JP2024002896A - seedling transplanter - Google Patents

Abstract

PROBLEM TO BE SOLVED: To suppress interference of a grooving arm with a planted seedling in a seedling transplanter; and to obtain excellent planting property.

SOLUTION: A seedling transplanter in which a seedling mat placed on a seedling stand is cut out partially at a time with a planting claw 72, to thereby plant seedlings continuously in a field, includes a grooving arm 200 provided near the planting claw 72, and provided so as to be relatively moved to the planting claw 72. The grooving arm 200 has a standby attitude which is a position attitude at a timing for the planting claw 72 to cut out the seedling mat, and a grooving attitude moved forward to the planting claw 72, when planting seedlings to the field, as relative position attitudes to the planting claw 72.

SELECTED DRAWING: Figure 18

COPYRIGHT: (C)2024,JPO&INPIT

Description

The present invention relates to a seedling transplanter that continuously plants seedlings in a field using a seedling planting device.

Conventionally, in a seedling transplanter that continuously plants seedlings in a field using a seedling planting device, a plate-shaped seedling mat placed on a sloping seedling platform that slopes downward is fed horizontally and vertically. However, there is a device that has a structure in which the seedling mat is continuously scraped off (cut off) one part at a time using a planting claw of the seedling planting device to plant the seedlings. Such a seedling transplanter is equipped with a groove-cutting arm for making transplanting holes in the mulch film when planting seedlings using a planting claw, and for excavating transplanting holes (grooving) for transplanting seedlings into the field. (For example, see Patent Document 1.) Note that mulch film is a film that is coated in a field for the purpose of keeping soil moisturized and warm, suppressing weeds, etc.

Patent Document 1 discloses a configuration in which a seedling holding/drilling arm, which is a trenching arm, is provided below the planting claw via a swinging arm. The seedling holding/drilling arm has a multi-film drilling blade at its tip, and is rotatably provided with respect to the planting claw by means of a swinging arm. The seedling holding/drilling arm moves with the potted seedlings while supporting the potted seedlings taken out by the planting claw from the bottom. When the potted seedlings reach the field, it rotates to the rear, and the mulch film drilling blade moves the potted seedlings. Drill transplant holes in the mulch film and in the soil.

Japanese Patent Application Publication No. 2002-330607

In the configuration disclosed in Patent Document 1, the trenching arm (seedling holding and hole digging arm) is provided to the planting claw via a bracket or the like, and the potted seedlings held together with the planting claw are placed in the field. After reaching , rotate the pot to open the bottom of the seedling. According to such a configuration, the degree of freedom regarding the relative position of the groove cutting arm with respect to the planting claw is reduced, so it may be difficult to change the position of the hole in the mulch film or the position of the transplant hole in the soil, for example, between plants. etc., it becomes difficult to respond to changes in seedling planting conditions. Note that the distance between plants is the distance between seedlings that are successively planted at a predetermined distance in the front-back direction.

Insufficient response to changes in seedling planting conditions may lead to problems such as a decrease in seedling planting accuracy, an increase in the torque of the trenching to the soil, and interference of the trenching arm with the planted seedlings. There is. Contact of the planting groove arm with the planted seedlings may cause damage to the seedlings or worsen the planting posture of the seedlings.

The present invention has been made in view of the above-mentioned problems, and provides a seedling transplanter that can suppress the interference of a trenching arm with planted seedlings and obtain good planting performance. The purpose is to

A seedling transplanting machine according to the present invention is a seedling transplanting machine that continuously plants seedlings in a field by cutting out a part of a seedling mat placed on a seedling platform with a planting claw, The groove-making arm is provided in the vicinity of the planting nail and is provided to move relative to the planting nail, and the groove-making arm has a position and orientation relative to the planting nail such that the planting nail is It has a standby posture which is the position and posture at the timing of cutting out the seedling mat, and a groove-cutting posture in which the seedling is moved forward with respect to the planting claw when planting the seedlings in the field.

In the seedling transplanter according to the present invention, the groove-planting arm performs a cyclic operation from the groove-planting position to the standby position after the planting claws finish planting the seedlings in the field. It is provided in

In the seedling transplanter according to the present invention, in the seedling transplanter, the groove-making arm has a tip protruding forward than the planting claw in a state where the groove-making arm is in the groove-making posture, and the groove-making arm is arranged in advance of the planting claw. It is installed so that it enters the field surface.

In the seedling transplanter according to the present invention, in the seedling transplanter, the groove-cutting arm is provided so as not to interfere with the seedlings planted in the field, at least in an operating range in which the tip portion is located below the field surface. It is something that

In the seedling transplanter according to the present invention, the groove-cutting arm is provided so as to change the position and orientation in conjunction with the operation of the planting claw.

In the seedling transplanter according to the present invention, in the seedling transplanter, the groove-making arm is provided to a rotary case that rotatably supports a planting claw device including the planting claw. The position and orientation are changed in conjunction with the operation of the planting claw by a cam mechanism including a cam that changes the relative position of the groove-making arm with respect to the planting claw as it rotates.

In the seedling transplanter according to the present invention, in the seedling transplanter, the groove-cutting arm has a tip portion that is a plate-shaped portion that is linear in a side cross-sectional view, and the plate-shaped portion is attached to the field surface at the timing when entering the field surface. It is installed so that it stands up against the surface.

In the seedling transplanter according to the present invention, in the seedling transplanter, the groove-cutting arm has a movement locus of a tip portion of the groove-cutting arm with respect to the planting claw located at the lowest end, and the seedlings held by the planting claw. It is set up so that it draws a trajectory that ensures space for pushing out.

In the seedling transplanting machine according to the present invention, in the seedling transplanting machine, the groove-planting arm includes an arm main body part provided at a position shifted to one side in the left-right direction with respect to the planting claw, and the arm main body part and an arm distal end portion provided on the distal end side of the arm.

In the seedling transplanter according to the present invention, in the seedling transplanter, the arm tip part is a part in which one end side in the left and right direction is connected to the arm main body part, and the groove cutting arm is connected to the planting claw. On the other hand, it has an auxiliary arm part which is provided at a position shifted to the other side in the left-right direction and whose one end side is connected to the other end side in the left-right direction of the arm distal end part.

In the seedling transplanter according to the present invention, in the seedling transplanter, the groove-planting arm has a portion provided at a position shifted to one side in the left-right direction with respect to the planting claw, and The arm body includes a portion provided at a position within the width of the claw, and an arm tip portion provided on the tip side of the arm body portion.

In the seedling transplanter according to the present invention, in the seedling transplanter, the arm tip portion is a portion projecting on both left and right sides with respect to the arm main body portion.

According to the present invention, in the seedling transplanter, it is possible to suppress interference of the groove cutting arm with respect to the planted seedlings, and it is possible to obtain good planting performance.

BRIEF DESCRIPTION OF THE DRAWINGS It is a left side view which shows the whole structure of the seedling transplanter based on 1st Embodiment of this invention. BRIEF DESCRIPTION OF THE DRAWINGS It is a top view which shows the whole structure of the seedling transplanter based on 1st Embodiment of this invention. 1 is a diagram showing a power transmission configuration of a seedling transplanter according to a first embodiment of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS It is a rear perspective view which shows the structure of the seedling transplantation device based on 1st Embodiment of this invention. FIG. 1 is a rear view showing the configuration of a seedling transplanting device according to a first embodiment of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS It is a front perspective view which shows the structure of the seedling planting apparatus based on 1st Embodiment of this invention. It is a rear perspective view showing the structure of the lower part of the seedling transplantation device concerning a 1st embodiment of the present invention. FIG. 1 is a perspective view showing a seedling mat according to an embodiment of the present invention. FIG. 1 is a plan view showing a seedling mat according to an embodiment of the present invention. FIG. 1 is a side view showing a seedling mat according to an embodiment of the present invention. It is a perspective view showing composition of a guide rail and a planting nail device concerning a 1st embodiment of the present invention. It is a left side view showing composition of a guide rail and a planting claw device concerning a 1st embodiment of the present invention. It is a top view showing composition of a guide rail and a planting nail device concerning a 1st embodiment of the present invention. It is a left side view showing composition of a guide rail concerning a 1st embodiment of the present invention, and support composition of a seedling mat to a guide rail. It is an explanatory view about scraping operation of a seedling mat among operations of the planting nail device concerning a 1st embodiment of the present invention. It is an explanatory view about planting operation of a seedling block among operations of the planting nail device concerning a 1st embodiment of the present invention. It is a perspective view showing an example of a planting unit concerning a 1st embodiment of the present invention. It is a left side view showing a planting claw device, a groove-making arm in a groove-making posture, and a link mechanism according to a first embodiment of the present invention. It is a top view showing an example of a planting unit concerning a 1st embodiment of the present invention. FIG. 2 is a left side view showing the planting claw device, the groove-making arm in a standby position, and the link mechanism according to the first embodiment of the present invention. FIG. 2 is a perspective view showing a groove-forming arm according to the first embodiment of the present invention. It is a left side sectional view showing a part of groove making arm concerning a 1st embodiment of the present invention. It is a figure showing a cam plate concerning a 1st embodiment of the present invention. It is an explanatory view about movement of a slotting arm accompanying relative rotation of a planting claw device to a rotary case concerning a 1st embodiment of the present invention. It is an explanatory view about movement of a slotting arm accompanying relative rotation of a planting claw device to a rotary case concerning a 1st embodiment of the present invention. It is an explanatory view about movement of a slotting arm accompanying relative rotation of a planting claw device to a rotary case concerning a 1st embodiment of the present invention. It is an explanatory view about movement of a slotting arm accompanying relative rotation of a planting claw device to a rotary case concerning a 1st embodiment of the present invention. It is an explanatory view about movement of a slotting arm accompanying relative rotation of a planting claw device to a rotary case concerning a 1st embodiment of the present invention. It is the figure which showed the graph of operation explanation about the planting nail device and the groove making arm concerning a 1st embodiment of the present invention. It is an explanatory view about operation of a planting unit concerning a 1st embodiment of the present invention. It is an explanatory view about operation of a planting unit concerning a 1st embodiment of the present invention. It is an explanatory view about operation of a planting unit concerning a 1st embodiment of the present invention. It is an explanatory view about operation of a planting unit concerning a 1st embodiment of the present invention. It is an explanatory view about operation of a planting unit concerning a 1st embodiment of the present invention. It is an explanatory view about operation of a planting unit concerning a 1st embodiment of the present invention. It is a left side view showing a planting claw device, a groove-making arm in a groove-making posture, and a link mechanism according to a first embodiment of the present invention. FIG. 2 is a left side view showing the planting claw device, the groove-making arm in a standby position, and the link mechanism according to the first embodiment of the present invention. It is an explanatory view about the operation mode of the groove making arm concerning a 1st embodiment of the present invention. It is a figure which shows an example of the movement locus of the planting claw and groove-making arm based on 1st Embodiment of this invention. It is a figure which shows an example of the movement locus of the planting claw and groove-making arm based on 1st Embodiment of this invention. It is a figure which shows an example of the movement locus of the planting claw and groove-making arm based on 1st Embodiment of this invention. It is a left side view showing a planting nail device concerning a 2nd embodiment of the present invention, a grooving arm in a grooving posture, and a link mechanism. It is a top view showing an example of a planting unit concerning a 2nd embodiment of the present invention. It is a left side view showing a planting claw device, a groove-making arm in a standby position, and a link mechanism according to a second embodiment of the present invention. It is a perspective view showing the groove making arm concerning a 2nd embodiment of the present invention. It is a left side sectional view showing a part of groove making arm concerning a 2nd embodiment of the present invention. It is a figure which shows an example of the movement trajectory of the planting claw and groove-cutting arm based on 3rd Embodiment of this invention. It is a left side view showing the composition of a planting nail device concerning a 4th embodiment of the present invention.

The present invention attempts to obtain good planting performance using planting claws by devising a configuration regarding a groove-making arm for forming grooves in a field when planting seedlings using planting claws. Embodiments of the present invention will be described below.

[First embodiment]
The overall configuration of a seedling transplanter 1 according to a first embodiment will be described using FIGS. 1 to 7. In the following description, the left side (lower side in FIG. 2) and right side (upper side in FIG. 2) of the seedling transplanter 1 when facing the front are referred to as the left side and the right side of the seedling transplanter 1, respectively.

As shown in FIGS. 1 and 2, the seedling transplanter 1 according to the present embodiment is a riding-type seedling transplanter that performs seedling planting work while driving with an operator on board. It is used to sequentially transplant vegetable seedlings such as onions and tomatoes to the field. The seedling transplanter 1 includes a traveling body 2 that constitutes a traveling section, and a seedling transplanting device 3 that constitutes a planting section. The seedling transplanting device 3 is connected to the rear part of the traveling body 2 so as to be movable up and down via a link device 4 including a plurality of links. The seedling transplanting device 3 is raised and lowered relative to the traveling body 2 by the operation of a hydraulic cylinder (not shown).

The traveling body 2 has a body frame 5, left and right front wheels 6, and left and right rear wheels 7. The fuselage frame 5 is constructed in a framework shape by a plurality of frame members, and includes a front frame portion 11 that constitutes a horizontal frame portion, and a stepped portion that is one step higher than the other on the rear side of the front frame portion 11. It has a rear frame part 12. The left and right front wheels 6 are provided on the lower side of the front frame portion 11, and the left and right rear wheels 7 are provided on the rear lower side of the rear frame portion 12. The body frame 5 is supported with respect to the field by the left and right front wheels 6 and the left and right rear wheels 7.

In the traveling body 2, a horizontal floor portion 13 made of a vehicle body cover or the like is provided above the front frame portion 11. A driving section 8 for driving and operating the traveling machine body 2 and the seedling transplanting device 3 is provided on the floor section 13 . A seat support base 9, which is a seat mount, is provided at the left and right center of the rear portion, and a driver's seat 10 is provided on the seat support base 9. A fuel tank (not shown) is provided below the seat 10.

An operating section 14 that is operated by an operator seated on the seat 10 is provided at the front portion of the floor section 13 . The operation unit 14 is provided with a dashboard 16 with a steering handle 15 located in front of the seat 10, various operation pedals such as a speed change pedal 18, various operation levers such as a speed change lever and a planting clutch lever, etc. ing. The steering handle 15 is attached to the upper end of a handle support shaft 15a that projects upward from the dashboard 16.

An engine 20 as a drive source is provided at the left and right center of the front part of the floor part 13 and below the front of the steering handle 15 (see FIG. 1). The engine 20 is covered with a bonnet 17. The engine 20 is mounted on an engine support frame section 21 provided on the lower side of the front part of the front frame section 11 via a bracket, anti-vibration rubber, or the like (see FIG. 1). The engine support frame section 21 includes two support frames 21a, front and rear, that are U-shaped when viewed from the front. The engine 20 is, for example, a diesel engine, and is installed with the axial direction of the output shaft being the left-right direction.

A transmission case 22 is provided at the rear of the engine 20 and houses a power transmission mechanism including a gear group, a clutch, a brake, and the like. An HST 23, which is an example of a continuously variable transmission, is attached to the left side of the mission case 22.

As shown in FIG. 3, the power of the engine 20 is transmitted from the output shaft 20a of the engine 20 to the input shaft 23a of the HST 23 via a belt transmission mechanism 24 composed of a pulley, a belt, and the like. The power transmitted to the input shaft 23a is input from the HST 23 to the power transmission mechanism within the mission case 22. Here, "HST" is a hydraulic continuously variable transmission that employs a method in which hydraulic pressure generated by driving a hydraulic pump is converted back into rotational force by a hydraulic motor.

Front axle cases 25 are attached to both left and right sides of the mission case 22. A front axle 26 is rotatably supported at the lower end of the front axle case 25, and the front wheel 6 is attached to a portion of the front axle 26 extending outward from the front axle case 25 to the left and right. A power transmission mechanism is provided in the front axle case 25 to transmit the rotational power of the front wheel drive shafts extending from the transmission case 22 to the left and right sides to the front axle 26.

A rear axle case 28 is provided behind the mission case 22. The rear axle case 28 receives power from the transmission case 22 through a transmission shaft 27 extending from the rear of the transmission case 22 . The power input from the HST 23 to the power transmission mechanism in the mission case 22 rotates the transmission shaft 27.

The rear axle case 28 has projecting case portions 28a on both left and right sides that protrude rearward with respect to the case body. A rear axle 29 is rotatably supported by the left and right case parts 28a, and the rear wheel 7 is attached to a portion of the rear axle 29 extending outward from the projecting case part 28a to the left and right. A power transmission mechanism is provided within the rear axle case 28 to transmit rotational power input from the transmission case 22 through the transmission shaft 27 to the left and right rear axles 29.

Further, the transmission case 22 has a PTO output shaft 31, which is a power take-off shaft, extending rearward from the rear part thereof. A power transmission mechanism within the mission case 22 that receives power input from the HST 23 rotates the PTO output shaft 31.

The rotational power of the PTO output shaft 31 is transmitted to the input shaft 34 of the inter-stock transmission case 33 via the PTO transmission shaft 32. The PTO transmission shaft 32 is connected to each of the PTO output shaft 31 and input shaft 34 by a universal joint or the like. A transmission device 36 including an increase/decrease gear, a transmission mechanism, etc. is provided inside the inter-stock transmission case 33. The power transmitted to the input shaft 34 is changed in speed by a transmission device 36 in the inter-plant transmission case 33, and is transmitted to the seedling transplanting device 3 by a planting drive shaft 35 extending rearward from the inter-plant transmission case 33.

The seedling transplanting device 3 includes a planting mission case 40 that has a built-in power transmission mechanism that receives power from a planting drive shaft 35, and a seedling mount provided on a planting frame 41 connected to the rear side of the link device 4. It includes a stand 42 and a seedling planting device 43 driven by power transmitted from a planting mission case 40. In this embodiment, a pair of left and right seedling planting devices 43 are provided. Note that the number of seedling planting devices 43 may be one or three or more.

A plurality of seedling mats 100 are placed on the seedling table 42. The seedling mounting stand 42 has a mounting surface on the front side (rear upper side) on which the seedling mat 100 is placed, and is provided so that the mounting surface is sloped downward toward the rear. The seedling transplanter 1 according to the present embodiment has a four-row planting configuration, and has four seedling mounting bases 46 arranged in the left-right direction. In the illustration, the seedling mat 100 is placed only on the second seedling mounting platform 46 from the left, but in actual planting work, the seedling mat 100 is placed on all the seedling mounting platforms 46. is placed.

Each seedling platform 46 includes a platform main body 46a that is made of a plate-like member and serves as a mounting surface for the seedling mat 100, and a low wall-shaped guide provided along the left and right edges of the platform main body 46a. 46b. The guide portion 46b is a protruding portion of the stand body portion 46a on which the seedling mat 100 is placed, and is provided over the entire length of the stand body portion 46a in the extending direction. The seedling platform 42 has a vertical feeding structure that intermittently moves the set seedling mat 100 in the vertical direction (downward) in the platform main body 46a of each seedling platform section 46.

Each seedling mounting table 46 is provided with a delivery belt 47. In this embodiment, two rows of delivery belts 47 are provided side by side in each seedling mounting table 46. The delivery belt 47 is an endless belt whose feeding direction is along the vertical direction when viewed from the rear, and is provided so as to form the lower part of the base main body 46a. The delivery belt 47 is configured to rotate so as to move the side on which the seedling mat 100 is placed downwards, and intermittently feeds the seedling mat 100 vertically.

A guide rail 48 is provided below the seedling platform 42 and extends linearly in the left-right direction of the machine body. The guide rail 48 is provided along the lower edge of the seedling platform 42 and has a dimension longer than the width of the seedling platform 42 in the left-right direction. In the seedling transplanting device 3, the guide rail 48 is supported by a predetermined support member and provided in a fixed state with respect to the planting frame 41. The guide rail 48 supports the seedling mat 100 placed on the seedling stand 42 from below.

