JP2023172104A - Transplanter - Google Patents

Abstract

To solve such a problem that there is such a risk that a ground sensor becomes travel resistance and a disturbance occurs between seedlings, also there is such a risk that a proper machine body height cannot be detected in a case where a farm field surface cannot be followed, and a planting depth is not proper in a transplanter which detects the machine body height by a ground sensor that grounds on a farm field surface, performs lift control of left and right wheels and makes the seedling-planting depth of a seedling planting device fixed.SOLUTION: In a transplanter having a planting device 6 which plants an implant in a farm field by vertically operating in a travel part 1a equipped with travel devices 2, 3 that vertically move in an actuator 21, the actuator 21 is operated with detection of a planting depth of planting depth detection sensors S1-S7 provided in a planting tool 6a that plants an implant by running into the farm field of the planting device 6, lift control of the travel devices 2, 3 is performed, and the planting depth of the planting device 6 is caused to be fixed.SELECTED DRAWING: Figure 1

Description

The present invention relates to a transplanter such as a vegetable seedling transplanter.

Conventionally, a running vehicle equipped with a seedling planting device is equipped with left and right wheels that can be moved up and down, and a ground sensor that is grounded in the field detects the height of the vehicle and operates a lifting cylinder to control the left and right wheels to move up and down to plant seedlings. There is a transplanter that makes the seedling planting depth of the device constant (for example, see Patent Document 1).

Japanese Patent Application Publication No. 2018-201373

However, since the ground sensor detects the height of the machine by touching the ground on the field, there is a risk of running resistance and causing disturbances among the seedlings to be planted. There is a possibility that a situation may occur in which the height cannot be detected and the planting depth is not appropriate.

The present invention has been made in consideration of the above-mentioned conventional problems, and an object of the present invention is to provide a transplanting machine that can perform transplanting work satisfactorily at an appropriate planting depth.

The invention according to claim 1 provides a transplanter in which a planting device 6 is provided on a traveling section 1a equipped with traveling devices 2 and 3 that are moved up and down by an actuator 21, and a planting device 6 that moves up and down to plant a transplant in a field. The actuator 21 is actuated based on the detection of the planting depth by the planting depth detection sensors S1 to S7 provided on the planting tool 6a, which enters the field No. 6 and plants the transplants, and the traveling devices 2 and 3 are controlled to move up and down for planting. This is a transplanter that keeps the planting depth of the device 6 constant.

According to the invention described in claim 1, the actuator 21 is actuated by the detection of the planting depth by the planting depth detection sensors S1 to S7 provided on the planting tool 6a of the planting device 6 that enters the field and plants the transplant. Since the planting depth of the planting device 6 is made constant by controlling the traveling devices 2 and 3 to move up and down, the accurate planting depth can be detected and the transplanting work can be performed satisfactorily at an appropriate planting depth.

The invention according to claim 2 provides a plurality of temperature sensors S1 to S7 in which the planting depth detection sensors S1 to S7 are provided in a direction in which the planting tool 6a enters the field, and the planting tool 6a rushes into the field and removes the transplanted material. Due to the temperature difference between the underground temperature detected by the temperature sensors S1 to S7 that entered the field during planting and the outside air temperature detected by the temperature sensors S1 to S7 that did not enter the field, the temperature sensor that entered the field The transplanting machine according to claim 1, wherein the position of the highest temperature sensor S1 to S7 of S1 to S7 is the planting depth.

The invention according to claim 3 provides an irrigation device 65 for irrigation to the transplant, and increases the amount of irrigation when the temperature difference between the underground temperature detected by the temperature sensors S1 to S7 and the temperature of the outside air is equal to or higher than a predetermined temperature. 3. The transplanting machine according to claim 2, wherein the amount of watering is reduced when the temperature difference is below a predetermined value.

According to the invention set forth in claim 3, an irrigation device 65 is provided to irrigate the transplant, and when the temperature difference between the underground temperature detected by the temperature sensors S1 to S7 and the outside air temperature is equal to or higher than a predetermined temperature, the amount of water is increased. , and if the temperature difference is below a predetermined value, the amount of watering is reduced, so that appropriate watering can be performed according to the temperature difference between the underground temperature and the outside air, resulting in good growth of the transplants.

The invention according to claim 4 provides a front sensor 90F and a rear sensor 90R for detecting unevenness of the field scene in front and behind the position where the planting tool 6a plants the transplant, and the field scene detected by the front sensor 90F is provided. Any one of claims 1 to 3, further comprising a control device 70 that calculates the interval or presence or absence of the transplants planted by the planting tool 6a by comparing the unevenness of the field surface with the unevenness of the field surface detected by the rear sensor 90R. This is the transplanting machine according to item 1.

