JP3434371B2 - Absence correction device in seedling transplanter - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a seedling transplanter structure for transplanting seedlings for crops such as vegetables into a plurality of rows along a ridge of a field.

[0002]

2. Description of the Related Art Conventionally, as a structure of a seedling transplanter equipped with one seedling planting apparatus, the applicant of the present invention has previously put it into practical use, 3-1149.
There is one proposed in Japanese Patent Publication No. 10. This seedling transplanter
A seedling supply device for intermittently moving the seedling tray in which the seedling pot portion is arranged in a matrix in the longitudinal direction in the traveling machine body,
This seedling feeding device is provided with a seedling take-out claw that is intermittently moved in the lateral direction, and the potted seedling extracted from the seedling pot part of the above-mentioned seedling tray is transferred by the seedling take-out claw to a raising / lowering transplant cup. It was configured to do.

In this prior art, even when there is no grown seedling in the seedling pot part of the seedling tray or there is only ungrown seedling (hereinafter, these cases are referred to as absent stock), a means for detecting the state. There was no On the other hand, in Japanese Unexamined Patent Publication No. 6-14623, a sensor for detecting the stock stall condition is provided, and when the stock stall is detected, the seedling transplantation work speed is reduced and the seedling transplanter is transplanted to a field along the traveling direction. It is proposed that the stock interval be shortened at the above-mentioned stock-out portion.

[0004]

In the former prior art described above, since the areas where vegetables and the like are not grown in the field (field) after being transplanted can be sparsely populated, the worker can use the field of the missing strain. There is a problem in that the efficiency of the agricultural work machine is poor because it is necessary to plant it after the work. In the latter prior art, since the traveling speed of the seedling transplanter increases and decreases frequently depending on the absence or absence of stocks, workers who board this seedling transplanter or accompany the seedling transplanter are forced to perform unstable work. However, it was difficult to arrange the intervals between the plants to be transplanted in the field (field).

The present invention has been made to solve these problems, and even if there is a shortage of seedlings in the seedling pot of the seedling tray, seedlings can be planted so that the intervals of planting can be approximately equal to the field. It is an object of the present invention to provide a plant defect correction device for a seedling transplanter that can be transplanted to improve work efficiency.

[0006]

In order to achieve the above object, in the seedling transplanter of the invention described in claim 1, the stock defect correcting device has a self-propelled traveling body in which seedling pot portions are arranged in a matrix. The seedling feeding device that intermittently moves the seedling tray in its horizontal and vertical directions and the inheritance mechanism that consists of seedling picking claws etc. for transferring pot seedlings from the seedling feeding device to the raising and lowering cups for transplantation A seedling transplanter installed so as to be driven by detecting the presence or absence of pot seedlings on the upstream side in the lateral movement direction of the seedling tray in the vicinity of the portion for taking out pot seedlings from the seedling pot portion by the seedling take-out claw. A plurality of seedling sensors for arranging the seedling pots are arranged at the left and right lateral intervals of the seedling pot section, and the intermittent lateral movement of the seedling tray is performed at a lateral movement setting cycle of an appropriate time interval to stop the lateral movement of the seedling tray. During the section While setting the nail entry and exit time required for the seedling take-out claws to come and go with respect to the seedling pot section in the tray, when the missing seedling pot section is detected by the seedling sensor, the seedlings are sown according to the number of consecutive missing stocks. The control means is provided so as to increase the time required for the lateral movement of the tray.

According to a second aspect of the present invention, in the seedling transplanting machine according to the first aspect of the present invention, there is provided a missing stock correcting device, wherein the lateral movement setting cycle of the seedling tray is variable and the lateral movement of the seedling tray is started. The time interval from the time point until the seedling take-out claws start entering the seedling pot part is variable. The invention described in claim 3 is the stock-strap correcting device in the seedling transplanter according to claim 1 or 2, wherein the time required for lateral movement of the seedling tray is detected when the stock-loss is continuously detected. The maximum value is set so as to be within the time interval from the start of lateral movement of the seedling tray to the start of entry of the seedling take-out claw into the seedling pot section.

[0008]

EXAMPLES Next, examples embodying the present invention will be described. 1 is a schematic plan view of the seedling transplanter, FIG. 2 is a schematic side view of the seedling transplanter, FIG. 3 is a side view of a main part of the transplantation mechanism, FIG. 4 is a plan sectional view of the main part of the transplantation mechanism, and FIG. It is a principal part side view which shows the positional relationship of a device and a seedling extraction nail.

The frame of the traveling machine body 1 includes an engine 18 and a transmission case 17 having a transmission mechanism incorporated therein, front traveling wheels 4 and 4 and rear traveling wheels 5 and 5 arranged on both left and right sides.
And are mounted via an elevating mechanism, and are configured to run across the ridges of the field from side to side. The lifting mechanism is configured as follows. That is, a piston rod of a lifting hydraulic cylinder 10 is connected to an intermediate arm 11 of a rotating shaft 9 that is rotatably supported by a bearing 8 and extends to the left and right at a front portion of the traveling machine body 1. It is possible to move. Then, the arms 12 fixed to the left and right ends of the rotating shaft 9 are extended to the rear of the traveling machine body 1, and the front traveling wheels 4 are attached to the arms 12.