The seedling platform 42 supplies the seedling mats 100 placed on each seedling platform 46 to each planting unit. The seedling platform 42 is configured to be movable back and forth in the left-right direction by a drive mechanism (not shown) in order to horizontally feed the seedling mat 100 in the left-right direction (vehicle width direction). That is, the seedling stand 42 is provided so as to be able to reciprocate in the left-right direction of the machine body with respect to the guide rail 48. Furthermore, the seedling platform 42 is configured to vertically feed the seedling mats 100 on each seedling platform section 46 downward by the feeding operation of the delivery belt 47 at the timing when the seedling platform 42 reaches the end of its movement in the left and right direction reciprocating movement. has been done. When the seedling platform 42 moves in the left-right direction, the seedling mat 100 placed on the seedling platform 42 moves along the guide rail 48 while being supported by the guide rail 48 from below.

A horizontal frame 45 that constitutes a part of the planting frame 41 is provided below the seedling platform 42 . The horizontal frame 45 is a linear frame member having a rectangular cylindrical outer shape, and is installed horizontally so as to extend in the left-right direction. The horizontal frame 45 is provided over substantially the entire range of the seedling transplanting device 3 in the left-right direction.

A planting mission case 40 is provided at the center of the horizontal frame 45. The planting mission case 40 is provided in an overhang shape so that its rear part is positioned behind the horizontal frame 45, and has an overhang portion toward the rear side. Left and right seedling planting devices 43 are provided on the rear side of the horizontal frame 45. The left and right seedling planting devices 43 are configured symmetrically with respect to the center of the seedling transplanting device 3 in the left-right direction.

The seedling planting device 43 is a rotary type planting device, and includes a planting transmission case 51, two rotary cases 52 provided on both left and right sides of the planting transmission case 51, and a seedling planting device 43 provided for each rotary case 52. It has a planted nail device 50. That is, the seedling transplanting device 3 has four planting claw devices 50, and corresponds to a four-row planting configuration. On both left and right sides of the planting transmission case 51, a planting unit is configured by the rotary case 52 and the planting claw device 50.

The planting transmission case 51 has a cylindrical outer shape with the longitudinal direction as the longitudinal direction, and has a front end fixed to the rear wall of the horizontal frame 45, and extends rearward from the rear side of the horizontal frame 45. It is stretched. A planting transmission shaft 55 whose axial direction is in the left-right direction is provided between the left and right planting transmission cases 51 .

The planting transmission shaft 55 is a shaft in which a plurality of shaft bodies are coaxially connected by a joint or the like, and is rotatably supported with respect to the planting mission case 40. The planting transmission shaft 55 extends from the rear of the planting transmission case 40 to both left and right sides, and is rotatably supported with respect to each planting transmission case 51 at the front part of the left and right planting transmission cases 51. The planting transmission shaft 55 receives power transmission from a power transmission mechanism provided in the planting transmission case 40. The planting transmission shaft 55 interlocks and connects the power transmission mechanisms in each case of the planting transmission case 40 and the left and right planting transmission cases 51.

A pair of left and right rotary cases 52 are provided on both left and right sides of the rear portion of the planting transmission case 51. The rotary case 52 is rotatably attached to the rear end of the planting transmission case 51 by a drive shaft 52a whose axial direction is in the left-right direction. The rotary case 52 has a longitudinal outer shape, and its central portion in the longitudinal direction is pivotally supported with respect to the planting transmission case 51. Planting claw devices 50 are attached to the left and right outer sides of the rotary case 52.

The planting claw device 50 is rotatably supported on one end side in the longitudinal direction of the rotary case 52 around a rotation shaft 50a with the left-right direction as the rotation axis direction (see FIG. 3). The planting claw device 50 is connected to the rotary case 52 so as to be interlocked with the rotational movement of the rotary case 52 relative to the planting transmission case 51. The planting claw device 50 is configured to perform a predetermined planting operation as the rotary case 52 rotates. By performing a planting operation, the planting claw device 50 successively scrapes off a portion (one plant at a time) of the seedling mat 100 placed on the seedling platform 42 and plants it in the field. As the body of the seedling transplanter 1 moves forward, one row of seedlings is planted by one planting claw device 50.

The guide rail 48 is provided with an opening 49 for locating the portion of the seedling mat 100 to be scraped and for securing a moving path for the planting claw device 50 (see FIG. 13). The opening portion 49 is provided at a position corresponding to each planting claw device 50 in the longitudinal direction of the guide rail 48 . Therefore, the intake portions 49 are provided at four locations on the guide rail 48. The intake portion 49 is a notch-like portion having an open rear side and a rectangular shape in plan view.

The seedling transplanting device 3 having the above configuration receives power input from the planting drive shaft 35 in the planting mission case 40 . The driving force input to the planting mission case 40 is transmitted to the planting transmission shaft 55 by a power transmission mechanism within the planting mission case 40. The rotational driving force of the planting transmission shaft 55 is distributed to the left and right seedling planting devices 43, and is transmitted to the left and right sides of the planting transmission case 51 via a plurality of transmission shafts, gears, etc. provided in the planting transmission case 51. The signal is transmitted to the drive shafts 52a of the rotary cases 52 on both sides. The rotation of the drive shaft 52a rotates the left and right rotary cases 52, and the planting unit continuously plants seedlings.

In the power transmission system of the seedling transplanter 1, the rotational power input to the drive shaft 52a of the rotary case 52 is transmitted by the HST 23 according to the amount of operation of a speed change operation member such as the speed change pedal 18 provided in the driving section 8. The speed changes along with the traveling speed of the traveling body 2. Therefore, the rotational speed of the rotary case 52, that is, the planting speed of the seedling transplanting device 3, changes depending on the traveling speed of the traveling body 2. Specifically, as the traveling speed of the aircraft body becomes higher, the rotation period of the rotary case 52 becomes shorter, and as the traveling speed of the aircraft body becomes lower, the rotation period of the rotary case 52 becomes longer. Thereby, the planting interval (between plants) of seedlings becomes constant regardless of the traveling speed of the traveling body 2.

Furthermore, regarding the spacing between plants, as shown in FIG. 3, the rotational speed of the rotary case 52 can be changed by the transmission 36 in the interplant transmission case 33, thereby making it possible to change the spacing between plants. The distance between plants is changed depending on, for example, the type of crop to be planted and the condition of the field. A planting clutch 37 is provided within the interplant transmission case 33. By operating the planting clutch 37, the rotational power from the transmission 36 to the planting drive shaft 35 is switched on and off. The switching operation of connecting/disconnecting the planting clutch 37 is operated by operating a planting clutch lever provided in the driving section 8. Note that the operation of the planting clutch 37 can also be controlled by a controller included in the seedling transplanter 1.

A pair of left and right covering rings 61 are provided behind each of the four planting units included in the seedling transplanting device 3. The soil covering ring 61 has a truncated conical outer shape, and is rotatably supported with its outer peripheral surface serving as a working surface for the field. The pair of soil covering wheels 61 are provided in an inclined shape so that the bottom surfaces thereof face each other, and the lower side of the outer circumferential surface of each soil covering ring 61 is approximately horizontal, and is approximately "V" shaped when viewed from the rear. It is arranged so that it forms.

The soil-covering wheel 61 is supported via a support member to the rear side 62a of a soil-covering wheel support frame 62 configured in a frame shape so as to surround the seedling planting device 43 in a plan view. The soil covering wheel support frame 62 is provided with its front end supported by the horizontal frame 45. Immediately after planting, the pair of soil covering rings 61 act on the area where the seedlings have been planted by the planting claw device 50, thereby suppressing the area.

Further, in the seedling transplanting device 3, stands 64 are provided on both left and right sides of the lower part of the planting frame 41 to support the seedling transplanting device 3 with respect to the ground. The stand 64 is composed of a pipe-shaped member bent into an approximately "L" shape, and one end is attached to the horizontal frame 45 via a support fitting or the like, with the front-rear direction as the axial direction. It is rotatably supported. The stand 64 changes from a substantially horizontal storage state to an upright state with one side along the ground, thereby entering a use state in which the seedling transplanting device 3 is supported on the ground. In addition, in the illustration, the stand 64 is shown in a stored state, and in FIG. 5, the stand 64 in a used state is shown by a two-dot chain line.

The seedling mat 100 will be described with reference to FIGS. 8 to 10. The seedling mat 100 is a seedling mat in which a plurality of seeds are sown in a predetermined array. The seeds sown on the seedling mat 100 are, for example, seeds of vegetables such as cabbage, onion, and tomato. However, the seeds may be paddy rice seeds. When planting seedlings using the seedling transplanter 1, the seedling mat 100 is used in a state where the seedlings are grown from seeds.

As shown in FIGS. 8 to 10, the seedling mat 100 has an approximately rectangular plate-like outer shape and is formed into a flat plate shape as a whole. In the seedling mat 100, the longitudinal direction (vertical direction in FIG. 9) of the rectangular planar outline is defined as the vertical direction, and the lateral direction (horizontal direction in FIG. 9) of the rectangular outer shape is defined as the horizontal direction. The vertical direction and the horizontal direction are directions perpendicular to each other when the seedling mat 100 is viewed from above.

The seedling mat 100 has one plate side as a front part 101 and the other plate side as a back part 102. The seedling mat 100 has a plurality of surface gutter portions 103 formed in the surface portion 101 along the horizontal direction at predetermined intervals in the vertical direction. The seedling mat 100 has a side surface portion 100a that is a surface portion on both sides in the horizontal direction, and an end surface portion 100b that is a surface portion on both sides in a vertical direction.

The surface side groove portion 103 is a V-shaped groove, and is formed by a pair of groove forming surfaces 103a that are V-shaped when viewed from the side of the seedling mat 100. The surface side groove portion 103 is formed so that its depth D1 is, for example, about 1/3 to 1/2 of the thickness T1 of the seedling mat 100. Note that the seedling mat 100 has an approximately constant external shape in the entire horizontal direction, and both ends of the surface gutter portion 103 are open to the side surface portions 100a of the seedling mat 100.

In the seedling mat 100, the portion partitioned by the surface gutter portion 103 on the surface portion 101 side becomes the row block portion 104. The row block portion 104 forms a relatively protruding ridge portion on the surface portion 101 side by the surface groove portions 103 on both sides in the vertical direction. A plurality of seeding holes 105 are formed in the row block portion 104 on the surface portion 101 side.

In the example shown in FIGS. 8 to 10, the seedling mat 100 has 20 rows of horizontally connected row block portions 104 that are connected in the vertical direction. Note that in FIG. 10, the boundary between adjacent row block sections 104 is indicated by a virtual line B1.

In each row block section 104, a plurality of seeding holes 105 are provided in a row along the lateral direction at predetermined intervals. The seeding hole 105 is, for example, a substantially cylindrical hole. One or more seeds are placed in the seeding hole 105. Each row block section 104 has an upper surface 104a along the virtual plane A1. The seeding hole 105 is open facing the upper surface 104a of the row block section 104.

The seedlings 106 grown from the seeds in the seeding hole 105 grow out from the seeding hole 105 and extend from the surface portion 101. Further, the seedling mat 100 is made of a material that allows roots to grow from the seeds in the seeding holes 105 to the back surface portion 102 side. The material forming the seedling mat 100 includes an organic fiber material that is a fiber material made of organic matter. Examples of organic fiber materials include coco peat, peat moss, and rice husk. Further, the material forming the seedling mat 100 may include a binder, soil improvement material, fertilizer, soil, and the like. In addition, illustration of the seedling 106 is omitted in FIGS. 8 and 9.

In the seedling mat 100, the area where one seeding hole 105 is formed becomes a unit block portion 108 for one plant that is scraped (cut) at one time by the planting operation of the planting claw device 50. The unit block part 108 is a part having a substantially square shape with the seeding hole 105 in the center in a plan view, and is scraped by the planting claw device 50 over the entire thickness direction of the seedling mat 100, so that the seedlings can be grown. Seedling blocks 110 are separated from the mat 100 and have a substantially rectangular parallelepiped shape or a substantially cubic shape (see FIG. 15C). Although this is just an example, the seedling block 110 has a substantially cubic shape with a side length of approximately 30 mm.

In the example shown in FIGS. 8 to 10, ten seeding holes 105 are formed in the horizontal direction in each row block section 104, and each row block section 104 is scraped off by the planting claw device 50 to form a seedling block 110. It is a part in which 10 unit block parts 108 are connected. In addition, in FIGS. 8 and 9, for one row block section 104 located at the end of the seedling mat 100, the boundary between adjacent unit block sections 108 is shown by a virtual line B2.

Moreover, the seedling mat 100 has a plurality of back side grooves 107 formed in the back surface part 102 along the horizontal direction at predetermined intervals in the vertical direction. The back side groove portion 107 is formed at a position corresponding to the front side groove portion 103 in the vertical direction. Therefore, the back side gutter 107, together with the front side gutter 103, shortens the dimension in the thickness direction (vertical direction in FIG. 10) of the seedling mat 100 of the connecting portion between the vertically adjacent row block parts 104. .

The back side groove portion 107 is a U-shaped groove, and is formed by a pair of side surfaces that are U-shaped in a side view of the seedling mat 100 and a curved upper curved surface. The back side groove portion 107 is formed so that its depth D2 is approximately 1/4 to 1/3 of the thickness T1 of the seedling mat 100, for example. The back side groove portion 107 has both ends open to the side surface portion 100a of the seedling mat 100. Note that the shape of the back side groove portion 107 is not limited to the U-shaped groove.

The plurality of row block sections 104 are partitioned on the back surface section 102 side of the seedling mat 100 by a plurality of back side groove sections 107 at the same pitch as on the front surface section 101 side. The row block portion 104 forms a relatively protruding ridge portion on the back surface portion 102 side by the back side groove portions 107 on both sides in the vertical direction. Each row block portion 104 has a lower surface 104b along a virtual plane A2 parallel to the virtual plane A1.

In the seedling mat 100 placed on the delivery belt 47, the back side groove part 107 becomes a part into which a plurality of locking protrusions 47a (see FIG. 7) provided on the delivery belt 47 are fitted. . The protruding portion 47a is a portion protruding from the surface of the delivery belt 47, and is formed in a straight line along the left-right direction. The protruding portion 47a has a cross-sectional shape that follows a rectangular shape, for example. The distances in the vertical direction between the plurality of protrusions 47a correspond to the distances in the vertical direction between the plurality of back side grooves 107 in the seedling mat 100. The back side groove portion 107 is formed to be slightly wider than the protruding portion 47a so that the protruding portion 47a fits therein.

When the seedling mat 100 is placed on the delivery belt 47, the protrusions 47a are fitted into the respective back side grooves 107, so that the seedling mat 100 is locked to the delivery belt 47. Thereby, the seedling mat 100 can reliably receive the action of vertical feeding by the feeding belt 47 without slipping against the feeding belt 47 which is rotated as a vertical feeding operation. In other words, the seedling platform 42 can reliably vertically feed the seedling mat 100 toward the guide rail 48 by the delivery belt 47. Moreover, the locking action of the seedling mat 100 with respect to the delivery belt 47 by fitting the protrusions 47a into the respective back side grooves 107 can prevent the seedling mat 100 from being compressed in the vertical direction due to its own weight. .

The seedling mat 100 as described above is scraped off by the planting claw device 50 in the seedling transplanting device 3 and planted in the field in the following manner. That is, by moving the seedling stand 42 from the starting end, which is the left and right end of the row block part 104 at the lower end, which is the part supported by the guide rail 48, to the left and right sides of the seedling stand 42, It is scraped off sequentially towards the other left and right sides. In other words, each time the seedling mat 100 is scraped once by the planting claw device 50, it moves along the guide rail 48 by a distance corresponding to one unit block part 108 in the lateral direction, and sequentially moves a new unit block part 108 along the guide rail 48. The portion 108 is located on the intake portion 49, which is the position to be scraped.

The row block section 104 at the lower end is sequentially scraped off from the starting end side, and at the timing when the unit block section 108 at the end, which is the end on the other left and right sides of the row block section 104 at the lower end, is scraped off, the operation of the delivery belt 47 , the seedling mat 100 is fed (vertically fed) one row below the row block section 104, and the seedling mat 100 is moved from the end surface section 100b side of the row block section 104, which is now located at the lower end, to the guide rail. 48. In other words, the new row block portion 104 is positioned on the guide rail 48 as a portion to be scraped. Then, while the seedling mat 100 is moved by the seedling platform 42 which turns back and moves to the other left and right sides, the unit block portions 108 are successively scraped off.

In this way, the seedling mat 100 is moved in a predetermined order in the horizontal direction from the lower side to the upper side by horizontal feeding by the left and right reciprocating movement of the seedling table 42 and vertical feeding by the intermittent movement of the delivery belt 47. Each unit block portion 108 is scraped off by the planting claw device 50 that rotates while drawing a trajectory.

In the seedling mat 100, the end surface portion 100b that is the side supported by the guide rail 48 has a groove forming surface 103a, a groove forming surface 107a corresponding to approximately half the widthwise shape of the back side groove portion 107, and a groove forming surface. 103a and an intermediate surface 109a between the groove forming surface 107a. Since the seedling mat 100 has a periodic shape in the vertical direction with the row block portions 104 as units, the shape of the end surface portion 100b is the same as the lower end surface of the seedling mat 100 before being scraped by the planting claw device 50. The portion 100b is substantially the same as the end surface portion 100b of the seedling mat 100 after at least one row of the row block portions 104 has been scraped off. In the end surface portion 100b that has been scraped by the planting claw device 50, the intermediate surface 109a becomes the cut surface by the planting claw device 50.

In this way, the seedling mat 100 used by the seedling transplanter 1 has a surface side (surface portion 101 side) which is the surface opposite to the placement surface side of the seedling platform 42, in which the seedling mat 100 is arranged in units of cutting by the planting claws 72. It has a surface side groove portion 103 as a corresponding groove portion extending in a direction perpendicular to the longitudinal feeding direction.

The configuration of the planted nail device 50 will be explained using FIGS. 6 and 11 to 13. In addition, in FIGS. 11 to 13, for convenience of explanation, illustrations of the groove-forming arm 200, its support mechanism, etc., which will be described later, are omitted. As shown in FIGS. 6 and 11 to 13, the planting claw device 50 includes an arm portion 71, a planting claw 72 fixed to the arm portion 71, and a planting claw 72 that is movable with respect to the arm portion 71. An extrusion member 73 that can be provided, a retaining plate 74 as a retaining member that is provided to face the planting claws 72, a retaining plate support portion 75 that supports the retaining plate 74, and the lower side of the retaining plate 74. It has an excavating claw 76 provided at.

The planting claw device 50 has a base 70 that connects to the rotary case 52, and an extension part in which an arm part 71, a planting claw 72, etc. extend linearly from the base 70 in a predetermined direction. , the tip of the planting claw 72 is the tip of the extension. Hereinafter, the direction along the extending direction of the extending portion of the planting nail device 50 (the direction of the arrow C1 in FIG. 12) will be referred to as the "nail extending direction." In the planting claw device 50, the tip end side of the planting claw 72 in the nail extension direction is defined as the front side, and the opposite side thereof is defined as the rear side.

The arm portion 71 is a substantially cylindrical portion whose nail extension direction of the planting nail device 50 is the cylindrical axis direction. The arm portion 71 is an integral part of the base portion 70 and extends from the base portion 70 in the nail extension direction.

The planting nail 72 has a nail base 81 having a substantially rectangular plate shape, and two nail body parts 82 extending in the nail extension direction from one side in the longitudinal direction of the nail base 81, and has a bifurcated distal end. It has the following configuration. The planting nails 72 have a substantially constant width as a whole, and are provided with the width direction being the left-right direction and the longitudinal direction being along the nail extension direction.