The invention according to claim 5 provides a color sensor in the seedling take-out claw 5a of the seedling take-out device 5 which takes out the seedlings from the cells of the seedling tray and supplies them to the planting tool 6a, and the control device 70 detects the color detected by the color sensor. If the color is other than the specified color, it is determined that the seedlings in the cell are withered or not present, and the traveling clutch is disengaged to stop the machine, and the seedling extraction claw 5a removes the dead or dead seedlings from the cell. The transplanting machine according to any one of claims 1 to 3, wherein the block is taken out and supplied to the planting tool 6a, and the planting tool 6a is disposed of in the field.

According to the invention set forth in claim 5, a color sensor is provided in the seedling take-out claw 5a of the seedling take-out device 5 that takes out the seedlings from the cells of the seedling tray and supplies them to the planting tool 6a, and the control device 70 detects the seedlings using the color sensor. If the color is other than the specified color, it is determined that the seedlings in the cell are withered or not present, and the traveling clutch is disengaged to stop the machine, and the seedling extraction claw 5a removes the withered seedlings or seedlings from the cell. Since the non-existing blocks are taken out and supplied to the planting tool 6a, and the planting tool 6a discards them in the field, it is possible to prevent situations such as planting withered and defective seedlings or missing plants.

In the invention as claimed in claim 6, a color sensor is provided in the seedling take-out claw 5a of the seedling take-out device 5 which takes out the seedlings from the cells of the seedling tray and supplies them to the planting tool 6a, and the control device 70 detects the color detected by the color sensor. If the color is other than the specified color, it is determined that the seedlings in the cell are withered or not present, and the traveling clutch is disengaged to stop the machine, and the seedling extraction claw 5a removes the dead or dead seedlings from the cell. 5. The transplanting machine according to claim 4, wherein the block is taken out and supplied to the planting tool 6a, and the planting tool 6a is disposed of in the field.

According to the seventh aspect of the invention, the side clutches of the left and right traveling device 2 are disengaged by gripping the left and right side clutch levers 85, 85 provided on the left and right sides of the steering handle 7 by less than a predetermined amount, and the left and right side clutch levers 85, 85 are The transplanter according to any one of claims 1 to 3, wherein the travel clutch of the left and right travel device 2 is disengaged by a gripping operation of a predetermined amount or more.

According to the invention set forth in claim 7, the side clutches of the left and right traveling device 2 are disengaged by gripping the left and right side clutch levers 85, 85 provided on the left and right sides of the operating handle 7 by less than a predetermined amount, and the left and right side clutch levers 85, 85 are disengaged. Since the running clutch of the left and right traveling device 2 is disengaged when the left and right side clutch levers 85 are gripped by a predetermined amount or more, the left and right traveling device 2 is released by gripping either one of the left and right side clutch levers 85 by less than a predetermined amount during the transplanting work. By disengaging the side clutch, you can easily steer the aircraft left and right.

In addition, if the direction of travel is significantly deviated during the transplanting work or an unexpected situation occurs, the left and right traveling device 2 can be moved by gripping either one of the left and right side clutch levers 85, 85 by a predetermined amount or more. The clutch is disengaged and the machine can be stopped, and it is possible to easily prevent the moving direction of the machine from being greatly deviated, causing the ridge U to collapse or the planting position to be greatly deviated.

The invention according to claim 8 disengages the side clutch of the left and right traveling device 2 by gripping the left and right side clutch levers 85, 85 provided on the left and right sides of the steering handle 7 by less than a predetermined amount, and the left and right side clutch levers 85, 85 are disengaged. 5. The transplanting machine according to claim 4, wherein the travel clutch of the left and right travel device 2 is disengaged by a gripping operation of a predetermined amount or more.

The invention according to claim 9 disengages the side clutch of the left and right traveling device 2 by gripping the left and right side clutch levers 85, 85 provided on the left and right sides of the steering handle 7 by less than a predetermined amount, and the left and right side clutch levers 85, 85 are disengaged. 6. The transplant machine according to claim 5, wherein the travel clutch of the left and right travel device 2 is disengaged by a gripping operation of a predetermined amount or more.

The invention according to claim 10 disengages the side clutch of the left and right traveling device 2 by gripping the left and right side clutch levers 85, 85 provided on the left and right sides of the steering handle 7 by less than a predetermined amount, and the left and right side clutch levers 85, 85 are released. 7. The transplant machine according to claim 6, wherein the travel clutch of the left and right travel device 2 is disengaged by a gripping operation of a predetermined amount or more.

FIG. 1 is a left side view of a seedling transplanter according to an embodiment of the present invention. It is a top view of the same seedling transplanting machine. It is a side view for explaining the operation of the planting cup of the same seedling transplanter. It is a top view for explaining the operation of the planting depth setting dial of the same seedling transplanter. It is a side view for explaining the function of the irrigation pump of the same seedling transplanter.

