mat is conveyed to the seedling placement table by the seedling conveying device. Therefore, when the number of seedlings placed on the seedling platform is reduced to some extent, the seedling transport device can automatically replenish the seedling mat to the seedling platform.

Therefore, according to the present invention, it is possible to realize a rice transplanter capable of saving labor in the work of supplying seedling mats to the seedling placement table.

Further, in the present invention, the seedling planting device is configured to reciprocate the seedling placement table to the left and right while performing the seedling planting operation, and the switching unit changes the seedling remaining amount to the first level. It is preferable that the state of the seedling conveying device is switched from the stopped state to the driving state when the seedling placement table reciprocates left and right a predetermined number of times after the detection unit detects that the remaining amount is less than the remaining amount.

According to this configuration, it is easy to realize a configuration in which the state of the seedling conveying device is switched from the stopped state to the driving state at the timing when the seedling remaining amount reaches a predetermined remaining amount that is less than the first remaining amount.

For example, if it is known that the seedling remaining amount will be almost zero when the seedling placement table reciprocates left and right four times after the remaining seedling amount becomes equal to or less than the first remaining amount, then the "predetermined number of times is set to 4 times, the state of the seedling conveying device is switched from the stopped state to the driving state at the timing when the remaining amount of seedlings becomes almost zero. As a result, the timing at which the seedling mat is replenished to the seedling placement table becomes suitable.

Thus, according to the above configuration, it is easy to realize a rice transplanter in which the seedling mat is replenished to the seedling placing table at a suitable timing.

Furthermore, in the present invention, the seedling planting device is provided in a state in which it can swing left and right by rolling, and the seedling transport device has a plurality of transport mechanisms arranged in the left and right direction of the machine body, Each of the transport mechanisms is configured to be capable of transporting one row of the seedling mat to the seedling placement table. Each of the sections is configured so that one row of the seedling mat can be placed thereon, the detecting section is configured to detect the seedling remaining amount for each section, and the switching section is configured to , by individually controlling each of the transport mechanisms, the state of the seedling transport device can be switched between the driving state and the stopped state for each of the transport mechanisms, and one of the compartments After the detection unit detects that the seedling remaining amount is equal to or less than the first remaining amount, while the seedling placement table reciprocates left and right for the predetermined number of times, in the section different from the section When the detection unit detects that the remaining amount of seedlings has become equal to or less than the first remaining amount, the switching unit causes the seedling placement table and the seedling transport by supplying the seedling mat to the seedling placement table. It is preferable to execute posture deviation suppression control, which is control for driving each transport mechanism so as to suppress an increase in posture deviation from the apparatus.

According to this configuration, when seedling mats are replenished to a plurality of sections on the seedling placement table, the seedling planting device rolls due to the weight of the seedling mats, increasing the misalignment between the seedling placement table and the seedling conveying device. is suppressed. As a result, it is easy to avoid a situation in which the seedling mats are not normally replenished due to the positional deviation between the seedling placement table and the seedling conveying device.

More specifically, in general, rice transplanters have errors in the clutches of each row and the amount of seedlings harvested, and the consumption of seedling mats for each row may become uneven.

Here, with the above configuration, after the seedling remaining amount becomes equal to or less than the first remaining amount, the seedling is reciprocated a predetermined number of times. When seedlings are cut off in other rows as well, it is possible to determine from which row the seedling mat should be preferentially replenished, taking into account the right-and-left weight balance of the seedling placement table. That is, for example, instead of mechanically replenishing seedlings from the row where seedling shortage is first detected, it is possible to replenish seedling mats from the central row, which is less likely to affect the left-right balance.

Further, in the present invention, the switching unit may be configured such that, in the attitude deviation suppression control, the section to which the seedling mat is replenished first is the section in which the seedling remaining amount is equal to or less than the first remaining amount. It is preferable to drive each of the transport mechanisms so that the section is located at the center side in the left-right direction.

According to this configuration, when the seedling mats are replenished to the plurality of sections on the seedling placement table, the seedling mats are first replenished to the section located most centrally in the lateral direction of the machine body. As a result, the seedling planting apparatus is less likely to roll due to the weight of the seedling mat, compared to the configuration in which the seedling mat is first replenished to the section located on the outer side in the left-right direction of the machine body. As a result, an increase in the misalignment between the seedling placement table and the seedling conveying device can be reliably suppressed.

Further, in the present invention, the seedling planting device is configured to reciprocate the seedling placement table to the left and right while performing the seedling planting operation, and the switching unit changes the seedling remaining amount to the first level. It is preferable that the state of the seedling conveying device is switched from the stop state to the driving state when the seedling placement table reaches a predetermined position in the left-right direction after the detection unit detects that the remaining amount is less than the remaining amount. be.

According to this configuration, the positional relationship between the seedling platform and the seedling conveying device when the state of the seedling conveying device is switched from the stopped state to the driving state is the same each time. Therefore, it is easy to realize a rice transplanter in which the positional relationship between the seedling platform and the seedling transport device is always suitable when the seedling mat is replenished to the seedling platform. It is easy to simplify the structure, such as making only the seedling placement table movable in the left-right direction.

Further, in the present invention, after the switching unit switches the state of the seedling conveying device from the stopped state to the driving state, the detection unit detects that the seedling remaining amount is greater than the first remaining amount. In this case, it is preferable to switch the state of the seedling conveying device from the drive state to the stop state.

According to this configuration, it is easy to realize a configuration in which the state of the seedling conveying device is switched from the driving state to the stopped state when the seedling mat is sufficiently supplied to the seedling placing table by the seedling conveying device. That is, it is easy to realize a rice transplanter in which the timing of switching the state of the conveying device from the driving state to the stopped state is appropriate.

Further, in the present invention, the detection unit includes a first sensor for detecting whether or not the remaining seedling amount is equal to or less than the first remaining amount, and a second remaining amount for detecting whether the remaining seedling amount is less than the first remaining amount. and a second sensor for detecting whether the amount is less than or equal to the amount.