The claw base portion 81 is a bent plate-shaped portion having a flat substantially “U”-shaped cross section, and has a flat portion and side wall portions on both left and right sides. A claw body 82 extends from above the front end of the claw base 81 in the claw extension direction.

The planting nail 72 is fixed to the upper side of the arm part 71 by two fixing parts provided at intervals in the nail extension direction in the nail base 81. The fixing part of the planting claw 72 is a fastening fixing part in which a nut 84 is screwed into a male screw part 83 that projects upward from the arm part 71 and passes through the flat surface of the claw base 81.

The pair of claw main bodies 82 extend linearly from both edges of the claw base 81 in the width direction along the claw extension direction. The pair of claw main bodies 82 are formed parallel to each other with an interval of approximately constant width between them, and a space 85 is formed between the pair of claw main bodies 82 .

Each claw body portion 82 has a tip end portion 82a formed into a sharp point. The pair of claw main bodies 82 have substantially symmetrical shapes in the left-right direction. Each claw main body portion 82 has a substantially “L”-shaped cross-sectional shape by an upper surface portion 82b and left and right outer side portions 82c. The distance between the side surfaces 82c of the left and right claw main bodies 82 is approximately the same as the lateral dimension of the seedling block 110. That is, the lateral dimension of the unit block portion 108 in the seedling mat 100 is approximately the same as the interval between the left and right side portions 82c.

The push-out member 73 is provided on the front side of the arm portion 71, and is provided so as to reciprocate with respect to the arm portion 71 along the claw extension direction. The extrusion member 73 is provided below the pair of nail body parts 82 of the planting nails 72. The push-out member 73 includes a push rod 86 and a pressing piece 87 provided on the distal end side of the push rod 86 .

The push rod 86 is a rod part that constitutes a cylinder mechanism together with the arm part 71 with the arm part 71 as a cylinder part, and extends from the tip of the arm part 71 along the claw extending direction. The push rod 86 reciprocates with respect to the arm portion 71 so as to change the amount of protrusion from the arm portion 71. The push rod 86 has a bent portion 86a having a distal end bent upward at a right angle to the rod main body.

The pressing piece 87 includes a flat support plate portion 87a, left and right side walls 87b provided on both sides of the support plate portion 87a in the width direction, and a front wall portion 87c. The front wall portion 87c has a cutout portion 87d (see FIG. 13) whose upper side is open, corresponding to the shape of the support plate portion 87a and the left and right side wall portions 87b when viewed in the axial direction of the push rod 86. It has a substantially “U” shape when viewed in the axial direction.

In the pressing piece 87, the front wall surface of the front wall portion 87c serves as a pressing surface 87e against the seedling block 110. In the pressing piece 87, a space 95 is formed between the left and right side wall portions 87b on the support plate portion 87a, and the space portion 95 is opened on the front side by a notch portion 87d. The pressing piece 87 moves integrally with the push rod 86 with respect to the arm portion 71.

The pressing piece 87 is fixed to the push rod 86 by welding or the like, with the bent portion 86a of the push rod 86 passing through the support plate portion 87a. The pressing piece 87 has a shape in which the front part of the side wall part 87b is larger than the rear part in the vertical direction. The pressing piece 87 has the front upper edges of the left and right side walls 87b aligned with the claw main body 82 and located inside the claw main body 82 having a substantially "L"-shaped cross-sectional shape. .

The push-out member 73 reciprocates with respect to the arm portion 71 between a holding position (see FIG. 16A), which is the rear end position, and a push-out position (see FIG. 16B), which is the front end position.

The holding position of the extrusion member 73 is a standby position of the extrusion member 73 in the planting claw device 50, and is a position where the planting claw device 50 holds the seedling block 110. With the push-out member 73 in the holding position, the pressing piece 87 is located at the middle part of the claw body 82 in the claw extension direction.

The extrusion position of the extrusion member 73 is the position of the forward end of the extrusion member 73 with respect to the arm part 71, and is the position in the state where the planting claw device 50 has extruded (released) the seedling block 110. With the extrusion member 73 in the extrusion position, the front end of the pressing piece 87 is located at approximately the same position as the sharpened portion 82a of the pawl main body 82 in the pawl extension direction.

The holding plate 74 is a plate-shaped member having a predetermined bent shape when viewed from the side, and is capable of elastic deformation. The holding plate 74 extends from the lower side of the arm portion 71, which is the opposite side to the fixed side of the planting claws 72, in the direction in which the planting claws 72 extend, with the width direction being the left-right direction. The holding plate 74 is provided below the pair of claw main bodies 82 so as to face the claw main bodies 82 . The holding plate 74 is formed of a sheet metal or the like with a thickness of, for example, several millimeters.

The holding plate 74 has a bent shape in side view, and includes a base plate 74a, an inclined plate 74b, and a tip in order from the rear side (arm part 71 side) to the front side (tip side of the claw body part 82). It has a bent portion 74c. The position of the tip of the retaining plate 74 substantially coincides with the position of the tip of the claw main body 82 in the claw protruding direction.

The base plate portion 74a is a portion extending along the nail extension direction, and is a portion parallel to the nail body portion 82. The base plate portion 74a constitutes approximately half of the holding plate 74 in the longitudinal direction. The inclined plate portion 74b is a portion bent at an obtuse angle with respect to the base plate portion 74a. The angle formed by the base plate portion 74a and the inclined plate portion 74b in a side view is, for example, about 140°. The distance between the holding plate 74 and the claw body 82 is gradually narrowed from the rear side to the front side by the inclined plate part 74b.

The tip bent portion 74c is a portion bent at a right angle or an obtuse angle with respect to the inclined plate portion 74b. The angle formed by the inclined plate portion 74b and the tip bent portion 74c in a side view is, for example, about 100°. The holding plate 74 gradually widens the distance from the claw body 82 from the rear side to the front side by the bent end portion 74c.

The retaining plate 74 has a ridgeline portion 74d formed by the inclined plate portion 74b and the bent end portion 74c, which is convex on the upper side (toward the claw body portion 82 side), and is located near the tip portion of the claw body portion 82. The distance between the left and right claw body parts 82 and the ridgeline part 74d of the holding plate 74 is slightly smaller than the vertical dimension of the seedling block 110. That is, the vertical dimension of the unit block portion 108 in the seedling mat 100 is slightly larger than the distance between the claw body portion 82 and the ridgeline portion 74d.

The holding plate 74 functions as a leaf spring that holds and holds the seedling block 110 scraped off by the claw body 82 together with the claw body 82 . In other words, the holding plate 74 holds the seedling block 110 together with the pair of claw main bodies 82 with a biasing force in a state where the distance between the holding plate 74 and the claw main body parts 82 is widened by elastic deformation compared to its natural state. The holding plate 74 is supported in a fixed state by a holding plate support portion 75.

The holding plate support part 75 is constituted by a plate-shaped member whose thickness direction is in the left-right direction, and is located on the side opposite to the planting transmission case 51 side in the left-right direction with respect to the base 70 of the planting claw device 50. installed. The retaining plate support portion 75 is fastened and fixed to the base portion 70 with bolts 88.

The retaining plate support portion 75 has an upper edge located near the bottom of the arm portion 71 . A retainer plate 74 is fixed to the upper edge of the front portion of the retainer plate support portion 75 . The holding plate 74 has a fixed surface part 74e bent at right angles to the base plate part 74a on one left and right side (planting transmission case 51 side) of the base plate part 74a. The retaining plate 74 is attached to the front and rear by a bolt 89 passing through the excavating claw 76 and the retaining plate supporting part 75, and a nut 90 screwed thereto, with the fixing surface part 74e along one left and right side of the retaining plate supporting part 75. It is fastened and fixed to the retaining plate support part 75 at the location. Note that the holding plate 74 may be directly attached to the arm portion 71.

The excavating claw 76 is located below the holding plate 74 and on the side opposite to the planting transmission case 51 side with respect to the holding plate support portion 75 in the left-right direction. The excavating claw 76 includes a pair of claw bodies 77 and a connecting portion 78 provided between the pair of claw bodies 77.

The claw main body 77 is a plate-shaped member whose thickness direction is in the left-right direction, and extends from the holding plate support portion 75 toward the front in the claw extension direction. The claw main body 77 has a pointed shape whose width becomes gradually narrower from the base side to the distal end side when viewed from the side. The claw body 77 has a rear end located at approximately the same position as the rear end of the retaining plate 74 in the claw extending direction, and a distal end thereof located forward of the distal end of the retaining plate 74. .

The digging claws 76 are provided with rear portions of a pair of claw bodies 77 along the lower side of the base plate portion 74a of the holding plate 74. The excavating claw 76 has a pair of claw bodies 77 located slightly inside the left and right edges of the retaining plate 74 in the left-right direction. The connecting portion 78 is interposed between the rear portions of the pair of claw bodies 77, and functions as a spacer between the left and right claw bodies 77.

The digging claw 76 is provided with its rear portion fixed to the retaining plate support portion 75. The excavating claw 76 is fixed to the retaining plate support part 75 in a state where it is tightened together with the retaining plate 74 by two bolts 89 used for fixing the retaining plate 74 to the retaining plate support part 75 . The bolt 89 passes through the pair of claw bodies 77 and the connecting portion 78 interposed between them, and also passes through the retaining plate support portion 75 and the fixing surface portion 74e of the retaining plate 74, and is screwed into the nut 90.

The digging claws 76 have a function of protecting the holding plate 74 by excavating the field before the holding plate 74 and reducing the contact resistance of the holding plate 74 with the field when planting the seedling block 110 by the planting claw device 50. has. In addition, the excavating claws 76 reach the field before the holding plate 74 and have the function of suppressing the mulch film from getting entangled with the holding plate 74. The mulch film has a thickness of, for example, 0.004 to 0.02 mm.

The configuration of the guide rail 48 will be explained using FIGS. 11 to 14. The guide rail 48 is provided below the seedling platform 42 and supports the seedling mat 100 by being in contact with the lower end surface 100b of the seedling mat 100 placed on the seedling platform 42. The position of the seedling mat 100 is defined with respect to the trajectory of the planting nails 72.

The guide rail 48 is made of a plate-shaped member having a predetermined bent shape, and is configured to have a constant cross-sectional shape that is the same as the shape of both end surfaces (shape in side view) over substantially the entire length in the longitudinal direction. The guide rail 48 has a shape in a side view, which includes a front inclined surface portion 121 that is inclined downwardly toward the rear so as to follow the placement surface of the seedling mounting table 42, and a front inclined surface portion 121 that has a shape in a side view. It has a V-shaped rear inclined surface portion 122, and is configured like a gutter by these surface portions.

The guide rail 48 has a configuration in which a first rail member 123 forming a front side portion in a plan view and a second rail member 124 forming a rear side portion in a plan view are connected by a plurality of connecting members 125. The first rail member 123 forms an upper portion of the front inclined surface portion 121, and the second rail member 124 forms a lower portion of the front inclined surface portion 121 and the rear inclined surface portion 122.

The connecting member 125 is located on the back side of the front inclined surface part 121 (the side opposite to the side on which the seedling mat 100 is placed) so as to straddle the joining part 120 between the end surfaces of the first rail member 123 and the second rail member 124. There is. The connecting members 125 are narrow plate-like members whose longitudinal direction is the left-right direction, and a plurality of connecting members 125 are provided in the left-right direction. The connecting member 125 is connected to the first rail member 123 and the second rail member by being screwed into the fixing screw 126 passing through the rear edge of the first rail member 123 and the front edge of the second rail member 124, respectively. 124 are connected to each other. Note that the guide rail 48 may be configured by an integral rail member.

The guide rail 48 has cut-out openings 49 at multiple locations (four locations) in the longitudinal direction in which the portions (unit block portions 108) of the seedling mat 100 that are cut out by the planting claws 72 are located. As shown in FIG. 13, the opening portion 49 has left and right side edges 49a facing each other in the left-right direction, and a front edge 49b along the left-right direction. and has. Furthermore, chamfered portions 49c are formed at both left and right corner portions of the opening edge of the intake portion 49, which form inclined sides with respect to the side edges 49a. The left and right chamfered portions 49c widen the left and right width of the opening end of the opening portion 49 in an expanded manner. The opening portion 49 is formed in a notch shape over the entire front inclined surface portion 121 and the rear inclined surface portion 122 in the front-rear direction in a plan view.

As shown in FIG. 13, the left and right width dimension G1 of the opening portion 49, that is, the distance between the left and right side edges 49a, is approximately the same as the width dimension G2 of the planting claw 72 having a predetermined width. . Specifically, the guide rail 48 has a width G1 of the opening portion 49 that is slightly larger than a width G2 of the planting claw 72. As shown in FIG. 13, the planting claw device 50 positions the left and right side surfaces of the planting claws 72 inside the left and right side edges 49a of the intake portion 49 by a predetermined gap G3 in the left-right direction. It is designed to allow The size of the gap G3 is, for example, several millimeters (for example, 3 mm). The planting claw device 50 is configured to perform the planting operation while maintaining a predetermined position in the left-right direction, and the size of the gap G3 is maintained during the planting operation of the planting claw device 50.

The guide rail 48 has a contact support surface portion 130 that receives contact with the lower end surface portion 100b of the seedling mat 100, and a concave groove 131 formed in the contact support surface portion 130 to connect the lower end surface portion 100b of the seedling mat 100. It has a groove forming part 133 with a space 132 therebetween. The contact support surface portion 130 has a shape that follows the groove forming surface 103a forming the surface side groove portion 103 of the seedling mat 100. The contact support surface portion 130 has an inclined support surface portion 134 as a portion along the groove forming surface 103a.

The contact support surface portion 130 is a portion of the rear inclined surface portion 122 on the rear side in the width direction of the guide rail 48 (direction along the front-rear direction in plan view). The contact support surface portion 130 is provided as a portion on the rear upper side of the rear inclined surface portion 122, which generally forms a rearwardly upwardly sloped surface portion.

In the contact support surface portion 130, the inclined support surface portion 134 becomes a portion that receives contact with the groove forming surface 103a of the lower end surface portion 100b of the seedling mat 100 in the set state placed on the seedling platform 42. The inclined support surface portion 134 is inclined to be parallel or substantially parallel to the groove forming surface 103a on the lower end surface portion 100b of the seedling mat 100 in the set state, depending on the shape of the surface side groove portion 103 of the seedling mat 100. ing.

The contact support surface section 130 has an edge surface section 135 that forms the rear edge of the guide rail 48 on the rear side of the inclined support surface section 134 . The contact support surface portion 130 is formed by the inclined support surface portion 134 and the edge surface portion 135 as a bent surface portion having an obtuse angle shape when viewed from the side.

In the example shown in FIG. 14, the inclined support surface portion 134 is arranged in a direction perpendicular to the inclination direction of the mounting surface of the seedling mounting table 42 (see arrow H1, hereinafter referred to as "placing surface inclination direction") when viewed from the side. It is inclined so that the angle θ1 formed is about 30°. However, the inclination angle of the inclined support surface portion 134 is not limited, and is appropriately determined depending on the shape of the surface gutter portion 103 of the seedling mat 100, etc.

Hereinafter, the direction perpendicular to the tilt direction of the mounting surface in side view will be referred to as the direction perpendicular to the mounting surface (see arrow H2 in FIG. 14). The mounting surface inclination direction corresponds to the vertical feeding direction of the seedling mat 100. Further, the vertical direction of the seedling mat 100 in the set state corresponds to the direction of inclination of the mounting surface, and the thickness direction of the seedling mat 100 in the set state corresponds to the direction perpendicular to the mounting surface.

The groove forming portion 133 is formed by a lower front portion of the rear inclined surface portion 122 and a lower rear portion of the front inclined surface portion 121. The groove forming portion 133 is a portion formed by the rear inclined surface portion 122, and includes a rear groove side surface portion 136 which is a surface portion along the direction of inclination of the mounting surface when viewed from the side, and a surface portion which is a surface portion along the direction perpendicular to the mounting surface when viewed from the side. It has a groove bottom part 137.

Further, the groove forming portion 133 has a front groove side surface portion 138 that is formed by the front inclined surface portion 121 and extends along the mounting surface inclination direction in a side view. The front groove side surface portion 138 is a portion on the lower end side of the front inclined surface portion 121, and is a portion facing the rear groove side surface portion 136 in the direction orthogonal to the mounting surface. The rear groove side surface portion 136 and the front groove side surface portion 138 are formed at right angles to the groove bottom surface portion 137 on both sides of the groove bottom surface portion 137 in a direction perpendicular to the mounting surface thereof, with corner portions being curved surface portions (R-shaped portions). This is the part that is bent.

In this way, the groove forming section 133 has a rear groove side surface section 136, a front groove side surface section 138, and a groove bottom surface section 137, so that the side of the seedling mat 100 in the set state is an open side, and the groove forming section 133 has a substantially rectangular shape when viewed from the side. A U-shaped groove is formed. The lower side of the inclined support surface portion 134 is connected to the upper side of the rear groove side surface portion 136. The rear groove side surface portion 136 and the inclined support surface portion 134 form an obtuse-angled bent surface portion when viewed from the side.

The upper side of the front groove side surface part 138 extends along the mounting surface inclination direction as the upper part of the front inclined surface part 121 when viewed from the side. A support edge 139 is provided on the upper edge of the front inclined surface portion 121 and is bent toward the front so as to form a right angle with the corner portion being a curved surface portion.

As shown in FIG. 14, the seedling mat 100 supported by the guide rail 48 has the groove forming surface 103a in the end surface portion 100b in contact with the inner surface 134a of the inclined support surface portion 134 with respect to the guide rail 48, and It is supported with a portion below surface 103a (lower surface 104b side) facing inside concave groove 131. That is, the seedling mat 100 is supported by the guide rail 48 by the groove forming surface 103a that contacts the inclined support surface part 134 with respect to the end surface part 100b, and also connects the intermediate surface 109a and the groove forming surface 107a to the groove bottom surface through the space 132. It is in a state where it is opposed to the section 137. The inner surface 134a of the inclined support surface portion 134 becomes a sliding surface, that is, a guide surface for the seedling mat 100 that is fed laterally.

In the guide rail 48, the edge surface part 135 forming the rear edge is a part extending above the upper surface 104a in the direction perpendicular to the placement surface of the seedling mat 100 when viewed from the side. Further, in the guide rail 48, the surface 121a of the front inclined surface portion 121 becomes a surface that comes into contact with the lower surface 104b of the row block portion 104 at the lower end. The front inclined surface section 121 has a length (width) including at least one entire row of the row block section 104 in the mounting surface inclination direction.

As described above, the guide rail 48 has a bent front part 121 whose lower part is the front groove side part 138, and a rear groove which forms the concave groove 131 together with the front groove side part 138. It has a side surface portion 136, a groove bottom surface portion 137, and an inclined support surface portion 134 and an edge surface portion 135 that form the contact support surface portion 130.

In the guide rail 48, a cutting auxiliary part 140 is provided at the open end of the concave groove 131 relative to the opening 49, with the concave groove 131 having no concavity or having a small concavity. The cutting auxiliary parts 140 are provided on both the left and right sides of each outlet part 49, and the cutting auxiliary parts 140 on both the left and right sides of each outlet part 49 are configured symmetrically in the left-right direction. Note that in FIG. 14, illustration of the cutting auxiliary part 140 is omitted.

The cutting auxiliary portion 140 is a portion where the bottom of the concave groove 131 is partially raised by the depth of the concave groove 131 on both left and right sides of the opening portion 49 . The cutting auxiliary part 140 is provided by attaching a cutting auxiliary member 150 to the open end of the concave groove 131 of the guide rail 48 relative to the opening 49 . The cutting auxiliary member 150 is a substantially rectangular plate-like or block-like metal member, and is fixed to the guide rail 48 while being fitted into the concave groove 131 .