1 and 2 are a side view and a plan view of a vegetable seedling transplanter 1 as an example of an embodiment of the present invention.

This seedling transplanting machine 1 moves the machine body across a ridge U by means of a running section 1a having left and right driving wheels 2, 2 and left and right free front wheels 3, 3 as a running device, while a seedling tray conveying device 4 The vegetable seedlings with soil contained in the seedling tray are planted on the upper surface of the ridge U by a seedling planting section 1b comprising a seedling extraction device 5, a seedling planting device 6, and the like.

The operator steers the aircraft using a control handle 7 provided at the rear end of the aircraft while walking behind the aircraft.

The seedling tray used in this seedling transplanter has a plurality of seedling growing cells arranged in rows and columns, and is made of plastic and has a flexible structure. Since the seedling-raising cells are connected on the front side and independent on the back side, vertical grooves and horizontal grooves are formed between the cells on the back side of the seedling tray. Fill each seedling growing cell with bed soil and grow one seedling at a time.

In the traveling section 1a, an engine 8 is mounted on the front end of the body, and a traveling section mission case 9 to which the rotational power of the engine 8 is transmitted is provided on the rear side.

Further, a hydraulic pump 10 is provided on the left side of the engine 8 and is driven by the power of the engine.

Further, a fuel tank 11 and the like are provided above the engine 8, and a bonnet 12 covers the top thereof.

A connecting frame 13, which is rectangular in side view and long in the left and right directions, is integrally provided on the back side of the traveling section mission case 9, and the front end of a main frame 14 is fixedly connected to the right end of the back side of this connecting frame.

The main frame 14 extends rearward through the right side of the seedling planting section 1b in a plan view, curves diagonally upward in the middle, and continues as it is to the rear position of the seedling planting section 1b. A control handle 7 is attached to the rear end.

Traveling transmission cases 16, 16 are integrally attached to rotary tube portions 15, 15 protruding from the left and right side surfaces of the traveling transmission case 9, and left and right driving traveling wheels 2, which are drive wheels, are mounted on the outside of the leading end of the traveling transmission case. 2 is pivoted.

Transmission is transmitted from the traveling part transmission case 9 to the left and right driving traveling wheels 2, 2 via shafts in rotating cylinder parts 15, 15 and chains in traveling transmission cases 16, 16.

Further, a left-right front wheel rotation fulcrum shaft 17 is provided on the lower side of the traveling section transmission case 9, and left and right rolling wheels, which are rolling wheels, are attached to the tips of front wheel support arms 18, 18 which are rotatably fitted to the shaft. Freely rotating front wheels 3, 3 are pivotally supported.

The traveling section 1a is provided with a machine body control mechanism that controls the vertical movement of the machine body by vertically moving left and right drive wheels 2, 2 and left and right idle front wheels 3, 3 with respect to the machine body.

This aircraft control mechanism is provided with an elevating cylinder 21 as an actuator extending rearward from a hydraulic valve unit 20 disposed on a traveling part mission case 9, and a balance rod 22 is attached to the tip of a piston rod of the elevating cylinder 21 in an upward and downward direction. It is attached so that it can rotate freely around the axis of direction. The piston rod is configured to slide along a guide shaft 24 whose front and rear ends are supported by the hydraulic valve unit 20 and a mounting member 23 attached to the main frame 14.

The left and right end portions of the balance rod 22 and the rear wheel swing arms 25, 25 fixed to the rotating cylinder portions 15, 15 are connected via connecting rods 26, 26. A rolling cylinder 27 is incorporated in the left connecting rod 26, and its length can be changed by extending and contracting the cylinder. In addition, front wheel swing arms 28, 28 fixed to the rotation tube parts 15, 15 and front wheel rotation arms 29, 29 fixed to the front wheel rotation fulcrum shaft 17 are connected via links 30, 30. .

A rake 32 for leveling the upper surface of the ridge U is provided between the left and right freely rotating front wheels 3, 3. This rake 32 is rotatably attached to a rake support shaft 33 provided in front of the front wheel rotation fulcrum shaft 17. The rake swing arms 34, 34 fixed to the rotating cylinder parts 15, 15 and the rake rotating arms 35, 35 fixed to the rake support shaft 33 are connected via rake connecting rods 36, 36. .

Hydraulic oil is supplied to the lifting cylinder 21 and the rolling cylinder 27 from the hydraulic pump 10. When the elevating cylinder 21 is telescopically operated, the left and right driving wheels 2, 2 and the left and right idle front wheels 3, 3 move up and down with respect to the body by the same amount in the same direction, and the body rises and falls. In conjunction with this, the rake 32 also moves up and down.