On the other hand, the base ends of the swing cases 15 of the rear traveling wheels 5 are mounted on the axles 13 projecting from the left and right sides of the mission case 17 so as to be vertically rotatable, and the power transmission mechanism in each swing case 15 is used. The rear traveling wheels 5 are driven to rotate. Further, the base end of each swing case 15 and the rotating shaft 9 are rotatably connected via a link mechanism 16.

As a result, when the piston rod of the hydraulic cylinder 10 is retracted, the front traveling wheel 4 is moved downward with respect to the traveling machine body 1 via the rotating shaft 9 and the arm 12, and similarly, the rotating shaft 9 and the link. The rear traveling wheels 5 are moved down via the mechanism 16 and the swing case 15 to raise the traveling machine body 1 with respect to the ground (enlarge the ground height). On the contrary, when the piston rod of the hydraulic cylinder 10 is projected, the front traveling wheels 4 and the rear traveling wheels 5 are simultaneously raised with respect to the traveling machine body 1, and the traveling machine body 1 is lowered with respect to the ground.

The traveling machine body 1 is provided with a handle 19 extending rearward, and the seedling supply table 20 is arranged so as to be capable of reciprocating left and right across the pair of left and right support rods 19a, 19a of the handle 19. The device 3 is provided, and the seedling mounting table 20 is laterally moved in the lateral direction of the traveling machine body 1 via the lateral feed mechanism 21 at every lateral interval of the seedling pot portions 27a, and laterally moved in the opposite direction at the end of the lateral movement. As described above, the seedling placing table 20 is provided with the seedling trays 27 in which the seedling pot portions 27a are provided in a matrix in front, rear, left and right of the traveling direction in a plan view. Vertical feed mechanism 22
At the end of the horizontal feed, the seedling pot portion 27a is intermittently vertically fed by one pitch in the forward direction of the traveling machine body 1.

A power transmission unit for the transplantation mechanism 30 in the seedling planting apparatus 2 is mounted on the frame of the traveling machine body 1. The seedling planting device 2 is, as shown in FIG.
In the seedling feeding device 3, a transplanting mechanism 30 including a swinging arm 31 that swings up and down, a potting cup 32 and the like for holding pot seedlings to be transplanted at the tip of the swinging arm 31 and transplanting them in a field. To transfer from the seedling pot portion 27a of the seedling tray 27 to the pot seedling transplanting cup 32, the seedling take-out nail 6
The transmission mechanism 30 is composed of a transmission mechanism 29 of 0 or the like, and power is transmitted to the transplantation mechanism 30 from a transmission case 17 via a transmission path via a chain 64 wound around a chain sprocket.

Next, the structure of the transplantation mechanism 30 of the seedling planting device 2 will be described with reference to FIGS. The proximal chain sprocket 35 in the rotating case 34 of the transplant mechanism 30 is attached to both ends of the PTO shaft 23 as an output shaft projecting to the side surface of the mission case 17, and the rotating shaft 36 on the free end side of the rotating case 34 is attached. A chain 38 is wound around the chain sprocket 37 and the chain sprocket 35, which are fitted to the above, to transmit power.

A rotary case 40 is rotatably fitted on one outer surface of the rotating case 34 on the free end side, and a sun gear 39 is fixedly provided concentrically with the rotary shaft 36. An intermediate gear 41 meshing with 39 and a planetary gear 42 meshing with it are rotatably supported in a rotary case 40. In addition, chain sprocket 3
A friction clutch 43 is provided between the rotary shaft 36 and the rotary shaft 7 to prevent the rotary shaft 36 from slipping when power is overloaded.

A support shaft 44 to which the planetary gear 42 is attached
The crank arm 45 is fixed to the crank arm 4 and
A tip shaft 46 of No. 5 is rotatably attached to a middle part of the swing arm 31. A guide roller 47 at the base end of the swing arm 31
Is vertically slidably fitted to a guide rail 48 that is erected so as to be substantially vertical to the ground. The transplantation cup 32 is composed of a pair of cup bodies 32a and 32b, which is a substantially conical one that is constricted downward, and is divided into front and rear halves. The rotation support shaft 4 is fixed to the upper ends of the cup bodies 32a and 32b.
9a and 49b are rotatably supported by a support plate 50 protruding from one side of the swing arm 31, and are formed in a side view X-shape in which two link pieces are pivotally connected by pins. Both rotation support shafts 49a and 49b are configured to rotate in opposite directions via the link mechanism 51 of
A pair of cup bodies 32a and 32b are urged by a spring 52 in the direction in which the lower ends of the cup bodies 32a and 32b are always closed. The base end of the push rod 53 connected to the link mechanism 51 is supported so as to be movable back and forth with respect to the swing arm 31, and the base end of the push rod 53 is attached to the tip shaft 46 of the crank arm 45. It is provided so as to be in constant contact with the cam 54 that fits and rotates integrally.