As shown in FIGS. 11 and 13, the cutting auxiliary member 150 has a rectangular outer shape in plan view, and is oriented such that the longitudinal direction is the extending direction of the concave groove 131. The cutting auxiliary member 150 has a first end surface 151 that is an end surface on one side in the longitudinal direction, and a second end surface 152 that is an end surface on the other side in the longitudinal direction. The cutting auxiliary member 150 has a dimension in the width direction that is approximately the same as the width of the concave groove 131, and is fitted between the rear groove side surface 136 and the front groove side surface 138 of the concave groove 131. It is provided. Further, the cutting auxiliary member 150 has a horizontal upper surface 156.

The cutting auxiliary member 150 is fixed to the guide rail 48 with one screw 161. The screw 161 passes through the groove bottom 137 of the concave groove 131 from below the guide rail 48 and is screwed into a screw hole 158 formed in the cutting auxiliary member 150. The screw hole 158 is formed through the cutting auxiliary member 150 in the thickness direction. A hole 137b for passing the screw 161 is formed in the groove bottom surface 137 (see FIG. 14).

The cutting auxiliary member 150 is provided with a first end surface 151 facing toward the outlet portion 49 of the guide rail 48 . The cutting auxiliary member 150 is provided so that the first end surface 151 is flush with the end surface forming the side edge 49a of the opening portion 49.

In the configuration in which the cutting auxiliary member 150 is attached to the concave groove 131 of the guide rail 48 as described above, the upper surface 156 forms a cutting auxiliary surface that raises the bottom surface 137a of the concave groove 131 by the groove depth. . In other words, the cutting auxiliary part 140 is a portion of the concave groove 131 that has no concavity, and the cutting auxiliary member 150 raises the bottom of the concave groove 131 with respect to the bottom surface 137a by the thickness of the cutting auxiliary member 150. An upper surface 156 is formed as a surface. Note that the bottom surface 137a is the inner surface of the groove bottom surface portion 137.

In this embodiment, the cutting auxiliary member 150 has a thickness that is substantially the same as the depth of the concave groove 131, and the cutting auxiliary member 150 has a thickness that is approximately the same as the depth of the concave groove 131. is buried by the cutting auxiliary member 150. That is, at the location where the cutting auxiliary member 150 is provided, the opening end of the concave groove 131 is closed by the cutting auxiliary member 150, and the concave groove 131 is no longer depressed. Note that the cutting auxiliary part 140 may be provided as a shaped part of the guide rail 48 itself, instead of having the cutting auxiliary member 150 attached to the guide rail 48.

The operation of the planted nail device 50 having the above configuration will be explained using FIGS. 15 and 16. In addition, in FIG. 15 and FIG. 16, illustration of the groove-forming arm 200, its support mechanism, etc. which will be described later is omitted for convenience of explanation. As shown in FIGS. 15A to 15C, as well as FIGS. 16A and 16B, the planting nail device 50 is supported on the guide rail 48 as the rotary case 52 (see FIG. 6) is rotated by the drive shaft 52a. It rotates continuously so that taking out (scraping) the seedling block 110 from the seedling mat 100, transporting the seedling block 110 while temporarily holding it, and planting the seedling block 110 are repeated.

FIG. 15A shows a state immediately before the planting claw device 50 scrapes off the seedling mat 100. As shown in FIG. 15A, the planting claw device 50 brings the claw main body portion 82 close to the guide rail 48 that supports the seedling mat 100 from below from the upper and rear sides. The planting claw device 50 targets one unit block part 108 of the row block part 104 at the lower end of the seedling mat 100 supported by the guide rail 48, and brings the claw body part 82 close to the unit block part 108. The unit block portion 108 to be scraped is located on the intake portion 49 of the guide rail 48 .

As shown in FIG. 15B, the planting nail device 50 cuts the tip of the nail main body part 82 into the seedling mat 100 from the upper surface side groove part 103 of the unit block part 108 to be scraped.

Then, by moving the planting claw device 50 forward and downward in a manner in which it is swung down, the unit block portion 108 is scraped off by the planting claw 72 as shown in FIG. It is now held in the device 50. Here, the unit block portion 108 is scraped off while being sandwiched between the pair of claw main body portions 82 and the retaining plate 74. When scraping the unit block portion 108, a guiding effect is obtained by the tip bent portion 74c which widens the distance between the tip portions of the claw body portion 82 and the retaining plate 74. Further, the unit block portion 108 to be scraped is guided by the groove shape of the surface side groove portion 103 that receives the tip of the claw body portion 82 .

When scraping the seedling mat 100, the planting claw device 50 scrapes the seedling mat while drawing a predetermined trajectory E1 (see FIG. 12) of the tip of the claw main body 82 with respect to the guide rail 48 in a side view. Acts on 100. The trajectory E1 has a curved shape with the upper side convex near the guide rail 48, and has a loop shape as a whole. The tip of the claw body 82 passes near the boundary between adjacent row block parts 104 (FIG. 10, imaginary line B1) in side view.

Further, when scraping the seedling mat 100, since the cutting assisting part 140 is provided at the open end of the guide rail 48 relative to the opening 49, good cutting performance (cutting performance) can be obtained. That is, the cutting auxiliary part 140 can fill the spaces 132 of the concave grooves 131, which serve as escape spaces for the seedling mat 100, on the lower side of the seedling mat 100, which is acted upon by the planting claws 72 from above. Since the seedling mat 100 can be supported from below at the formation site, the seedling mat 100 is prevented from escaping, and a good shearing action can be obtained. This makes it possible to perform stable scraping.

As shown in FIG. 15C, the seedling block 110 scraped off by the planting claws 72 is held between the pair of claw main bodies 82 and the holding plate 74. In the holding plate 74 that holds the seedling block 110 together with the pair of claw main bodies 82, the ridgeline portion 74d is the main contact portion with respect to the seedling block 110. For example, when the seedling block 110 is held, the distance between the pair of claw main bodies 82 and the holding plate 74 becomes wider due to the elastic deformation of the holding plate 74 compared to the state before the seedling block 110 is held.

A pressing piece 87 is located on the rear side of the seedling block 110 held by the planting claw device 50. In the planting claw device 50, the space 85 between the left and right claw main bodies 82 and the space 95 of the pressing piece 87 (see FIG. 11) are spaces in which the seedlings 106 of the held seedling block 110 are positioned. Therefore, interference of the seedlings 106 with the planting claw device 50 can be avoided.

As shown in FIG. 16A, the planting claw device 50 holding the seedling block 110 moves downward while the tips of the planting claws 72 are directed downward. Then, as shown in FIG. 16B, the planting claw device 50 uses the pushing member 73 to remove the seedlings at a predetermined timing when the tip of the planting claw 72 is positioned in the field below the field surface 91, which is the field surface. Push out (release) block 110. The planting claw device 50 pushes out the seedling block 110 in the claw extension direction by moving the pushing member 73 forward with respect to the arm portion 71 (see arrow F1). The seedling block 110 is released with the force of extrusion by the extrusion member 73 and is planted at a predetermined planting depth in the field.

When pushing out the seedling block 110 by the pushing member 73, the pushing member 73 presses the seedling block 110 using the pressing surface 87e of the pressing piece 87 as a contact surface to the seedling block 110. The contact surface of the pressing surface 87e with respect to the seedling block 110 corresponds to the upper surface 104a of the seedling mat 100. Further, the push-out member 73 moves forward with a biasing force against the arm portion 71, and pushes out the seedling block 110 in a manner that it pops out. Further, when the seedling block 110 is planted in the field, it is covered from the rear side by the holding plate 74, so that it is protected from collision with the field.

Furthermore, when the planting claw device 50 operates on the field scene 91, the planting claw device 50 excavates the field scene 91 with the digging claws 76 prior to the holding plate 74. As a result, the contact resistance of the holding plate 74 with respect to the field surface 91 is reduced, the holding plate 74 is protected, and the mulch film is prevented from getting entangled with the holding plate 74.

The planting claw device 50 that has planted the seedling block 110 in the field moves upward with respect to the field scene 91 while gradually returning the extrusion member 73 from the extrusion position to the holding position. Then, the planting claw device 50 returns to the position where the planting claws 72 are positioned above and behind the guide rail 48, and performs scraping of the next unit block portion 108 to be scraped and planting of seedlings. In this way, the planting claw device 50 scrapes one unit block portion 108 and removes the seedling block 110 in one cycle while rotating the tip of the claw body portion 82 so as to draw a loop-shaped trajectory E1. Seedlings are planted, and as the aircraft moves forward, seedlings are continuously planted in a row at predetermined intervals.

In the seedling mat 100, the row block part 104 at the lower end, that is, the row block part 104 located on the guide rail 48, is the object to be scraped in one stroke of horizontally feeding the seedling mat 100 in either the left or right direction. . The seedling mat 100 is fed out at a predetermined timing when all the unit block parts 108 of the row block part 104 located at the lower end are scraped off by continuous planting operation by the planting claw device 50 while laterally feeding the seedling mat 100 to the left and right. The seedling mat 100 is vertically fed by one line by the belt 47.

After vertically feeding the seedling mat 100, continuous scraping of the unit block portions 108 is sequentially performed for the row block portion 104 newly located at the lower end while horizontally feeding the seedling mat 100 to the left and right. In this way, the seedling mat 100 is intermittently vertically fed while reciprocating in the left-right direction by horizontal feeding, and is successively scraped off from the lower row block portion 104 by the planting claw device 50.

As described above, the seedling transplanter 1 feeds the seedling mat 100 placed on the seedling platform 42 in the horizontal direction along the left-right direction of the machine body, and also intermittently moves the seedling mat 100 forward and backward of the machine body in plan view. The seedling mat 100 is cut out part by part by the planting claws 72 and the seedlings 106 are continuously planted in the field while being fed in the vertical feeding direction.

As shown in FIGS. 6 and 17 to 21, the seedling transplanter 1 having the above-described configuration has a seedling transplanter 3 that forms grooves in the field and uses mulch when planting seedlings using the planting claws 72. A groove-making arm 200 is provided as a configuration for pre-processing the field such as cutting a film. The groove-making arm 200 is provided corresponding to each of the four planting claw devices 50, and the seedling transplanting device 3 has the four groove-making arms 200. The groove-making arm 200 and the link mechanism 300 and cam mechanism 400, which will be described later, are provided in the planting transmission case 51 in a configuration in which the planting claw devices 50 are arranged on both the left and right sides of the planting transmission case 51. It is configured symmetrically with the 51 side as the center side.

The groove making arm 200 is provided in a state where it is attached to the planting nail device 50. The groove-making arm 200 is configured in a longitudinal shape, and is provided so that the longitudinal direction thereof is along the direction in which the claw extends. The groove-making arm 200 is provided near the planting claw 72 with respect to the planting claw device 50.

Grooving arm 200 is provided in a state where it is movably supported with respect to planting nail device 50 by link mechanism 300. Thereby, the groove-making arm 200 is provided so as to move relative to the planting claw 72.

The groove-making arm 200 is configured to have a generally "U" shape with the rear side open as a whole, and is provided so as to surround the planting claw device 50 from the right, left, and front sides. The groove making arm 200 has an arm main body part 201, an arm tip part 202, and an auxiliary arm part 203 as parts forming a substantially "U"-shaped outer shape. These parts constituting the groove-making arm 200 are provided as plate-shaped parts having a predetermined shape.

Grooving arm 200 has a support plate 204 and a cutter member 205 as its constituent members. The support plate 204 and the cutter member 205 are connected and fixed to each other and constitute an integral groove-forming arm 200.

The support plate 204 is a substantially rectangular plate-like member whose longitudinal direction is the extending direction of the groove-forming arm 200 in a side view, and serves as a support base of the groove-forming arm 200 . Specifically, the support plate 204 has a front portion that is narrower than a rear portion, and has a shape in a side view (plate shape) that gradually tapers from the rear side to the front side.

The cutter member 205 is a bent plate-shaped member having a substantially “U” shape when viewed from above, and forms the main body portion of the groove-forming arm 200 . The cutter member 205 has an outer surface portion 205a, a front surface portion 205b, and an inner surface portion 205c as substantially “U”-shaped surface portions (see FIG. 21).

The arm main body portion 201 is provided at a position shifted to one side in the left-right direction with respect to the planting claw 72. Regarding the arrangement of the arm body portion 201, one side in the left-right direction with respect to the planting claw 72 is the opposite side to the planting transmission case 51 side in the left-right direction. In addition, in the description of the groove-making arm 200, in the left-right direction, the planting transmission case 51 side (the upper side in FIG. 19) is the inside, and the side opposite to the planting transmission case 51 (the lower side in FIG. 19) is the outside. . The arm main body portion 201 is a plate-shaped portion with the thickness direction in the left-right direction, and is formed by the support plate 204 and the outer side surface portion 205a of the cutter member 205.

The cutter member 205 is fixed to the support plate 204 with the rear end portion of the outer surface portion 205a overlapping the front end portion of the support plate 204 from the outside. The outer surface portion 205a has substantially the same width as the front end portion of the support plate 204 at the rear end portion, and has a continuous shape with the support plate 204 at the front-rear intermediate portion of the arm body portion 201.

Further, the outer surface portion 205a of the cutter member 205 forming the front portion of the arm body portion 201 has a substantially chevron-shaped bent shape with an apex portion 205d at the front and rear central portions when viewed from the side (see FIG. 18). The outer surface portion 205a has a shape in which the front side is narrower than the base side, which is the connection side to the support plate 204, in a side view.

The arm distal end portion 202 is provided on the distal end side of the arm main body portion 201. The arm tip portion 202 is located forward of the tip of the digging claw 76 of the planting claw device 50. The arm tip portion 202 is a plate-shaped portion bent at right angles toward the left and right inner sides of the outer side surface portion 205a of the cutter member 205, and is formed by the front side surface portion 205b of the cutter member 205. In this way, the arm tip section 202 has the right and left outer sides, which are one ends in the left and right direction, connected to the tip of the arm body section 201, and is a part in which the left and right outer sides are connected to the tip of the arm body section 201. There is.

The arm tip portion 202 is an inclined surface portion that is inclined forward and downward with respect to a direction perpendicular to the claw extension direction when viewed from the side. The arm tip portion 202 is a plate-shaped portion that is linear in a side cross-sectional view (see FIG. 22). FIG. 22 is a left side cross-sectional view of the groove-making arm 200 at the left-right center position. As shown in FIG. 22, the arm tip 202 has a linear shape with a predetermined direction (see arrow Y1) as the extending direction in a side cross-sectional view.

The arm distal end portion 202 has a lower edge portion as a distal end protruding portion 202a that protrudes downward relative to the distal end portions of the arm main body portion 201 and the auxiliary arm portion 203. The arm tip 202 has a downwardly convex mountain shape with a top 202c formed by a pair of hypotenuses 202b at the lower edge. The top portion 202c is an obtuse corner formed by the pair of oblique sides 202b.

The auxiliary arm portion 203 is provided at a position shifted from the planting claw 72 to the other side in the left-right direction, that is, to the planting transmission case 51 side (inside). That is, the auxiliary arm section 203 is located on the side opposite to the arm main body section 201 side with respect to the planting claw 72 in the left-right direction. The auxiliary arm portion 203 is a plate-shaped portion bent so as to be perpendicular to the front side surface portion 205b of the cutter member 205 toward the rear side, with the left-right direction being the plate thickness direction. It is formed by a surface portion 205c. In this way, the auxiliary arm section 203 has one end side, the front end side, connected to the left and right inner sides of the arm tip section 202, the other end side in the left and right direction, and the front end side is connected to the left and right inner sides of the arm tip section. It is a part.

The auxiliary arm portion 203 is a relatively narrow portion with respect to the outer surface portion 205a of the cutter member 205, has a substantially constant width, and is inclined in approximately the same direction as the front portion of the outer surface portion 205a when viewed from the side. It extends in a substantially straight line. The auxiliary arm portion 203 has a pointed portion 203a having an acute angle on the upper side of the rear end portion. In the state shown in FIG. 19, the auxiliary arm portion 203 has a pointed portion 203a located near the rear portion on the left and right sides of the nail body portion 82 on the left and right sides (upper side in FIG. 19) of the planting nails 72.

The cutter member 205 is fixed to the support plate 204 by two bolts 206 as fixing members. The two bolts 206 are located on both sides of the arm main body 201 in the width direction at the overlapped portion between the outer surface 205a of the cutter member 205 and the support plate 204. The bolt 206 passes through a hole 205e formed at the rear end of the outer surface portion 205a, and is screwed into a screw hole formed at the front end of the support plate 204.

The hole 205e through which the bolt 206 passes is a long hole whose longitudinal direction is along the direction in which the cutter member 205 extends from the support plate 204. Thereby, the fixing position of the cutter member 205 relative to the support plate 204 in the extending direction can be adjusted. Adjustment of the fixed position of the cutter member 205 with respect to the support plate 204 is a position adjustment in the direction of moving the arm tip 202 closer to or away from the tip of the planting claw 72.

The link mechanism 300 will be explained. The link mechanism 300 supports the groove-making arm 200 so as to be able to reciprocate in the front-rear direction with respect to the holding plate support part 75 that constitutes the planting nail device 50. The holding plate support portion 75 is fixed to the case body 70a that constitutes the base portion 70 of the planting claw device 50 at a plurality of locations with bolts 88. The holding plate support portion 75 has a generally rectangular or trapezoidal outer shape when viewed from the side, and has a lower edge portion as a downward protruding portion 75a that protrudes downward from the case body 70a that constitutes the base portion 70. (See Figure 18). The holding plate support section 75 is located below the arm section 71.

The link mechanism 300 includes two link arms: a front arm 301 as a first link arm located on the front side, and a rear arm 302 as a second link arm located on the rear side. The front arm 301 and the rear arm 302 are linear plate-like members whose thickness direction is in the left-right direction.

The front arm 301 and the rear arm 302 have one end in the longitudinal direction rotatably supported by the holding plate support portion 75 on the planting claw device 50 side, and the other end rotatably supported on the groove making arm 200 side. I'm letting you do it. Both arms 301 and 302 have substantially the same length and are provided substantially parallel to each other. Both arms 301 and 302 are provided at left and right outer positions with respect to the holding plate support portion 75 and left and right inner positions with respect to the support plate 204 that constitutes the groove making arm 200. In other words, both arms 301 and 302 are located between the holding plate support portion 75 and the support plate 204 in the left-right direction.

The front arm 301 and the rear arm 302 each have their lower end portions connected to a front boss portion 303 and a rear boss portion 304 provided before and after the downward protruding portion 75a of the retaining plate support portion 75, respectively. It is rotatably supported by a supporting member 305 and the like via a bearing member (not shown). The front boss portion 303 and the rear boss portion 304 are portions that protrude in a cylindrical shape on both left and right sides with respect to the plate-shaped main body portion of the holding plate support portion 75. The pivot of the lower end of the front arm 301 relative to the front boss portion 303 is defined as a front fixed pivot support 311, and the pivot support of the lower end of the rear arm 302 relative to the rear boss portion 304 is defined as a rear fixed pivot support 312 (see FIG. 18).

The front arm 301 rotates the upper end of the arm with respect to a boss portion 306 provided approximately in the center of the support plate 204 via a bearing member (not shown) using a shaft support bolt 307 or the like that is a shaft support member. It is movably supported. The boss portion 306 is a portion that protrudes in a cylindrical shape on both left and right sides with respect to the plate-shaped main body portion of the support plate 204, and is located at a position behind the portion of the support plate 204 to which the outer surface portion 205a of the cutter member 205 is fixed. It is provided. The pivot of the upper end of the forearm 301 relative to the boss portion 306 is referred to as a forward moving pivot 313 (see FIG. 18).

The upper end of the rear arm 302 is rotatably supported by a connecting plate 310 attached to the support plate 204. That is, the upper end of the rear arm 302 is pivotally supported by the support plate 204 via the connection plate 310.