According to this configuration, when the seedling remaining amount becomes equal to or less than the second remaining amount, which is less than the first remaining amount, it can be detected by the second sensor. Therefore, for example, the seedling planting operation is performed in a state where the seedling mat is not placed on the seedling transport device and the seedling mat is not replenished to the seedling placement table even if the seedling remaining amount is equal to or less than the first remaining amount. is performed, and when there are only a few seedlings left on the seedling placing table, it is determined that there are only a few seedlings left on the seedling placing table based on the detection result of the second sensor. can be realized to notify the operator.

Further, in the present invention, both the first sensor and the second sensor are switches that are provided on the seedling placement table and are in contact with the seedling mat placed on the seedling placement table, The first sensor is preferably provided at a higher position than the second sensor.

According to this configuration, it is possible to realize a rice transplanter having the first sensor and the second sensor with a relatively simple configuration.

It is a left side view of a rice transplanter. It is a top view of a rice transplanter. It is a figure which shows the structure of a longitudinal feed mechanism and a lateral feed mechanism. It is a rear view which shows the structure, such as a detection part. It is a longitudinal left side view which shows the structure of a 1st sensor etc. FIG. 4 is a block diagram showing the configuration of a control unit; FIG. 4 is a flow chart of a transport control routine;

A mode for carrying out the present invention will be described based on the drawings. In the following description, the direction of arrow F shown in FIGS. 1, 2 and 5 is defined as "front", the direction of arrow B is defined as "rear", and the direction of arrow L shown in FIGS. Let the direction of the arrow R be "right". Also, the direction of arrow U shown in FIGS. 1, 4, and 5 is defined as "up", and the direction of arrow D is defined as "down".

[Overall configuration of rice transplanter]
As shown in FIG. 1, a riding-type rice transplanter A has a traveling machine body C having a pair of left and right steering wheels 10 and a pair of left and right rear wheels 11 and 11, and capable of traveling in a field. It is As shown in FIGS. 1 and 2, the central portion of the traveling machine body C is provided with a riding section 23 in which various driving operations are performed. The riding section 23 is provided on the traveling body C across the width of the traveling body C. As shown in FIG.

A seedling planting device W is supported and connected to the rear part of the traveling body C so as to be able to move up and down, and the seedling planting device W is configured to be able to plant seedlings in a field. A pair of left and right steering wheels 10 are provided at the front part of the traveling machine body C and are configured to be able to change the direction of the traveling machine body C, and a pair of left and right rear wheels 11 are provided at the rear part of the traveling machine body C. It is The seedling planting device W is connected to the rear portion of the traveling body C via a planting link mechanism 17 so as to be able to move up and down. Thus, the seedling planting device W is provided at the rear part of the rice transplanter A. As shown in FIG. The planting link mechanism 17 is moved up and down by the elongating and retracting operation of the hydraulic cylinder 16 for elevating.

In addition, in FIG. 1, the seedling planting apparatus W in the raised position is indicated by a solid line. Also, the seedling planting device W in the lowered position is indicated by a phantom line. The position of the seedling planting device W changes between the raised position and the lowered position by the extension and contraction operation of the lifting hydraulic cylinder 16 .

In addition, the seedling planting device W is provided so as to be able to roll with respect to the traveling body C. As shown in FIG. That is, the seedling planting device W is provided in a state in which it can swing left and right by being rolled.

An engine 13 capable of driving the traveling body C and an opening/closing bonnet 12 are provided in the front part of the traveling body C. - 特許庁The bonnet 12 has an inclined surface that slopes rearward and upward, and is configured to accommodate the engine 13 . Although not described in detail, a known HST (hydrostatic continuously variable transmission, not shown) as a transmission mechanism for transmitting the power of the engine 13 to the steered wheels 10 and/or the rear wheels 11, and A transmission TM (see FIG. 3) is provided. The power of the engine 13 is transmitted to the steered wheels 10 and the rear wheels 11 through the transmission mechanism provided in the machine body, and the power after the transmission is planted through an electric motor-driven planting clutch (not shown). It is transmitted to the device W.

As shown in FIGS. 1 and 2, the seedling planting device W includes a plurality of (eg, four) transmission cases 18, a plurality of (eg, eight) rotation cases 19, a leveling float 21, and a seedling platform 22. and is provided. The rotating case 19 is rotatably supported on the left and right sides of the rear portion of each transmission case 18 . A pair of rotary planting arms 20 are provided at both ends of each rotary case 19 . The ground leveling float 21 is for leveling the surface of the field, and the seedling planting apparatus W is provided with a plurality of the ground leveling floats 21 . A seedling mat M (see FIG. 5), which is a mat-shaped seedling for planting, is placed on the seedling placing table 22 .

Thus, the rice transplanter A is provided with the seedling planting device W which is located at the rear part of the machine body and has the seedling platform 22 .

The seedling planting device W rotates each rotary case 19 by the power transmitted from the transmission case 18 while driving the seedling placement table 22 to reciprocate and laterally feed the seedling placement table 22 to the left and right. Seedlings are alternately taken out by an arm 20 and planted on the surface of a field. That is, the seedling planting device W is configured to plant seedlings by planting arms 20 provided on a plurality of rotating cases 19 .

[Structures of Vertical Feed Mechanism and Horizontal Feed Mechanism]
As shown in FIG. 3 , the seedling planting apparatus W has a vertical feeding mechanism 82 and a horizontal feeding mechanism 83 .

The traverse mechanism 83 has a traverse shaft 83a and a traverse member 83b. The transverse feed shaft 83a is rotated by power from the transmission TM.

The traverse member 83b is attached to the traverse shaft 83a so as to be rotatable relative to the traverse shaft 83a and slidable relative to the traverse shaft 83a. Further, the lateral feeding member 83b is connected to the seedling placement table 22. As shown in FIG.