With this structure, when the rotary case 40 is rotated in the direction of arrow A via the chain sprockets 35, 37 and the rotary shaft 36 by the rotation of the PTO shaft 23, the sun gear 39, the intermediate gear 41, and the planetary gear 42 are rotated. The crank arm 45 rotates in the direction of arrow B by the meshing rotation of the swing arm 31 connected to the crank arm 45.
Moves up and down along the guide rail 48 while swinging back and forth around the position of the guide roller 47.
Moves up and down along a locus 55 (only a part of the upper side is shown) in FIG. 3, and moves from the front position of the seedling tray 27 to the ridge. In addition, the transplantation cup 32 has a pair of cups 32a and 32b whose upper ends are closed at their lower ends. Therefore, even if a pot seedling (not shown) to be transplanted is inserted into the cup, the posture is maintained. it can. On the other hand, transplant cup 32
Is lowered and the lower ends of the cup bodies 32a, 32b pierce the soil surface of the ridge 7, the push rod 53 is pushed out by the cam 54, and both rotation support shafts 49a, 49a are pushed through the link mechanism 51.
49b are rotated in the opposite directions to each other, and the cup bodies 32a,
Since the lower end of 32b is opened, the pot seedling N inside can be transplanted to the ridge.

Next, referring to FIGS. 2 and 5 to 9,
The structure of the inheritance mechanism 29 including the seedling take-out claws 60 and the like will be described. This inheritance mechanism 29 has a bracket 67 fixed to the traveling machine body 1 so that a pair of left and right seedling take-out claws 60, 60, which will be described later, are arranged in the lateral center of the traveling machine body 1.
A support plate 68 is fixed to the support plate 68, and an input shaft 71 to which power is transmitted from a drive motor 120 via a chain and a chain sprocket 63 is rotatably provided on the inner circumference of a sun gear 70 fixed to the support plate 68. The other end of the input shaft 71 is fitted to the rotary case 72 and is integrally rotated.

Inside the rotary case 72, the sun gear 70
An intermediate gear 73 meshing with the crankshaft 74 and a planetary gear 75 fixed to the crankshaft 74 and meshing with the intermediate gear 73 are internally provided, and a crank arm 76 mounted on the crankshaft 74 is mounted.
A pair of left and right seedling picking claws 60, 60 is attached to one end of a cam shaft 77 protruding from the tip of the seedling picking arm 78.
Is rotatably fitted. The guide shaft 79 protruding from the other end of the seedling picking arm 78 has a guide groove 81 of a substantially arc shape in the guide plate 80 fixed in parallel with the support plate 68.
Is slidably fitted to the seedling take-out pawls 60, 60 by one rotation of the rotary case 72 around the input shaft 71 from the posture shown in FIG. 6 to the posture shown in FIG.
The path 82 (see FIG. 6) of returning to the original position after the seedling take-out claw is pierced in the seedling pot portion 27a and the pot seedling is sandwiched) is configured.

The pair of left and right seedling picking claws 60, 6 are also provided.
0 base end attachment pieces 83, 83 are L-shaped pivots 84, 84.
Each of the pivots 84 is rotatably attached to the eyeglass-shaped mounting portion 78a of the seedling picking arm 78, and the pair of left and right seedling picking claws 60 is connected by a spring 85 connecting the left and right mounting pieces 83, 83. , 60 are always urged in the closing direction.

A cam plate 86 is fixed to the cam shaft 77,
On the front and back surfaces of the wide width of the cam plate 86, arc-shaped end face cam portions 87, 87 are provided so as to project in a section of a rotation angle along the circumferential direction, and the bases of the pair of left and right seedling picking claws 60, 60 are provided. When the abutting pieces 88, 88 of a spherical shape or the like projecting from the end mounting pieces 83, 83 so as to face each other ride on the end surface cam portions 87, 87 and come into contact therewith, the tips of both seedling picking claws 60, 60 are the springs. It is designed to open against the force of 85.

Further, the pin 8 of the seedling take-out arm 78
The base ends of a pair of rod-shaped push-out tools 91, 91 are rotatably mounted on a mounting plate 90 rotatable around nine positions, and the tip end annular portion 91a of each push-out tool 91 has the above-mentioned chopstick shape. Both tip annular portions 91a are moved toward the tip of the seedling picking claws 60, 60 by a spring 93 slidably fitted to the seedling picking claws 60, 60 and mounted on a mounting plate 90 and a seedling picking arm 78. Is urged to do so. The roller 92 attached to the mounting plate 90 is always in contact with the peripheral surface (peripheral cam portion) of the cam plate 86, and the roller 92 is located in the recess 86a in the predetermined rotation section of the cam plate 86. When positioned (seedling picking claw 60,
When the pot seedling pierced and pinched by 60 is located above the transplanting cup 32), the pot seedling is pushed out by the tip annular portions 91a of both the extruding tools 91, and the pot seedling is picked up from the seedling take-out nails 60, 60. Is configured to be discharged (withdrawn).