The connection plate 310 is a plate-like member having a substantially rounded rectangular shape or a substantially elliptical shape, and is located on the left and right inner sides of the rear end portion of the support plate 204, and is oriented such that the longitudinal direction is the width direction of the support plate 204. ing. The connection plate 310 is provided so as to be entirely positioned within the outer shape of the support plate 204 when viewed from the side. The connection plate 310 has a boss portion 321 approximately in the center.

The upper end of the rear arm 302 is rotatably supported by a shaft support bolt 322 or the like, which is a shaft support member, with respect to the boss portion 321 of the connection plate 310 via a bearing member (not shown). . The boss portion 321 is a portion that protrudes in a cylindrical shape on both left and right sides with respect to the plate-shaped main body portion of the connection plate 310. An escape hole 204a is formed through the support plate 204 to avoid interference with the boss portion 321 of the connection plate 310. The pivot support of the upper end of the rear arm 302 relative to the boss portion 321 is referred to as a rear movement pivot support 314 (see FIG. 18).

The connecting plate 310 is fixed to the support plate 204 at two locations at both longitudinal ends thereof by bolts 323 as fixing members. The bolt 323 passes through a hole 204b formed at the rear of the support plate 204 and is screwed into a screw hole formed in the connection plate 310. The fixing portions formed by the bolts 323 are located on both sides of the boss portion 321 in the longitudinal direction of the connecting plate 310.

The hole 204b through which the bolt 323 passes is a long hole whose longitudinal direction is along the longitudinal direction of the groove-forming arm 200 in side view. Thereby, the fixing position of the connecting plate 310 with respect to the support plate 204 can be adjusted. Adjustment of the fixed position of the connection plate 310 with respect to the support plate 204 corresponds to adjustment of the position of the rear moving shaft support 314 on the support plate 204.

That is, by adjusting the fixed position of the connection plate 310 with respect to the support plate 204, the inter-axial distance L1 between the rotation axis Q3 of the front movement shaft support 313 and the rotation axis Q4 of the rear movement shaft support 314 is 20) is adjusted. The relief hole 204a for the boss portion 321 has a length such that the boss portion 321 does not interfere with the support plate 204 within the range of position adjustment of the connecting plate 310 by the hole portion 204b in the support plate 204, and is aligned in the longitudinal direction with the hole portion 204b. It is formed as a long hole.

As described above, the link mechanism 300 including two arms, the front arm 301 and the rear arm 302, has four axes: the front fixed shaft support 311, the rear fixed shaft support 312, the front moving shaft support 313, and the rear moving shaft support 314. The groove cutting arm 200 is movably connected and supported to the holding plate support part 75 in the form of a four-bar link with the axis of the branch as the node. The link mechanism 300 rotates both arms 301 and 302 with respect to a front fixed shaft support 311 and a rear fixed shaft support 312 whose positions relative to the planting claw device 50 are fixed. By moving, the front moving shaft support 313 and the rear moving shaft support 314 provided on the groove-forming arm 200 side are moved.

The front arm 301 and the rear arm 302 rotate about the front fixed shaft support 311 and the rear fixed shaft support 312, respectively, thereby reciprocating the groove cutting arm 200 back and forth with respect to the planting claw device 50. let In the reciprocating movement of the groove cutting arm 200, the distance between the axes of the front fixed shaft support 311 and the rear fixed shaft support 312 (the distance between the rotation axis Q1 of the front fixed shaft support 311 and the rotation axis Q2 of the rear fixed shaft support 312) The distance between the axes of the front moving shaft support 313 and the rear moving shaft support 314 (the distance between the rotation axes Q3 and Q4) are constant.

As described above, the groove-forming arm 200 movably supported by the link mechanism 300 has a standby position (see FIG. 20) and a working position as a position and posture during its reciprocating motion, that is, a position and posture relative to the planting claw 72. It has a groove attitude (see FIG. 18). The standby posture of the groove-cutting arm 200 is the position and posture at the timing when the planting claws 72 cut out the seedling mat 100. The groove-cutting posture of the groove-cutting arm 200 is a position and posture in which the groove-cutting arm 200 moves forward relative to the planting claw 72 when planting seedlings (seedling blocks 110) in the field. Note that FIG. 19 shows a state in which the groove making arm 200 is in the groove making attitude.

The link mechanism 300 urges the groove-making arm 200 toward the groove-making posture by a groove-making arm return spring 330. The groove-forming arm return spring 330 is a so-called torsion spring, and has extending portions 330a and 330b at both ends of a coiled portion (see FIG. 18). The groove-forming arm return spring 330 is provided in the front fixed shaft support 311 with a coiled portion externally fitted onto the front boss portion 303.

The groove-forming arm return spring 330 has one extending portion 330a extended rearward to abut against the rear boss portion 304 from above, and the other extending portion 330b engaged with the front arm 301. I'm making it stop. The other extending portion 330b is locked to the forearm 301 by bending its tip and bringing it into contact with the rear side of the intermediate portion of the forearm 301.

The groove-making arm return spring 330 causes the front arm 301 to move in the direction in which the groove-making arm 200 moves forward, that is, to the left side, with respect to the retaining plate support 75 by a biasing force that moves the extensions 330a and 330b away from each other. It is biased in the counterclockwise rotation direction in plan view (see arrow J1 in FIG. 18). Thereby, the groove making arm 200 is urged toward the groove making position side with respect to the planting claw device 50.

The groove-making arm 200 reciprocates with respect to the planting claw device 50 in conjunction with the relative rotational movement of the planting claw device 50, which performs a predetermined planting operation as the rotary case 52 rotates, with respect to the rotary case 52. do. The groove-making arm 200 performs a periodic reciprocating motion in which one rotation is one cycle regarding the relative rotational motion of the planting claw device 50 with respect to the rotary case 52. FIG. 19 shows a case-side rotating shaft O1 that is the rotation center of the rotary case 52 relative to the planting transmission case 51 and coincides with the axis of the drive shaft 52a (see FIG. 3), and A claw-side rotation axis O2 is shown, which is the rotation center of the claw device 50 and coincides with the axis of the rotation shaft 50a (see FIG. 3).

The groove-making arm 200 is operated by the cam mechanism 400 to rotate the planting claw device 50 relative to the rotary case 52 around the claw side rotation axis O2 (hereinafter referred to as "relative rotation of the planting claw device 50"). It moves back and forth in conjunction with. That is, the cam mechanism 400 converts the relative rotation of the planting claw device 50 into a reciprocating rotational movement of the front arm 301 and the rear arm 302 of the link mechanism 300, thereby reciprocating the groove-forming arm 200.

The groove-making arm 200 changes its position and orientation relative to the planting claw 72 in conjunction with the operation of the planting claw 72 by a cam mechanism 400 including a cam plate 410 as a cam. The cam plate 410 is provided to a rotary case 52 that rotatably supports the planting claw device 50 including the planting claws 72, and as the planting claw device 50 rotates, the cam plate 410 moves the groove making arm 200 to the planting claws 72. Change relative position.

The cam plate 410 is a substantially disk-shaped member, and is fixedly provided to the rotary case 52 by a fixing member (not shown). In other words, the cam plate 410 becomes a part that rotates integrally with the rotary case 52. The cam plate 410 is interposed between the rotary case 52 and the case body 70a of the planting claw device 50, with the plate thickness direction being the left-right direction (see FIG. 19).

As shown in FIG. 23, the cam plate 410 has an outer shape (plate shape) in which a part of the outer peripheral side of a circular shape is cut out in a substantially straight line. The cam plate 410 has an outer circumferential surface that forms the outer shape of the cam plate 410 when viewed in the axial direction of the center axis P1 along the left-right direction, as a cam surface 411 that serves as a surface that acts on the guide roller 402, which will be described later. The position of the central axis P1 of the cam plate 410 coincides with the claw-side rotation axis O2 of the planting claw device 50 (see FIG. 19). Note that FIG. 23 shows an example of the shape of the cam surface 411.

As shown in FIG. 23, the cam surface 411 includes a first arcuate cam surface portion 412 and a second arcuate cam surface portion 413 provided on the opposite side of the first arcuate cam surface portion 412 with respect to the position of the central axis P1. . The first circular arc cam surface portion 412 and the second circular arc cam surface portion 413 both have a circular arc shape centered on the position of the central axis P1 of the cam plate 410. The cam plate 410 has a shape that is line symmetrical with respect to a predetermined straight line P2 passing through the central axis P1.

In this embodiment, the radius of the circumferential shape along which the second arcuate cam surface portion 413 follows is approximately ⅓ of the radius of the circumferential shape along which the first arcuate cam surface portion 412 follows. Further, the first arcuate cam surface portion 412 is formed over an angular range of about 260° in the circumferential direction about the central axis P1. Further, the second arcuate cam surface portion 413 is formed over an angular range of about 45° in the circumferential direction about the central axis P1.

In the cam surface 411, a linear cam surface 414, which is a linear cam surface section, is formed between the ends of the first circular arc cam surface section 412 and the second circular arc cam surface section 413. The linear cam surfaces 414 are located on both sides of the straight line P2. The linear cam surface 414 smoothly connects the ends of the first circular arc cam surface section 412 and the second circular arc cam surface section 413.

The cam mechanism 400 also includes a guide roller 402 that acts on the cam plate 410 and a roller support arm 403 that supports the guide roller 402 with respect to the holding plate support section 75 as a configuration provided on the planting claw device 50 side. has.

The roller support arms 403 are provided on the left and right inner sides of the holding plate support section 75. The roller support arm 403 is an arm-shaped member, and one end of the roller support arm 403 is connected to the front boss portion 303 that supports the front arm 301 by a bolt-shaped shaft support member 404 or the like via a bearing member (not shown). It is rotatably supported (see FIG. 19).

The roller support arm 403 is provided so that its rotation axis coincides with that of the front arm 301, and the positional relationship with the front arm 301 is maintained in the rotation direction. That is, the roller support arm 403 and the front arm 301 are coaxially supported on the front fixed shaft support 311 by the front boss portion 303, and are fixed to each other so as to rotate integrally around the rotation axis Q1. It is provided.

The guide roller 402 is a cylindrical rotating body, is located on the right side of the tip of the roller support arm 403, and is rotatably supported with respect to the roller support arm 403 by a predetermined shaft support member with the left-right direction as the rotation axis direction. has been done. Guide roller 402 is supported by roller support arm 403 at a position where it contacts cam plate 410 from below.

As shown in FIG. 18, with respect to the front arm 301 extending upward from the front boss portion 303, the roller support arm 403 extends rearward. The front arm 301 and the roller support arm 403 are provided so as to form an angle of about 80 to 90 degrees when viewed in the axial direction of the rotation axis Q1. The angle formed by the front arm 301 and the roller support arm 403 is between the straight line connecting the rotation axis Q1 of the front fixed shaft support 311 and the rotation axis Q3 of the front movable shaft support 313, and the rotation of the rotation axis Q1 and the guide roller 402. This is the angle β1 formed by a straight line connecting the rotation axis Q5, which is the center (see FIG. 20).

The guide roller 402 is urged in the direction of being pressed against the cam plate 410 via the roller support arm 403 by the urging force exerted on the front arm 301 by the groove-forming arm return spring 330 . Thereby, the guide roller 402 moves along the cam surface 411 with the relative rotation of the planting claw device 50.

According to the above configuration, the contact position of the guide roller 402 with respect to the cam plate 410 is adjusted according to the change in the distance from the central axis P1 of the cam plate 410 due to the cam surface 411 due to the relative rotation of the planting claw device 50. , the guide roller 402 moves toward and away from the central axis P1 of the cam plate 410. This movement of the guide roller 402 causes the roller support arm 403 and the front arm 301 to integrally rotate about the rotation axis Q1. When the front arm 301 rotates, the link mechanism 300 operates, and the groove forming arm 200 performs a predetermined operation. In this way, in the link mechanism 300, the front arm 301 becomes a drive arm that receives power transmitted from the cam mechanism 400 and rotates back and forth as the planting claw device 50 rotates relative to the other, and rotates the groove cutting arm 200 back and forth. The link mechanism 300 is operated to move.

The operations of the cam mechanism 400, the link mechanism 300, and the groove-making arm 200 as the planting claw device 50 rotates relative to each other will be described with reference to FIGS. 24 to 28. 24 to 28, for convenience, the relative rotation of the planting claw device 50 is the rotation of the rotary case 52 with respect to the planting claw device 50 in the fixed position, that is, the claw side rotation axis O2 (the central axis P1 of the cam plate 410). ) shows changes in the angular position of the rotary case 52 with respect to the planting claw device 50. As shown in FIGS. 24 to 28, in the relative rotation of the planting claw device 50, the rotary case 52 rotates counterclockwise with respect to the planting claw device 50 in a left side view (see arrow M1).

The state in which the guide roller 402 is in contact with the first arcuate cam surface portion 412 of the cam plate 410 corresponds to the standby posture of the groove-making arm 200, and the state in which the guide roller 402 is in contact with the second arcuate cam surface portion 413 of the cam plate 410 corresponds to the standby posture of the groove making arm 200. , corresponds to the groove-making posture of the groove-making arm 200. That is, in the relative rotation of the planting claw device 50, the guide roller 402 comes into contact with the first arcuate cam surface portion 412, so that the groove-making arm 200 assumes a standby posture, and the guide roller 402 contacts the second arcuate cam surface portion 413. By being in contact with the groove forming arm 200, the groove forming arm 200 assumes the groove forming attitude.

FIG. 24 shows a state in which the groove making arm 200 is in a standby position. In the state shown in FIG. 24, the guide roller 402 is in contact with a position near the starting end of the first arcuate cam surface portion 412 in the rotational direction of the cam plate 410 with respect to the planting claw device 50.

FIG. 25 shows a state in which the rotary case 52 has rotated approximately 100° relative to the planting claw device 50 from the state shown in FIG. As shown in FIG. 25, during the relative rotation of the planting claw device 50, while the guide roller 402 is in contact with the first circular arc cam surface portion 412, the rotational position of the link mechanism 300 is maintained, and the groove cutting arm 200 The state of standby posture is maintained.

As the relative rotation of the planting claw device 50 progresses, the contact position of the guide roller 402 with respect to the cam plate 410 changes from the first circular cam surface portion 412 to the one linear cam surface 414 (behind the direction of movement of the guide roller 402 with respect to the cam plate 410). By moving to the side linear cam surface 414), the groove-making arm 200 begins to move toward the groove-making posture side. That is, as the guide roller 402 moves relatively from the first circular cam surface portion 412 to the linear cam surface 414, the guide roller 402 approaches the central axis P1 (claw side rotation axis O2) of the cam plate 410, and the roller The support arm 403 rotates in a direction that raises the guide roller 402 (see arrow M2 in FIG. 26). As a result, the link mechanism 300 rotates in a direction that tilts the front arm 301 forward, and the groove-making arm 200 gradually moves toward the front, that is, toward the groove-making posture.

Then, as shown in FIG. 27, when the guide roller 402 reaches the second circular cam surface portion 413 from the terminal end of the linear cam surface 414, the groove forming arm 200 assumes the groove forming posture. As shown in FIGS. 27 and 28, when the guide roller 402 is located on the second arcuate cam surface portion 413, the groove-making arm 200 maintains the groove-making posture.

Then, the relative rotation of the planting claw device 50 progresses, and the contact position of the guide roller 402 with respect to the cam plate 410 changes from the second circular cam surface portion 413 to the other linear cam surface 414 (in the moving direction of the guide roller 402 with respect to the cam plate 410). By moving to the front linear cam surface 414), the groove-making arm 200 begins to move toward the standby position. That is, by relatively moving the guide roller 402 from the linear cam surface 414 to the first circular arc cam surface portion 412, the guide roller 402 moves away from the central axis P1 (claw side rotation axis O2) of the cam plate 410, and the roller support The arm 403 rotates in a direction to lower the guide roller 402 (see arrow M3 in FIG. 28). As a result, the link mechanism 300 rotates in a direction in which the front arm 301 is tilted rearward, and the groove cutting arm 200 gradually moves rearward, that is, toward the standby position.

Then, when the guide roller 402 reaches the first circular cam surface portion 412 from the terminal end of the linear cam surface 414, the groove making arm 200 returns to the standby position (see FIG. 24). The above operations are repeatedly performed as the planting claw device 50 rotates relative to each other.

As described above, the groove-making arm 200 changes its position and orientation with respect to the planting claw 72 in conjunction with the relative rotation of the planting claw device 50, which is the movement of the planting claw 72, by the link mechanism 300 and the cam mechanism 400. It is set up like this. According to such a configuration, the shape of the cam surface 411 of the cam plate 410 adjusts the operation mode of the groove forming arm 200 that is linked to the relative rotation of the planting claw device 50. Specifically, by adjusting the shape of the cam surface 411, for example, the timing when the groove-making arm 200 starts moving from the standby posture to the groove-making posture side, the timing when the groove-making arm 200 returns to the standby posture, etc. can be adjusted.

The operation of the planting unit having the above configuration will be explained using FIGS. 29 to 35. The operation of the planting unit includes the operation of planting the seedling block 110 by the planting claw device 50, and the operation of cutting grooves and mulch film 250 by the groove-making arm 200 in conjunction with the planting operation.

30 to 35 are left side views of the planting unit, and the moving direction of the machine body is the left direction (see arrow N1) in each figure. Moreover, in each figure of FIG. 30 to FIG. 35, in order to show the displacement of the planting unit in the machine body advancing direction with respect to the field, for convenience, only the state where the seedling block 110 is planted in the field is shown.

A trajectory E1 indicated by a chain line in each of FIGS. 30 to 35 is a trajectory drawn by the tip of the planting nail 72, that is, the tip of the nail body 82. The trajectory E1 is a closed (loop-like) trajectory that is vertically elongated and approximately elliptical. Specifically, the trajectory E1 has a substantially elliptical shape with a convex bulge on the front side and a flattened rear side.

Moreover, the trajectory E1 of the planting claw 72 is a trajectory in the body of the seedling transplanter 1 that moves forward with respect to the field. In other words, the trajectory E1 does not take into account the movement of the planting claws 72 relative to the field as the machine moves forward, and is a stationary trajectory based on the machine body.

As shown in FIGS. 30 to 35, in the planting unit that moves forward as the machine moves forward, the drive shaft 52a of the rotary case 52 maintains a substantially constant height position with respect to the field surface 91. That is, during the operation of the planting unit as the machine moves forward, the case side rotation axis O1 draws a trajectory E2 parallel to the field scene 91 (see FIG. 30).

FIG. 29 shows a graph illustrating the operation of the planting claw device 50 and the groove cutting arm 200. In the graph shown in FIG. 29, the horizontal axis represents the phase [deg] of the planting claw device 50 in relative rotation of the planting claw device 50 around the claw side rotation axis O2, that is, the phase [deg] of the planting claw device 50 and the rotary case 52. It shows the relative angular position.

In FIG. 29, a graph Gr1 indicated by a solid line represents a change in the position of the groove forming arm 200 due to a change in the phase of the planting claw device 50, that is, the amount of rotation of the roller support arm 403 by the cam plate 410 (amount of arm rotation) [deg ] An example is shown. Further, a graph Gr2 indicated by a broken line shows an example of a change in the height of the planting claw 72 due to a change in the phase of the planting claw device 50. Here, the height of the planting claw 72 (planting claw height) is the height of the tip of the planting claw 72 with respect to a predetermined reference height corresponding to the field scene 91, for example, at a predetermined height position. It is expressed as a value of ± with reference to (0 [mm]).

First, as shown in FIG. 30, as the rotary case 52 rotates about the case-side rotation axis O1 and the planting claw device 50 rotates relative to each other, the unit block portion 108 is scraped off by the planting claws 72. . The state of the planting unit shown in FIG. 30 is in the "scraping" range of the phase of the planting claw device 50 in the graph shown in FIG. 29.