When the traverse shaft 83a rotates, the traverse member 83b is reciprocated in the extending direction of the traverse shaft 83a by the spiral feed groove formed in the traverse shaft 83a. As a result, the seedling placement table 22 is reciprocated to the left and right. With this configuration, the seedling planting device W reciprocates the seedling placement table 22 left and right while performing the seedling planting operation by the planting arm 20 .

That is, the seedling planting apparatus W is configured to reciprocate the seedling placement table 22 left and right while performing the seedling planting operation. By reciprocating the seedling mounting table 22 to the left and right, the position of the seedling mounting table 22 with respect to the traveling machine body C changes in the horizontal direction.

As shown in FIG. 3, the vertical feed mechanism 82 has a vertical feed shaft 82a, a first transmission arm 82b, a second transmission arm 82c, a passive arm 82d, a one-way clutch 82e, a drive shaft 82f, and a vertical feed belt 82g. is doing.

Here, the rice transplanter A in this embodiment is for 8-row planting. That is, eight seedling mats M can be placed on the seedling placing table 22 . Therefore, eight vertical feed belts 82g are provided in this embodiment. However, the present invention is not limited to this, and the number of vertical feed belts 82g may be seven or less, or may be nine or more.

The vertical feed shaft 82a is rotated by power from the transmission TM. Also, the first transmission arm 82b and the second transmission arm 82c are fixed to the vertical feed shaft 82a so as not to be relatively rotatable with respect to the vertical feed shaft 82a. The first transmission arm 82b is positioned to the left of the second transmission arm 82c.

The passive arm 82d is connected to the drive shaft 82f via a one-way clutch 82e. The vertical feed belt 82g is configured to rotate as the drive shaft 82f rotates.

When the seedling platform 22 reaches the left stroke end (corresponding to the "predetermined position in the left-right direction" according to the present invention), the passive arm 82d enters the rotation range of the first transmission arm 82b. This brings the first transmission arm 82b into contact with the passive arm 82d. The power of the vertical feed shaft 82a is transmitted to the drive shaft 82f via the first transmission arm 82b, the passive arm 82d, and the one-way clutch 82e.

As a result, the drive shaft 82f rotates by the set rotation angle, and the vertical feed belt 82g rotates. The amount of rotation of the vertical feed belt 82g at this time is the amount of rotation corresponding to a predetermined feed distance.

Also, when the seedling platform 22 reaches the right stroke end, the passive arm 82d enters the rotation range of the second transmission arm 82c. As a result, the second transmission arm 82c contacts the passive arm 82d. The power of the vertical feed shaft 82a is transmitted to the drive shaft 82f via the second transmission arm 82c, the passive arm 82d, and the one-way clutch 82e.

As a result, the drive shaft 82f rotates by the set rotation angle, and the vertical feed belt 82g rotates. The amount of rotation of the vertical feed belt 82g at this time is the amount of rotation corresponding to a predetermined feed distance.

Here, the vertical feed belt 82g is configured to contact the seedling mat M (see FIG. 5) placed on the seedling placement table 22. As shown in FIG. Therefore, the seedling mat M placed on the seedling placement table 22 is moved downward by the rotation of the vertical feed belt 82g.

With the configuration described above, the seedling mat M placed on the seedling mounting table 22 is moved downward by a predetermined feed distance each time the seedling mounting table 22 reaches the left and right stroke ends. .

In addition, in FIG. 2, the seedling platform 22 positioned at the left stroke end is indicated by a solid line. Also, the right end of the seedling platform 22 positioned at the right stroke end is indicated by a phantom line.

As shown in FIG. 2, when the seedling mounting table 22 is positioned at the left stroke end, the seedling mounting table 22 is positioned in the horizontal direction of the machine body at a position corresponding to a spare seedling conveying device 30 which will be described later. there is In other words, when the seedling platform 22 is positioned at the left stroke end, the position of the seedling platform 22 and the position of the spare seedling conveying device 30 in the lateral direction of the machine body match.

[Regarding the spare seedling transport device]
As shown in FIGS. 1 and 2, a preliminary seedling conveying device 30 (corresponding to the “seedling conveying device” according to the present invention) is provided above the riding section 23 . The preliminary seedling conveying device 30 is configured to convey the seedling mat M (see FIG. 5) to the seedling placement table 22 . The preliminary seedling conveying device 30 will be described below.

The spare seedling conveying device 30 overlaps the boarding seat 23A of the boarding section 23 in plan view. In addition, the preliminary seedling conveying device 30 is located on the front side of the seedling placing table 22 .

Thus, the rice transplanter A is provided with the preliminary seedling conveying device 30 which is positioned in front of the seedling mounting table 22 and conveys the seedling mat M to the seedling mounting table 22 .

The preliminary seedling conveying device 30 has an ascending portion 31 and a descending portion 32 . The rising part 31 is located in the front part of the preliminary seedling conveying device 30 . In addition, the ascending portion 31 is inclined so as to be positioned upward toward the rear side. That is, the ascending portion 31 is provided in a state of being inclined rearwardly upward. Further, the ascending portion 31 is configured to be able to swing up and down around the lateral axis X1 of the rear end portion of the fuselage.

That is, the ascending portion 31 is located in the front portion of the preliminary seedling conveying device 30 and is provided in a state of being inclined rearwardly upward.

The descending portion 32 extends rearward from the rear end of the ascending portion 31 . Further, the descending portion 32 is inclined so as to be positioned downward toward the rear side. In other words, the descending portion 32 is provided in a state of being inclined rearwardly downward.

In this manner, the descending portion 32 extends rearward from the rear end of the ascending portion 31 and is provided in a state of being inclined rearwardly downward.