Next, the seedling feeding device 3 will be described with reference to FIGS. 1, 5 and 9 to 12. As shown in FIG. 10, the seedling mounting table 20 has a substantially rectangular frame frame 1 in plan view.
00, a vertical feed case 101 having a vertical feed transmission unit as a vertical feed mechanism 22 arranged on one side of the frame 100, a transport chain 102 for vertically feeding the seedling tray 27, and large and small chains. Sprocket 103, 104
Then, the empty seedling tray 27 includes a guide frame 105 and the like arranged so as to be guided toward the rear end of the handle 19.

The front and rear guide rollers 108 and the vertical guide rollers 109 mounted on the frame 100 and the like of the seedling mounting table 20 are attached to the left and right support rods 19 of the handle 19.
The seedling mounting table 20 is mounted so as to be movable in the left and right direction without rattling up and down and front and back by contacting with a pair of front and rear U-shaped guide rails 106 and 107 fixed to a, 19a and the like. .

The seedling tray 27 is made of a flexible soft synthetic resin material, and can be curved along the circumference of a large-diameter chain sprocket 103 when it is mounted on the transport chain 102 and transported. . The pair of left and right transport chains 102, 102 are rotatably mounted on a large-diameter chain sprocket 103 mounted on a vertical feed drive shaft 110 driven by a power transmission system in a vertical feed case 101 and a frame 100. The driven shaft 111 is wound around the small diameter chain sprocket 104. The pair of left and right transfer chains 102, 102 are provided with laterally-engaged engaging pins 112 at an appropriate pitch L1, and the left and right engaging pins 110 are arranged in the seedling tray 27 in the front-rear direction of transfer. It engages with the lower surface side of the continuous portion of 27a and reliably conveys vertically in the direction of arrow C in FIG. In addition,
A guide piece 113 for guiding the seedling tray 27 to be curved along the outer circumference of the large diameter chain sprocket 103 is provided in the frame 100 or the like.

As shown in FIG. 5, the drive motor 12
1, the power is transmitted to the lateral feed mechanism 21 in the seedling feeding device 3, and the power from the lateral feed mechanism 21 is fed to the lateral feed shaft 11
5, the seedling mounting table 20 is laterally fed as will be described later, while the power is transmitted to the vertical feeding case 101 to transfer the seedling mounting table 2 to the seedling mounting table 2.
The seedling tray 27 on 0 is vertically fed. That is, a reciprocal feed screw portion 115a is formed on the lateral feed shaft 115 protruding from the transmission case 114 in the lateral feed mechanism 21.
The feed block 116 with a boat-shaped key screwed into the reciprocating feed screw portion 115a and an engaging piece 117 such as an engaging bolt projecting from the frame of the seedling placing table 20 are connected to each other so that the seedling placing table 20 is laterally wide in the seedling tray 27. It is configured to reciprocate in the right and left directions (see FIG. 12). On the other hand, the transmission case 1
The vertical feed shaft 118 protruding from 14 intermittently rotates at the horizontal feed end position of the seedling table 20, and a pair of kick claws 119 provided on the vertical feed shaft 118 at a distance of the horizontal feed distance,
Reference numeral 119 denotes a driven cam (not shown) provided on the vertical feed case 101 for kicking rotation, and for intermittently rotating the vertical feed drive shaft 110 via a transmission portion within the vertical feed case 101, thereby causing the seedling pot portion 27a. Is configured to be intermittently vertically fed by a constant pitch L2.

Next, when the seedling pot portion 27a arranged in the matrix of the seedling tray 27 has a missing strain (when there is no seedling grown in the seedling pot portion of the seedling tray, or only ungrown seedlings). In the case), the configuration of the stock abscission correction device that enables the distances H2 between the stocks along the traveling direction of the traveling body of the pot seedlings to be transplanted to the field (field) to be substantially equal will be described.

As shown in FIGS. 6 and 13, in the vicinity of the place where the pair of seedling take-out claws 60, 60 take out the pot seedlings from the seedling tray 27, the seedling mounting table 20 and thus the seedling tray 27 are moved laterally. Along the seedling pot portion 27a
Six seedling sensors P1, P2, P3, Q1, Q2, Q3 for determining whether or not pot seedlings are present are arranged at the lateral arrangement interval L3 of the seedling pot portion 27a. The three seedling sensors P1, P2, P3 are operated when the seedling tray 27 laterally moves (intermittently moves) to the left in FIG. 13, and the other three seedling sensors Q1, Q2, Q3 are seedling sensors. It is operated when the tray 27 laterally moves (intermittently moves) to the right in FIG. As these seedling sensors, it is preferable to use a light reflection type non-contact type sensor composed of a light projector and a light receiver or an ultrasonic reflection type composed of an ultrasonic wave transmitter and a microphone.