In the "scraping" range, the groove-making arm 200 is in a standby position. In other words, the guide roller 402 is in contact with the first arcuate cam surface portion 412 of the cam plate 410 . In the operation of the cam mechanism 400, the position of the roller support arm 403 with the groove-forming arm 200 in the standby position is set to a reference position, that is, the amount of rotation is 0 [deg]. In this way, the seedling mat 100 is scraped off by the planting claws 72 at a predetermined timing while the groove cutting arm 200 is in the standby position.

Furthermore, regarding the height of the planting claw in the "scraping" range, the planting claw 72 is located at or near the height position h1 of the rising end in the lifting range. In addition, the graph Gr2 showing the change in the planted nail height draws a curve like a sine wave.

After the unit block portion 108 is scraped off by the planting claw 72, the planting claw device 50 is rotated to move the planting claw 72 forward and downward of the guide rail 48, as shown in FIG. move. The state of the planting unit shown in FIG. 31 is in the "down" range of the phase of the planting claw device 50 in the graph shown in FIG. 29.

In the "descending" range, as shown in graph Gr2, the planted nail height gradually declines. Further, in the "downward" range, at the timing when the phase of the planting claw device 50 reaches a predetermined first phase t1, the groove-making arm 200 in the standby attitude starts moving toward the groove-making attitude. That is, the guide roller 402 moves from the first circular cam surface portion 412 to one linear cam surface 414, and as shown in graph Gr1, the amount of arm rotation begins to increase.

In the process of the "downward" range, the amount of arm rotation gradually increases, and reaches the maximum value U1 at the timing when the phase of the planting claw device 50 reaches a predetermined second phase t2. In other words, the groove-making arm 200 assumes the groove-making posture.

As the relative rotation of the planting claw device 50 progresses while the groove-making arm 200 is in the groove-creating attitude, the tip of the groove-creating arm 200 in the groove-creating attitude moves into the field scene 91, as shown in FIG. The groove-making arm 200 starts penetrating (grooving). The timing of penetration of the groove-making arm 200 corresponds to the timing when the phase of the planting claw device 50 reaches a predetermined third phase t3 in the graph shown in FIG. 29. From the third phase t3, the phase of the planting claw device 50 enters the "soil penetration" range. In the range of "soil penetration", when planting seedlings using the planting claw device 50, the groove cutting arm 200 cuts the mulch film 250 and creates grooves at the planting location of the seedlings in the field.

As shown in FIG. 32, when the groove-making arm 200 penetrates into the field, it comes into contact with the field surface 91 from the lower edge of the arm tip 202 that forms the tip. As described above, the arm tip 202 is a plate-shaped portion that is linear in side cross-sectional view (see FIG. 22). The groove-making arm 200 is inserted into the field area 91 with the arm tip 202 standing upright.

In this way, the groove-making arm 200 is provided so that the arm tip 202 stands up against the field scene 91 at the timing of entering the field scene 91. Here, when the arm tip 202 is standing with respect to the field scene 91, as shown in FIG. is 45° or more. In the example shown in FIG. 32, the angle α1 is approximately 60°.

Further, the groove-making arm 200 is configured such that the extending direction of the tip portion thereof is tilted forward and downward relative to the field scene 91 at the timing of entering the field scene 91 when viewed from the side. As shown in FIG. 32, the extending direction V2 of the distal end portion of the groove-making arm 200 when viewed from the side is the tip of the outer side surface portion 205a (see FIG. 18), which has a substantially chevron-shaped bent shape when viewed from the side. This is the direction in which the tip of the side edge portion extends. Note that the stretching direction V2 coincides or substantially coincides with the stretching direction of the inner side surface portion 205c (see FIG. 21) of the groove-forming arm 200 in a side view.

Regarding the inclination of the extending direction V2 of the distal end portion of the groove making arm 200, as shown in FIG. preferable. In the example shown in FIG. 32, the angle α2 is approximately 50°.

In the "soil penetration" range, as shown in graph Gr2, the planting claw height continues to gradually decrease from the "descending" range, and the planting claw 72 is at the height position h2 of the descending end in its elevation range. The seedling block 110 is planted by the planting claw device 50 at the timing when the seedling block 110 reaches a position at or near that position. The state of the planting unit shown in FIG. 33 is in the "planting" range of the phase of the planting claw device 50 in the graph shown in FIG. 29.

That is, as shown in FIG. 33, the planting claw device 50 holding the seedling block 110 extrudes the seedling at a predetermined timing when the tip of the planting claw 72 is located in the field below the field scene 91. The seedling block 110 is pushed out by the member 73 (see arrow R1). After planting the seedling block 110, the planting claw device 50 gradually rises until the planting claw 72 reaches the height position h1 at the rising end (see FIGS. 34 and 35).

On the other hand, the groove-making arm 200 in the groove-making attitude starts moving toward the standby attitude at the timing when the phase of the planting claw device 50 reaches a predetermined fourth phase t4 in the "soil penetration" range. That is, the guide roller 402 moves from the second arcuate cam surface portion 413 to the other linear cam surface 414, and as shown in graph Gr1, the amount of arm rotation begins to decrease. Regarding the phase of the planting claw device 50, the amount of arm rotation decreases from the middle of "soil penetration" to "planting" and then "storage", and the groove cutting arm 200 At the timing when the phase becomes the predetermined seventh phase t7, the robot returns to the standby posture. The timing of the seventh phase t7 is the end point of the "storage" phase of the planting claw device 50.

Then, from the state where the planting claw 72 returns to the height position h1 of the rising end and the groove making arm 200 returns to the standby state, the unit block portion 108 is scraped off by the planting claw 72 as described above. The operations of the planting unit as described above are performed continuously as a cycle operation as the machine moves forward.

In the example shown in the graph Gr1 of FIG. 29, the groove-making arm 200 gradually moves toward the storage position from the timing of the fourth phase t4, and the timing when the phase of the planting claw device 50 reaches the predetermined fifth phase t5. , it will temporarily stop within the "planting" range. Thereafter, at the timing of a predetermined sixth phase t6 after the completion of planting, movement toward the storage position side is started.

In this way, the groove-making arm 200 is provided so as to return from the groove-making attitude to the groove-making completion attitude, which is a stopped state between the fifth phase t5 and the sixth phase t6, and then to the standby attitude. That is, the groove-making arm 200 performs a first retreat operation from the fourth phase t4 to the fifth phase t5, and a first retreat operation from the sixth phase t6 to the seventh phase t7, as a retreat operation from the groove-making posture to the standby posture. It is provided to perform a two-step evacuation operation.

When the groove-forming arm 200 performs such a two-step retreat operation, in the cam plate 410, regarding the phase of the cam surface 411, a second linear cam surface 414 is formed on the other (left side in FIG. 23). A three-arc cam surface portion (not shown) will be provided. The third circular arc cam surface portion is a surface portion having an arc shape centered on the position of the central axis P1 of the cam plate 410. The radius of the circumferential shape along which the third arcuate cam surface section follows is smaller than the radius of the circumferential shape along which the first arcuate cam surface section 412 follows, and larger than the radius of the circumferential shape along which the second arcuate cam surface section 413 follows. .

In the above-described operation of the planting unit, the groove-planting arm 200 is provided so as to perform a cyclic operation from the groove-cutting position to the standby position after the planting claws 72 finish planting seedlings in the field. That is, planting of seedlings by the planting claw device 50 is performed between the timing when the groove-planting arm 200 starts moving from the standby position to the groove-planting position side and the timing when the groove-planting arm 200 returns to the standby position.

In addition, in the operation of the planting unit, the groove-making arm 200 has its tip protruded ahead of the planting claw 72 while in the groove-making posture, so that it enters the field scene 91 before the planting claw 72. It is set in. When planting seedlings using the planting claw device 50, the planting unit first works the trenching arm 200 on the field to create a trench, and then moves the planting claws 72 into the field. As shown in FIG. 33, seedlings are planted, that is, the seedling block 110 is pushed out at the timing when the groove cutting arm 200 finishes cutting the grooves.

Regarding the groove-cutting operation of the groove-cutting arm 200, the groove-cutting arm 200 is designed to avoid interfering with the seedling blocks 110, which are seedlings planted in the field, at least in the operating range where the tip is located below the field surface 91. It is set in. Specifically, as shown in FIG. 32, FIG. 33, and FIG. ), or the arm tip 202 is provided so as to pass under the seedling block 110 planted in a field.

In FIGS. 32, 33, and 34, the locus E3 of the arm tip 202 of the groove-making arm 200 is shown by a two-dot chain line. A trajectory E3 indicates a trajectory of the lower edge of the arm tip 202. As shown by the trajectory E3, the groove-making arm 200 causes the arm tip 202 to penetrate into the field scene 91 from a position in front of the virtually placed seedling block 110 (FIGS. 32 and 33). Thereafter, the arm tip 202 moves to the bottom of the virtually placed seedling block 110, and when it reaches the rear side of the virtually placed seedling block 110, the seedling block 110 is actually planted (FIG. 33, arrow (See R1).

According to the trajectory E3, the groove cutting arm 200, which has the tip of the arm tip 202 positioned at the rear lower side of the planted seedling block 110, moves the arm tip 202 upward and leaves the field scene 91. (Figure 34). Thereafter, the groove-making arm 200 moves the arm tip 202 upward and gently toward the front side of the seedling block 110 above the seedling block 110. The trajectory E3 goes from outside to the inside of the trajectory E1 of the planting claw 72 above the seedling block 110, and intersects with the trajectory E1 (see FIG. 34, intersection R2).

In this way, when viewed from the side, the furrowing arm 200 has an arm tip 202 with respect to the part where the seedling block 110 to be planted in the field is located and the actually planted seedling block 110 (hereinafter referred to as "the part corresponding to the seedling block"). is moved from the front side of the portion corresponding to the seedling block, passing under the portion corresponding to the seedling block with a gap, and going around to the rear side. In other words, the groove-cutting arm 200 moves the arm tip 202 in a manner that makes a U-turn around the portion corresponding to the seedling block so that the trajectory E3 does not interfere with the portion corresponding to the seedling block during the turnaround from the downward movement to the upward movement. let In the example shown in the graph of FIG. 29, the groove-making arm 200 reliably avoids contact with the seedling block 110 by performing the two-step retreat operation as described above.

Regarding the operation of the groove-making arm 200, the groove-making arm 200 moves with respect to the planting claw 72 located at the lowest end as a movement locus of the tip of the groove-making arm 200. It is provided so as to draw a trajectory E3 that secures a space for pushing out a certain seedling block 110.

According to the groove-making arm 200, soil in the field is removed along the trajectory of the arm tip 202 to form the groove. The groove-making arm 200 is arranged so that the part where soil is removed by acting on the field, that is, the groove-making part, becomes a space part in which the seedling block 110 released from the planting claw device 50 will be located. Acts on the field. In the trajectory E3 of the arm tip 202 of the groove-making arm 200, the position within the range surrounded by the substantially "U"-shaped folded part on the lower end side is at the timing when the groove-making arm 200 finishes forming the groove. This space is secured as a destination space for the seedling block 110.

The seedling transplanter 1 having the above configuration changes the movement locus of the groove cutting arm 200 with respect to the planting claw 72 in the planting unit in order to correspond to the planting pitch of seedlings by the planting claw 72. A trajectory changing device 270 is provided. The pitch at which seedlings are planted by the planting claws 72 is the distance between seedlings that are successively planted at a predetermined interval in the front-back direction of the field, that is, the distance between plants.

As described above, the distance between the stumps is changed by the rotational speed of the rotary case 52, which is changed by the transmission 36 (see FIG. 3) in the inter-stack transmission case 33. In this embodiment, the transmission device 36 is configured to switch the distance between plants in two stages: a relatively large distance between plants (for example, 40 cm) and a relatively small distance between plants (for example, 24 cm). If the trajectory of the furrowing arm 200 is constant regardless of the size of the spacing between plants, the planting performance of seedlings may deteriorate, or the torque of the furrowing arm 200 relative to the soil may increase, resulting in an increased load. Therefore, the trajectory changing device 270 changes the trajectory of the groove-making arm 200 depending on the plant spacing.

The trajectory changing device 270 is constituted by a link mechanism 300 that supports the groove cutting arm 200 with respect to the planting claw device 50 including the planting claw 72. As described above, the link mechanism 300 is configured to operate in the form of a four-bar link with the axes (rotation axes) of the four shaft supports as nodes, and the By changing the distance, the movement locus of the groove-forming arm 200, which reciprocates between the standby position and the groove-forming position with the operation of the link mechanism 300, is changed.

The link mechanism 300 as the trajectory changing device 270 changes the distance between the supporting parts of the two link arms, the front arm 301 and the rear arm 302, with respect to the groove making arm 200 side. is configured to change the trajectory of the motion. In this embodiment, the distance L1 (see FIG. 20) between the rotation axis Q3 of the front movement shaft support 313 and the rotation axis Q4 of the rear movement shaft support 314 is the same as that of the groove forming arm of the two link arms. This corresponds to the distance between the supporting parts with respect to the 200 side.

The inter-axle distance L1 changes by adjusting the position of the rear moving shaft support 314 with respect to the front movement shaft support 313. As described above, the position of the rear moving shaft support 314 is stepless within the range of the length of the hole 204b through which the bolt 323 passes through the two upper and lower locations of the rear moving shaft support 314, depending on the fixed position of the connection plate 310 with respect to the support plate 204. is adjusted to The position adjustment mechanism of the rear moving shaft support 314 functions as a mechanism for changing the trajectory of the groove cutting arm 200 in the link mechanism 300 as the trajectory changing device 270.

In the planting unit shown in FIGS. 18 and 20, bolts 323 for fixing the connecting plate 310 to the support plate 204 are located at the rear end of the hole 204b, and the rear movable shaft support is relative to the front movable shaft support 313. 314 is in a state where they are separated (the furthest state). That is, the planting unit shown in FIGS. 18 and 20 has the longest inter-axis distance L1. Note that FIG. 18 shows a state in which the groove-making arm 200 is in a groove-making attitude, and FIG. 20 shows a state in which the groove-making arm 200 is in a standby attitude. The inter-axial distance L1 is maintained at a constant value regardless of the attitude of the groove-forming arm 200.

On the other hand, in the planting unit shown in FIGS. 36 and 37, the bolt 323 is located at the front end of the hole 204b, and the rear movable shaft support 314 is brought close to the front movable shaft support 313 (closest state). It has become. In other words, the planting unit shown in FIGS. 36 and 37 has the center distance L1 shortest. Note that FIG. 36 shows a state in which the groove-making arm 200 is in the groove-making attitude, and FIG. 37 shows a state in which the groove-making arm 200 is in a standby attitude. In the following, a state in which the distance L1 between the shafts is increased as shown in FIGS. 18 and 20 will be referred to as a "shaft separation state," and a state in which the distance L1 between the shafts is shortened as shown in FIGS. 36 and 37 will be referred to as a "shaft support separation state." "Proximity state".

By changing the inter-axial distance L1, the operation mode of the groove-making arm 200 that reciprocates in the planting unit changes. FIG. 38A shows how the groove-making arm 200 operates when the shaft is separated, and FIG. 38B shows how the groove-making arm 200 operates when the shaft is close to each other. In each figure of FIG. 38A and FIG. 38B, the groove making arm 200 in the groove making attitude is shown by a solid line, and the groove making arm 200A in the standby attitude is shown by a dashed line, and the standby attitude and the groove making attitude are shown by a dashed line. The groove-forming arm 200B located therebetween is indicated by a two-dot chain line.

As shown in FIGS. 38A and 38B, the range of movement of the groove-making arm 200 that reciprocates in the planting unit changes as the inter-axial distance L1 changes. In other words, the operating range of the grooving arm 200 in side view becomes wider by changing the state in which the shaft parts are close to each other as shown in FIG. 38B from the state in which the shaft parts are separated as shown in FIG. 38A. In the state where the shaft portion is close to each other, the movement range of the groove-forming arm 200 is mainly widened in the vertical direction in the figure. In this way, either the shaft-portion separation state or the shaft-portion proximity state, which changes the operating mode of the groove-making arm 200, is used depending on the spacing of the plants.

FIG. 39 shows the movement trajectory of the planting claw 72 and the groove cutting arm 200 when the planting unit is close to the pivot and the distance between plants is relatively large S1 (for example, 40 cm). In FIG. 39, a trajectory W1 indicated by a chain line is a trajectory drawn by the tip of the planting nail 72, that is, the tip of the nail body 82. Further, a trajectory W2 indicated by a broken line is a trajectory drawn by the tip protruding portion 202a of the arm tip portion 202 of the groove making arm 200.

The trajectory W1 of the planting claw 72 and the trajectory W2 of the groove-making arm 200 represent the trajectory W1 of the planting claw 72 and the trajectory W2 of the groove-making arm 200, respectively, which perform predetermined operations while moving forward with respect to the field together with the body of the seedling transplanter 1 that moves forward. This is the trajectory of That is, the trajectory W1 and the trajectory W2 take into account the movement of the planting claws 72 and the groove-making arm 200 relative to the field as the machine moves forward, and are trajectories based on the field side.

As described above, the planting claw 72, which draws a loop-shaped trajectory (see trajectory E1 in FIG. 30) when the machine side is the reference, moves forward with respect to the field, as shown by trajectory W1 in FIG. 39, A trajectory that forms a downward curve in the front due to a downward movement while moving forward, and a trajectory that forms a curve that rises forward due to an upward movement while moving forward are repeatedly drawn. The trajectory W1 has a vertically elongated loop-shaped trajectory portion W1a at a turning point from the descending motion to the ascending motion.

Regarding the planting claws 72 that periodically operate to draw a loop-shaped trajectory when the aircraft side is the reference, the distance for one cycle in the trajectory W1, which takes forward movement with respect to the field into consideration, corresponds to the distance between plants S1. . That is, the planting claw 72 repeats the operation of drawing the trajectory W1 shown in FIG. 39 by performing a predetermined planting operation as the aircraft moves forward.

The trajectory W2 of the groove-making arm 200 includes a periodic reciprocating motion, which is a relative movement of the groove-making arm 200 with respect to the planting claw 72, in addition to the operation of the planting claw 72. Similar to the trajectory W1 of the planting claw 72, the trajectory W2 of the groove-making arm 200 roughly includes a downward-sloping trajectory portion, a rising-front trajectory portion, and a loop-shaped trajectory portion W2a of the folded portion. have The loop-shaped trajectory portion W2a in the trajectory W2 is the trajectory E3 of the groove cutting arm 200 that moves the arm tip 202 in a manner that makes a U-turn around the portion corresponding to the seedling block so as not to interfere with the portion corresponding to the seedling block as described above. (See FIGS. 33 and 34).

Therefore, in the trajectory W2 of the groove-cutting arm 200, a portion corresponding to the seedling block is located within the loop-shaped trajectory portion W2a. The loop-shaped trajectory portion W2a of the trajectory W2 of the groove-making arm 200 preferably passes close to the portion corresponding to the seedling block to the extent that it does not interfere with the portion corresponding to the seedling block. In other words, it is preferable to draw the minimum required loop shape so as not to interfere with the portion corresponding to the seedling block for the trajectory portion W2a of the turning portion of the trajectory W2 of the groove-cutting arm 200 (encircled by the broken line circle X1 in FIG. 39). ).

FIG. 40 shows the movement trajectory of the planting claw 72 and the groove cutting arm 200 when the planting unit is close to the pivot and the distance between plants is relatively small S2 (for example, 24 cm).

When the spacing between plants is relatively small, the amount of movement of the planting operation of the planting claw 72 increases relative to the amount of movement of the forward movement of the machine body (the operation becomes faster). Therefore, as shown in FIG. 40, compared to the case where the distance between plants is relatively large (FIG. 39), the distance for one cycle corresponding to the distance between plants S2 becomes shorter, and the loop-shaped distance in the trajectory W1 of the planting claw 72 becomes smaller. The locus portion W1a becomes larger.

