JP2023068130A - seedling transplanter - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a seedling transplanter capable of performing planting work at a desired seedling mat number to a desired field.

SOLUTION: A seedling transplanter detects a feeding amount of a seedling mat M on the basis of a rotation frequency of a rotor 81. A seedling mounting base 33 is configured so that mounting surfaces in which the seedling mat M is placed in an inclined state, are arranged side by side in a machine body width direction according to a strip number. A vertical feeding mechanism feeds the seedling mat M mounted on the seedling mounting base 33 downward. The rotor 81 is protruded so as to protrude upward relative to the mounting surface, from the rear surface side of the mounting surface, and rotates in linkage with the vertical feeding of the seedling mat M by the vertical feeding mechanism. A rotation restriction member (O ring 81d) restricts rotation of the rotor 81 when there is no seedling mat M on the seedling mounting base 33.

SELECTED DRAWING: Figure 12

COPYRIGHT: (C)2023,JPO&INPIT

Description

The present invention relates to a seedling transplanter for transplanting seedlings from a seedling mat to a field.

In Patent Document 1, a vertical feeding mechanism that intermittently conveys a seedling mat placed on a seedling mounting table to the lower end side, a horizontal feeding mechanism that reciprocates the seedling mounting table in the left and right direction, and a lower end of the seedling mounting table. A seedling transplanter is disclosed that has a planting machine equipped with planting claws for scraping seedlings from a seedling mat from the side and planting them in a field. When the seedling mounting table reaches the left and right reciprocating ends during reciprocating movement in the horizontal direction by the lateral feeding mechanism, the vertical feeding mechanism conveys the seedling mat to the lower end side of the seedling mounting table by a predetermined interval, thereby loading the seedlings. The seedling mat placed on the table can be stably supplied to the planting claws.

In addition, this seedling transplanter is provided with a lengthwise amount adjusting lever that can change the vertical position of the planting claws with respect to the seedling mat in multiple stages by raising and lowering the seedling loading table. By operating the adjustment lever, the operator can adjust the longitudinal amount of the seedling mat scraped by the planting claws (seedling amount in the vertical direction). Furthermore, this seedling transplanter is provided with a lateral feed frequency adjustment lever that changes the lateral feed frequency (lateral feed speed) of the seedling mounting table by the lateral feed mechanism. , the transverse amount of the seedling mat scraped by the planting claws (the amount of seedlings taken in the lateral direction) can be adjusted.

In addition, in Patent Document 2, in such a seedling transplanting machine, the field area is calculated from the map data read from the field information storage unit, and the usable amount of agricultural materials prepared in the seedling transplanting machine is calculated. , the distance between plants, the amount of seedlings taken, and the number of lateral feeds, etc., are automatically set for each operating device in the seedling transplanter. Not disclosed.

Japanese Patent Application Laid-Open No. 2010-213638 JP 2015-112069 A

When planting seedlings in a field, the operator anticipates the yield per field area and plans the number of plants per field area and the number of seedling mats to be used for that field area. . However, even if the number of strains per field area and the number of seedling mats to be used for that field area are planned, the operator can actually plant the planned number of seedling mats according to empirical rules. It was difficult to adjust the amount of seedlings to be collected appropriately, and the actual situation was that the desired number of seedling mats could not be used for the field.
In view of this situation, the main object of the present invention is to provide a seedling transplanter capable of appropriately planting a desired number of seedling mats in a desired field.

A seedling transplanting machine according to one aspect of the present invention is a seedling transplanting machine comprising a seedling loading table and a vertical feeding mechanism, comprising a rotating body and a rotation restraining member, and based on the rotation speed of the rotating body To detect the feeding amount of the seedling mat. In the seedling mounting base, the mounting surfaces on which the seedling mats are placed in an inclined state are arranged side by side in the width direction of the machine body according to the number of rows. The vertical feed mechanism feeds downward the seedling mat placed on the seedling mounting table. The rotating body is provided so as to protrude upward from the back side of the mounting surface, and rotates in conjunction with the vertical feeding of the seedling mat by the vertical feeding mechanism. The rotation restraint member restrains the rotation of the rotating body when the seedling mat is not placed on the seedling placement table.

Side view of rice transplanter Top view of rice transplanter One side view of the planting part (Right side view of the aircraft) Other side view of the planting part (left side view of the fuselage) Diagram showing dashboard (a) Rear view of the mounting surface for each row of the seedling mounting base, (b) Side view of the mounting surface for each row of the seedling mounting base Side view of the main part of the mounting surface for each row of the seedling mounting table Perspective view of the presence/absence detection unit viewed from the rear side An exploded perspective view of the presence/absence detector viewed from the rear side Perspective view of the movement detection unit as seen from the rear side Exploded perspective view of the movement amount detection unit viewed from the rear side FIG. 4 is a diagram schematically showing a cross section of a movement amount detection unit; Control block diagram of control device Diagram showing detection of remaining seedling mat Diagram showing control flow of seedling succession alarm control Block diagram showing seedling amount control (scraping area control) (a) Side view showing the amount of subsidence of the rear wheel in the field, (b) Side view showing the height from the contact surface of the rear wheel to the bottom of the float A side view showing the height from the contact surface of the rear wheel to the field surface The graph which shows the correlation with the subsidence amount to the field of a rear wheel, and a slip ratio. Diagram showing the detection of the number of seedling mats used Diagram showing the detection of the number of seedling mats used Diagram showing control flow of seedling amount control (scraping area control) Diagram showing items displayed on the information terminal Block diagram showing seedling amount control (longitudinal amount control) Diagram showing control flow of seedling amount control (longitudinal amount control) The figure which shows another embodiment of a movement amount|distance detection part.

An embodiment of a seedling transplanter according to the present invention will be described based on the drawings.
[First embodiment]
<Overall composition>
The overall configuration of a rice transplanter 1, which is an example of a seedling transplanter, will be described with reference to FIGS. 1 and 2. FIG. The rice transplanter 1 includes a traveling body 2 and a planting work machine 3 attached to its rear part, and is configured to travel by the traveling body 2 and to perform planting work by the planting work machine 3. - 特許庁In this embodiment, the rice transplanter 1 has six rows of planting lines, but of course, the number of planting lines of the rice transplanter 1 may be any number.

The traveling body 2 includes an engine 4, a transmission 5 for shifting power from the engine 4, a body frame 6 for supporting the engine 4 and the transmission 5, front wheels 7 and rear wheels driven by the power transmitted from the engine 4 and the transmission 5. Equipped with 8th grade.

Power from the engine 4 and the transmission 5 is transmitted to a front axle case 9 and a rear axle case 10, respectively. The front axle case 9 is supported on the front portion of the body frame 6, and the front wheels 7 are supported on both left and right ends thereof. Similarly, the rear axle case 10 is supported on the rear part of the body frame 6, and the rear wheels 8 are supported on both left and right ends thereof. The upper part of the body frame 6 is covered with a step 11, and an operator (worker) can move on the step 11. FIG.

Moreover, the power from the engine 4 and the transmission 5 is transmitted to the planting work machine 3 through the plant spacing setting device 9a (see FIG. 13). The spacing setter 9a is configured to be able to steplessly change the planting interval of seedlings planted along the traveling direction of the traveling body 2. - 特許庁A control device 70, which will be described later, is connected to the spacing setter 9a and configured to be able to acquire the planting interval of seedlings.

A driver's seat 12 is arranged in the middle of the front and rear of the traveling body 2, and a steering handle 13, an operation pedal 14, a dashboard 15, and the like are provided in front of the driver's seat 12. - 特許庁On the dashboard 15, in addition to the steering handle 13, operation tools for various operations and a display device are arranged.

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

The planting work machine 3 includes a planting arm 31, a planting nail 32, a seedling platform 33, a lateral feeding mechanism for reciprocating the seedling platform 33 in the lateral direction (body width direction), and a seedling placed on the seedling platform 33. A vertical feed mechanism, a float 34, and the like are provided for transporting the mat M (see FIG. 6) in the vertical direction (front-rear direction of the machine body) toward the lower end side. A planting claw 32 is attached to the planting arm 31 . In this embodiment, since the number of planting lines of the rice transplanter 1 is 6, it is provided with 6 planting arms 31 and 12 planting claws 32 . The planting work machine 3 is driven by a PTO shaft 16 extending rearward from the transmission 5 .
More specifically, power is transmitted from the PTO shaft 16 through the planting center case 35 to the three planting transmission cases 36 provided in the planting work machine 3, and the planting power is transmitted from each of the three planting transmission cases 36. Power is distributed to a pair of left and right planting arms 31 and a pair of left and right planting claws 32 for each attached transmission case 36 . The planting center case 35 is provided with a planting clutch, and the planting clutch is configured to connect and disconnect power transmission from the engine 4 to the planting work machine 3 .

The planting arm 31 is rotated by power transmitted from the planting transmission case 36 . Seedlings are supplied to the planting claws 32 from a seedling loading table 33 . As the planting arm 31 rotates, the planting claw 32 is inserted into the field, and the seedlings are planted to a predetermined planting depth. In this embodiment, a rotary planting claw is used, but a crank type planting claw may be used.

The seedling mounting base 33 is composed of a plate-like member and is arranged so as to be inclined in a front-high and rear-low shape when viewed from the side of the machine body. On the rear surface of the seedling mounting table 33, mounting surfaces for mounting the seedling mats M are arranged side by side in the body width direction according to the number of the planting arms 31 (the number of rows of the rice transplanter 1). Since the rice transplanter 1 of this embodiment has six rows of planting rows, six placement surfaces are formed. A seedling mat M (see FIG. 6) is placed on the placement surface in an inclined state.