Although not shown in FIG. 13, the seedling table 2
A pair of left and right limit switches V1 and V2 for detecting the end of the lateral movement of 0 are provided. The control means 125 such as a microcomputer for controlling the lateral movement of the seedling placing table 20 and the timing of the seedling take-out claw 60 entering and leaving the seedling pot portion 27a by the inheritance mechanism 29 in the correction device at the time of stockout is the above-mentioned control. A read-only memory (ROM) that stores a program that executes a program, and a readable / writable memory (R) that stores various data and detection values described below.
AM) and an input / output interface, and the input interface has the six seedling sensors P1, P2,
P3, Q1, Q2, Q3 and the limit switch V1,
Connect to V2. Also, the output interface has
Variable speed drive motor 1 for the inheritance mechanism 29
The drive circuit 122 of 20 and the drive circuit 123 of the drive motor 121 of variable speed for the seedling feeding device 3 for laterally moving the seedling stand 20 are connected (see FIG. 14).

Next, with reference to the time chart of FIG. 15, the timing of intermittent lateral movement of the seedling placing table 20 and the timing of the pair of seedling take-out claws 60 entering and leaving the seedling pot portion 27a will be described. Here, the time required for the seedling placing table 20 to move the adjacent space L3 between the seedling pot portions 27a arranged in the lateral direction of the seedling tray 27 is referred to as an intermittent lateral movement required time Td of the seedling tray 27.

The cycle in which the seedling placing table 20 laterally moves intermittently is referred to as a lateral movement setting cycle To of the seedling tray 27. Furthermore, the time required for the seedling take-out claws 60 to move in and out of each seedling pot section 27a while the lateral movement of the seedling tray 27 is stopped is defined as the time T2 required for moving the seedling take-out claws 60 into and out of the claws.
Called. The seedling take-out claw 60 is also intermittently driven at the same cycle as the lateral movement setting cycle To.

Further, from the time when the seedling tray 27 (seedling table 20) starts to move laterally, the seedling take-out claw 60 is moved to the seedling pot section 27.
The time lag time until the start of the approach toward a is referred to as time lag T1. In the present invention, the lateral movement of the seedling tray 27 (seedling table 20) is quickly performed, in other words, the lateral movement required time Td is shortened, and the lateral movement setting period To is set to be long to allow the lateral movement of the seedling tray 27. During movement stop section (T
At o-Td), the seedling take-out claws 60 are allowed to complete the comings and goings with respect to each seedling pot portion 27a.

Then, the seedling sensors P1, P2, P3
When (Q1, Q2, Q3) detects that there is no pot seedling in the seedling pot portion 27a, the portion of the seedling pot portion 27a where the pot seedling does not exist is skipped and the seedling tray 27 (seedling table 20) is set. Move it sideways. In other words, the front lateral movement required time Td is set to the seedling pot portion 2 where the pot seedling does not exist.
It is increased by the number (7) of 7a. Then, the portion of the seedling pot portion 27a where the pot seedling is present is stopped by facing the seedling removing portion, and the seedling removing nail 60 is used to stop the seedling pot portion 27a.
The pot seedling is taken out by moving it back and forth with respect to a.

With this control, there is always a pot seedling at the place where the seedling take-out claw 60 moves in and out of the seedling pot portion 27a at a constant cycle To. Therefore, the pot seedling should be taken out and transferred to the transplanting mechanism 30. This means that there will be no missing points in the field (field). In this case, for example, when the seedling tray 27 is intermittently laterally moved leftward in FIG. 13, seedling sensors seedling sensors P1 and P2 arranged along the lateral movement direction and on the upstream side of movement from the seedling take-out portion. , P3, the seedling sensor P1 closest to the seedling take-out portion detects first, and if this seedling sensor P1 detects that there is no pot seedling in the seedling pot portion 27a, the seedling sensor P2 at the upstream position thereof.
The plurality of seedling sensors do not detect the presence or absence of pot seedlings at the same time, such as detecting whether or not there are pot seedlings in the seedling pot section 27a. It is configured to go. Similarly,
When the seedling tray 27 laterally moves to the right in FIG. 13,
The seedling sensors Q1, Q2, Q3 will detect them in order.

By the way, if a large number of seedling pot portions 27a where pot seedlings do not exist are continuous, the total lateral movement required time Tdn = N × Td may be larger than the time lag T1. Is the seedling tray 27
Since the seedling take-out nail 60 tries to enter the seedling pot portion 27a while the (seedling table 20) has not completed the lateral movement, an accident such as damage of the seedling take-out nail 60 occurs.

Therefore, the maximum continuous number Nmax. (For example, Nmax. = 3) of the portion of the seedling pot portion 27a where the pot seedling does not exist.
When the seedling sensor determines that the maximum number of consecutive times is exceeded, an alarm buzzer 126 is sounded in response to a command from the control means 125, and the drive of the seedling transplanter is stopped. The control of the intermittent lateral movement of the seedling placing table, which is part of the control for correcting the seedling absent plant, will be described below with reference to the flowchart shown in FIG.