Therefore, as shown in FIG. 40, regarding the trajectory W2 of the groove cutting arm 200 when the distance between plants is relatively small, the loop-shaped trajectory portion W2a in which the portion corresponding to the seedling block is located becomes large. In other words, the trajectory W2 of the groove-cutting arm 200 depicts a trajectory detouring around the portion corresponding to the seedling block (see the portion surrounded by the broken line circle X2 in FIG. 40).

The enlargement of the trajectory portion of the trajectory W2 of the groove cutting arm 200 around the portion corresponding to the seedling block corresponds to the enlargement of the excavation portion of the field by the groove cutting arm 200, that is, the transplant hole for transplanting the seedlings. If the transplant hole becomes larger, problems may arise in that the performance of planting seedlings decreases, and the torque of trench cutting by the trench cutting arm 200 increases, resulting in an increase in load.

Therefore, when the spacing between plants is relatively small, the position adjustment mechanism of the rear moving shaft support 314 in the link mechanism 300 adjusts the state of the planting unit to the state where the movement range of the groove arm 200 is relatively wide (see FIG. 38B). (see FIG. 38A) to the shaft-supported separation state (see FIG. 38A) in which the operating range of the groove-forming arm 200 is relatively narrow. Thereby, the trajectory portion around the portion corresponding to the seedling block of the trajectory W2 of the groove-cutting arm 200 becomes smaller.

FIG. 41 shows the movement locus of the planting claw 72 and the groove-cutting arm 200 when the planting unit is in the pivot-separated state and the distance between plants is relatively small S2 (for example, 24 cm). As shown in FIG. 41, when the planting unit is in the pivot-separated state, the loop-shaped trajectory portion W2a of the trajectory W2 of the groove cutting arm 200 when the distance between plants is relatively small becomes small. In other words, similar to the trajectory W2 of the groove-making arm 200 shown in FIG. 39, the trajectory portion W2a of the turn-back portion of the trajectory W2 of the groove-making arm 200 has the minimum necessary loop shape so as not to interfere with the portion corresponding to the seedling block. is drawn, thereby preventing the transplant hole from becoming larger than necessary (see the area surrounded by the broken line circle X3 in FIG. 41).

In this way, depending on the size of the space between plants that is changed by the transmission device 36 (see FIG. 3) in the plant-to-plant transmission case 33, either the state where the shaft portions of the planting unit are close to each other or the state where the shaft portions are separated is used. By doing so, the trajectory W2 of the groove making arm 200 can be optimized. Note that when the planting unit is placed in the pivot-separated state when the distance between plants is relatively large (for example, 40 cm), the loop-shaped portion of the trajectory W2 of the groove-cutting arm 200 becomes smaller, and the portion corresponding to the seedling block becomes smaller. Interference is more likely to occur.

According to the seedling transplanting machine 1 according to the present embodiment having the above-described configuration, in the seedling transplanting machine 1, interference of the trench arm 200 with respect to the planted seedlings can be suppressed, and good planting performance can be obtained. be able to.

The planting unit included in the seedling transplanter 1 takes a standby position at the timing of cutting out the seedling mat 100 and a groove-making position in which the groove-making arm 200 is moved forward relative to the planting claw 72 as the position and posture of the groove-making arm 200. It is configured as follows. According to such a configuration, by changing the attitude of the groove-cutting arm 200, groove-cutting by the groove-cutting arm 200 can be started before the seedling planting timing by the planting claws 72 while avoiding interference with the guide rail 48. becomes possible. Thereby, the degree of freedom in the relative position of the groove-cutting arm 200 with respect to the planting claw 72 can be improved, so that it is possible to respond to changes in seedling planting conditions. Therefore, it is possible to improve the planting accuracy of seedlings, and it is also possible to eliminate problems such as an increase in the torque of the trenching to the soil and interference of the trenching arm 200 with the planted seedlings, and to obtain good planting performance. be able to.

Further, the groove-planting arm 200 is provided so as to perform a cyclic operation from the groove-cutting position to the standby position after the planting of the seedlings by the planting claw is completed. According to such a configuration, the relative position and posture of the groove cutting arm 200 with respect to the planting claw 72 can be changed after seedling planting is completed, and it is possible to perform groove cutting operation suitable for planting seedlings. Become. In particular, by configuring the trench-cutting arm 200 to perform two-stage retreat operations as described above, it becomes possible to perform a trench-cutting operation more suitable for planting seedlings. Furthermore, by returning the groove making arm 200 to the standby position after finishing groove making, the groove making arm 200 may interfere with the guide rail 48 during the next scraping of the unit block portion 108 by the planting claws 72, for example. It is possible to prevent the groove arm 200 from becoming a hindrance.

Moreover, the groove-making arm 200 is provided so that its tip protrudes ahead of the planting claws 72 in the groove-making attitude and enters the field surface ahead of the planting claws 72. According to such a configuration, since the trenching arm 200 creates the trench when planting the seedlings using the planting claws 72, the seedlings can be reliably planted in the part where the trench is created by the trenching arm 200. , can reduce planting resistance. By reducing the planting resistance of the seedling, it is possible to easily ensure the necessary strength for the planting claw 72 and its supporting structure against the planting resistance. Thereby, the planting unit and the seedling planting device 43 can be made smaller and lighter. In addition, in the case of a field where the mulch film 250 is stretched over the field scene 91, the mulch film 250 is cut by the groove-making arm 200 before the planting claws 72 enter the field surface, and grooves are created smoothly. It is possible to stably plant seedlings.

In addition, in the operating range in which the arm tip 202 is positioned below the field surface, the groove-cutting arm 200 has a trajectory that does not interfere with the seedling blocks 110 planted in the field and passes near the seedling blocks 110 ( (See FIG. 32, locus E3). According to such a configuration, by cutting the groove at the minimum depth that does not interfere with the tip of the groove-making arm 200 on the seedling block 110, the torque of groove-making and the driving torque of the planting claw device 50 can be reduced. This allows the planting unit, and by extension the seedling planting device 43, to be made smaller and lighter. Further, by reducing the torque, the driving force of the planting claw device 50 and the strength of the drive system can be easily ensured. Furthermore, since the groove depth created by the groove cutting arm 200 can be prevented from becoming deeper than necessary, the planting posture of the seedling block 110 in the field can be stabilized, and good planting performance can be obtained. .

Further, the groove-making arm 200 is provided so as to change its position and orientation in conjunction with the operation of the planting claws 72. According to such a configuration, as the speed of the operation of the planting claw 72 is changed by changing the distance between plants by the transmission device 36 in the inter-plant transmission case 33, the speed of the operation of the groove-making arm 200 is also automatically changed. It is possible to eliminate the need to adjust the operation timing of the groove-forming arm 200 when the timing is changed.

Further, the groove-making arm 200 is provided so as to change its position and orientation in conjunction with the operation of the planting claws 72 by a cam mechanism 400 including a cam plate 410. According to such a configuration, the relative rotation of the planting claw device 50 can be utilized as an operation for interlocking the groove making arm 200 with the operation of the planting claw 72 with a simple structure. Thereby, the groove-cutting arm 200 can be linked to the operation of the planting claw 72 while making the configuration of the seedling planting device 43 more compact without separately providing a drive source or the like.

Further, the groove-making arm 200 is configured so that the arm tip 202, which is a plate-shaped portion, stands up against the field surface at the timing of entering the field surface. According to such a configuration, since the contact area with the field surface when the groove-making arm 200 enters the field can be reduced, the groove-making torque by the groove-making arm 200 and the driving torque of the planting claw device 50 can be reduced. This makes it possible to reduce the size and weight of the seedling planting device 43. In particular, the groove-forming arm 200 is capable of forming grooves by aligning the linear extending direction of the arm tip 202 (see arrow Y1 in FIG. 22) along the locus of the tip protrusion 202a during the groove-creating operation. The torque of the groove created by the arm 200 and the driving torque of the planting claw device 50 can be effectively reduced. Furthermore, in the case of a field where the mulch film 250 is stretched over the field scene 91, the mulch film 250 can be smoothly cut by the arm tip 202, so that seedlings can be planted smoothly and stably.

Moreover, the groove-making arm 200 has a downwardly convex mountain shape at the lower part of the arm tip 202. According to such a configuration, the mulch film 250 can be cut starting from the contact portion of the lower end of the arm tip 202 with the mulch film 250, and the groove cutting arm 200 can smoothly cut the mulch film 250. can be obtained.

In addition, the groove-cutting arm 200 draws a trajectory for securing a space for pushing out the seedling block 110 held by the planting claw 72 with respect to the planting claw 72 located at the lowest end as a motion trajectory of the arm tip 202. It is set up like this. According to such a configuration, by setting the groove depth by the groove making arm 200 to the minimum depth necessary for pushing out the seedling block 110, it is possible to reduce the torque of groove making by the groove making arm 200. Therefore, the strength of the groove forming arm 200 can be easily ensured. Moreover, since the seedling blocks 110 can be reliably planted in the part where the grooves are made by the groove-making arm 200, good planting performance can be obtained.

The groove-making arm 200 also includes an arm main body part 201 provided at a position shifted to one side in the left-right direction with respect to the planting claw 72, and an arm distal end part 202 provided on the distal end side of the arm main body part 201. has. According to such a configuration, the arm main body 201 of the groove-making arm 200 is offset in the left-right direction with respect to the planting claw 72, so that the arm main body 201 overlaps the planting claw 72 in a side view. The groove making arm 200 can be laid out. This makes it possible to reduce the volume of the portion of the groove-making arm 200 that goes into the soil, thereby reducing the torque of the groove-making arm 200 when making grooves, and making it easier to ensure the strength of the groove-making arm 200. It can be carried out. Furthermore, since the arm main body 201 does not interfere with the planting claws 72 during the groove-making operation of the groove-making arm 200, the degree of freedom of movement of the groove-making arm 200 in relation to the planting claws 72 can be increased. This makes it possible to bring the groove making operation of the groove making arm 200 closer to ideal operation.

Further, the groove-making arm 200 has an auxiliary arm portion 203 provided at a position shifted from the planting claw 72 to the side opposite to the arm body portion 201 in the left-right direction. The auxiliary arm portion 203 forms a substantially “U” shape. According to such a configuration, it is possible to obtain a good groove-forming action by the groove-forming arm 200. Furthermore, in the case of a field where the mulch film 250 is stretched over the field scene 91, the mulch film 250 can be cut from both the left and right sides of the planting claws 72 by the arm main body part 201 and the auxiliary arm part 203. As a result, the mulch film 250 on the planting part of the planting claw 72 can be reliably cut and removed (peeled off), so it is possible to suppress uncut parts of the mulch film 250, and to obtain good planting performance. Can be done.

In addition, the seedling transplanter 1 includes a trajectory changing device 270 as a means for changing the movement trajectory of the groove cutting arm 200 relative to the planting claw 72 in order to accommodate changes between plants. According to such a configuration, the trajectory of the groove-planting arm 200 can be adjusted to an optimal trajectory according to soil conditions, seedling conditions, etc., so that planting performance under various conditions can be ensured.

Further, according to the trajectory changing device 270, the arm tip portion 202 of the groove-making arm 200 can be changed by changing the length of the distance between the plants, such as the above-mentioned distance between plants S1 (for example, 40 cm) and distance between plants S2 (for example, 24 cm). The trajectory can be changed so as to draw a substantially constant trajectory. As a result, it is possible to prevent the transplant hole from becoming larger than necessary, so it is possible to obtain good planting performance and planting accuracy, and the trench creation load by the trench creation arm 200 is also prevented from becoming unnecessarily large. This can be suppressed. In this way, according to the trajectory changing device 270, the trajectory of the groove-making arm 200 can be set to the optimum trajectory according to the spacing between plants, so that, for example, when the spacing between plants is made relatively small as described above, the trajectory of the groove-making arm 200 can be set to the optimum trajectory according to the spacing of the plants. It is possible to suppress problems such as the trajectory becoming larger than necessary (see the part surrounded by the broken line circle X2 in FIG. 40).

Further, the trajectory changing device 270 includes a link mechanism 300 that supports the groove-making arm 200 with respect to the planting claw device 50. According to such a configuration, the locus of the groove-forming arm 200 can be changed by changing the link ratio of the link mechanism, so that the locus can be easily changed.

Further, the link mechanism 300 as the trajectory changing device 270 changes the inter-axle distance L1 (see FIG. 20), which is the distance between the support parts of each link arm of the front arm 301 and the rear arm 302 with respect to the groove making arm 200 side. Accordingly, the locus of the groove making arm 200 is changed. According to such a configuration, the trajectory changing device 270 can be realized with a simple configuration. Furthermore, the locus of the groove-forming arm 200 can be changed by a simple operation of changing the support position of one link arm. Moreover, according to the adjustment mechanism for the center-to-center distance L1, it is possible to easily confirm the changed state of the trajectory of the groove-forming arm 200 by visually checking the support position of the link arm.

Further, the link mechanism 300 is configured such that the distance L1 between the shafts is adjusted by the fixed position of the connecting plate 310, on which the rear moving shaft support 314 is provided, with respect to the groove forming arm 200. According to such a configuration, the locus of the groove-forming arm 200 can be easily changed without replacing parts. Further, since the bolts 323 for fixing the connecting plate 310 to the groove-making arm 200 are provided so as to be operable from the left and right outside of the planting claw device 50, it is possible to obtain good operability for the bolts 323. Therefore, the locus of the groove making arm 200 can be easily changed.

In the present embodiment, the adjustment mechanism for the center distance L1 is configured such that the hole 204b in the groove making arm 200 through which the bolt 323 passes is an elongated hole so that stepless adjustment is possible. It is not limited to. For example, a configuration may be adopted in which a plurality of holes through which the bolts 323 pass through the groove-forming arm 200 are provided at predetermined intervals in the position adjustment direction of the rear movement shaft support 314. Specifically, for example, when dealing with a gap between 40 cm and 24 cm as described above, the hole through which the bolt 323 is passed is a hole corresponding to a state in which the shaft is close to the shaft and a hole corresponding to the state in which the shaft is separated. Two holes will be formed in the support plate 204. According to such a configuration, it is possible to adjust the distance L1 between the shafts in stages to a preset value, and it is possible to set the distance L1 between the shafts to an appropriate distance corresponding to the switching state between long and short plants. becomes.

The planting claw device 50 also has digging claws 76 on the lower side of the holding plate 74. According to this configuration, since the excavating claws 76 excavate the field before the holding plate 74, the contact resistance of the holding plate 74 with respect to the field can be reduced even if the field is made of relatively hard soil. Therefore, deformation and damage to the holding plate 74 can be suppressed. Further, when the mulch film 250 is present in the field, the digging claws 76 can prevent the mulch film from getting entangled with the holding plate 74.

Further, the groove-making arm 200 is configured such that the extending direction of the distal end portion thereof is inclined forwardly and downwardly with respect to the field surface 91 at the timing of entering the field surface. According to such a configuration, compared to, for example, a configuration in which the groove-cutting arm 200 penetrates with its tip end standing perpendicular to the field surface 91, the soil is cut more easily when the groove-cutting arm 200 cuts the groove. It is possible to suppress the lifting of soil, and the movement of soil during trenching. As a result, it is possible to suppress the reduction of soil around the seedlings due to the trenches created by the trenching arm 200, and the holes created by the trenches can be made relatively small, so that there is enough soil for the planted seedlings. It is possible to secure soil covering.

[Second embodiment]
A second embodiment of the planting unit according to the present invention will be described using FIGS. 42 to 46. In each embodiment described below, the same name or the same reference numeral is used for the same or corresponding configuration as in the first embodiment described above, and the explanation of the overlapping content will be omitted as appropriate. The planting unit according to this embodiment differs from the planting unit according to the above-described embodiment in the configuration of the groove-making arm.

The groove-forming arm 500 according to the present embodiment is configured in a longitudinal shape, and is provided so that the longitudinal direction is aligned with the nail extension direction. The groove-making arm 500 is provided near the planting claw 72 with respect to the planting claw device 50. Moreover, the groove-making arm 500 is movably supported with respect to the planting claw device 50 by the link mechanism 300, and is provided so as to move relative to the planting claw 72.

The groove-making arm 500 is configured to have a substantially “T” shape as a whole when viewed from above, and includes portions located on the left and right outer sides of the planting claw device 50 and portions located below the planting claw device 50. It has a part. The groove-making arm 500 has an arm main body portion 501 and an arm tip portion 502, each having a substantially “T”-shaped outer shape. These parts constituting the groove-making arm 500 are provided as plate-shaped parts having a predetermined shape.

Groove making arm 500 has, as its constituent members, a support plate 204 that forms a support base of groove making arm 500, and a cutter member 505. The groove-making arm 500 has the support plate 204 and the support structure for the planting nail device 50 by the support plate 204 in common with the groove-making arm 200 of the embodiment described above. The support plate 204 and the cutter member 505 are connected and fixed to each other and constitute an integral groove-forming arm 500.

The cutter member 505 is a bent plate-like member having a substantially “T” shape when viewed from above, and forms the main body portion of the groove-forming arm 500. The cutter member 505 has an arm portion 505a and a front portion 505b as a substantially “T”-shaped surface portion (see FIG. 45).

The arm portion 505a has a substantially L-shaped bent shape with the corner side facing the rear lower side when viewed from the left side. The arm portion 505a includes a base portion 505c forming a rear side in a substantially “L” shape when viewed from the side, an intermediate inclined surface portion 505d extending forward and inwardly from the lower end of the base portion 505c, and a base portion 505c. It has a distal end arm portion 505e extending forward from the distal end side of the arm portion 505c. A front surface portion 505b is provided on the front side of the distal end arm portion 505e. In the arm portion 505a, the intermediate inclined surface portion 505d and the distal end arm portion 505e form a lower side portion in a substantially “L” shape when viewed from the side.

The arm main body part 501 is provided at a main body rear part 506, which is a part provided at a position shifted outward in the left-right direction with respect to the planting claw 72, and at a position within the width of the planting claw 72 in the left-right direction. It includes a main body front portion 507, which is a portion that is attached to the main body. The arm main body portion 501 is a plate-shaped portion whose thickness direction is roughly in the left-right direction, and is formed by the support plate 204 and the arm portion 505a of the cutter member 505.

The cutter member 505 is fixed to the support plate 204 with the upper part of the base 505c overlapping the front end of the support plate 204 from the outside. The base 505c has a longitudinal shape that is elongated in the vertical direction, and has a rear portion extending downward from the front end of the support plate 204.

The cutter member 505 is fixed to the support plate 204 with two bolts 206. The two bolts 206 are located on both sides of the front part of the support plate 204 in the width direction at the overlapped portion between the base 505c of the cutter member 505 and the support plate 204. The bolt 206 passes through a hole 505f formed in the upper part of the base 505c and is screwed into a screw hole formed in the front end of the support plate 204.

The hole 505f through which the bolt 206 passes is a long hole whose longitudinal direction is along the direction in which the cutter member 505 extends from the support plate 204. This makes it possible to adjust the fixing position of the cutter member 505 relative to the support plate 204 in the extending direction.

Of the arm main body portion 501, the main body rear portion 506 is a portion located outside the planting claws 72 in the left-right direction. Therefore, as shown in FIG. 43, the main body rear portion 506 is a portion formed by the support plate 204, the base portion 505c of the cutter member 505, and the rear portion of the intermediate inclined surface portion 505d.

Moreover, the main body front part 507 of the arm main body part 501 is a part located within the width range of the planting claw 72 in the left-right direction. Therefore, as shown in FIG. 43, the main body front portion 507 is a portion formed by the front portion of the intermediate inclined surface portion 505d of the cutter member 505 and the distal end side arm portion 505e.