A plurality of transport mechanisms 40 are provided in the ascending portion 31 . The multiple transport mechanisms 40 are arranged side by side in the left-right direction. That is, the preliminary seedling conveying device 30 has a plurality of conveying mechanisms 40 arranged in the lateral direction of the machine body. Here, as described above, the rice transplanter A in this embodiment is for 8-row planting. That is, eight seedling mats M can be placed on the seedling placing table 22 . In this embodiment, the number of transport mechanisms 40 provided matches the number of rows of seedling mats M that can be placed on the seedling placement table 22 . That is, in this embodiment, the number of transport mechanisms 40 provided is eight.

As shown in FIGS. 1 and 2, each transport mechanism 40 has an endless rotating belt 41 and a belt transport motor 42 . The belt conveying motor 42 is configured to drive the endless rotating belt 41 to rotate. The belt conveying motor 42 is driven by electric power supplied from a battery (not shown) mounted on the rice transplanter A. When the endless rotating belt 41 is driven to rotate, the endless rotating belt 41 is driven so that the upper surface of the endless rotating belt 41 moves rearward and the lower surface of the endless rotating belt 41 moves forward. to rotate.

When the belt conveying motor 42 is driven while the seedling mat M is placed on the upper surface of the endless rotating belt 41 , the seedling mat M is conveyed rearward by the endless rotating belt 41 . As a result, the ascending section 31 conveys the seedling mat M rearward and delivers it to the descending section 32 .

The seedling mat M transferred from the ascending portion 31 to the descending portion 32 is guided to the seedling placing table 22 below while sliding on the descending portion 32 . That is, the seedling mat M is supplied to the seedling placement table 22 by sliding down the descending portion 32 .

In this manner, the preliminary seedling conveying device 30 is configured such that the seedling mat M transported rearward by the ascending portion 31 slides down the descending portion 32, thereby supplying the seedling mat M to the seedling placement table 22. ing. Further, each transport mechanism 40 is configured to be able to transport one seedling mat M to the seedling placement table 22 .

With the configuration described above, the rising portion 31 can transport the seedling mats M for eight rows to the rear side. Further, the descending portion 32 has a width that allows the eight seedling mats M to be guided to the seedling placement table 22 . As a result, the preliminary seedling conveying device 30 in this embodiment can convey eight seedling mats M to the seedling placement table 22 .

Further, with the configuration described above, the preliminary seedling conveying device 30 conveys the seedling mat M when it is in the driving state. The drive state is a state in which the preliminary seedling conveying device 30 is being driven. More specifically, the driving state is a state in which the endless rotating belt 41 is driven.

Further, due to the configuration described above, the preliminary seedling conveying device 30 does not convey the seedling mat M when it is in the stopped state. The stopped state is a state in which the preliminary seedling conveying device 30 is stopped. More specifically, the stopped state is a state in which the endless rotating belt 41 is stopped.

That is, the preliminary seedling conveying device 30 is configured to convey the seedling mats M when it is in the driving state, and not to convey the seedling mats M when it is in the stopped state.

As shown in FIG. 1, the traveling machine body C is provided with left and right side frames 24, 24, and the side frames 24, 24 stand upward on both the left and right sides of the boarding seat 23A. A rear support frame portion 25 is connected to the side frames 24 , 24 . The upper end portion of the rear support frame portion 25 extends along the machine body lateral axis X1.

The lower end portions of the left and right end portions of the rear support frame portion 25 are connected to the side frames 24, 24, respectively. A rear end portion of the ascending portion 31 is pivotably connected to an upper end portion of the rear support frame portion 25 . A front end portion of the descending portion 32 is supported by the rear support frame portion 25 .

Front support frame portions 26 , 26 are provided on both left and right sides of the bonnet 12 . An electric hydraulic cylinder 28 and a link mechanism 33 are connected to each of the front support frame portions 26 , 26 . The link mechanism 33 is pivotally supported by the front support frame portion 26 and the support receiving portion 34 at the front portion of the ascending portion 31, respectively. Further, the electric hydraulic cylinder 28 is pivotally supported by the front support frame portion 26 and the link mechanism 33, and the extension and contraction of the electric hydraulic cylinder 28 causes the link mechanism 33 to swing up and down, and the support receiving portion 34 to move up and down. do. As a result, the ascending portion 31 is configured to be vertically swingable about the lateral axis X1 of the machine body.

[About the detector]
As shown in FIG. 4 , the rice transplanter A has a detector 50 . The detection unit 50 is configured to detect the seedling remaining amount. The remaining amount of seedlings is the amount of seedlings on the seedling mat M placed on the seedling placement table 22 .

That is, the rice transplanter A includes a detection unit 50 that detects the remaining amount of seedlings, which is the amount of seedlings on the seedling mat M placed on the seedling placement table 22 .

The detection unit 50 will be described below.

As shown in FIG. 4 , the detection unit 50 has multiple first sensors 51 and multiple second sensors 52 . Both the first sensors 51 and the second sensors 52 are provided on the seedling placement table 22 .

In addition, as shown in FIGS. 2 and 4, the seedling platform 22 is configured to have eight sections 22a arranged in the left-right direction. That is, the seedling platform 22 has a plurality of sections 22a arranged in the left-right direction of the machine body. The lateral width of each section 22a corresponds to the lateral width of the seedling mat M. As shown in FIG. Thereby, each division 22a is configured so that one seedling mat M can be placed thereon. One first sensor 51 and one second sensor 52 are provided in each section 22a.

As shown in FIG. 4, each first sensor 51 is provided above the seedling platform 22 in the vertical direction of the machine body. Moreover, each 2nd sensor 52 is provided in the lower part of the seedling platform 22 in the body up-down direction. That is, the first sensor 51 is provided at a position higher than the second sensor 52 .

As shown in FIG. 5 , the first sensor 51 is a switch that contacts the seedling mat M placed on the seedling placement table 22 . The first sensor 51 has a triangular portion when viewed from the side. The first sensor 51 is biased by a biasing member so that the triangular portion projects upward from the surface of the seedling placement table 22 on which the seedling mat M is placed.