Subsequent to the start of control, in step S1, the flag F depending on the direction of lateral movement of the seedling stand 20 is determined. In the embodiment, when the flag F = 1, the seedling table 20
It means that the (seedling tray 27) moves to the left in FIG. 13, and when the flag F = −1, it means that it moves to the right. First, a case where it is determined that the flag F = 1 is described. Next, whether or not the seedling table 20 is at the left end position is determined by turning ON / OFF the limit switch V1 located at the left end of the lateral movement of the seedling table 20. It is determined whether or not (step S2). The state where the limit switch V1 is OFF and the seedling stand 20 is not at the left end position (step S2).
In the case of no), the seedling mounting table 29 is allowed to intermittently move leftward. Therefore, subsequently, the seedling sensor P1 detects the pot seedling (step S3). When the pot seedling is detected by the seedling sensor P1 (step S3, yes), the seedling mount 20 is laterally moved by one pitch (L1) (horizontal movement time Td) (step S4). Subsequently, the seedling take-out nail 60 is driven by a predetermined seedling take-out portion to take out the pot seedling from the seedling pot portion 27a which senses the pot seedling (step S5), and returns.

When the seedling sensor P1 does not detect a pot seedling (step S3, no), the seedling sensor P2 at the upstream position is detected.
The detection of pot seedlings is carried out (step S6). When the pot seedling is detected by the seedling sensor P2 (step S
6, yes) laterally moves the seedling placing table 20 by 2 pitches (2 × L1) (horizontal movement required time 2 × Td) (step S).
7). Then, similarly to the above, the seedling take-out nail 60 is driven at a predetermined seedling take-out portion to take out the pot seedlings from the seedling pot portion 27a which senses the pot seedlings (step S
5) Return.

As a result, one seedling pot portion 27a which has not detected the pot seedling by the seedling sensor P1 is skipped, and the seedling take-out claw 60 which is intermittently driven at a predetermined set cycle To causes the portion where the pot seedling exists. You can take out with.
Similarly, when the seedling sensor P2 does not detect a pot seedling (step S6, no), the seedling sensor P3 at the upstream position is detected.
By this, sensing of pot seedlings is executed (step S8). When the pot seedling is detected by the seedling sensor P3 (step S
8, yes) laterally moves the seedling placing table 20 by 3 pitches (3 × L1) (horizontal movement required time 3 × Td) (step S).
9). Then, similarly to the above, the seedling take-out nail 60 is driven at a predetermined seedling take-out portion to take out the pot seedlings from the seedling pot portion 27a which senses the pot seedlings (step S
5) Return. As a result, two seedling pot portions 27a that did not detect pot seedlings by the seedling sensors P1 and P2 are skipped, and further, by the seedling take-out claws 60 that are intermittently driven at a predetermined set cycle To, at a place where pot seedlings exist. You can perform the eject.

When the seedling sensor P3 cannot detect a pot seedling (step S8, no), it is determined that the maximum allowable lateral movement time Tdmax. Of the seedling mounting table 20 is exceeded, and the alarm buzzer 126 is sounded ( Step S10), lateral movement of the seedling stand 20, a transfer mechanism 29, in order to suspend the seedling transplanting work.
The driving of the transplantation mechanism 30 is stopped all at once. At the end of the intermittent lateral movement of the seedling placing table 20 to the left, the left limit switch V1 is turned on. Therefore, in step S2, when the left limit switch V1 is turned on, the seedling tray 27 is vertically fed by one pitch. (Step S11), and after setting (converting) the direction flag F = -1 (step S1)
2) Return.

Then, in step S1, the direction flag F
If it is determined that −1, the right side limit switch V2 located at the right end of the lateral movement of the seedling stand 20 is turned ON / OFF, and the seedling stand 2 is turned on.
It is determined whether 0 is at the right end position (step S1).
3). When the right limit switch V2 is in the OFF state (step S13, no), the seedling placing table 20 is not in the right end position, so that the seedling placing table 29 is allowed to intermittently move to the right. It Then, the seedling sensor Q
1 to detect pot seedlings (step S1)
4). When the pot seedling is detected by the seedling sensor Q1 (step S14, yes), the seedling placing table 20 is moved by one pitch (L).
Only 1) is laterally moved (horizontal movement required time Td) (step S15). Then, the seedling pot 27 which detects the pot seedling by driving the seedling picking nail 60 at a predetermined seedling picking unit
The pot seedling is taken out from a (step S5) and the process returns.

Similarly, when the seedling sensor Q1 does not detect the pot seedling (step S14, no), when the seedling sensor Q2 at the upstream position detects the pot seedling (step S16, yes), the seedling placing table is set. 20 in 2 pitches (2 x L
1) laterally move to the right (horizontal movement time 2 x T
d) (step S17), and then in the same manner as described above,
The seedling take-out nail 60 is driven at a predetermined seedling take-out portion to take out the pot seedling from the seedling pot portion 27a which has sensed the pot seedling (step S5), and returns. With this, the seedling pot portion 27a in which the seedling sensor Q1 did not detect the pot seedling
One can be skipped, and the seedling take-out claws 60 that are intermittently driven at a predetermined set period To can take out the seedlings at the place where the pot seedlings are present.