The float 34 is attached to the planting frame 37 (see FIG. 17(b)). Specifically, the front end of the float 34 is supported to be vertically swingable with respect to the planting frame 37 , and the rear end of the float 34 is connected to a pivot shaft 38 provided on the planting frame 37 by a link mechanism 39 . It is attached so that it can be raised and lowered through the

The float 34 is provided with a sensor 40 (see FIG. 18) for detecting the field surface (field surface) just before the planting position of the planting claw 32 . The sensor 40 extends from the front toward the rear. The sensor 40 is supported by the planting frame 37 so as to be swingable about an axis along the pitching direction (that is, swingable in the vertical direction), and hangs down by gravity around the swing fulcrum, so that the tip portion of the sensor 40 is attached to the field. Stay in contact with the surface. That is, the rice transplanter 1 advances in a state in which the tip of the sensor 40 always follows the field surface.

A transverse feeding mechanism for reciprocating the seedling mounting table 33 in the width direction of the machine body will be described with reference to FIG. 3 .
As shown in FIG. 3, a feed screw 41 extends from the planting center case 35 toward one side in the body width direction (the left side of the body). Intersecting grooves are formed along the axial direction on the outer peripheral surface of the feed screw 41 . The feed screw 41 is provided with a slider 42 that can slide along the groove and a slider receiver 43 that supports the slider 42 . The slider receiver 43 is formed in a substantially T shape. The slide receiver 43 has the feed screw 41 penetrating therethrough and accommodates the slide 42 so as to be slidable along the groove of the feed screw 41 .

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

A guide rail 46 is provided below the lower rail 44 to support the lower rail 44 so as to be slidable in the machine width direction. The guide rails 46 are arranged with the body width direction as the longitudinal direction. The guide rail 46 is composed of an engaging portion 46a that engages with the lower rail 44 and an extending portion 46b that extends from the engaging portion 46a along the shape of the bottom portion of the seedling mounting base 33. As shown in FIG. The lower rail 44 is configured to be slidable along the guide rail 46 in the machine width direction by engaging the lower rail 44 with the engaging portion 46 a of the guide rail 46 . A stopper 47 for preventing the lower rail 44 from coming off the guide rail 46 is detachably attached to the guide rail 46 with a bolt.

A lateral feed switching lever 48 for adjusting the lateral feed amount of the seedling mounting base 33 is provided on the side surface of the planting center case 35 from which the feed screw 41 extends. The lateral feed switching lever 48 is provided with a lateral feed number detection sensor 48 a (see FIG. 13 ) that detects the number of lateral feeds of the seedling mounting table 33 by detecting the position of the lateral feed switching lever 48 .
The control device 70 is connected to the lateral feed number detection sensor 48a, is configured to detect the number of lateral feeds of the seedling mounting table 33, and is configured to be able to detect the interception amount, which will be described later, from the number of lateral feeds. Further, the lateral feed switching lever 48 is provided with an actuator 48b (see FIG. 13). The lateral feed switching lever 48 is configured to be operable by driving and controlling the actuator 48b. Therefore, by operating the lateral feed switching lever 48 by the actuator 48b, the amount of lateral feed of the seedling mounting table 33 can be adjusted, and the number of times of lateral feeding of the seedling mounting table 33 can be changed.
By changing the number of times of lateral feeding of the seedling mounting table 33, the amount of lateral feeding (lateral feeding speed) of the seedling mounting table 33 is changed, and the amount of interception from the seedling mat M by the planting claws 32 can be changed. can. Here, the width of the planting claws 32 refers to the width of the seedling mat M scraped in the machine body width direction of the traveling machine body 2 in a plan view. By adjusting the amount of interception, the amount of seedlings taken from the seedling mat M by the planting claws 32 can be changed.

A longitudinal feeding mechanism for downwardly feeding the seedling mat M placed on the seedling mounting table 33 will be described with reference to FIG.
As shown in FIG. 4 , a vertical feed cam shaft 52 to which a vertical feed cam 51 is fixed extends from the planting center case 35 toward the other side in the machine body width direction (the right side of the machine body). The vertical feed cam shaft 52 is connected to the feed screw 41 and comes into contact with the driven cam 53 when reaching the stroke end. The driven cam 53 is provided on a conveyor belt drive shaft 55 that drives the conveyor belt 54 under the seedling mounting table 33 . As the vertical feed cam shaft 52 rotates, the driven cam 53 rotates when the vertical feed cam 51 and the driven cam 53 come into contact with each other. As the driven cam 53 rotates, the conveyor belt driving shaft 55 rotates, so that the conveyor belt 54 is circulated to convey the seedling mat M placed on the conveyor belt 54 by a predetermined distance.

A seedling base rail support shaft 56 is rotatably supported in the left-right direction on the front upper portion of each planting transmission case 36 . A plurality of support frames 57 are protruded rearward and upward from the seedling bed rail support shaft 56 at appropriate intervals, and the guide rail 46 is supported by the support frames 57 in the left and right horizontal directions. Further, an arm 58 is attached forwardly upward from the seedling platform rail support shaft 56 . A rotation angle detection sensor 59 for detecting the rotation angle of the seedling platform rail support shaft 56 is provided at the other end of the arm 58 . A rotation angle detection sensor 59 is attached to the planting frame 37 . The seedling platform rail support shaft 56 is provided with an actuator 56a (see FIG. 13). The control device 70 is connected to the rotation angle detection sensor 59 and is configured to be able to detect the lengthwise harvesting amount from the seedling mat M. As shown in FIG.

The seedling platform rail support shaft 56 is rotatable by driving and controlling the actuator 56a. Therefore, when the support frame 57 is rotated with the rotation of the seedling platform rail support shaft 56, the guide rail 46 (seedling platform 33) is moved up and down (configured to be able to move up and down), and the planting claws 32 are moved. The distance between the supporting planting transmission case 36 and the seedling mounting base 33 can be changed. Therefore, it is possible to change the lengthwise amount of the seedling mat M taken by the planting claws 32 . Here, the vertical picking amount refers to the width of the seedling mat M that is scraped in the traveling direction of the traveling body 2 in a plan view. By adjusting the lengthwise picking amount, the seedling picking amount from the seedling mat M by the planting claws 32 can be changed.

Also, the seedling platform rail support shaft 56 is connected to the driven cam 53 via an interlocking wire 60 . As the seedling platform rail support shaft 56 rotates, the driven cam 53 is rotated by a predetermined angle due to the tension of the interlocking wire 60, so that the feed amount by the conveying belt 54 is adjusted in accordance with the vertical picking amount from the seedling mat M. are adjusting.

In the above configuration, the power from the engine 4 is transmitted to the feed screw 41 through the planting center case 35, so that the slider 42 slides against the groove of the feed screw 41 and slides along with it. The child receiver 43 slides in the machine body width direction. As the slider receiver 43 slides, the lower rail 44 slides along the guide rail 46 via the support arm 45, and the seedling mounting base 33 slides in the machine width direction along with this. Then, when the seedling mounting table 33 reaches the stroke end in the width direction of the machine body, the vertical feed cam 51 comes into contact with the driven cam 53 and the conveyor belt driving shaft 55 rotates, so that the conveyor belt 54 is circulated.

As the slide 42 reciprocates along the groove of the feed screw 41, the seedling mounting base 33 reciprocates along the guide rail 46. - 特許庁The seedling mounting table 33 is reciprocated along the guide rail 46 by the lateral feeding mechanism, so that the seedling mat M placed on the seedling mounting table 33 is moved from one side in the width direction of the machine body (left side of the machine body) to the other side in the width direction of the machine body. (Right side of machine body) or the other side in the machine body width direction (right side of machine body) toward one side in the machine body width direction (left side of machine body) with planting claws 32 to scrape and transplant the seedlings. When the planting claws 32 scrape the seedlings on one side of the seedling mat M in the machine width direction (right side of the machine body) or on the other side in the machine body width direction (left side of the machine body), the conveying belt 54 is actuated by the vertical feeding mechanism to move the seedling mat. It is possible to transport M toward the lower end (rear end) of the mounting surface. As described above, the seedling mat M is reciprocated in the width direction of the machine body and conveyed downward as appropriate, so that the seedlings can be scraped off from the seedling mat M placed on the seedling placement table 33 .

The dashboard 15 will be described with reference to FIG.
A steering handle 13 is arranged at the left-right central portion of the dashboard 15 , a main transmission lever 61 is provided to the left of the steering handle 13 , and a planted lifting lever is provided to the right of the steering handle 13 . 62 are provided. Below the steering handle 13 are a row stop switch 63 for stopping the driving of the planting claws 32 for each row, a speed setting volume 64 for setting the maximum speed, and a sensitivity setting volume 65 for setting the hydraulic sensitivity of the float 34. A select dial 66 for setting various items such as the planting depth and the amount of seedlings taken from the seedling mat M (lengthwise amount and sideways amount (number of times of horizontal feeding)) is provided. A monitor 67 is provided in front of the steering handle 13 to display the settings of the select dial 66 and the like, the speed of the traveling body 2, and the like.