Further, when the rolling cylinder 27 is operated to expand and contract, the left and right driving wheels 2, 2 and the left and right free-rotating front wheels 3, 3 move up and down relative to the body by the same amount in opposite directions, and the body tilts left and right. In conjunction with this, the rake 32 also tilts left and right.

The details of the lifting and lowering of the machine will be described later, but the control device 70 selects the planting cup 6a as a planting tool corresponding to the planting depth according to the setting values 1 to 7 of the planting depth of the planting depth setting dial 72. The electromagnetic hydraulic valve in the hydraulic valve unit 20 is switched to the position of the temperature sensors S1 to S7, which serve as planting depth detection sensors such as thermistors, and the lifting cylinder 21 is telescopically operated to move the left and right driving wheels 2, 2 and the left and right wheels. The idle front wheels 3, 3 are moved up and down with respect to the aircraft body to raise and lower the aircraft body.

Further, the left and right tilting of the aircraft body is performed in conjunction with the movement of a pendulum 45 for detecting left and right tilt. When the body tilts left and right and the pendulum 45 swings, the rolling hydraulic valve in the hydraulic valve unit 20 is switched, and the rolling cylinder 27 is operated to return the body horizontally to the left and right.

A lower part of a seedling planting part mission case 50, which is transmitted from the running part mission case 9, is fixed to the upper surface of the connection frame 13. An intermediate gear case 52 is fixedly provided to an upper frame 51 that spans between the upper end of the seedling planting part mission case 50 and the rear part of the main frame 14. It is transmitted via the chain in the seedling take-out transmission case 53, and is also transmitted from the intermediate gear case 52 to the drive section of the seedling tray conveying device 4 via the shaft in the transmission pipe 54 and the chain in the vertical feed transmission case 55. . Further, the base of a first planting transmission case 56 is fixed to the upper part of the seedling planting part transmission case 50, and the base of a second planting transmission case 57 is fixed to the tip of the first planting transmission case. An operating mechanism for a planting cup 6a, which will be described later, of the seedling planting device 6 is connected to the first planting transmission case 56 and the second planting transmission case 54.

The seedling tray transport device 4 uses a seedling tray mounting table 60 that is inclined forward downward and whose lower end is curved in an arc shape, and a seedling tray guide rod 61 that continues to the lower end side of the seedling tray mounting table to control the transport path of the seedling tray. The seedling tray is conveyed along the above-mentioned conveyance path by a vertical conveyance mechanism (not shown). Further, the vertical feeding section including the seedling tray mounting table 60 and the like can reciprocate left and right along guide rails 62 and 63 in the left and right direction.

Seedlings are taken out from the cells of the seedling tray placed on the seedling tray mounting table 60 at a seedling taking-out position P by the seedling taking-out device 5. By intermittently moving the seedling tray mounting table 60 and the like from side to side, the seedlings for one horizontal row of the seedling tray are sequentially supplied one by one to the seedling take-out position P. When the seedling tray mounting table 50 reaches the end of the left and right stroke and all the seedlings in one horizontal row of the seedling tray are taken out, the vertical feeding mechanism is activated and the seedling tray is vertically fed downward by one cell. . The seedling tray from which the seedlings have been taken out from the cell is transferred from the seedling tray mounting table 60 to the seedling tray guide rod 61 and guided to the vicinity of the control handle 7.

The seedling retrieval device 5 moves to the seedling retrieval position P by moving the seedling retrieving claw 5a drawing a predetermined trajectory while changing its posture on a vertical plane parallel to the traveling direction of the machine and opening and closing at appropriate timing. Seedlings are taken out from the cells in which they are located and supplied to a seedling planting device 6 into a planting cup 6a.

The seedling retrieval claw 5a is provided with a lighting device such as a white LED and a color sensor, and the cell located at the seedling retrieval position P is illuminated by the lighting device and the color inside the cell is detected by the color sensor. Note that the illumination device is provided closer to the tip of the seedling extraction claw 5a than the color sensor.

If the color detected by the color sensor is green, which is the designated color, the control device 70 determines that a seedling exists in the cell located at the seedling retrieval position P, moves the machine forward, and controls the seedling retrieval device 5. The seedling take-out claw 5a takes out the seedling from the cell located at the seedling take-out position P, supplies it to the seedling planting device 6 into the planting cup 6a, and the planting cup 6a continues the seedling transplanting operation in which the seedling is planted in the ridge U. let

Then, if the color detected by the color sensor is other than green, which is a designated color such as brown or black, the control device 70 determines that the seedling is withered or does not exist in the cell located at the seedling extraction position P. Then, the traveling clutch is disengaged to stop the machine, and the seedling take-out claw 5a of the seedling take-out device 5 takes out a dead seedling or a block with no seedlings from the cell located at the seedling take-out position P, and transfers it to the seedling planting device 6. The seedlings are then supplied into the planting cup 6a, and the planting cup 6a is disposed of in the ridge U.