Similarly, when the seedling sensor Q2 does not detect the pot seedling (step S16, no), when the seedling sensor Q3 at the upstream position detects the pot seedling (step S18, yes), the seedling placing table is set. 20 3 pitches (3 x L
1) move horizontally to the right (time required for horizontal movement 3 × T
d) (Step S19), and subsequently, the seedling take-out claw 60 is driven at a predetermined seedling taking-out portion to take out the potted seedlings from the seedling pot portion 27a which senses the pot seedling (Step S19).
5) Return.

As a result, two seedling pot portions 27a which have not detected pot seedlings by the seedling sensors Q1 and Q2 are skipped, and moreover, the seedling take-out claw 60 is intermittently driven at a predetermined set cycle To.
This makes it possible to carry out the extraction at the place where the pot seedling exists. When the seedling sensor Q3 cannot detect the pot seedling (step S18, no), it is determined that the maximum allowable lateral movement time Tdmax. Of the seedling mounting table 20 is exceeded, and the alarm buzzer 126 is sounded (step S20). In order to suspend the seedling transplanting work, the lateral movement of the seedling mounting table 20 and the drive of the inheritance mechanism 29 and the transplantation mechanism 30 are stopped all at once.

Further, when the right limit switch V2 detects the end of the lateral movement of the seedling stand 20, the seedling tray 27 is vertically fed by one pitch (step S21), and the direction flag F = 1.
It will be converted to. With this configuration, when the seedling feeding device 3 and the seedling planting device 2 are operated while the traveling machine body 1 is moved forward, the seedling mounting table 20 in the seedling feeding device 3 moves to the right or left in the traveling direction, and Synchronously, the pair of seedling take-out claws 60, 60 in the inheritance mechanism 29 sandwiches and extracts the pot seedling from the seedling pot portion 27a of the seedling tray 27, and the transplantation cup at the upper end position of the locus 55 in FIG. Release pot seedlings to 32. Next, the swing arm 31 is rotated to plant pot seedlings in the field near the lower end of the descending stroke of the transplantation cup 32.

In this case, the seedling sensors P1, P2, P3 (Q
1, Q2, Q3), when there is no pot seedling at the seedling pot portion 27a in the seedling tray 27, the time required for lateral movement Td of the seedling mounting table 20 (seedling tray 27) is set according to the number of missing plants. By increasing the length, the seedling pot portion 27a in which pot seedlings are present is located at the seedling pickup portion, so that the seedling pickup nail 60 is driven intermittently at a predetermined set cycle To.
Therefore, the pot seedlings can always be grabbed, taken out, and transplanted, so that there is no missing portion in the field.

When the operation timings of the drive motor 120 and the drive motor 121 are changed and adjusted to make the set period To and the time lag time T1 variable, the work interval for taking out pot seedlings from the seedling tray 27 is increased or decreased. Thus, it is possible to easily increase or decrease the interval between planting seedlings in the field. In addition, when adjusting the plant spacing, it is desirable to simultaneously increase / decrease the running speed of the seedling transplanter and increase / decrease the vertical swing speed of the transplantation mechanism 30.

[0048]

As described above, claim 1
In the seedling transplanter of the invention described in (1), the seedling transplantation correcting device is a seedling supply device for intermittently moving a seedling tray in which seedling pot portions are arranged in a matrix in a lateral direction and a longitudinal direction of a traveling machine body that is self-propelled. And a transfer mechanism for transferring the seedlings from the seedling supply device to the transplanting cup for raising and lowering the pot seedlings. A plurality of seedling sensors for detecting the presence or absence of pot seedlings on the upstream side in the lateral movement direction of the seedling tray are arranged near the takeout portion of the pot seedlings from the seedling pot portion at the left and right lateral intervals of the seedling pot portion. Then, the lateral movement of the seedling tray is intermittently performed at a lateral movement setting cycle with an appropriate time interval, and the seedling take-out claws move in and out of the seedling pot portion of the seedling tray during the horizontal movement stop period of the seedling tray. To While setting the time required to move in and out the nails, when detecting the missing seedlings in the seedling pot section by the seedling sensor, a control means for controlling to increase the lateral movement required time of the seedling tray according to the number of consecutive missing seeds is provided. It is provided.

According to this structure, by extending the time required for lateral movement of the seedling tray (seedling table) by the number of stocks in the seedling pot section, the stocked section is skipped and the seedling take-out section is always equipped with a pot. Since seedlings can be taken out by potting seedlings with a seedling take-out nail that is intermittently driven at a predetermined set cycle, even if the running speed of the seedling transplanter or the intermittent drive speed of the seedling take-out nails is constant, There is no occurrence of missing strains in the field. In addition, the running speed of the seedling transplanter and the intermittent drive speed of the seedling take-out claw can be made constant, so the posture of seedling transplantation to the field and the operation work of the seedling transplanter are more stable than when there is a change in these speeds. Has the effect of doing.