The select dial 66 can set various work conditions such as planting depth, amount of seedlings taken (vertical amount, transverse amount (horizontal feeding number)), work speed and other work contents, notification reference value for seeding succession alarm, etc. Dial. The operator rotates the select dial 66 left and right to select an item to be set from various items, and presses the select dial 66 to confirm. For example, when it is desired to set the vertical harvesting amount as the seeding amount, the select dial 66 is rotated left and right to select the item of the vertical harvesting amount, and by pressing the select dial 66, the item is selected, and the select dial 66 is pressed. By rotating the dial left and right to select the adjustment amount of the vertical take-up amount, and pressing the select dial 66, the vertical take-up amount is set to the adjustment amount. The select dial 66 is connected to the control device 70 (see FIG. 13).

<Seedling succession alarm control>
Next, referring to FIGS. 6 to 12, the seedling succession warning control executed based on the calculation of the remaining amount of the seedling mat M placed on the seedling loading table 33 will be described.
As shown in FIGS. 6 and 7, the placement surface of the seedling placement table 33 on which the seedling mats M for each row are placed is provided with a presence/absence detector 90 capable of detecting the presence/absence of the seedling mats M, and a A movement amount detection unit 80 is provided that can detect the movement amount (feed amount).
Then, as shown in FIG. 13 , the control device 70 of the rice transplanter 1 includes a seedling for detecting the remaining amount of the seedling mat M based on the detection state of the presence/absence detection section 90 and the detection state of the movement amount detection section 80 . A mat remaining amount calculator 72 is provided.

(Presence/absence detector)
For example, as shown in FIG. 6, the presence/absence detection unit 90 detects the presence/absence of the seedling mat M in the first region A where the seedling mat M is placed when one seedling mat M is placed on the placement surface of each row of the seedling placement table 33. It is provided on the upper end side, and when one seedling mat M is placed on the mounting surface of the seedling mounting table 33, the presence of the seedling mat M can be detected by coming into contact with the seedling mat M. Also, when no seedling mat M is placed on the mounting surface of the seedling mounting table 33, the non-existence of the seedling mat M can be detected by not contacting the seedling mat M. - 特許庁For example, when the length of one seedling mat M in the vertical direction is 580 mm and the length of the first region A is 580 mm, the presence/absence detection unit 90 detects the lower end of the first region A (the seedling loading table 33). It is provided at a position 510 mm above the lower end of the mounting surface).

7 to 9, the presence/absence detection unit 90 includes a first mounting bracket 91 fixed to the rear side of the mounting surface of the seedling mounting table 33 by fixing means K1 such as bolts and screws. Then, the limit sensor 92 fixed to the first mounting bracket 91 by fixing means 94 such as bolts and screws, and the through hole 33b (see FIG. 7) in the mounting surface of the seedling mounting base 33 pass through so that the leading end side is positioned from the mounting surface. It is composed of a swinging portion 93 and the like which are attached to the first mounting bracket 91 so as to be swingable around the horizontal axis at the base end thereof in a position protruding upward.

The swinging portion 93 includes a shaft member 93a attached to the first mounting bracket 91 so as to be rotatable about a horizontal axis, and a front end side of which is attached to the shaft member 93a in an upright posture toward the front side of the mounting surface. It is composed of an L-shaped leaf spring lever member 93b, a cover member 93c attached to the shaft member 93a in a state of covering the lever member 93b from the front side of the mounting surface, and the like. In addition, a fall-off preventing tool 95 or the like is provided to prevent the shaft member 93a from falling off from the first mounting bracket 91. As shown in FIG.

As shown in FIG. 7, the presence/absence detection unit 90 configured in this manner comes into contact with the seedling mat M placed on the mounting surface of the seedling mounting table 33, and the weight of the seedling mat M is applied to the swing unit 93. In this case, the swinging portion 93 swings downward and the switch portion 92a of the limit sensor 92 is pressed by the lever member 93b of the swinging portion 93, whereby the presence of the seedling mat M can be detected. . Conversely, when the weight of the seedling mat M is not applied to the swinging portion 93, the non-existence of the seedling mat M can be detected by not pressing the switch portion 92a of the limit sensor 92. can.

(Movement amount detector)
As shown in FIG. 6, the movement amount detection unit 80 detects the presence or absence of the seedling mat M in the first region A where the seedling mat M is placed when one seedling mat M is placed on the placement surface for each row of the seedling placement table 33. It is provided below the detection unit 90 and configured to be able to detect the downward movement amount (longitudinal feed amount) of the seedling mat M with at least one seedling mat M placed on the mounting surface of the seedling mounting table 33 . ing. For example, the movement amount detection unit 80 is provided at a position 180 mm above the lower end of the first area A (the lower end of the mounting surface of the seedling mounting table 33).

In this embodiment, as shown in FIGS. 7, 10, and 11, the movement amount detection unit 80 is a second member fixed to the back side of the mounting surface of the seedling mounting table 33 by fixing means K2 such as bolts and screws. A second mounting bracket 82, a swinging arm 84 attached to the second mounting bracket 82 so as to be swingable about a horizontal axis while being biased upward by a biasing spring 83, and the swinging arm 84. and a proximity sensor 85 attached to the tip of a swing arm 84 for detecting the number of revolutions of the rotating body 81 and the like. In addition, a fall-off prevention tool 86 for preventing the first shaft portion 84a of the swing arm 84 from falling off from the second mounting bracket 82, and a fall-off prevention member 86 for preventing the rotating body 81 from falling off from the second shaft portion 84b of the swing arm 84. A drop-off prevention tool 87 or the like is provided.

A plurality of protrusions 81a arranged radially with respect to the center of rotation are provided on the outer peripheral portion of the rotating body 81 . Rotating body 81 is provided such that protrusions 81a protrude upward from the mounting surface through through holes 33a (see FIG. 7) from the back side of the mounting surface. The rotating body 81 is configured to rotate in conjunction with the vertical feeding of the seedling mat M while the protrusions 81a bite into (engage with) the bottom surface of the seedling mat M that is vertically fed on the placement surface. The surface of the projection 81a on the side of contact with the seedling mat M is formed in a shape curved upstream in the rotation direction of the rotating body 81. As shown in FIG. In terms of the relationship between the seedling mounting base 33 and the rotating body 81, the surface of the projection 81a on the side of contact with the seedling mat M is configured to be curved toward the seedling mat M sending source. In the present embodiment, the projection 81a is curved upstream in the rotation direction of the rotating body 81 from the base end portion to the tip end portion in a side view.

As described above, the surface of the projection 81a of the rotating body 81 on the side of contact with the seedling mat M is configured to have a shape curved upstream in the rotating direction, so that the placing surface near the upper side of the rotating body 81 is formed. When the seedling mat M is sent to , the seedling mat M is easily abutted (easily caught) by the projections 81a. Therefore, the rotating body 81 can be prevented from slipping, and the rotating body 81 can be rotated in conjunction with the vertical feeding of the seedling mat M as shown in FIG.

In addition, the projection 81a may be formed as a star wheel without curving upstream in the rotational direction from the proximal end to the distal end in side view, or may rotate from the proximal end to the distal end in side view. It may be formed so as to be slanted toward the upstream side of the direction, and the tip portion may be formed in a pointed shape. The projection 81a can be easily hooked to the downstream side or the bottom surface of the seedling mat M by forming the tip into a pointed shape. Therefore, the rotating body 81 can be prevented from slipping, and the rotating body 81 can be rotated in conjunction with the vertical feeding of the seedling mat M.

A boss portion 81 b is provided at the center of rotation of the rotating body 81 . Screws 81c are provided on the boss portion 81b every 90 degrees in the rotational direction, and the rotation speed of the rotating body 81 is detected by detecting the screws 81c with a proximity sensor 85. As shown in FIG. By detecting the number of rotations of the rotating body 81 with the proximity sensor 85, the amount of downward movement of the seedling mat M (vertical feeding amount) can be detected.
Further, as shown in FIGS. 10 to 12, an O-ring 81d is provided at a portion of the rotating body 81 facing the front surface of the seedling mounting table 33 (the rear surface of the mounting surface). FIG. 12 is a schematic diagram for explaining the function of the O-ring 81d.
The rotating body 81 is urged upward toward the seedling mounting table 33 by an urging spring 83, and when the seedling mat M is not mounted on the seedling mounting table 33, the rotary body 81 is rotated as shown in FIG. 12(a). As shown, the O-ring 81d comes into contact with the front surface of the seedling mounting table 33, and the rotation of the rotating body 81 is restrained by frictional force.
As shown in FIG. 12(b), when the seedling mat M is placed on the seedling mounting table 33, the rotating body 81 is pushed down to the bottom surface of the seedling mat M against the biasing force of the biasing spring 83. As a result, the O-ring 81d is separated from the seedling mounting table 33, and the rotating body 81 becomes rotatable.
With the above configuration, when the seedling mat M is not placed on the seedling mounting table 33, the rotating body 81 rotates and the movement amount detection unit 80 incorrectly detects the amount of downward movement of the seedling mat M. The detection can be prevented, and the downward movement amount of the seedling mat M can be appropriately detected. The member that restricts the rotation of the rotating body 81 is not limited to the O-ring 81d.

(Calculation of seedling mat remaining amount)
As shown in FIG. 14, the seedling mat remaining amount calculating unit 72 detects the presence of the seedling mat M by the presence/absence detecting unit 90 shown in FIG. 14(b), in which the absence of the seedling mat M is detected (in other words, the presence of the seedling mat M is not detected). The remaining amount of the seedling mat M (hereinafter sometimes referred to as the "seedling mat remaining amount"), which is estimated at any time from the amount of movement of the seedling mat M detected by the movement amount detection unit 80, is set in advance. The remaining amount (remaining amount corresponding to the position near the lower side of the presence/absence detecting section 90) is corrected. Then, as shown in FIG. 14(c), the seedling mat remaining amount calculator 72 subtracts the amount of movement of the seedling mat M detected by the movement amount detection unit 80 from the set remaining amount at any time. The mat remaining amount is calculated at any time.