Then, the control device 70 uses a color sensor to detect the color in the cell that has newly moved to the seedling extraction position P, and if the detected color is the specified green color, it determines that there is a seedling in the cell, and the control device 70 starts driving. The clutch is engaged to move the machine forward, and the seedling retrieval claw 5a of the seedling retrieval device 5 takes out the seedling from the cell located at the seedling retrieval position P, supplies it to the seedling planting device 6 into the planting cup 6a, and plants it. The cup 6a resumes the seedling transplanting work in which the seedlings are planted in the ridge U.

In short, the illumination device provided on the seedling retrieval claw 5a illuminates the cell located at the seedling retrieval position P, the color sensor detects the color inside the cell, and the color detected by the color sensor is brown, black, etc. If the color is other than green, which is the designated color, it is determined that the seedling is dead or does not exist in the cell located at the seedling retrieval position P, and the traveling clutch is disengaged to stop the machine, and the seedling retrieval device 5 removes the seedling. The claw 5a takes out a dead seedling or a block without a seedling from the cell located at the seedling take-out position P, supplies it to the seedling planting device 6 into the planting cup 6a, and the planting cup 6a discards it in the ridge U. It is possible to prevent situations such as planting defective seedlings that are withered or missing plants.

As shown in FIG. 3, the seedling planting device 6 includes a planting cup 6a whose lower part can be opened and closed back and forth and moves up and down in a predetermined trajectory while maintaining a constant posture. When the planting cup 6a is at the top dead center of the trajectory, it receives the seedlings falling from the seedling take-out claw 5a, and the planting cup 6a that has received the seedlings descends and enters the topsoil of the ridge, and further stops at the bottom of the trajectory. At this point, the lower part of the planting cup 6a opens to form a seedling transplanting hole, and operates to release and plant the seedlings into the hole.

Temperature sensors S1 to S7 are provided on the side surface of the planting cup 6a at predetermined intervals upward from the tip, and the detected temperatures are input to the control device 70.

A control device 70 and an operation panel 71 are provided at the left and right center portions of the operating handle 7.

As shown in FIG. 4, the operation panel 71 is provided with a planting depth setting dial 72, and seven levels of planting depth can be set using the planting depth setting dial 72.

The control device 70 stores the set planting depth by inputting the setting value of the planting depth set using the planting depth setting dial 72.

Further, the temperatures detected by the temperature sensors S1 to S7 provided on the side surface of the planting cup 6a are input to the control device 70, and the control device 70 calculates the planting depth of the seedlings from the temperatures detected by the temperature sensors S1 to S7.

That is, when comparing the outside air temperature and the underground temperature, the underground temperature is lower than the outside air temperature. Therefore, by comparing the detected temperatures of the temperature sensors S1 to S7, it can be determined which temperature sensors S1 to S7 are underground.

For example, in FIG. 4, when the planting cup 6a of the seedling planting device 6 plunges into the ridge U to plant the seedlings, the temperatures detected by the temperature sensors S1 to S4 are underground, so the temperatures detected by the temperature sensors S5 to S7 are (normally 2 to 4 degrees lower) than the outside temperature.

Therefore, the control device 70 determines that the planting cup 6a has plunged into the ground to the position of the temperature sensor S4 to plant the seedling, and the planting depth is the depth of the position of the temperature sensor S4.

The planting depth setting values 1 to 7 set with the planting depth setting dial 72 correspond to the positions of the temperature sensors S1 to S7, and if the planting depth setting dial 72 is set to the planting depth setting value If set to 4, the control device 70 determines that the planting depth is appropriate.

Furthermore, if the planting depth setting dial 72 is set to the planting depth setting value 3, the control device 70 determines that the planting depth is deep and sends hydraulic oil from the hydraulic pump 10 to the lifting cylinder 21. The electrohydraulic valve is switched to extend the lifting cylinder 21, and the left and right driving wheels 2, 2 and the left and right free-rotating front wheels 3, 3 are moved downward relative to the aircraft body, and the aircraft body is raised.

That is, the temperature is raised until the temperature detected by the temperature sensors S1 to S3 of the planting cup 6a is lower than the temperature detected by the temperature sensors S4 to S7 (outside air temperature), and the planting depth is set to the depth at the position of the temperature sensor S3. .

Furthermore, if the planting depth setting dial 72 is set to the planting depth setting value 5, the control device 70 determines that the planting depth is shallow and drains the hydraulic oil from the lifting cylinder 21. The electrohydraulic valve is switched to contract the lifting cylinder 21, and the left and right driving wheels 2, 2 and the left and right free-rotating front wheels 3, 3 are moved upward relative to the machine body, and the machine body is lowered.