As indicated by the phantom lines in FIG. 5, when the seedling mat M steps on the first sensor 51, the first sensor 51 is displaced downward. As a result, the first sensor 51 is turned on. 5, when the seedling mat M does not step on the first sensor 51, the first sensor 51 returns to its original position due to the biasing force of the biasing member. As a result, the first sensor 51 is turned off.

Although the structure of the first sensor 51 has been described in detail above, the second sensor 52 has the same structure as the first sensor 51 . Therefore, description of the structure of the second sensor 52 is omitted.

Thus, both the first sensor 51 and the second sensor 52 are switches that are provided on the seedling mounting table 22 and are brought into contact with the seedling mat M mounted on the seedling mounting table 22 .

Here, FIG. 4 shows the first height position H1. In the section 22a, when the seedling upper end position is higher than the first height position H1, the first sensor 51 located in the section 22a is turned on. The seedling upper end position is the position of the upper end of the seedling mat M positioned at the uppermost side among the seedling mats M placed in the section 22a.

Moreover, in the division 22a, when the seedling upper end position is below the 1st height position H1, the 1st sensor 51 located in the division 22a will be in an OFF state. That is, when the remaining amount of seedlings is greater than the amount of seedlings corresponding to the first height position H1, the first sensor 51 is turned ON. Further, when the remaining amount of seedlings is equal to or less than the amount of seedlings corresponding to the first height position H1, the first sensor 51 is turned off.

Here, the amount of seedlings corresponding to the first height position H1 corresponds to the "first remaining amount" according to the present invention. That is, when the remaining amount of seedlings is greater than the first remaining amount, the first sensor 51 is turned on. Moreover, when the seedling residual quantity is below the 1st residual quantity, the 1st sensor 51 will be in an OFF state.

With this configuration, the first sensor 51 detects whether or not the seedling remaining amount is equal to or less than the first remaining amount.

FIG. 4 also shows the second height position H2. In the section 22a, when the seedling upper end position is higher than the second height position H2, the second sensor 52 located in the section 22a is turned on. Moreover, in the division 22a, when the seedling upper end position is below the 2nd height position H2, the 2nd sensor 52 located in the division 22a will be in an OFF state. That is, when the remaining amount of seedlings is greater than the amount of seedlings corresponding to the second height position H2, the second sensor 52 is turned ON. Further, when the remaining amount of seedlings is equal to or less than the amount of seedlings corresponding to the second height position H2, the second sensor 52 is turned off.

Here, the amount of seedlings corresponding to the second height position H2 corresponds to the "second remaining amount" according to the present invention. That is, when the remaining amount of seedlings is greater than the second remaining amount, the second sensor 52 is turned on. Moreover, when the seedling residual quantity is below the 2nd residual quantity, the 2nd sensor 52 will be in an OFF state.

With this configuration, the second sensor 52 detects whether or not the seedling remaining amount is equal to or less than the second remaining amount. The second height position H2 is lower than the first height position H1. That is, the second remaining amount is a value smaller than the first remaining amount.

In this way, the detection unit 50 includes the first sensor 51 for detecting whether or not the residual amount of seedlings is equal to or less than the first residual amount, and and a second sensor 52 for detecting whether or not.

Further, with this configuration, the detection unit 50 is configured to detect the seedling remaining amount for each section 22a.

[About the switching part]
As shown in FIG. 6 , the rice transplanter A has a control section 53 . The control unit 53 has a switching unit 60 .

The switching unit 60 is configured to be able to control the drive state of each belt conveying motor 42 . Specifically, the switching unit 60 can start driving each belt conveying motor 42 . Further, the switching unit 60 can stop the driving of each belt conveying motor 42 .

With this configuration, the switching unit 60 can switch the state of the preliminary seedling conveying device 30 between the driving state and the stopped state.

As described above, the rice transplanter A includes the switching unit 60 that switches the state of the preliminary seedling conveying device 30 between the driving state and the stopped state.

Further, the control section 53 has a device control section 62 . The device control section 62 is configured to be able to control the driving state of the seedling planting device W. As shown in FIG. Further, the device control section 62 is configured to be able to control the extension and contraction of the lifting hydraulic cylinder 16 . Thereby, the apparatus control part 62 is comprised so that raising/lowering of the seedling planting apparatus W can be controlled.

It should be noted that each element such as the control unit 53 and the switching unit 60 included in the control unit 53 may be a physical device such as a microcomputer, or may be a functional unit in software.

As shown in FIG. 6, the control unit 53 is configured to acquire information from each first sensor 51 indicating whether each first sensor 51 is in an ON state or an OFF state. The control unit 53 may also be configured to acquire information indicating whether each second sensor 52 is in the ON state or the OFF state.

Moreover, the rice transplanter A is provided with a lateral position sensor 61 . As described above, the position of the seedling mounting table 22 relative to the traveling body C changes in the horizontal direction by reciprocating the seedling mounting table 22 to the left and right. The lateral position sensor 61 is configured to detect the position of the seedling placement table 22 with respect to the traveling body C in the lateral direction.

The lateral position sensor 61 is not particularly limited, but may be, for example, a contact sensor that detects the position of the lateral feed member 83b in the lateral direction.

A result of detection by the left/right position sensor 61 is sent to the control unit 53 .

Based on the information obtained from each first sensor 51 and the results of detection by the left and right position sensors 61, the control unit 53 changes the state of the preliminary seedling conveying device 30 to the driving state and the stopped state by the conveying control routine shown in FIG. configured to switch between states. This transport control routine is stored in the control section 53 . The control unit 53 repeatedly executes this transport control routine at regular time intervals.

The transport control routine will be described below with reference to FIG.

When the transport control routine is started, first, the process of step S01 is executed. In step S01, it is determined whether or not at least one of the first sensors 51 is in the OFF state.

If all the first sensors 51 are ON, the determination in step S01 is No, and the process ends. Moreover, when at least one of the first sensors 51 is in the OFF state, it is determined as Yes in step S01, and the process proceeds to step S02.