(Seedling succession alarm control)
As shown in FIG. 13, when the seedling mat remaining amount calculated by the seedling mat remaining amount calculating section 72 of the control device 70 falls below the notification reference value RV (see FIG. 14(c)), the rice transplanter 1 is provided with an alarm unit 68 such as an alarm buzzer capable of informing the operator of a seedling succession alarm. Further, the control device 70 is provided with a notification reference setting section 73 capable of changing the notification reference value RV. As described above, the seedling mat remaining amount calculating unit 72 calculates the seedling mat remaining amount between the upper presence/absence detecting unit 90 and the lower moving amount detecting unit 80 on the mounting surface of the seedling mounting table 33 at any time. Therefore, the notification reference setting unit 73 appropriately adjusts the region L (see FIG. 6) between the presence/absence detection unit 90 on the upper side and the movement amount detection unit 80 on the lower side on the mounting surface of the seedling mounting table 33. The notification reference value RV can be set at the position of . Specifically, the area L in which the notification reference value RV can be set is an area between the lower end position of the detection range of the upper presence/absence detection section 90 and the upper end position of the detection range of the lower movement amount detection section 80. , and the area is about 200 mm to about 400 mm from the lower end of the mounting surface of the seedling mounting table 33 .

The notification reference setting unit 73 is configured to be able to automatically change the notification reference value RV.
The control device 70 is provided with a work setting unit 74 that can change work conditions related to work content such as the work speed of the planting work machine 3, and the notification reference setting unit 73 automatically changes the notification reference value RV. When doing so, it is configured to automatically change the notification reference value RV according to the working conditions of the work machine 3 with planting. For example, the notification reference setting unit 73 sets the notification reference value so that the higher the work speed setting of the planting machine 3, the larger the notification reference value RV (upper position in FIG. 6). Configured to automatically change the RV.
The notification reference value RV can also be changed manually by the notification reference setting unit 73. In this case, for example, the operator manually changes the notification reference value RV by inputting the notification reference value RV using the select dial 66. configured to
Therefore, the notification reference value RV can be set to an appropriate value according to the work conditions such as the work speed of the planting work and the operator's preference. A seedling succession alarm can be notified at appropriate timing.

The control flow of the seedling succession alarm control executed by the control device 70 will be described.
As shown in FIG. 15, during the planting operation, when the planting clutch is "on" (Yes in step #10), the presence/absence detector 90 detects the existence of the seedling mat M. When the presence of the seedling mat M changes from the detected state to the state where the presence of the seedling mat M is not detected, and when the absence of the seedling mat M is detected, the seedling mat remaining amount calculating section 72 calculates the seedling mat remaining amount as needed (step #11). Yes, step #12).
Then, when the seedling mat remaining amount calculated by the seedling mat remaining amount calculating unit 72 becomes less than the notification reference value RV and the seedling mat remaining amount falls below the notification reference value RV, the control device 70 A continuous alarm is issued (Yes at step #13, step #14). When notifying the seedling succession alarm, the control device 70 starts the planting work based on the seedling mat remaining amount calculated by the seedling mat remaining amount calculating section 72 and the setting of the working conditions of the planting machine 3. It may be configured to calculate the distance that can be continued and display it to the operator.

After that, in a state where the seedling succession alarm is notified, a first stop condition that the seedling mat remaining amount calculated by the seedling mat remaining amount calculating unit 72 is equal to or higher than the notification reference value RV, and When at least one condition including the second stop condition for detecting the presence of the mat M is satisfied, the controller 70 stops the seedling splicing alarm (Yes at step #15, step #16). Therefore, there is no need to separately provide means for stopping the seedling connection alarm, and the seedling connection alarm can be stopped only by the operator performing the seedling connection.
Here, if the second stop condition can be satisfied when one seedling mat M is placed on the mounting surface of the seedling mounting table 33, the seedling relay alarm can be stopped only by the operator performing seedling relay. . Therefore, the presence/absence detection unit 90 detects the seedling mounting table 33 at the upper end of the first region A where the seedling mat M is arranged when one seedling mat M is placed on the mounting surface for each row of the seedling mounting table 33 . When one seedling mat M is placed on the mounting surface 33, it is desirable to be provided at a position where the presence of the seedling mat M can be detected by contact with the seedling mat M.

<Seedling amount control>
Next, referring to FIGS. 16 to 22, seedlings for controlling the amount of seedlings (seedling removal amount) scraped by the planting machine 3 from the seedling mat M placed on the seedling mounting table 33 in the planting operation. Amount control will be explained. This embodiment is configured to control the amount of seedlings to be harvested based on the area of the seedlings to be scraped (the amount of vertical harvesting and the amount of horizontal harvesting).

(Calculation and change of standard harvest amount)
In this rice transplanter 1, the control device 70 is configured to be able to calculate a reference seedling collection amount for planting by the planting machine 3 from the input field area and the number of seedling mats. The reference amount of seedlings taken refers to the amount of seedlings taken as a reference when a predetermined number of seedling mats M are used to plant a seedling in a predetermined field. Here, the control device 70 is configured to be able to calculate a standard scraping area, a standard longitudinal harvesting amount and a standard lateral harvesting amount (a standard lateral feeding amount) as the standard seedling harvesting amount.
In addition, during the planting work, the control device 70 calculates a correction amount for the reference seedling collection amount based on the actual work area in which the planting work was performed and the number of seedling mats used for the actual work area, The reference amount of seedlings can be changed in consideration of the correction amount.
When changing the reference seedling collection amount (reference lateral feeding amount) along with the change in the reference seedling collection amount, the control device 70 changes the reference seedling amount at the timing after the seedling mat M is conveyed in the vertical direction by the vertical feeding mechanism. It is configured to change the interception amount (reference lateral feed amount). For example, when the standard interception amount or the corrected standard interception amount is selected from a plurality of specified values, the width dimension of one seedling mat M is roughly determined, so the specified value of the standard interception amount is A corresponding predetermined number of times of scraping is set to a value at which one sheet of the seedling mat M can be completely scraped off. In this case, the planting work from the vertical feeding of the seedling mat M to the next vertical feeding is regarded as one stroke, and the planting work is carried out halfway with the standard transverse amount set to a specific prescribed value during one stroke. After that, if the standard interception amount is changed to another specified value, the seedling mat remaining amount after the change may have an incomplete width that cannot be completely scraped with the changed specified value. There is Therefore, in order to scrape off the seedling mat M with a specified value during one stroke, the seedling mat M is conveyed in the vertical direction by the vertical feeding mechanism without changing the standard transverse amount in the middle of the stroke. The reference lateral feed amount (reference lateral feed amount) is changed at a later timing (the stroke start or end timing).

Calculation and change of the standard harvest amount will be described below with reference to FIG. 16 .
First, the operator uses the select dial 66 to input the number of seedling mats to be used and the area of the field to the control device 70 before planting seedlings in the field. That is, the select dial 66 is provided as a field area input means and a seedling mat number setting means. The farm field area input means and the seedling mat number setting means are not limited to the configurations described above. , or input the number of seedling mats and the field area received by the communication unit of the rice transplanter 1 from an information terminal such as a smartphone or tablet owned by a user such as an operator or from a management company or the like to the control device 70. It may be configured to

The control device 70 calculates the reference scraping area based on the number of seedling mats and the field area that are input, and controls the planting work machine 3 (specifically, the actuator 56a for setting the vertical feeding mechanism and the horizontal feeding mechanism). drive control of the actuator 48b, etc.) for setting the .

The control device 70 is configured to be able to detect the number of plants (the number of plants per predetermined area calculated from the planting interval set by the operator) from the detected value of the space setting device 9a. The control device 70 is configured to be able to calculate the number of stocks in consideration of the slip ratio, which will be described later. Here, the slip ratio is set from the amount of subsidence of the rear wheels 8 in the field at the work start point or from a predetermined reference value.

The control device 70 calculates the target number of seedling mats (the number of seedling mats per predetermined area) from the field area and the number of seedling mats. Then, the control device 70 calculates the reference scraping area from the target number of mats and the number of stocks (the number of stocks considering the slip ratio), and furthermore, from the reference scraping area and the target length-to-width ratio, the standard lengthwise amount and the standard cross-section. amount (reference lateral feed amount).

With the above configuration, when the planting work is performed, the control device 70 drives and controls the actuator 56a so as to achieve the standard vertical harvesting amount, and operates the actuator 48b so as to achieve the standard lateral harvesting amount (standard lateral feeding amount). By controlling the drive, it is possible to plant a desired number of seedling mats in a desired field without relying on the operator's experience and intuition.

When the planting work is started, the control device 70 determines the standard seedling collection amount (standard vertical Correction of the take-up amount and standard take-up amount) at any time.
Specifically, the control device 70 calculates the actual scraped area based on the actual work area and the number of seedling mats used (the number of seedling mats M consumed), and calculates the actual scraped amount from the actual scraped area and the target aspect ratio. Actual interception amount (actual transverse feed amount) is calculated. Furthermore, the control device 70 is based on the remaining work area calculated by subtracting the actual work area from the work area and the number of remaining seedling mats calculated by subtracting the number of used seedling mats from the number of seedling mats. to calculate the target scraping area, and from the target scraping area and the target aspect ratio, the target lengthwise scraping amount and the target lateral scraping amount (target lateral feed amount) are calculated.

