JP5258257B2 - Seedling planting equipment - Google Patents

Description

  In the present invention, the seedling planting mechanism having a seedling planting claw is driven so that the seedling planting claw reciprocates up and down over the seedling supply port of the seedling platform and the rice field, and the mat seedling placed on the seedling platform It is related with the seedling planting apparatus comprised so that it might take out a seedling from and to plant a taken-out seedling in a rice field.

In the above-mentioned seedling planting apparatus, there is a conventional one disclosed in Patent Document 1, for example.
Japanese Patent Application Laid-Open No. H10-260260 discloses that at the end of the lateral movement stroke of the seedling platform, a drive arm that is supported so as to be integrally rotatable with the rotation support shaft and a rotation cam provided on the lateral rotation shaft are in contact with each other. The drive pin of the endless rotating belt is driven by the contact pin of each strip drive arm supported by the rotary support shaft so as to be integrally rotatable with the rotary support shaft, and the driving force of the rotary support shaft is It is transmitted to the body, and the endless rotation belt is driven to feed the mat-like seedlings on the seedling stand vertically to the seedling planting mechanism. A seedling feed amount adjusting mechanism is also provided. This seedling feed amount adjusting mechanism changes the reference waiting position of the operating arm to change the seedling vertical feed amount when the vertical feed amount adjusting lever linked to the operating arm via the linkage member and the operation wire is operated. Adjust.

Japanese Patent Laid-Open No. 5-21981

In this kind of seedling planting device, when the mat-like seedling on the seedling stand is fed vertically toward the seedling supply port, the amount of movement corresponding to the size of the seedling taken out by the seedling planting mechanism is vertically fed. Configured to be. However, conventionally, the amount of seedlings used for planting per unit area of the rice field sometimes becomes uneven. In addition, the number of seedlings contained in the seedlings taken out by the seedling planting mechanism may be uneven.
In other words, while the seedling platform is laterally moved from one of the left and right lateral movement stroke ends to the other, the seedling platform is tilted, the weight of the matted seedling, the vibration transmitted to the seedling platform, and the seedling removal mechanism removes the seedling. Due to the pulling of the seedlings generated for the reason, the mat-like seedlings may be displaced toward the seedling supply port. In addition, at the beginning of the work or when the seedlings are replenished, the mat-like seedlings are large and the seedling weight pressure is large, so that the seedling misalignment tends to occur. In addition, depending on the mat-like seedling, the root hardness may be different due to a difference in growth and the like, and the seedling with a soft root is likely to be compressed due to a shift movement. Thus, when mat-like seedlings are compressed or the generated compression is different, the number of seedlings taken out from the reference number of mat-shaped seedlings changes by the seedling planting mechanism, and the seedling planting mechanism The number of seedlings contained in the seedlings taken out by is changed.

  By adopting the above-described conventional technology, even if the above-described uneven consumption of seedlings and the number of seedlings is to be eliminated, the operator determines whether or not the mat-like seedlings are displaced and the amount of vertical movement. Since the amount had to be adjusted artificially, good results could not be obtained and there was room for improvement.

  An object of the present invention is to provide a seedling planting apparatus that can eliminate the above-described non-uniformity in seedling consumption and number of seedlings and that can also avoid the occurrence of seedling planting defects due to the solution.

The present first invention, seedling planting mechanism having a seedling planting claws, said planting claw is driven to reciprocate up and down over the paddy Metropolitan stand seedlings supply ports seedlings were placed on the seedling table In the seedling planting device configured to take out the seedling from the mat-like seedling and plant the taken out seedling on the rice field,
A vertical feed transport body that vertically feeds the mat-like seedlings placed on the seedling mount toward the seedling supply port; a drive change mechanism that changes a drive amount of the vertical feed transport body; A longitudinal feed amount setting means for setting a control target longitudinal feed amount for feed control, and the seedling stage is moved from one lateral movement stroke end to the other lateral movement stroke end in a state where the longitudinal feed carrier is stopped. A seedling deviation amount detecting means for detecting a vertical movement amount of the mat-like seedling while being laterally moved ,
A correction control target vertical feed amount obtained by correcting the set control target vertical feed amount by the vertical feed amount setting means based on the detection deviation amount by the seedling deviation amount detection means is set, and the mat-like seedling has the setting correction control target vertical feed. to be longitudinal feed amount, before Kiho positive control and the correction control mode the desired longitudinal feeding amount the drive changing mechanism on the basis of the adjustment operation, the mat-like seedlings set control target longitudinal feeding amount by the longitudinal feeding amount setting means Control means switchable to a non-correction control mode in which the drive change mechanism is adjusted based on the set control target vertical feed amount without setting the correction control target vertical feed amount. It is.