With this configuration, when the first sensor 51 in the detection unit 50 detects that the remaining amount of seedlings is equal to or less than the predetermined first remaining amount, a determination of Yes is made in step S01.

In step S02, counting the number of left and right reciprocating transfers of the seedling placement table 22 is started. This counting is performed by the control unit 53 based on the detection result of the left/right position sensor 61 . Then, the process moves to step S03.

In step S03, it is determined whether or not the count started in step S02 has reached a predetermined number of times. If the count has not reached the predetermined number of times, a determination of No is made in step S03, and the process returns to step S03. That is, step S03 is repeated until the count reaches the predetermined number of times after the process first shifts to step S03.

Then, when the count reaches a predetermined number of times, it is determined as Yes in step S03, and the process proceeds to step S04.

Specifically, the predetermined number of times may be four times, or any number of times other than four times.

With this configuration, when the seedling platform 22 reciprocates left and right a predetermined number of times after it is determined as Yes in step S01, it is determined as yes in step S03.

In step S04, the driving of the seedling planting device W is stopped under the control of the device control section 62 when the seedling platform 22 reaches the left stroke end. As a result, the left and right reciprocating transfer of the seedling placement table 22 is stopped. Moreover, at this time, the running of the rice transplanter A may be automatically stopped. Then, the process moves to step S05.

In step S<b>05 , the seedling planting device W is raised under the control of the device control section 62 . Then, the process moves to step S06.

In step S<b>06 , the driving of each belt conveying motor 42 is started under the control of the switching section 60 . As a result, the state of the preliminary seedling conveying device 30 is switched from the stopped state to the driven state.

As can be understood from the above description, when the detection unit 50 detects that the residual amount of seedlings is equal to or less than the predetermined first residual amount (Yes in step S01), the switching unit 60 switches the auxiliary seedling conveying device. 30 is switched from the stop state to the drive state (step S06).

More specifically, after the detecting unit 50 detects that the remaining seedling amount is equal to or less than the first remaining amount (Yes in step S01), the switching unit 60 causes the seedling platform 22 to reciprocate left and right a predetermined number of times. If so (Yes in step S03), the state of the preliminary seedling conveying device 30 is switched from the stopped state to the driving state (step S06). Further, the switching unit 60 detects that the seedling remaining amount is equal to or less than the first remaining amount by the detecting unit 50 (Yes in step S01), and when the seedling placement table 22 reaches the left stroke end ( Step S04), the state of the preliminary seedling conveying device 30 is switched from the stop state to the driving state (step S06).

After step S06, the process proceeds to step S07. In step S07, it is determined whether or not all of the first sensors 51 are in the ON state.

If at least one of the first sensors 51 is in the OFF state, the determination in step S07 is No, and the process returns to step S07. That is, step S07 is repeated until all the first sensors 51 are turned on after the process first shifts to step S07.

And when all the 1st sensors 51 are turned on, it will be determined as Yes by step S07, and a process will transfer to step S08.

With this configuration, when the first sensor 51 in the detection unit 50 detects that the remaining amount of seedlings is greater than the first remaining amount after the process of step S06 is performed, a determination of Yes is made in step S07. becomes.

In step S<b>08 , the driving of each belt conveying motor 42 is stopped under the control of the switching section 60 . As a result, the state of the preliminary seedling conveying device 30 is switched from the driving state to the stopped state. In addition, the state of the preliminary seedling conveying device 30 is maintained in the driving state from the time when the process in step S06 is performed until the time when the process in step S08 is performed.

As can be understood from the above description, after switching the state of the spare seedling conveying device 30 from the stopped state to the driving state (step S06), the switching unit 60 detects that the seedling remaining amount is greater than the first remaining amount. If detected by the unit 50 (Yes in step S07), the state of the preliminary seedling conveying device 30 is switched from the driving state to the stopped state (step S08).

After step S08, the process proceeds to step S09. In step S<b>09 , the seedling planting device W is lowered under the control of the device control section 62 . After that, the process is temporarily terminated.

According to the configuration described above, when the seedling remaining amount becomes equal to or less than the predetermined first remaining amount, the spare seedling conveying device 30 is switched to the driving state. As a result, the seedling mat M is conveyed to the seedling mounting table 22 by the preliminary seedling conveying device 30 . Therefore, when the number of seedlings placed on the seedling mounting table 22 is reduced to some extent, the seedling mat M is automatically replenished to the seedling mounting table 22 by the preliminary seedling conveying device 30.

Therefore, with the configuration described above, it is possible to realize the rice transplanter A capable of saving labor in the work of replenishing the seedling mat M to the seedling placing table 22 .

[Other embodiments]
(1) The rice transplanter A may be configured to be able to travel automatically, or may be configured to be unable to travel automatically. When the rice transplanter A can travel automatically, the worker does not need to be on the boarding section 23 .

(2) The number of planting rows of the seedling planting device W may be 7 or less, or may be 9 or more. Also, the number of seedling mats M that can be placed on the seedling placement table 22 may be equal to 7 or less rows, or 9 or more rows. Further, the number of seedling mats M that can be transported by the preliminary seedling transport device 30 may be 7 or less rows, or 9 or more rows.

(3) The switching unit 60 may be configured to control the belt conveying motors 42 so that the drive states of the belt conveying motors 42 match, or the belt conveying motors 42 may be individually controlled. You may be comprised so that it may control.

In the configuration in which the switching unit 60 individually controls the belt conveying motors 42, the switching unit 60 detects that the seedling remaining amount is equal to or less than a predetermined first remaining amount by one first sensor 51. It may be configured to start driving only the belt conveying motor 42 corresponding to the position of the first sensor 51 among the plurality of belt conveying motors 42 . As a result, when one first sensor 51 detects that the seedling remaining amount is equal to or less than the predetermined first remaining amount, only the portion of the spare seedling conveying device 30 corresponding to the position of the first sensor 51 is detected. is switched from the stop state to the driving state.