Then, the control device 70 corrects the reference longitudinally-extending amount by adding a value obtained by subtracting the actual longitudinally-extending amount from the target longitudinally-extending amount as a correction amount for the standard longitudinally-extending amount to the standard longitudinally-extending amount. The value obtained by subtracting the actual pre-emption amount (actual traverse amount) from the pre-emption amount (target traverse amount) is used as the correction amount for the standard pre-emption amount (standard traverse amount). The planting machine 3 (specifically, , actuators 48b and 56a).
At this time, as described above, when the control device 70 changes the reference transverse feeding amount (reference lateral feeding amount), the control device 70 changes the reference transverse feeding amount at the timing after the seedling mat M is conveyed in the vertical direction by the vertical feeding mechanism. Change the amount (reference traverse amount). When changing the standard longitudinal feeding amount, the standard longitudinal feeding amount may be changed at the timing when the standard longitudinal feeding amount is corrected. At the same timing, the reference longitudinal length may be changed.

(Calculation of actual working area)
Calculation of the above-described actual work area will be described with reference to FIGS. 17 to 19. FIG.
The actual work area is calculated from the vehicle speed of the traveling body 2 considering the slip ratio and the work width (row stop position) set from the number of rows in which the planting work is performed. The vehicle speed of the traveling body 2 is calculated using the number of rotations of the traveling wheels. In this embodiment, the rotation speed of the rear wheel 8 is used for calculation. The rotation shaft of the rear wheel 8 is provided with a rear wheel rotation speed detection sensor 8a (see FIG. 13) for detecting the rotation speed thereof. The control device 70 is connected to the rear wheel rotation speed detection sensor 8a and configured to detect the rotation speed of the rear wheel 8 . The configuration for detecting the rotation speed of the rear wheel 8 is not limited to the configuration described above. may be used to convert the number of revolutions of the rear wheel 8.

As shown in FIG. 19, the slip ratio and the amount of subsidence of the running wheels (rear wheels 8 in this embodiment) in the field have a linear functional correlation. The amount of subsidence of the rear wheel 8 to the farm field refers to the height from the contact surface of the rear wheel 8 to the farm field to the surface of the field (field surface). The slip ratio increases linearly as the amount of subsidence of the rear wheel 8 into the field increases.

As shown in FIG. 17, the amount of subsidence of the rear wheels 8 in the field is determined by a planting machine position detection sensor 71a (see FIG. 13), which is an appropriate sensor such as a potentiosensor provided in the elevating link mechanism 20, and the float 34. The planting depth detection sensor 39a (see FIG. 13), which is an appropriate sensor such as a potentiosensor provided on the link mechanism 39 or the pivot shaft 38, is used for calculation.
The planting work machine position detection sensor 71a is provided in the lifting link frame 71 to which the rear end portions of the pair of left and right upper links 21 and lower links 22 are respectively attached.
The control device 70 is connected to the planting machine position detection sensor 71a, and is capable of detecting the height (distance) of the lowest point of the planting machine 3, specifically the planting claw 32, relative to the traveling body 2. Configured. The control device 70 is connected to the planting depth detection sensor 39a, and is configured to detect the height of the planting work machine 3 from the bottom surface of the float 34 . The planting depth detection sensor 39a is configured to be able to detect the protrusion amount h1 of the planting claw 32 (the distance between the tip of the planting claw 32 and the bottom surface of the float, see FIG. 17(b)).

The control device 70 detects the length to the bottom surface of the float 34 with respect to the traveling body 2 from the planting work machine position detection sensor 71a and the planting depth detection sensor 39a. The control device 70 subtracts the length to the bottom of the float 34 with respect to the traveling machine body 2 from the length to the lowest point (ground contact surface) of the rear wheels 8 with respect to the traveling machine body 2, so that the rear wheels 8 reach the field. The subsidence amount h0 (see FIG. 17(b)) is calculated. Also, the amount of subsidence of the rear wheel 8 in the field may be calculated in consideration of the amount of subsidence d of the float 34 in the field (see FIG. 18).

As shown in FIG. 18, the sensor 40 can be further used to calculate the subsidence amount h2 of the rear wheels 8 in the field in consideration of the subsidence amount d of the float 34 in the field. By measuring the swing angle .theta. By detecting the field surface height by the sensor 40 in this manner, the settlement amount d of the float 34 can be measured. The control device 70 is connected to an appropriate field surface detection sensor 40a (see FIG. 13) such as a potentiosensor provided at the rotation fulcrum of the sensor 40, and is configured to be capable of detecting field surface height. As described above, by using the sensor 40 provided so as to follow the surface of the field, it is possible to accurately calculate the amount of subsidence of the rear wheels 8 in the field in consideration of the amount of subsidence d of the float 34 in the field. .

The work width refers to the length in the machine width direction set from the planting interval in the machine body width direction of the rice transplanter 1 and the number of rows in which the planting work is performed. The number of rows for which the planting work is performed is detected by the connecting/disconnecting state of the unit clutch for connecting/disconnecting power transmission to the planting arm 31 for each row. The control device 70 is connected to a unit clutch sensor 63a (see FIG. 13) that detects connection and disconnection of the unit clutch, and is configured to be able to detect the number of rows planted.

In the above configuration, the travel distance of the rear wheels 8 can be calculated with the slip ratio taken into account from the slip ratio calculated from the amount of subsidence of the rear wheels 8 in the field and the rotational speed of the rear wheels 8 . Then, the actual working area is calculated from the working width set according to the travel distance of the rear wheels 8 and the number of rows in which the planting work is performed, taking into account the slip rate.

(Calculation of number of used seedling mats M)
Calculation of the number of used seedling mats M will be described with reference to FIGS. 20 and 21. FIG.
The control device 70 continuously detects the number of times the seedlings are added based on the detection state of the presence/absence detection unit 90 provided on the seedling mounting surface of the seedling mounting table 33 and the detection state of the movement amount detection unit 80, The number of used seedling mats is calculated at any time based on the detected number of seedling passages and the compression rate of the seedling mat M calculated separately. Here, when the planting clutch is actuated, the control device 70 detects the presence or absence of the seedling mat M in the presence/absence detection unit 90, and detects the amount of movement of the seedling mat M in the movement amount detection unit 80. Configured.

As an example of calculating the number of used seedling mats, as shown in FIG. will be described as an example.
As shown in FIG. 20(a), when the presence/absence detection unit 90 detects the presence of the seedling mat M when the planting work is started, the control device 70 adds one to the number of times of seedling transfer. Detect the seedling mat M of the eye).

Then, as shown in FIG. 20(b), as the first seedling mat M is longitudinally fed, the second seedling mat M on the upper side of the first seedling mat M moves to the lower end side. It is fed vertically. Even if the upper end position of the first seedling mat M is positioned below the presence/absence detection unit 90, the lower end side of the second seedling mat M contacts the presence/absence detection unit 90, thereby detecting the presence/absence detection unit. 90 is maintained in a state detecting the presence of seedling mat M; At this time, the control device 70 determines the upper end position (seedling mat remaining amount) of the first seedling mat M based on the movement amount (feed amount) of the seedling mat M detected by the movement amount detection section 80 . When the presence/absence detection unit 90 detects the presence of the seedling mat M, the number of times of seedling transfer is incremented by one (when the second seedling mat M is detected). ).

As shown in FIG. 20C, when the second seedling mat M is vertically fed to the lower side of the presence/absence detection unit 90, the seedling mat M is shifted from the state where the presence/absence detection unit 90 detects the seedling mat M. is not detected, and the absence of the seedling mat M is detected. At this time, the control device 70 controls the length of the seedling mat M placed on the seedling placement table 33 in the feed direction (the length from the lower end of the placement surface measured in advance to the presence/absence detection unit 90, which is described above). (corresponding to the set remaining amount) and the moving amount (feeding amount) of the seedling mat M calculated from the number of rotations of the moving amount detection unit 80 is calculated as the seedling mat M The compression rate of the seedling mat M is calculated by dividing by the length of (designed length of the seedling mat M before compression).
As shown in FIG. 21, during the planting operation, the control device 70 changes the presence/absence detection unit 90 from a state in which the existence of the seedling mat M is not detected (state shown in FIG. 21(a)) when the operator Also when the seedling mat M is detected by the presence/absence detection unit 90 (the state shown in FIG. 21B) by performing seedling transfer, the number of seedling transfer is added by one.

In the above configuration, the control device 70 uses the compression rate to determine the length of the seedling mat M before compression based on the movement amount (feed amount) of the seedling mat M calculated by the movement amount detection unit 80. The number of seedling mats used can be calculated.

(Calculation of actual seedling yield)
The control device 70 calculates the actual scraping area (actual seedling amount) based on the actual work area and the number of seedling mats used for all rows. The control device 70 calculates the actual number of seedling mats (the number of seedling mats used per predetermined area) from the number of used seedling mats obtained by adding all the number of used seedling mats for each row and the actual work area. Then, the control device 70 calculates the actual scraping area from the actual number of mats, the number of times of lateral feeding of the seedling mounting table 33, and the number of plants in consideration of the slip rate.

(Calculation of target seedling yield)
The control device 70 sets a target based on the remaining work area calculated by subtracting the actual work area from the field area and the number of remaining seedling mats calculated by subtracting the number of used seedling mats from the number of seedling mats. Calculate the scraping area (target seedling collection amount). The control device 70 calculates the target number of seedling mats (the number of seedling mats per predetermined area) from the remaining work area and the number of remaining seedling mats. Then, the control device 70 calculates the target scraping area from the target number of mats and the number of plants in consideration of the number of lateral feeds of the seedling mounting table 33 and the slip rate.