That is, the machine is lowered until the temperature detected by the temperature sensors S1 to S5 of the planting cup 6a is lower than the temperature detected by the temperature sensors S6 and S7 (outside air temperature), and the planting depth is set to the depth at the position of the temperature sensor S5. Satoru.

In summary, according to the planting depth setting values 1 to 7 of the planting depth setting dial 72, the machine is controlled to move up and down so that the planting depth is at the position of the corresponding temperature sensor S1 to S7, and the seedlings are planted. Make sure the depth is the desired depth.

Since the planting depth is detected by temperature sensors S1 to S7 as planting depth detection sensors provided in the planting cup 6a in which the seedlings are planted, the accurate planting depth can be detected and the appropriate Planting of seedlings can be done.

FIG. 5 shows an irrigation pump 65 as an irrigation device for watering the seedlings in the planting cup 6a.

This irrigation pump 65 is a plunger type pump, and a plunger 65b slides back and forth in a cylinder 65a, thereby sucking in water supplied from a water tank provided in the aircraft body through an inlet 65c and discharging it through an outlet 65d. The seedlings in the planting cup 6a are then watered with a watering hose.

The irrigation pump 65 supports a cylinder 65a rotatably about the discharge port 65d, and has a drive crank 66 connected to the rod of the plunger 65b. When the plunger 65b reciprocates within the cylinder 65a due to the rotation of the drive crank 66, the entire irrigation pump 65 swings about the discharge port 65d. With this structure, the sliding resistance of the plunger can be reduced compared to a structure in which the cylinder is fixed, and it is possible to have excellent durability and to simplify and reduce the cost of the support part.

The drive crank 66 is attached to a drive shaft 67a of an electric motor 67 fixed to the side wall of the seedling planting section mission case 50.

Then, the control device 70 operates the electric motor 67 when the planting cup 6a enters the ridge U and is at the lowest position to irrigate the seedlings in the planting cup 6a with the irrigation pump 65.

In addition, the control device 70 compares the underground temperature and the outside air temperature using the temperatures detected by the temperature sensors S1 to S7 of the planting cup 6a, and determines the standard irrigation amount when the temperature difference is within the range of 2 to 4 degrees. The electric motor 67 is operated so that the irrigation pump 65 discharges a larger amount of water than the standard when the temperature difference is 2 to 4 degrees or more, The electric motor 67 is operated so that the irrigation pump 65 discharges a smaller amount of water than the standard amount when the difference is within the range of 2 to 4 degrees.

Therefore, appropriate watering can be performed according to the temperature difference between the underground temperature and the outside air, and the seedlings can take root well.

A pair of left and right suppression wheels 80, 80 are provided behind the seedling planting position. The suppression wheels 80, 80 are attached diagonally to a suppression wheel frame 81 that is vertically swingably supported at the front and rear intermediate portions of the main frame 14 so that the distance between them becomes narrower toward the bottom. As it progresses, it rolls along the ridge, collapsing the soil around the seedling transplant hole after the seedlings have been planted, backfilling the hole, and lightly crushing the remains. The pressure wheels 80, 80 are always pressed against the ground with a constant pressure by a weight 82.

Temperature sensors S8 are provided at predetermined intervals on the contact surfaces of the suppression wheels 80, 80.

In addition, the control device 70 stores map data of the field, and a GPS antenna 83 is provided on the upper part of the intermediate gear case 52 to calculate the current position using the global positioning system. The ground surface temperature of the area is stored sequentially on the map database.

Therefore, the ground surface temperature of the furrow U stored in the above map data can be verified after the transplanting work and can be used as a reference for subsequent work such as watering, weeding, and inter-tilling work, or for the next seedling transplanting work. Note that verification is performed by extracting the data and using a computer, etc.

The operating handle 7 has a substantially U-shape in plan view with both ends extending rearward, and grips 7a, 7a are attached to both ends. Left and right side clutch levers 85, 85 are provided below the grips 7a, 7a. Further, around the control handle 7, there is a planting lift lever 86 for turning on and off the planting clutch that transmits power to the seedling planting section 1b and lifting and lowering the machine, and a main clutch lever 87 for turning on and off the main clutch. , a traveling speed change lever 88 for changing the traveling speed, an engine recoil knob 89, and the like are provided.

When the operator grips and operates either of the left and right side clutch levers 85, 85, the left and right side clutches in the drive system of the left and right drive wheels 2, 2 on the side gripped and operated are disengaged in the middle of the operation area. The aircraft can be steered left and right.