That is, in this configuration, the switching unit 60 can switch the state of the preliminary seedling conveying device 30 between the driving state and the stopped state for each conveying mechanism 40 by controlling each conveying mechanism 40 individually. It is configured.

In this configuration, after the detection unit 50 detects that the seedling remaining amount in one section 22a is equal to or less than the first remaining amount, while the seedling placement table 22 reciprocates left and right a predetermined number of times, When the detection unit 50 detects that the seedling remaining amount in the section 22a different from the section 22a has become equal to or less than the first remaining amount, the switching unit 60 executes attitude deviation suppression control. Posture deviation suppression control drives each conveying mechanism 40 so as to suppress an increase in posture deviation between the seedling mounting table 22 and the preliminary seedling conveying device 30 due to replenishment of the seedling mat M to the seedling mounting table 22. Control.

That is, in this configuration, after the detection unit 50 detects that the seedling remaining amount in one section 22a is equal to or less than the first remaining amount, while the seedling placement table 22 reciprocates left and right a predetermined number of times, When the detection unit 50 detects that the seedling remaining amount in the section 22a different from the section 22a has become equal to or less than the first remaining amount, the switching unit 60 supplies the seedling mat M to the seedling placement table 22 to replenish the seedlings. Attitude deviation suppression control, which is control for driving each transport mechanism 40 so as to suppress an increase in attitude deviation between the mounting table 22 and the preliminary seedling transport device 30, is executed.

In this configuration, it is desirable that the first sensor 51 be arranged with a relatively large margin in preparation for reciprocation of the seedling placement table 22 a plurality of times.

Further, in this configuration, for example, the switching unit 60, in the attitude deviation suppression control, switches the section 22a to which the seedling mat M is first replenished to the left and right sides of the sections 22a in which the seedling remaining amount is equal to or less than the first remaining amount. It may be configured to drive each transport mechanism 40 so that the section 22a is located at the most center side in the direction. In this case, for example, if the remaining amount of seedlings in the leftmost section 22a of the machine body and the fourth section 22a from the left side of the machine body is equal to or less than the first remaining amount of seedlings, the switching unit 60 performs First, the seedling mats M are supplied to the fourth section 22a from the left side of the machine body, and then the seedling mats M are supplied to the section 22a located on the leftmost side of the machine body.

However, in the attitude deviation suppression control, the section 22a to which the seedling mat M is supplied first is the section 22a located most centrally in the left-right direction of the machine body among the sections 22a in which the seedling remaining amount is equal to or less than the first remaining amount. A case can also be assumed in which the increase in the above-described posture deviation can be suppressed by the section 22a. In such a case, the switching unit 60 first switches the seedling mats M to the sections 22a other than the section 22a located at the center in the left-right direction of the machine body among the sections 22a in which the remaining amount of seedlings is equal to or less than the first remaining amount. Each transport mechanism 40 may be configured to be replenished.

For example, when the remaining amount of seedlings in the section 22a located on the leftmost side of the machine body, the second section 22a from the left side of the machine body, and the fourth section 22a from the right side of the machine body is less than or equal to the first remaining amount, the switching unit At 60, in the attitude deviation suppression control, first, the second section 22a from the left side of the machine body is replenished with the seedling mat M, then the fourth section 22a from the right side of the machine body is replenished with the seedling mat M, and finally, , the transport mechanisms 40 may be driven so that the seedling mats M are supplied to the section 22a located on the leftmost side of the machine body.

In addition, a tilt detection unit that detects the tilt of the seedling placement table 22 with respect to the traveling machine body C may be provided. Furthermore, the switching unit 60 may drive each transport mechanism 40 so as to eliminate the inclination of the seedling platform 22 with respect to the traveling machine body C based on the detection result of the inclination detection unit in the attitude deviation suppression control.

(4) The second sensor 52 may not be provided.

(5) The switching unit 60 may be configured to switch the state of the preliminary seedling conveying device 30 from the stopped state to the driving state when the detection unit 50 detects that the seedlings are out of stock. In this case, being out of seedlings corresponds to "that the seedling remaining amount is equal to or less than a predetermined first remaining amount" according to the present invention.

(6) The detection unit 50 may be a highly accurate seedling-out sensor provided at the lower end of the seedling placement table 22 . This seedling-out sensor may be configured to detect whether or not the seedling-out condition exists, for example, by detecting the vertical feeding width of the seedling mat M by the vertical feeding belt 82g.

(7) The detection unit 50 may be composed of a magnet switch.

(8) The detection unit 50 includes a camera capable of capturing an image of the seedling mat M placed on the seedling placement table 22, and detects whether or not the seedling is cut off based on the image captured by the camera. may be configured.

(9) The detection unit 50 may be configured by a pressure sensor that detects the pressure applied by the seedling mat M placed on the seedling placement table 22 .

(10) The detection unit 50 may be configured by an optical sensor provided on the surface of the seedling placement table 22 on which the seedling mat M is placed.

(11) One or more steps may not be provided in the transport control routine shown in FIG.

For example, the transport control routine does not have to include step S04. That is, after the detection unit 50 detects that the seedling remaining amount is equal to or less than the first remaining amount, the switching unit 60 causes the seedling placement table 22 to move left and right when the seedling placement table 22 reciprocates left and right a predetermined number of times. The state of the preliminary seedling conveying device 30 may be switched from the stopped state to the driven state before reaching the stroke end.

Also, for example, the transport control routine may not include steps S02 and S03. That is, after the detection unit 50 detects that the residual amount of seedlings is equal to or less than the first residual amount, the switching unit 60 transports the preliminary seedlings when the seedling placement table 22 first reaches a predetermined position in the left-right direction. It may be configured to switch the state of the device 30 from the stopped state to the driven state.