(Calculation of Correction Amount of Standard Seedling Collection Amount)
The control device 70 calculates the actual longitudinal scraping amount and the actual lateral scraping amount (actual transverse feed amount) from the actual scraping area and the target aspect ratio, and calculates the target longitudinal scraping amount and the target lateral scraping amount from the target scraping area and the target aspect ratio. Amount to be taken (target lateral feed amount) is calculated.
Then, the control device 70 corrects the reference longitudinally-extending amount by adding a value obtained by subtracting the actual longitudinally-extending amount from the target longitudinally-extending amount as a correction amount for the standard longitudinally-extending amount to the standard longitudinally-extending amount. The value obtained by subtracting the actual pre-emption amount (actual traverse amount) from the pre-emption amount (target traverse amount) is used as the correction amount for the standard pre-emption amount (standard traverse amount). By adding, the reference interception amount (reference lateral feeding amount) is corrected, and the planting work machine 3 (specifically, the actuators 48b, 56a) is drive-controlled.

In the above configuration, the actual scraping area (actual seedling collection amount) is calculated from the actual work area for all rows and the number of seedling mats used, and the target scraping is calculated from the remaining work area for all rows and the number of remaining seedling mats. The area (target seedling amount) is calculated, and the correction amount of the standard seedling amount for all rows is calculated from the actual scraping area and the target scraping area, but it is not limited to this, and the correction amount for each row may be calculated, and the correction amount for all rows may be calculated based on the correction amount for each row.

In that case, the control device 70 calculates the actual number of mats for each row from the actual work area for each row and the number of seedling mats used for each row, Calculate the actual stripped area for each row from the number of stocks considering the slip ratio, and the actual stripped area and the target vertical-to-horizontal ratio for each row to calculate the actual stripped amount and the actual stripped amount (actual horizontal feed amount) for each row. calculate.
In addition, the control device 70 calculates the target number of mats for each row from the remaining work area for each row and the number of remaining seedling mats for each row, and calculates the target number of mats for each row, the number of lateral feeds of the seedling mounting table 33, and the slip. Calculate the target stripping area for each row from the number of plants considering the ratio, and calculate the target vertical stripping amount and target cross-cutting amount (target horizontal feeding amount) for each row from the target stripping area for each row and the target vertical-to-horizontal ratio. do.
Then, the control device 70 subtracts the actual take-over amount (actual transverse feed amount) from the target take-over amount (target traverse feed amount) calculated for each row, thereby determining the standard take-over amount (standard traverse feed amount) for each row. Based on the correction amount of the standard take-over amount (standard lateral feed amount) calculated for each row, the correction amount of the standard take-over amount (standard lateral feed amount) for all rows is calculated. calculate. In addition, the control device 70 calculates a correction amount for the standard vertical take-up amount for each row by subtracting the actual take-up amount from the target take-up amount calculated for each row. Based on the correction amount of the take-up amount, the correction amount of the standard vertical take-up amount of all the rows is calculated.

As described above, during the planting work, by making it possible to calculate the actual work area where the actual planting work was performed and the number of seedling mats used for the actual planting work, the standard scraping area ( standard seedling yield) can be corrected. Therefore, it is possible to appropriately plant a desired number of seedling mats in a desired field. Therefore, the consumption efficiency of the seedling mat M can be improved.

A control flow of seedling amount control (scraping area control) will be described with reference to FIG. 22 . Below, the clutch with planted shall be connected and the work machine 3 with planted shall be operate|moving. When the seedling amount control is started, the actual working area is calculated as needed from the traveling distance and working width of the rear wheels 8 in consideration of the slip rate. In addition, the number of times of seedling transfer is detected from the detection states of the presence/absence detection unit 90 and the movement amount detection unit 80 as needed, and the movement amount (feed amount) of the seedling mat M is calculated from the detection state of the movement amount detection unit 80 as needed. there is

At step # 21 , the control device 70 determines whether or not the field area and the number of seedling mats have been input using the select dial 66 . When the field area and the number of seedling mats are input, the process proceeds to step #22.

In step #22, the control device 70 calculates a reference scraping area based on the field area and the number of seedling mats, and based on the reference scraping area and the target aspect ratio. feed amount). Then, the planting work machine 3 (specifically, the actuators 48b and 56a) is driven and controlled so as to achieve the reference vertical cutting amount and the reference horizontal cutting amount (reference lateral feeding amount), and the process proceeds to step #23.

At step #23, the control device 70 determines whether or not the presence/absence detector 90 has changed from the state in which the seedling mat M is being detected to the state in which the seedling mat M is not being detected. When the presence/absence detection unit 90 detects that the seedling mat M is not detected, the process proceeds to step #24.

At step #24, the control device 70 calculates the number of seedling mats used for each row from the compression rate calculated based on the feeding amount of the seedling mat M for each row and the number of times the seedling mat M is transferred. 25.

At step #25, the control device 70 determines whether or not the number of seedling mats used for each row has been calculated. When the number of used seedling mats for each row is calculated, the process proceeds to step #26.

At step #26, the control device 70 calculates the actual scraped area based on the actual work area and the number of seedling mats used, and the actual scraped amount and the actual intercepted amount ( Actual lateral feed amount) is calculated, and the process proceeds to step #27.

At step #27, the control device 70 calculates the target scraping area based on the remaining work area and the number of remaining seedling mats, and the target longitudinal harvesting amount and the target lateral harvesting amount ( A target lateral feed amount) is calculated, and the process proceeds to step #28.

At step #28, the control device 70 calculates a correction amount for the reference longitudinal feeding amount based on the actual longitudinal feeding amount and the target longitudinal feeding amount, Based on the lateral feed amount), a correction amount for the reference interception amount (reference lateral feed amount) is calculated, and the process proceeds to step #29.

At step #29, the control device 70 corrects the reference longitudinal-feeding amount and the reference lateral-feeding amount (reference lateral-feeding amount) based on the respective correction amounts of the reference longitudinal-feeding amount and the reference lateral-feeding amount (reference lateral-feeding amount). , the planting work machine 3 (specifically, the actuators 48b and 56a) is driven and controlled so that the corrected standard vertical cutting amount and standard horizontal cutting amount (standard lateral feeding amount) are obtained, and the process proceeds to step #30. migrate.

At step #30, the control device 70 determines whether or not the actual working area is the agricultural field area. If the actual work area is the field area, the process ends. If the actual working area is not the field area, the process proceeds to step #23.
In this seedling amount control (scraping area control), since the correction values for the standard longitudinal harvesting amount and the standard lateral harvesting amount are calculated from the remaining work area and the number of remaining seedling mats, If only the work area suddenly becomes 0, the control device 70 will calculate the correction value to a maximum value, and there is a risk that the drive load of the actuators 48b and 56a for correcting the reference vertical take-up amount and the reference take-up amount will increase. be.
Therefore, when the remaining work area or the number of remaining seedling mats becomes 0 at the end of the work, the control device 70 calculates the target longitudinal harvesting amount and the target transverse harvesting amount (target Lateral feed amount) is calculated, a correction value for the standard vertical feed amount is calculated based on the actual vertical feed amount and the target vertical feed amount, A correction value for the reference interception amount (reference lateral feed amount) is calculated based on the feed amount. By doing so, it is possible to avoid the problem that the corrected values of the reference vertical take-up amount and the reference take-up amount are calculated to be maximum at the end of the work, etc., and reduce the driving load of the actuators 48b and 56a. can be done.

Grasping and planning of planting work by the information terminal 100 will be described with reference to FIG. 23 .
The communication unit of the rice transplanter 1 transmits and receives various data via a wide area communication network such as the Internet, and can perform data communication with an external information terminal 100 connected via the wide area communication network. configured to allow

As shown in FIG. 23( a ), the information terminal 100 detects the elapsed time, the number of plants, the number of lateral feeds, the amount of subsidence of the rear wheels 8 , the slip ratio, and the It receives and displays data such as the number of stems, the number of stems per predetermined area, the remaining work area, the number of remaining seedling mats, and the like. Various data may be displayed in real time during the planting work, or may be displayed at the end of the planting work.

As described above, by enabling the information terminal 100 to receive various kinds of detailed data, a manager or the like who manages a plurality of fields can use the information terminal 100 to grasp the work status of each field. can do.

As shown in FIG. 23(b), the relationship between the number of stems per predetermined area and the yield, and the relationship between the number of strains and the yield may be displayed. In this case, by showing the breakdown of the yield in terms of the ratio between the grain size and the waste rice, it will be useful for planning for the next term.

In addition, when setting the number of strains and the number of seedling mats per predetermined area by estimating the yield per predetermined area of the field in advance, various information is input to the information terminal 100, and the required number of mats, the number of strains, etc. are simulated. It can be carried out. Therefore, the manager can make a plan from the stage of transplanting seedlings or the stage of growing seedling mats M, and can appropriately set the required number of mats, the number of plants, and the like.

[Second embodiment]
In the above-described first embodiment, when the control device 70 changes the standard scraping area (standard seedling amount), the control device 70 changes both the standard vertical harvesting amount and the standard lateral harvesting amount (standard lateral feeding amount). Although no particular priority has been set between the It is configured to give priority to the change of the standard longitudinal length over the change of the
The rice transplanter 1 of the second embodiment is the same as the first embodiment except for the method of changing the standard scraping area (standard seedling amount). A sprouting alarm can be issued from the alarm unit 68 at a timing according to working conditions, operator's preference, and the like.
Hereinafter, description of the same parts as in the first embodiment will be omitted, and only different parts from the first embodiment will be described.