In addition, when the operator grips and operates either of the left and right side clutch levers 85, 85 to the upper limit position of the operation range, the travel clutch in the drive system of the left and right drive wheels 2, 2 is disengaged, and the aircraft can be stopped. .

Therefore, when moving forward along the ridge U to perform transplantation work, the left and right driving wheels 2, 2 are driven by gripping and operating either one of the left and right side clutch levers 85, 85 to the middle of the operation area. By disengaging the left and right side clutches in the system, you can easily steer the aircraft left and right.

In addition, in the event that the traveling direction deviates significantly from the ridge U or an unexpected situation occurs, the left and right drive traveling wheels 2 , 2 in the drive system is disengaged, the machine can be stopped, and it is possible to easily prevent the moving direction of the machine from being largely deviated, causing the ridge U to collapse, or the planting position to be greatly deviated.

In addition, a sensor is provided to detect when the left and right side clutch levers 85, 85 are gripped and operated to the upper limit position of the operation range, and the sensor detects when either of the left and right side clutch levers 85, 85 is gripped and operated to the upper limit position of the operation range. Upon detection of this, the traveling clutch in the drive system of the left and right driving wheels 2, 2 may be disengaged to stop the aircraft.

Further, the control device 70 calculates the current position using the global positioning system, and sequentially stores the positions where the left and right side clutch levers 85, 85 are operated to disengage the left and right side clutches and disengage the travel clutch on the map database. .

Therefore, the positions where the left and right side clutches and the travel clutches were disengaged stored in the above map data can be verified after the transplanting operation and used for post-work such as watering, weeding, and inter-tillage, or for the next seedling transplanting operation. It can be used as a reference.

A spare seedling tray mounting section 95 is provided above the machine body and in front of the seedling planting section 1b. This spare seedling tray mounting section 95 is arranged above the bonnet 12 and the left and right traveling transmission cases 16, 16.

The preliminary seedling tray placement section 95 has side walls on the left and right ends of the placement surface on which the seedling tray is placed to prevent the seedling tray from falling. There was a problem in that the side wall became an obstacle when taking out the tray, making it difficult to take out the tray.

Therefore, a pivot shaft is provided at the base of the side wall to pivot the side wall, and the side wall can be freely rotated between a vertical position to prevent the seedling tray from falling and an open position where the side wall is horizontally rotated. The seedling tray is energized to prevent it from falling.

Therefore, when a seedling tray is placed on the preliminary seedling tray mounting section 95, the side wall is vertical to prevent the seedling tray from falling, and when the operator takes out the seedling tray, the seedling tray is prevented from falling. When the operator pulls the seedling tray laterally, the side wall horizontally rotates outward against the biasing force of the biasing member, making it possible to easily take out the seedling tray.

Note that the side wall may be configured to be slidable in the vertical direction. In other words, the seedling tray moves to a drop-preventing state in which the side walls protrude upward from the placement surface, and an open state in which the seedling tray is retracted below the placement surface, and the seedling tray moves to the open state in which the side walls protrude upward from the placement surface by the biasing member. Forces the tray to be prevented from falling.

A front sensor 90F such as an ultrasonic wave or laser sensor for detecting irregularities on the upper surface of the ridge U is provided at the front of the machine ahead of the position where the planting cup 6a of the seedling planting device 6 plants the seedlings in the ridge U. A rear sensor 90R, such as an ultrasonic wave sensor or a laser sensor, for detecting irregularities on the upper surface of the ridge U is provided at the rear of the machine behind the position where seedlings are planted in the ridge U.

Then, the control device 70 compares the unevenness on the upper surface of the ridge U detected by the front sensor 90F with the unevenness on the upper surface of the ridge U detected by the rear sensor 90R, and determines the distance between the plants from the position of the seedling planted in the ridge U by the planting cup 6a. In addition to calculating the distance between seedlings, the presence or absence of seedlings (missing plants) is detected.

Then, the control device 70 sequentially stores the positions of the seedlings planted in the ridge U, the spacing between plants, and missing plants on the map database while calculating the current position using the global positioning system.

Therefore, the position of the seedlings, the spacing between plants, and missing plants stored in the above map data can be verified after the transplanting work and can be used as a reference for subsequent work such as watering, weeding, and intercultivation, or for the next seedling transplanting work. .