A second aspect of the present invention is the missing stock correcting device in the seedling transplanter according to the first aspect, wherein the lateral movement setting cycle of the seedling tray is variably configured and the lateral movement of the seedling tray is started. The time interval (time lag) from the time point until the seedling take-out claws start entering the seedling pot part is variable. Therefore, in addition to the action and effect of the invention of claim 1, there is an effect that it is possible to easily increase or decrease the interval between planting seedlings in the field by increasing or decreasing the interval for taking out pot seedlings from the seedling tray.

The invention described in claim 3 is the stock defect correcting device in the seedling transplanter according to claim 1 or 2, wherein the seedling tray is laterally moved when the stock defect is continuously detected. The maximum value of the required time is set so as to be within the time interval (time lag) from the start of lateral movement of the seedling tray to the start of entry of the seedling take-out claw into the seedling pot section.

According to this structure, in addition to the function and effect of the invention described in claim 1 or 2, even when the missing plant portion is continuously detected, the seedling tray is moved laterally. In addition, the effect that the seedling take-out nail does not enter toward the seedling pot portion and the accident that the seedling take-out nail is damaged can be surely prevented.

[Brief description of drawings]

FIG. 1 is a plan view of a seedling transplanter.

FIG. 2 is a schematic side view of the seedling transplanter excluding a bonnet cover and the like.

FIG. 3 is a side view of a main part of a seedling transplantation mechanism.

FIG. 4 is a plan sectional view of a main part of a seedling transplanting mechanism.

FIG. 5 is a rear schematic plan view of a seedling transplanter.

FIG. 6 is a side view showing a positional relationship among a transfer mechanism, a seedling supply device, and a transplant cup.

FIG. 7 is a perspective view of a main part of a transfer mechanism.

FIG. 8 is a cross-sectional view of a main part of a transfer mechanism.

FIG. 9 is a front view of a main part of a seedling taking-out nail.

FIG. 10 is a plan view of a main part of the seedling supply device.

FIG. 11 is a schematic side view of a main part of a seedling table.

FIG. 12 is a plan view of a main part of a lateral movement constituent part of the seedling table.

FIG. 13 is a diagram showing a positional relationship between a lateral movement of a seedling tray and a seedling sensor.

FIG. 14 is a functional block diagram of control means.

FIG. 15 is a timing chart of driving the seedling placing table and the seedling taking-out nail.

FIG. 16 is a flowchart of control of stock-out correction.

[Explanation of symbols]

1 traveling aircraft 2 seedling planting equipment 3 seedling supply equipment 4 front running wheels 5 rear running wheels 20 seedling stand 21 Traverse mechanism 22 Vertical feed mechanism 27 seedling tray 29 Inheritance mechanism 30 Transplant mechanism 31 swing arm 32 transplant cup 60 Seedling removal nails 120,121 drive motor 125 control means P1, P2, P3, Q1, Q2, Q3 seedling sensor

─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Yoshitaka Yamamoto 1-32 Chayamachi, Kita-ku, Osaka, Yanmar Agricultural Machinery Co., Ltd. (56) Reference JP-A-6-14623 (JP, A) JP-A-5 -276817 (JP, A) Actual development 3-74210 (JP, U) Actual development 6-57106 (JP, U) (58) Fields investigated (Int.Cl. ⁷ , DB name) A01C 11/00- 11/02 303 A01C 11/02 350-367

Claims (3)

(57) [Claims] 1. A seedling feeding device for intermittently moving a seedling tray, in which seedling pot portions are arranged in a matrix shape, in a lateral direction and a vertical direction of a self-propelled traveling machine body, and pot seedlings are fed from the seedling feeding device. In a seedling transplanter that is installed so as to interlock with an inheritance mechanism consisting of a seedling picking claw for transferring to a raising / lowering transplant cup, in the vicinity of the pot seedling picking part from the seedling pot part by the seedling picking claw , A plurality of seedling sensors for detecting the presence or absence of pot seedlings on the upstream side in the lateral movement direction of the seedling tray are arranged at each lateral interval of the seedling pot section, and the intermittent lateral movement of the seedling tray is performed at an appropriate time. It is executed at the interval lateral movement setting cycle, and sets the nail entry / exit required time for the seedling ejection nails to enter / exit the seedling pot section in the seedling tray during the period in which the lateral movement of the seedling tray is stopped. On the other hand, when the seedling sensor detects a missing stock in the seedling pot section, the seedling is characterized by being provided with control means for controlling so as to increase the time required for lateral movement of the seedling tray in accordance with the number of consecutive missing stocks. A missing stock correction device in a transplanter. 2. The horizontal movement setting cycle of the seedling tray is variable, and the time interval from the start of horizontal movement of the seedling tray to the time when the seedling take-out claws start entering the seedling pot is variable. The stock defect correcting device in the seedling transplanter according to claim 1. 3. The maximum value of the time required for lateral movement of the seedling tray when the missing strains are continuously detected is determined from the time when the lateral movement of the seedling tray is started to the time when the seedling ejection claws start entering the seedling pot section. 3. The plant defect correction device for a seedling transplanter according to claim 1, wherein the device is set so as to be within a time interval.