When changing the standard scraping area (standard seedling amount), the control device 70 can change only the standard longitudinal amount in the standard seeding amount if the standard longitudinal amount does not exceed a predetermined range. When the standard vertical harvesting amount exceeds a predetermined range, the standard vertical harvesting amount and the standard lateral harvesting amount (standard lateral feeding amount) in the standard seedling harvesting amount can be changed.
Here, the predetermined range of the vertical take-up amount may be set based on, for example, the drive range (upper and lower limit range) of the actuator 56a for setting the take-up amount. can be set based on a range of aspect ratios where the scraping shape is closer to a rectangle than a square due to an extremely small scraping amount relative to the longitudinal scraping amount. If the longitudinal amount exceeds a predetermined range, for example, the calculated target longitudinal amount exceeds the settable upper limit of the longitudinal amount and the longitudinal amount cannot be set as the target longitudinal amount, or the longitudinal amount The setting of the interception amount becomes extremely large or extremely small with respect to the setting, the planting claw 32 does not scrape the seedling mat M well, and the seedling is dropped, the missing seedling is planted due to the missing seedling. This is because there is a possibility that adverse effects such as poor posture of seedlings may occur.

The control device 70, for example, when calculating the correction amount of the reference vertical cutting amount and the reference cutting amount during the planting work, the reference cutting amount actually set at that time is fixed, and the target Calculate a target vertical scraping amount that can achieve the scraping area.
Then, when the target longitudinally calculated amount does not exceed the predetermined range, the control device 70 sets a value obtained by subtracting the actual longitudinally-expanded amount from the target longitudinally-expanded amount as the correction amount of the standard longitudinally-expanded amount. By adding to the lengthwise amount, only the standard lengthwise amount is corrected, and the planting work machine 3 (specifically, the actuator 56a) is drive-controlled.

On the other hand, when the target vertical take-up amount thus calculated exceeds the predetermined range, the control device 70 calculates the reference take-up amount and the reference take-up amount (reference lateral take-up amount) using the same calculation method as in the first embodiment. Feed amount) is calculated, and by adding the correction amount of the standard vertical feeding amount to the standard vertical feeding amount, the standard vertical feeding amount is corrected, and the correction amount of the standard horizontal feeding amount (standard lateral feeding amount) is calculated. is added to the standard interception amount (reference lateral feed amount) to correct the standard interception amount (reference lateral feed amount), and drive and control the planting work machine 3 (specifically, the actuator 48b, 56a) .

When the calculated target longitudinal feeding amount exceeds a predetermined range, the control device 70 increases the standard lateral feeding amount (standard lateral feeding amount) actually set at that time by one step. It is also possible to calculate a target vertical stripping amount that can achieve the target scraping area while fixing the target lateral stripping amount (target lateral stripping amount) to the amount (traverse feed amount). Further, for example, the target lateral cutting amount (target lateral feeding amount) that can achieve the target scraping area may be calculated with the target vertical cutting amount fixed at the maximum amount. In those cases, the target vertical take-up amount and target transverse take-up amount (target transverse feed amount) and the actual longitudinal take-up amount and actual take-up amount (target transverse feed amount) are used to ), corrects the reference longitudinal amount and the reference transverse amount (reference lateral feeding amount), and drives and controls the planting work machine 3 (specifically, the actuators 48b and 56a).

[Third Embodiment]
In the above-described first and second embodiments, as the seedling amount control executed by the control device 70, a control method for controlling the seedling amount based on the seedling scraping area (longitudinal amount and sideways amount) is used. Although shown as an example, in the third embodiment, a control method is adopted in which the amount of seedlings taken is controlled based only on the lengthwise amount of seedlings taken.
The rice transplanter 1 of the third embodiment is the same as that of the first embodiment except for controlling the amount of seedlings taken. A seedling succession alarm can be notified from the alarm unit 68 at the appropriate timing.
Hereinafter, description of the same parts as in the first embodiment will be omitted, and only different parts from the first embodiment will be described.
First, referring to FIG. 24, a description will be given of seedling amount control (longitudinal amount control) for controlling the amount of seedlings picked based only on the lengthwise amount of seedlings taken.

The operator uses the select dial 66 to input the number of seedling mats to be used and the area of the field to the control device 70 before planting seedlings in the field. The control device 70 calculates a reference lengthwise harvesting amount based on the input number of seedling mats and field area, and drives and controls the actuator 56a. The control device 70 is configured to be able to detect the number of plants (the number of plants per predetermined area calculated from the planting interval set by the operator) from the detected value of the space setting device 9a. The control device 70 is configured to be able to calculate the number of stocks in consideration of the slip ratio, which will be described later. Here, the slip ratio is set from the amount of subsidence of the rear wheels 8 in the field at the work start point or from a predetermined reference value.

The control device 70 calculates the target number of seedling mats (the number of seedling mats per predetermined area) from the field area and the number of seedling mats. Then, the control device 70 calculates the reference lengthwise harvesting amount from the target number of mats, the number of times of lateral feeding of the seedling mounting table 33, and the number of plants (the number of plants considering the slip rate may be used).

In the above configuration, by driving and controlling the actuator 56a so as to achieve the reference lengthwise amount, planting work can be performed in a desired field with a desired number of seedling mats without relying on the operator's experience and intuition. You can set the amount of profile required for

When the planting work is started, the control device 70 corrects the reference lengthwise amount as needed based on the actual work area in which the actual planting work was performed and the number of seedling mats used in the actual planting work. do. Specifically, the control device 70 calculates the actual longitudinal harvest amount based on the actual work area and the number of seedling mats used. Then, the control device 70 is based on the remaining work area calculated by subtracting the actual work area from the work area and the number of remaining seedling mats calculated by subtracting the number of used seedling mats from the number of seedling mats. to calculate the target longitudinal amount. The control device 70 corrects the reference longitudinal capture amount by adding a value obtained by subtracting the actual longitudinal capture amount from the target longitudinal capture amount as a correction amount to the reference longitudinal capture amount.

A control flow of seedling amount control (longitudinal amount control) will be described with reference to FIG. 25 . Below, the clutch with planted shall be connected and the work machine 3 with planted shall be operate|moving. When the seedling amount control is started, the actual working area is calculated as needed from the traveling distance and working width of the rear wheels 8 in consideration of the slip rate. In addition, the number of times of seedling transfer is detected from the detection states of the presence/absence detection unit 90 and the movement amount detection unit 80 as needed, and the movement amount (feed amount) of the seedling mat M is calculated from the detection state of the movement amount detection unit 80 as needed. there is

At step # 31 , the control device 70 determines whether or not the field area and the number of seedling mats have been input using the select dial 66 . When the field area and the number of seedling mats are input, the process proceeds to step #32.

In step #32, the control device 70 drives and controls the actuator 56a so as to achieve the reference vertical harvesting amount calculated based on the field area and the number of seedling mats, and proceeds to step #33.

At step #33, the control device 70 determines whether or not the presence/absence detector 90 has changed from the state in which the seedling mat M is being detected to the state in which the seedling mat M is not being detected. When the presence/absence detection unit 90 detects that the seedling mat M is not detected, the process proceeds to step #34.

At step #34, the controller 70 calculates the number of seedling mats used for each row from the compression rate calculated based on the feeding amount of the seedling mat M for each row and the number of times the seedling mat M is sprouted. 35.

At step #35, the control device 70 determines whether or not the number of seedling mats used for each row has been calculated. When the number of used seedling mats is calculated, the process proceeds to step #36.

At step #36, the control device 70 calculates the actual harvest amount based on the actual work area and the number of seedling mats used, and proceeds to step #37.

At step #37, the control device 70 calculates the target vertical harvesting amount based on the remaining work area and the number of remaining seedling mats, and proceeds to step #38.

At step #38, the control device 70 calculates a correction amount for the reference longitudinal amount based on the actual longitudinal amount and the target longitudinal amount, and proceeds to step #39.

At step #39, the control device 70 corrects the reference longitudinal amount based on the correction amount of the reference longitudinal amount, drives and controls the actuator 56a so as to achieve the corrected reference longitudinal amount, and step #40. move to

At step #40, the control device 70 determines whether or not the actual working area is the agricultural field area. If the actual work area is the field area, the process ends. If the actual work area is not the field area, the process proceeds to step #33.

[Another embodiment]
Another embodiment of the present invention will be described. In addition, the configuration of each embodiment described below is not limited to being applied alone, and can be applied in combination with the configuration of other embodiments.

(1) In the above-described embodiment, the number of rotations of the rotating body 81 is detected by detecting the screw 81c provided on the boss portion 81b of the rotating body 81 by the proximity sensor 85 in the movement amount detecting section 80. , but not limited to.

For example, as shown in FIG. 26, the rotating body 81 is provided with an elliptical cam 88A that rotates together with the rotating body 81, and a microswitch 88B that repeatedly turns on and off as the cam 88A rotates. The microswitch 88B is arranged to be turned on when the short diameter end of the cam 88A and the arm 88b are in contact, and to be turned off when the long diameter end of the cam 88A and the arm 88b are in contact. In the above configuration, the number of revolutions of the rotor 81 can be detected by repeatedly turning on and off the microswitch 88B every 90 degrees.