In this way, the arm main body part 501 has a common position in the left and right direction with respect to the planting claw 72 and the holding plate 74, excavation claw 76, etc. located below the planting claw 72 in the main body front part 507. , are provided so as to partially overlap these structures in plan view. The main body front portion 507 is located below the planting claws 72, the retaining plate 74, and the like.

The distal arm portion 505e of the cutter member 505 is a plate-shaped portion having a thickness direction in the left-right direction, a straight line along the front-rear direction in a plan view, and a substantially constant width in a side view. The distal end arm portion 505e is located approximately at the center of the planting claw 72 in the left-right direction. The front end side arm part 505e has most of its front side located in front of the tip of the planting claw 72 when the groove making arm 500 is in the groove making attitude. Note that FIG. 43 shows a state in which the groove making arm 500 is in the groove making attitude.

As described above, the arm main body part 501 having the main body rear part 506 and the main body front part 507 extends downward from the rear side to the front side by the base part 505c at the front part of the portion located on the left and right outer sides of the planting claw device 50, It has a shape in which the intermediate inclined surface portion 505d gradually moves toward the left and right inward (upper side in FIG. 43), and the distal end arm portion 505e extends forward below the planting claw 72.

The arm distal end portion 502 is provided on the distal end side of the arm main body portion 501. The arm tip portion 502 is located forward of the tip of the digging claw 76 when the groove making arm 500 is in the groove making attitude (see FIG. 42), and below the tip of the digging claw 76 when the groove making arm 500 is in the standby attitude. (See Figure 44). The arm tip portion 502 is a plate-shaped portion that protrudes on both left and right sides with respect to the tip side arm portion 505e of the cutter member 505 that forms the front portion of the arm body portion 501, and is formed by the front portion 505b of the cutter member 505. There is.

The arm tip portion 502 is an inclined surface portion that is inclined forward and downward with respect to a direction perpendicular to the claw extension direction when viewed from the side. The arm tip portion 502 is a plate-shaped portion that is linear in a side cross-sectional view (see FIG. 46). FIG. 46 is a cross-sectional view of the front part of the groove-forming arm 500, and is a left side cross-sectional view at the center position in the left-right direction (plate thickness direction) of the distal end arm portion 505e. As shown in FIG. 46, the arm tip 502 has a linear shape with a predetermined direction (see arrow Z1) as the extending direction in a side cross-sectional view.

The arm tip portion 502 has a lower edge portion as a tip protrusion portion 502a that protrudes slightly downward relative to the tip portion of the arm body portion 501. The arm tip 502 has a downwardly convex mountain shape with a top 502c formed by a pair of hypotenuses 502b at the lower edge. The top portion 502c is an obtuse corner formed by a pair of oblique sides 502b.

According to the configuration including the groove making arm 500 according to this embodiment, the cut width wd1 (see FIG. 43) for the multi-film 250 is changed from the cut width wd2 (see FIG. 19). Here, the cut width wd1 of the grooving arm 500 is the horizontal width dimension of the arm tip 502, and the cut width wd2 of the grooving arm 200 is the outer side surface of the outer surface portion 205a and the inner side surface of the inner surface portion 205c. This is the horizontal dimension between Thereby, in the state where the mulch film 250 is cut by the groove cutting arm 500, the width of the cut end of the mulch film 250 can be shortened, and it is possible to suppress the cut end from interfering with the planted seedlings.

In addition, the cut ends of the mulch film 250 are connected to the main body side of the film on both the left and right sides of the planted seedlings after the mulch film 250 is linearly torn in the front-rear direction by the arm main body 501 of the groove-cutting arm 500 ( This is the remaining piece of film (in a double-door configuration). In this regard, according to the U-shaped groove making arm 200, the mulch film 250 is cut in the front-rear direction by the arm main body 201 and the auxiliary arm 203, so that the rear side of the mulch film 250 is the cut end of the mulch film 250. A wide piece that connects to the main body side will remain.

Moreover, according to the T-shaped furrowing arm 500, compared to the U-shaped furrowing arm 200, the amount of soil collected later can be reduced, and a relatively large amount of soil can be covered around the planted seedlings. be able to.

In addition, in the case of the U-shaped groove making arm 200, since the arm main body part 201 and the auxiliary arm part 203 are arranged on the right and left outside of the planting claw 72, the groove making arm 200 is attached to the planting claw 72. You can get close. Thereby, the cut length (length in the front-rear direction) of the mulch film 250 can be made relatively short, and the length of the holes in the mulch film 250 can be made short.

On the other hand, in the case of the T-shaped groove making arm 500, the front part of the arm main body 501 is arranged below the left and right center part of the planting claw 72, so that it is not a component of the planting claw device 50. In order to avoid interference, the groove-making arm 500 is provided at a relatively distant position from the planting claws 72. Therefore, the cut length of the mulch film 250 can be made relatively long, and the length of the holes in the mulch film 250 can be made long.

Further, like the U-shaped groove making arm 200 described above, the groove making arm 500 is configured so that the arm tip 502 stands up against the field surface at the timing of entering the field surface. , the torque for making grooves and the driving torque for the planting claw device 50 can be reduced. In particular, by aligning the linear extending direction of the arm tip 502 (see arrow Z1 in FIG. 46) in a side cross-sectional view to the locus of the tip protrusion 502a during the groove-making operation, the torque etc. of groove-making can be effectively reduced. can be reduced to Moreover, the multi-film 250 can be cut smoothly by the arm tip 502, and in particular, the mountain shape at the bottom of the arm tip 502 allows a smooth cutting action on the multi-film 250 to be obtained.

[Third embodiment]
A third embodiment of the planting unit according to the present invention will be described using FIG. 47. The planting unit according to this embodiment differs from the planting unit according to the embodiment described above in the operating mode of the groove-making arm, specifically in the locus drawn by the tip of the groove-making arm.

In FIG. 47, a configuration having a groove making arm 500 according to the second embodiment as the groove making arm is illustrated. Moreover, FIG. 47 shows the movement locus of the planting claw 72 and the groove-forming arm 500 when the planting unit is in a state where the pivot is separated and the distance between plants is relatively small (for example, 24 cm).

In this embodiment, regarding the operation of the groove-making arm 500, the movement trajectory of the tip of the groove-making arm 500 is such that at least one part of the periphery of the space in which the planting claw 72 pushes out the seedling block 110 held together with the holding plate 74 is It is provided so as to draw a trajectory E4 including a horizontal trajectory portion. The trajectory E4 is a part of the trajectory W2 of the arm tip 502 of the groove-making arm 500, and is indicated by a broken line in FIG. 47. A trajectory E4 indicates a trajectory of the top 502c of the arm tip 502.

When viewed from the side, the groove cutting arm 500 extends from the front side of the seedling block equivalent part to the lower part of the seedling block equivalent part with a gap between the part where the seedling block 110 to be planted in the field is located and the part corresponding to the seedling block. It is moved in such a manner that it passes through and wraps around to the rear side. In other words, the groove-cutting arm 500 moves the arm tip 502 in such a manner as to make a U-turn around the portion corresponding to the seedling block so that the trajectory E4 does not interfere with the portion corresponding to the seedling block during the turnaround from the downward movement to the upward movement. let

According to the groove-making arm 500, soil in the field is removed along the locus of the arm tip 502 to form the groove. Then, the groove-making arm 500 is placed in the field so that the part of the soil removed by the groove-making arm 500 (the groove-making part) becomes the space where the seedling block 110 released from the planting claw device 50 will be located. It acts against. In the trajectory E4, a position within the range surrounded by the substantially “U”-shaped folded portion on the lower end side is secured as a space to which the seedling block 110 is released at the timing when the groove cutting arm 500 finishes cutting the groove. be done.

The trajectory E4 of the arm tip 502 as described above has a horizontal portion 600, which is a horizontal trajectory portion, around the space in which the seedling block 110 is pushed out. The horizontal portion 600 is a portion of the trajectory E4 that follows the field scene 91 in a side view, and is a linear portion that extends in the longitudinal direction of the machine body (left-right direction in FIG. 47). The horizontal portion 600 forms the lower end (bottom) of the lower folded portion of the trajectory E4. Therefore, the horizontal portion 600 represents a path in which the arm tip portion 502 moves horizontally from the front to the rear below the portion corresponding to the seedling block.

In this way, the trajectory E4 having the horizontal portion 600 has a lower folded portion, a descending trajectory portion 601 indicating the descending movement of the arm tip portion 502, a horizontal portion 600, and an ascending trajectory portion indicating the ascending movement of the arm tip portion 502. 602 is a continuous trajectory portion. The descending locus portion 601 has a bulging shape that is convex on the front side, and its lower end is connected to the front side of the horizontal portion 600. The ascending trajectory section 602 has a lower end connected to the rear side of the horizontal section 600, and has a slightly forward-inclined substantially linear shape.

The trajectory E4 of the arm tip 502 as described above is obtained by adjusting the shape of the cam surface 411 (see FIG. 23) of the cam plate 410 so that the trajectory portion of the lower end of the trajectory E4 approaches horizontal.

According to the trajectory E4, the groove-making arm 500 performs an operation of penetrating the arm tip portion 502 from a position in front of the virtually arranged seedling block 110 as an operation of drawing a downward trajectory portion 601 with respect to the field scene 91. Thereafter, the arm tip 502 moves to the lower side of the virtually arranged seedling block 110, and performs an operation of horizontally moving the arm tip 502 from the front to the rear as an operation to draw the horizontal portion 600. Thereafter, at the timing when the arm tip 502 reaches the rear side of the virtually placed seedling block 110, the seedling block 110 is pushed out by the pressing piece 87 and is actually planted.

The groove-cutting arm 500, which has the tip (top 502c) of the arm tip 502 positioned at the rear lower side of the planted seedling block 110, moves the arm tip 502 upward as an action to draw an upward trajectory portion 602. Then, an operation is performed to cause the robot to move away from the field scene 91. Thereafter, the groove-making arm 500 moves the arm tip 502 upward and gently toward the front side of the seedling block 110 above the seedling block 110.

According to the operation mode of the trenching arm 500 according to the present embodiment, when releasing the seedling block 110 to the field, a horizontal seedling receiving portion is formed as the bottom surface of the trenching portion by the trenching arm 500 in the field. become. As a result, the released seedling blocks 110 are planted in an upright position following the relatively hard horizontal groove bottom formed by the groove cutting arm 500. Therefore, it is possible to obtain a good upright planting posture for seedlings.

[Fourth embodiment]
A fourth embodiment of the planting unit according to the present invention will be described using FIG. 48. The planting unit according to this embodiment differs from the planting unit according to the embodiment described above in the configuration of the pressing piece 87 of the extrusion member 73.

As shown in FIG. 48, the pressing piece 87 according to this embodiment has a pressing surface 87e that acts on the seedling block 110, which is inclined with respect to the pushing direction by the pressing piece 87 when viewed from the side. The pushing direction by the pressing piece 87 is the claw extension direction (see arrow C1), which is the direction along which the upper surface portion 82b of the claw main body portion 82 follows when viewed from the side. Note that the pressing surface 87e is a plane along a straight line when viewed from the side.

In the embodiment described above, the pressing surface 87e of the pressing piece 87 is along a plane direction (hereinafter referred to as "vertical plane direction") perpendicular to the nail extension direction in side view (see FIG. 12, etc.). On the other hand, in the present embodiment, as shown in FIG. 48, the pressing surface 87e of the pressing piece 87 is inclined forward in the direction of the vertical plane indicated by the dashed line K1 when viewed from the side. are doing. That is, in side view, the pressing surface 87e is inclined with respect to the vertical plane direction such that the upper side is located on the front side in the claw extension direction and the lower side is located on the rear side in the claw extension direction.

Regarding the degree of inclination of the pressing surface 87e, when viewed from the side, the inclination angle γ1 of the pressing surface 87e with respect to the vertical plane direction is, for example, within a range of 10 to 30 degrees (for example, about 20 degrees). Note that the magnitude of the inclination angle γ1 of the pressing surface 87e is not particularly limited.

According to the configuration of the pressing piece 87 according to this embodiment, the attitude of the seedling block 110 pushed out by the pressing piece 87 can be corrected by the inclination of the pressing surface 87e. This makes it easier to maintain the upright state of the seedling block 110 in the soil of the field, and it is possible to obtain a favorable upright planting posture for the seedlings. By combining the configuration of the pressing piece 87 according to the present embodiment with the operation mode of the groove-cutting arm 500 according to the third embodiment, the seedling block 110 can be effectively planted in an upright state, and a good planting posture can be achieved. can be obtained.

The seedling transplanter according to the present invention described using the embodiments as described above is not limited to the above-described embodiments, and various aspects can be adopted within the scope of the spirit of the present invention.

The present technology can have the following configuration. Note that the configurations described below can be selected and combined as desired.
(1)
A seedling transplanter that continuously plants seedlings in a field by cutting off a seedling mat placed on a seedling stand one by one with a planting claw,
A groove-making arm is provided near the planting nail and is provided to move relative to the planting nail,
The groove-planting arm has two positions and postures relative to the planting claw: a standby posture, which is the position and posture when the planting claw cuts out the seedling mat, and a standby posture, which is the position and posture when the planting claw cuts out the seedling mat, and a standby posture relative to the planting claw when planting seedlings in the field. A seedling transplanting machine characterized by having a groove cutting posture in which the groove is moved forward.
(2)
In the above (1), the groove-planting arm is provided so as to perform a cyclic operation from the groove-cutting position to the standby position after the planting claw finishes planting seedlings in the field. The seedling transplanter described.
(3)
The groove-making arm is provided in such a manner that, in the groove-making attitude, the tip thereof projects forward beyond the planting claws and enters the field surface before the planting claws. The seedling transplanter according to (1) or (2) above.
(4)
(1) to (3) above, characterized in that the groove-cutting arm is provided so as not to interfere with seedlings planted in the field, at least in the operating range in which the tip thereof is located below the field surface. The seedling transplanter according to any one of the above.
(5)
The seedling according to any one of (1) to (4) above, wherein the groove-cutting arm is provided so as to change the position and orientation in conjunction with the operation of the planting claw. transplant machine.
(6)
The groove-making arm is provided to a rotary case that rotatably supports a planting claw device including the planting claw, and as the planting claw device rotates, the groove-making arm moves relative to the planting claw. The seedling transplanter according to (5) above, wherein the position and orientation are changed in conjunction with the operation of the planting claw by a cam mechanism including a cam that changes the position.
(7)
The groove-making arm has a tip end formed into a plate-shaped part that is linear in a side cross-sectional view, and is provided so that the plate-shaped part stands up against the field surface at the timing of entering the field surface. The seedling transplanter according to any one of (1) to (6) above.
(8)
The groove-cutting arm is provided so that its tip moves along a trajectory that ensures a space for pushing out the seedlings held by the planting claw with respect to the planting claw located at the lowest end. The seedling transplanter according to any one of (1) to (7) above, characterized in that:
(9)
The groove-making arm has an arm body portion provided at a position shifted to one side in the left-right direction with respect to the planting claw, and an arm tip portion provided on the tip side of the arm body portion. The seedling transplanter according to any one of (1) to (8) above, characterized in that:
(10)
The arm tip portion is a portion where one end side in the left and right direction is connected to the arm main body portion,
The groove-making arm is provided at a position shifted to the other side in the left-right direction with respect to the planting claw, and has an auxiliary arm part that connects one end side to the other end side in the left-right direction of the tip end of the arm. The seedling transplanter according to (9) above, characterized by:
(11)
The groove-making arm has a portion provided at a position shifted to one side in the left-right direction with respect to the planting nail, and a portion provided at a position within the width range of the planting nail in the left-right direction. The seedling transplanter according to any one of (1) to (8), characterized in that the seedling transplanter has an arm main body including an arm main body, and an arm distal end provided on the distal end side of the arm main body.
(12)
The seedling transplanter according to (11), wherein the arm tip portion is a portion projecting on both left and right sides with respect to the arm main body portion.
(13)
The groove-cutting arm is provided so that the movement trajectory of the tip portion thereof is a trajectory including a horizontal trajectory portion in at least a portion of the periphery of the space from which the seedlings held by the planting claw are pushed out. The seedling transplanter according to any one of (1) to (12) above.

1 Seedling transplanter 3 Seedling transplanter 42 Seedling stand 50 Planting claw device 52 Rotary case 72 Planting claw 91 Field scene 100 Seedling mat 110 Seedling block 200 Groove arm 201 Arm main body 202 Arm tip 203 Auxiliary arm 270 Trajectory change device 300 Link mechanism 301 Forearm (link arm)
302 Rear arm (link arm)
313 Front moving shaft support 314 Rear moving shaft support 400 Cam mechanism 410 Cam plate (cam)
500 Groove making arm 501 Arm main body part 502 Arm tip part 506 Main body rear part 507 Main body front part

Claims (12)

A seedling transplanter that continuously plants seedlings in a field by cutting off a seedling mat placed on a seedling stand one by one with a planting claw,
A groove-making arm is provided near the planting nail and is provided to move relative to the planting nail,
The groove-planting arm has two positions and postures relative to the planting claw: a standby posture, which is the position and posture when the planting claw cuts out the seedling mat, and a standby posture, which is the position and posture when the planting claw cuts out the seedling mat, and a standby posture relative to the planting claw when planting seedlings in the field. A seedling transplanting machine characterized by having a groove cutting posture in which the groove is moved forward. The groove-planting arm is provided so as to perform a cyclic operation from the groove-cutting position to the standby position after the planting claw finishes planting seedlings in the field. Seedling transplanter. The groove-making arm is provided in such a manner that, in the groove-making attitude, the tip thereof projects forward beyond the planting claws and enters the field surface before the planting claws. The seedling transplanting machine according to claim 1 or claim 2. The seedling transplantation according to claim 1, wherein the groove-cutting arm is provided so as not to interfere with the seedlings planted in the field, at least in an operating range in which the tip thereof is located below the field surface. Machine. The seedling transplanter according to claim 1, wherein the groove cutting arm is provided so as to change the position and orientation in conjunction with the operation of the planting claw. The groove-making arm is provided to a rotary case that rotatably supports a planting claw device including the planting claw, and as the planting claw device rotates, the groove-making arm moves relative to the planting claw. The seedling transplanter according to claim 5, wherein the position and orientation are changed in conjunction with the operation of the planting claw by a cam mechanism including a cam that changes the position. The groove-making arm has a tip end formed into a plate-shaped part that is linear in a side cross-sectional view, and is provided so that the plate-shaped part stands up against the field surface at the timing of entering the field surface. The seedling transplanter according to claim 1, characterized in that: The groove-cutting arm is provided so that its tip moves along a trajectory that ensures a space for pushing out the seedlings held by the planting claw with respect to the planting claw located at the lowest end. The seedling transplanter according to claim 1, characterized in that: The groove-making arm has an arm body portion provided at a position shifted to one side in the left-right direction with respect to the planting claw, and an arm tip portion provided on the tip side of the arm body portion. The seedling transplanter according to claim 1, characterized in that: The arm tip portion is a portion where one end side in the left and right direction is connected to the arm main body portion,
The groove-making arm is provided at a position shifted to the other side in the left-right direction with respect to the planting claw, and has an auxiliary arm part that connects one end side to the other end side in the left-right direction of the tip end of the arm. The seedling transplanting machine according to claim 9, characterized by: The groove-making arm has a portion provided at a position shifted to one side in the left-right direction with respect to the planting nail, and a portion provided at a position within the width range of the planting nail in the left-right direction. The seedling transplanter according to claim 1, further comprising: an arm main body including a seedling transplanter, and an arm distal end provided on the distal end side of the arm main body. The seedling transplanter according to claim 11, wherein the arm tip portion is a portion projecting on both left and right sides with respect to the arm main body portion.

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