According to the configuration of the first aspect of the present invention, the control means can be operated by switching to the correction control mode, so that the seedling planting mechanism can control the reference number of sheets regardless of whether the mat-shaped seedlings move in the vertical direction. The number of seedlings taken out from the mat-like seedlings and the number of seedlings contained in the seedlings taken out from the mat-like seedlings by the seedling planting mechanism can be hardly changed.
In other words, when the control means is switched to the correction control mode and operated, in the case of a mat-like seedling that does not cause or hardly occurs in the vertical direction on the seedling platform, the seedling deviation is detected by the seedling deviation amount detection means at the time of lateral feeding of the seedling. When the seedling horizontal feed reaches the stroke end and the seedling vertical feed is performed without being detected, the vertical feed carrier is driven so that the mat-like seedling vertically moves the set control target vertical feed amount, and the seedling vertical feed is performed. In this case, the seedling seedlings are removed by the seedling planting mechanism when the seedlings are fed laterally after the seedlings are fed because the mat-like seedlings do not move or hardly occur when the seedlings are fed laterally after the seedlings are fed. The size in the vertical direction is the same as or almost the same as the size set by the vertical feed amount setting means. On the other hand, in the case of a mat-like seedling that tends to cause vertical displacement movement on the seedling platform, seedling misalignment is detected by the seedling misalignment detection means at the time of seedling lateral feeding, and the seedling lateral feeding reaches the stroke end and the seedling vertical feeding when is performed, it is set correction control target longitudinal feeding amount corrected on the basis of the detected shift control for setting target longitudinal feed amount, longitudinal feed carrier such that the mat Jonae to vertically move the compensation control target longitudinal feed amount Is driven to feed the seedlings vertically. In this case, since the mat-like seedlings are likely to be displaced even when the seedlings are laterally fed after the vertical feeding of the seedlings, the actual vertical movement amount of the matted seedlings during the lateral feeding of the seedlings after the vertical feeding of the seedlings is The amount of shift of the mat-shaped seedling is added to the vertical feed amount by the vertical feed carrier, and the size of the seedling in the vertical direction of the seedling that the seedling planting mechanism takes out at the time of the seedling horizontal feed after the vertical feed of the seedling The size is the same as or substantially the same as the size set by the vertical feed amount setting means.