In addition to the above configuration, a rotary encoder may be attached to the rotating shaft of the rotating body 81 to calculate the rotation speed (rotation angle) of the rotating body 81, or a potentiometer may be attached to the rotating shaft of the rotating body 81. may be attached to calculate the rotation speed (rotation angle) of the rotor 81 .

Further, although the rotating body 81 is used to configure the movement amount detection unit 80 of the seedling mat M, the present invention is not limited to this. For contact-type measuring methods, capacitance-type gauges, load cells, and the like are conceivable. The capacitive gauge, for example, is installed over the entire placement surface, so that the feeding amount and remaining amount of the seedling mat M on the seedling mounting table 33 can be accurately measured. Further, the load cell is attached to the supporting member of the seedling mounting table 33, for example, so that the feed amount of the seedling mat M can be detected based on the load of the seedling mat M mounted on the mounting surface.

In addition, as a non-contact measurement method, a laser rangefinder, image processing of an image captured by a camera, an optical sensor, a brightness sensor, and the like are conceivable. For example, the laser rangefinder is provided so as to be able to measure the distance from the upper side of the placement surface to the upper end surface of the seedling mat M placed thereon, thereby detecting the feeding amount of the seedling mat M. can be done. Further, for example, the camera is provided so as to be capable of photographing the seedling mat M placed on the placing surface, so that the feed amount of the seedling mat M can be detected by performing image processing on the photographed image. The optical sensor is composed of, for example, a light-emitting portion and a light-receiving portion that detects that the light beam from the light-emitting portion is blocked by the seedling mat M, thereby detecting the feeding amount of the seedling mat M. .

(2) The specific configuration of the presence/absence detection unit 90 is not limited to the configuration shown in the above embodiment, and various configuration changes are possible. For example, the presence/absence detection unit 90 may have the same configuration as the movement amount detection unit 80 . In this case, the presence/absence detection unit 90 can detect the presence of the seedling mat M by detecting the movement of the seedling mat M, and can detect the absence of the seedling mat M by not detecting the movement of the seedling mat M. be able to.

[Additional remarks of the invention]
A first characteristic configuration of the present invention is a planting device that can scrape seedlings from a seedling mat placed on a seedling loading table and plant them in a field, and can change the amount of seedlings that are scraped from the seedling mat. a work machine with
a control device capable of inputting the field area for planting work and the number of seedling mats used in the field area,
The control device is characterized in that it calculates a reference seedling collection amount for planting by the planting machine based on the input field area and the number of seedling mats.

According to this configuration, the control device can calculate the reference seedling collection amount for planting by the planting machine from the field area in which the planting work is performed and the number of seedling mats used in the field area. Then, by adjusting the seedling collection amount of the planting machine to the calculated reference seedling collection amount, it is possible to use the seedling mat prepared for the desired field without excess or deficiency. Planting work can be appropriately performed with the desired number of seedling mats.

In a second characteristic configuration of the present invention, the control device calculates a correction amount for the reference seedling collection amount based on the actual work area in which the planting work was performed and the number of seedling mats used for the actual work area, It is characterized in that the reference amount of seedlings taken is changed in consideration of the correction amount.

Even if the planting work is performed with the amount of seedlings calculated from the field area where the planting work is performed and the number of seedling mats used in the field area, for example, due to factors such as the state of the seedling mat and the state of the field, It is conceivable that the actual number of seedling mats used for the actual working area for the planting work differs from the planned number of seedling mats used.
On the other hand, according to this configuration, the control device calculates the correction amount of the reference seedling collection amount based on the actual work area in which the planting work was performed and the number of seedling mats used for the actual work area, Since the standard seedling collection amount is automatically changed by adding the correction amount, if the actual number of seedling mats used for the actual work area for planting work differs from the planned number of seedling mats used, it will be automatically adjusted. It is possible to modify the standard seedling collection amount. Therefore, it is possible to more appropriately plant seedlings in a desired field with a desired number of seedling mats.

The planting machine is capable of changing a longitudinal amount, which is the amount of seedlings taken in the vertical direction of the seedling loading table, and a transverse amount, which is the amount of seedlings taken in the lateral direction of the seedling loading table,
The control device is characterized in that, when changing the standard seedling-collecting amount, the standard seeding-collecting amount is changed by changing the longitudinal-collecting amount and the lateral-collecting amount.

According to this configuration, when the standard seeding amount is changed, both the vertical harvesting amount and the lateral harvesting amount are changed. amount can be changed.

A fourth characteristic configuration of the present invention is that the planting machine has a vertical seeding amount, which is the amount of seedlings taken in the vertical direction of the seedling mounting table, and a lateral It is possible to change the dosage and
When the standard seeding amount is changed, the control device can change only the longitudinal seeding amount in the standard seeding amount when the longitudinal seeding amount does not exceed a predetermined range. exceeds a predetermined range, it is possible to change the longitudinal harvesting amount and the horizontal harvesting amount in the reference seedling harvesting amount.

In this kind of seedling transplanter, the amount of vertical harvesting can be changed by, for example, raising and lowering the seedling loading table to change the vertical position of the planting claws of the seedling planting machine with respect to the seedling mat. can be easily done. On the other hand, changing the amount of lateral take-up is not as easy as changing the amount of longitudinal take-up, for example, it is necessary to change the number of times of lateral feeding of the seedling mounting table (lateral feeding speed) by the lateral feeding mechanism.
According to this configuration, when changing the standard seeding amount, if the longitudinal amount does not exceed the predetermined range, it is possible to easily change the standard seeding amount by changing only the longitudinal amount. Nevertheless, when the vertical harvesting amount exceeds a predetermined range, the vertical harvesting amount and the horizontal harvesting amount can be changed to change the reference seedling harvesting amount to an appropriate amount.

A fifth characteristic configuration of the present invention is that the planting work machine includes a vertical feeding mechanism that intermittently conveys the seedling mat placed on the seedling mounting table in the vertical direction, and a reciprocating movement of the seedling mounting table in the horizontal direction. and a lateral feed mechanism that allows
The planting machine can change the amount of interception by changing the moving speed of the seedling mounting table by the lateral feeding mechanism,
The control device can drive and control the planting machine so that the amount of seedlings planted by the planting machine becomes the reference seedling amount,
The control device changes the lateral harvesting amount after the seedling mat is conveyed in the vertical direction by the vertical feeding mechanism when the lateral harvesting amount is changed in accordance with the change of the reference seedling harvesting amount. It is characterized by

According to this configuration, the planting work machine reciprocates the seedling mounting table in the horizontal direction by the horizontal feeding mechanism to scrape the seedlings from the seedling mat in the horizontal direction one by one and plant the seedlings, while the horizontal feeding mechanism When the lateral feeding direction is reversed by the vertical feeding mechanism, the seedling mat can be transported in the vertical direction by a predetermined distance.
In addition, since the control device can drive and control the planting machine so that the amount of seedlings collected by the planting machine becomes the standard seedling collection amount, when the standard longitudinal collection amount is calculated or changed, the planting amount can be changed. The amount of seedlings collected by the attached work machine can be automatically changed to the standard lengthwise amount.
When the control device changes the lateral harvesting amount in accordance with the change of the standard seedling harvesting amount, the lateral harvesting amount is changed after the seedling mat is conveyed in the vertical direction by the vertical feeding mechanism. By changing the amount of transverse feeding during the transverse feeding by the transverse feeding mechanism, for example, the part to be scraped last in the width direction of the seedling mat It is possible to avoid problems such as excess or deficiency in the interception amount.

A seedling transplanter according to one aspect of the present invention includes a planting machine and a control device. The planting machine is configured to be able to scrape seedlings from a seedling mat placed on a seedling loading table and plant them in a field, and to change the amount of seedlings scraped from the seedling mat. The control device can input the field area for planting and the number of seedling mats to be used for the field area. The control device calculates a reference seedling collection amount for planting by the planting machine based on the input field area and the number of seedling mats. The control device can change the reference seedling collection amount by adding a correction amount based on the actual work area in which the planting work has been performed and the number of seedling mats used for the actual work area.

1 Rice transplanter (seedling transplanter)
3 Planting work machine 33 Seedling mounting table 68 Alarm unit 70 Control device 72 Seedling mat remaining amount calculation unit 73 Notification standard setting unit 74 Work setting unit 80 Movement amount detection unit 90 Presence/absence detection unit A First region RV Notification reference value

Claims (3)

a seedling mounting table on which the seedling mats are placed in an inclined state and arranged side by side in the width direction of the machine body according to the number of rows;
A seedling transplanter comprising a vertical feeding mechanism for downwardly feeding the seedling mat placed on the seedling loading table,
a rotator provided so as to protrude upward from the back side of the mounting surface and rotate in conjunction with the vertical feeding of the seedling mat by the vertical feeding mechanism;
a rotation restraining member that restrains the rotation of the rotating body when the seedling mat is not placed on the seedling mounting base;
detecting the feeding amount of the seedling mat based on the rotation speed of the rotating body;
seedling transplanter. When the rotating body is pushed by the seedling mat placed on the seedling mounting table, the rotation restriction of the rotating body by the rotation restricting member is released.
The seedling transplanter according to claim 1. The rotating body is biased toward the seedling mounting table from the back side of the mounting surface of the seedling mounting table,
The rotation restraint member is provided at a portion of the rotating body facing the rear surface of the seedling mounting table, and is in contact with the seedling mounting table when the seedling mat is not placed on the seedling mounting table. restraining the rotation of the rotating body by frictional force;
The seedling transplanter according to claim 2.

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