1a Running part 2 Running device (left and right drive running wheels)
3 Traveling device (left and right free rotation front wheels)
5 Seedling retrieval device 5a Seedling retrieval claw 6 Planting device 6a Planting tool (planting cup)
7 Control handle 21 Actuator (lifting cylinder)
65 Irrigation equipment (irrigation pump)
70 Control device 85 Left and right side clutch levers 90F Front sensor 90R Rear sensor S1 to S7 Planting depth detection sensor (temperature sensor)

Claims (10)

A transplanting machine in which a traveling part (1a) equipped with a traveling device (2, 3) that moves up and down by an actuator (21) is provided with a planting device (6) that moves up and down to plant a transplant in a field,
The actuator (21) is actuated to travel by detecting the planting depth of the planting depth detection sensors (S1 to S7) provided on the planting device (6a) that enters the field and plants the transplants. A transplanting machine characterized by controlling the raising and lowering of the devices (2, 3) to keep the planting depth of the planting device (6) constant. The planting depth detection sensors (S1 to S7) are temperature sensors (S1 to S7) provided in plurality in the direction in which the planting tool (6a) enters the field, and the planting depth detection sensors (S1 to S7) are temperature sensors (S1 to S7) installed in the direction in which the planting tool (6a) enters the field and removes the transplanted material. Due to the temperature difference between the underground temperature detected by the temperature sensors (S1 to S7) that entered the field during planting and the outside air temperature detected by the temperature sensors (S1 to S7) that did not enter the field, The transplanting machine according to claim 1, characterized in that the position of the highest temperature sensor (S1 to S7) of the temperature sensors (S1 to S7) that has entered is set as the planting depth. An irrigation device (65) is provided to irrigate the transplant, and when the temperature difference between the underground temperature detected by the temperature sensor (S1 to S7) and the outside air temperature is equal to or higher than a predetermined temperature, the amount of water is increased, and the temperature difference is increased. 3. The transplanting machine according to claim 2, wherein the amount of water is reduced when the amount of water is less than a predetermined value. A front sensor (90F) and a rear sensor (90R) are provided to detect irregularities in the field scene in front and behind the position where the planting tool (6a) plants the transplant, and the field scene detected by the front sensor (90F) is provided. The present invention is characterized by being provided with a control device (70) that calculates the interval or presence or absence of the transplants planted by the planting tool (6a) by comparing the unevenness of the field surface with the unevenness of the field surface detected by the rear sensor (90R). The transplanting machine according to any one of claims 1 to 3. A color sensor is provided in the seedling take-out claw (5a) of the seedling take-out device (5) that takes out the seedlings from the cells of the seedling tray and supplies them to the planting tool (6a), and the control device (70) detects the color detected by the color sensor. If the color is other than the specified color, it is determined that the seedlings in the cell are withered or not present, and the traveling clutch is disengaged to stop the machine, and the seedling extraction claw (5a) removes the withered seedlings or seedlings from the cell. The transplanting machine according to any one of claims 1 to 3, characterized in that the non-existing blocks are taken out and supplied to the planting tool (6a), and the planting tool (6a) discards them in the field. A color sensor is provided in the seedling take-out claw (5a) of the seedling take-out device (5) that takes out the seedlings from the cells of the seedling tray and supplies them to the planting tool (6a), and the control device (70) detects the color detected by the color sensor. If the color is other than the specified color, it is determined that the seedlings in the cell are withered or not present, and the traveling clutch is disengaged to stop the machine, and the seedling extraction claw (5a) removes the withered seedlings or seedlings from the cell. The transplanting machine according to claim 4, characterized in that the blocks that do not exist are taken out and supplied to the planting tool (6a), and the planting tool (6a) discards them in the field. By gripping the left and right side clutch levers (85, 85) provided on the left and right sides of the steering handle (7) by less than a predetermined amount, the side clutch of the left and right traveling device (2) is disengaged, and the left and right side clutch levers (85, 85) are released. The transplanting machine according to any one of claims 1 to 3, wherein the travel clutch of the left and right travel device (2) is disengaged by a gripping operation of a predetermined amount or more. By grasping the left and right side clutch levers (85, 85) provided on the left and right sides of the steering handle (7) by less than a predetermined amount, the side clutch of the left and right traveling device (2) is disengaged, and the left and right side clutch levers (85, 85) are released. 5. The transplanting machine according to claim 4, wherein the travel clutch of the left and right travel device (2) is disengaged by a gripping operation of a predetermined amount or more. By grasping the left and right side clutch levers (85, 85) provided on the left and right sides of the steering handle (7) by less than a predetermined amount, the side clutch of the left and right traveling device (2) is disengaged, and the left and right side clutch levers (85, 85) are released. 6. The transplanting machine according to claim 5, wherein the travel clutch of the left and right travel device (2) is disengaged by a gripping operation of a predetermined amount or more. By grasping the left and right side clutch levers (85, 85) provided on the left and right sides of the steering handle (7) by less than a predetermined amount, the side clutch of the left and right traveling device (2) is disengaged, and the left and right side clutch levers (85, 85) are released. 7. The transplanting machine according to claim 6, wherein the travel clutch of the left and right travel device (2) is disengaged by a grip operation of a predetermined amount or more.