Also, for example, the transport control routine may not include steps S02, S03, S04, and S05. That is, the switching unit 60 immediately switches the state of the spare seedling conveying device 30 from the stop state to the driving state when the detection unit 50 detects that the seedling remaining amount is equal to or less than the predetermined first remaining amount. It may be configured as follows.

(12) When the seedling platform 22 reaches the right stroke end after the detection unit 50 detects that the seedling remaining amount is equal to or less than the first remaining amount, the switching unit 60 switches the auxiliary seedling conveying device 30. It may be configured to switch the state from the stop state to the driving state.

(13) After the detection unit 50 detects that the seedling remaining amount is equal to or less than the first remaining amount, the switching unit 60 switches the seedling platform 22 between the left stroke end and the right stroke end. The state of the preliminary seedling conveying device 30 may be switched from the stopped state to the driving state when it reaches a predetermined position.

(14) The detection unit 50 may detect the amount of seedlings on all the seedling mats M placed on the seedling placement table 22 . In other words, the detection unit 50 may detect the amount of seedlings on the seedling mat M placed in all the sections 22 a of the seedling placement table 22 . In this case, the amount of seedlings in all the seedling mats M placed on the seedling placement table 22 and the amount of seedlings in the seedling mats M placed in all the sections 22a of the seedling placement table 22 are also corresponds to the "seedling remaining amount" according to the present invention.

(15) The detection unit 50 may detect the amount of seedlings on the seedling mat M placed in one section 22a. In this case, the amount of seedlings on the seedling mat M placed in one section 22a corresponds to the "remaining amount of seedlings" according to the present invention.

It should be noted that the configurations disclosed in the above-described embodiments (including other embodiments; the same shall apply hereinafter) can be applied in combination with configurations disclosed in other embodiments unless there is a contradiction. Moreover, the embodiments disclosed in this specification are merely examples, and the embodiments of the present invention are not limited thereto, and can be modified as appropriate without departing from the scope of the present invention.

INDUSTRIAL APPLICABILITY The present invention can be used for a rice transplanter equipped with a seedling planting device having a seedling platform.

22 Seedling platform 22a Section 30 Spare seedling transport device (seedling transport device)
40 transport mechanism 50 detector 51 first sensor 52 second sensor 60 switching unit A rice transplanter M seedling mat W seedling planting device

Claims (8)

a seedling planting device located at the rear of the machine body and having a seedling platform;
a seedling conveying device positioned in front of the seedling mounting table and conveying the seedling mat to the seedling mounting table;
The seedling conveying device is configured to convey the seedling mat when in a driving state and not to convey the seedling mat when in a stopped state,
a switching unit that switches the state of the seedling conveying device between the driving state and the stopped state;
a detection unit that detects the seedling remaining amount, which is the amount of seedlings on the seedling mat placed on the seedling placing table,
The switching unit switches the state of the seedling conveying device from the stopped state to the driving state when the detection unit detects that the seedling remaining amount is equal to or less than a predetermined first remaining amount. The seedling planting device is configured to reciprocate the seedling placement table to the left and right while performing a seedling planting operation,
The switching unit changes the state of the seedling conveying device to the above state when the seedling placement table reciprocates left and right for a predetermined number of times after the detection unit detects that the seedling remaining amount is equal to or less than the first remaining amount. The rice transplanter according to claim 1, wherein the stopped state is switched to the driving state. The seedling planting device is provided in a state in which it can swing left and right by rolling,
The seedling conveying device has a plurality of conveying mechanisms arranged in the lateral direction of the machine body,
Each of the transport mechanisms is configured to be capable of transporting one row of the seedling mat to the seedling placement table,
The seedling placement table has a plurality of sections arranged in the lateral direction of the machine body,
Each of the sections is configured so that one row of the seedling mat can be placed thereon,
The detection unit is configured to detect the seedling remaining amount for each section,
The switching unit is configured to be able to switch the state of the seedling conveying device between the driving state and the stopped state for each conveying mechanism by controlling each conveying mechanism individually,
After the detection unit detects that the seedling remaining amount in one of the sections is equal to or less than the first remaining amount, the seedling placement table is reciprocating left and right for the predetermined number of times. When the detection unit detects that the seedling remaining amount in the different section is equal to or less than the first remaining amount, the switching unit replenishes the seedling mat to the seedling placing table to replenish the seedling placing table. 3. The rice transplanter according to claim 2, wherein posture deviation suppression control is executed to drive each of the transport mechanisms so as to suppress an increase in posture deviation between the seedling transport device and the seedling transport device. In the attitude deviation suppression control, the switching unit is configured such that the section to which the seedling mat is replenished first is the most central side in the left-right direction of the machine body among the sections in which the seedling remaining amount is equal to or less than the first remaining amount. 4. The rice transplanter according to claim 3, wherein each said transport mechanism is driven so that said compartments are located at . The seedling planting device is configured to reciprocate the seedling placement table to the left and right while performing a seedling planting operation,
The switching unit changes the state of the seedling conveying device when the seedling placement table reaches a predetermined position in the left-right direction after the detection unit detects that the seedling remaining amount is equal to or less than the first remaining amount. is switched from the stopped state to the driven state. After switching the state of the seedling transport device from the stop state to the drive state, the switching unit transports the seedlings when the detection unit detects that the seedling remaining amount is greater than the first remaining amount. The rice transplanter according to any one of claims 1 to 5, wherein the state of the device is switched from the drive state to the stop state. The detection unit includes a first sensor for detecting whether or not the seedling remaining amount is equal to or less than the first remaining amount, and whether or not the seedling remaining amount is equal to or less than a second remaining amount which is less than the first remaining amount. 7. The rice transplanter according to any one of claims 1 to 6, further comprising a second sensor for detecting whether. Both the first sensor and the second sensor are switches that are provided on the seedling placement table and are in contact with the seedling mat placed on the seedling placement table,
Said 1st sensor is a rice transplanter of Claim 7 provided in the position higher than said 2nd sensor.

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