Further, according to the configuration of the first invention, the control means can be operated by switching to the non-correction control mode, so that the seedlings taken out by the seedling planting mechanism are initially or at the initial stage when the seedling lateral feed is resumed after the seedling longitudinal feed. It is possible to prevent the size of the seedlings in the vertical direction from becoming extremely small.
That is, depending on the mat-shaped seedling, such as the mat-shaped seedling root being soft, an abnormally large displacement of the mat-shaped seedling may occur when the seedling is fed laterally. In addition, when moving and traveling over the heel, abnormally large movements of the mat-like seedlings are likely to occur due to machine vibration. In these cases, the detection result by the seedling deviation amount detection means is adopted, and when the seedling vertical feed is performed in the correction control mode, a correction control target vertical feed amount that is extremely smaller than the set control target vertical feed amount is set, The seedling vertical feed based on the corrected control target vertical feed amount is performed. Then, at the initial stage or the initial stage when the seedling lateral feed is resumed after the seedling vertical feed, the shift of the seedling does not occur so much, and the size of the seedlings taken out by the seedling planting mechanism in the vertical direction becomes extremely small. Even when an abnormally large seedling deviation occurs during seedling horizontal feeding or when a mat-like seedling in which such a situation occurs, if the seedling longitudinal feed is performed in the non-correction control mode, When vertical feed is performed, the vertical feed is driven by the vertical carrier so that the mat-like seedlings are fed vertically to the set control target vertical feed amount regardless of the amount of shift of the mat-like seedlings during transverse feed. Is done. Then, even at the beginning or in the initial stage when the seedling vertical feeding is finished and the seedling lateral feeding is resumed, the size of the seedlings taken out by the seedling planting mechanism in the vertical direction is the same as or almost the same as the size set by the vertical feed amount setting means. Be the same.
Thus, by operating the control means in the correction control mode, the amount of seedlings used for seedling planting per unit area of the rice field becomes uniform or almost uniform regardless of whether the mat-like seedlings move or not. Thus, it is possible to perform seedling planting work with a good finish with little change in the number of seedlings contained in the planted seedlings so that the seedlings prepared in this manner are less likely to be deficient. In addition, even for mat-like seedlings that are prone to large displacement movements, by operating the control means in the non-correction control mode, good seedling planting work that avoids the seedlings taken out by the seedling planting mechanism from becoming the above-mentioned minimal seedlings can be performed. It can be carried out.

According to the second aspect of the present invention, in the configuration of the first aspect of the present invention, seedling movement amount detection means for detecting a vertical movement amount of the mat-like seedlings on the seedling stand in a state in which the vertical feed carrier is driven, A storage unit that stores a longitudinal feeding error during the longitudinal feeding of the mat-like seedling by the feeding carrier, and the control means moves the seedling every time the mat-like seedling is vertically fed by the longitudinal feeding carrier. and the amount detected detected vertical moving amount by means before Kiho positive control target longitudinal feed amount calculating said longitudinal feed errors based on, updating said longitudinal feed errors the storage unit is stored by the longitudinal feed errors that this operation and, mat nearest prior Kiho positive control target longitudinal feed amount, is corrected based on the detected shift the longitudinal feed error after updated by the seedling shift amount detection means, then by the longitudinal feeding carrier Set the correction control target vertical feed amount for vertical feeding of seedlings It is configured to.
According to a third aspect of the present invention, in the configuration of the first or second aspect of the present invention, a drive rotator and a driven rotator coupled to the longitudinal feed carrier via a one-way rotation clutch are provided. Return by which the driven rotator returns and biases the passive part to the standby position while the active part of the drive rotator is in contact with the passive part of the driven rotator waiting at a predetermined standby position due to rotation. A vertical feed drive unit configured to drive the vertical feed carrier by a predetermined drive amount by rotating in the seedling vertical feed direction against the action of a spring, and the drive changing mechanism includes the drive change mechanism, The drive amount of the longitudinally fed transport body is changed by operating the receiving member that receives the passive portion that returns to the standby position by the action of a return spring to change the predetermined standby position. It is.

The fourth invention, in the construction of the first to third invention, whether said control means, the input information to perform the adjustment operation of the drive changing mechanism according to the correction control mode is abnormal information If it is determined that the information is abnormal information, the mode is automatically switched to the non-correction control mode.

According to the configuration of the fourth aspect of the invention, the control means automatically switches from the correction control mode to the non-correction control mode according to the input information, and various malfunctions such as a conveyance failure and a detection failure when the seedling is vertically conveyed. When a detection failure occurs, the automatic drive amount change of the longitudinally fed transport body can be stopped. Then, it is possible to prevent the actual feeding amount from being excessive or insufficient by changing the driving amount of the longitudinally fed transport body despite the occurrence of trouble. As a result, seedling planting work that makes the amount of seedlings used per unit area uniform or almost uniform and reduces the number of seedlings contained in the planted seedlings avoids the seedlings taken out by the seedling planting mechanism from becoming very small seedlings. The seedling planting work can be performed easily without the need for special switching work.

The fifth invention, in the configuration of the fourth invention, the control means, the input information from the seedling shift amount detection means performs an adjusting operation of the drive changing mechanism according to the correction control mode is the abnormal information It is configured to determine whether or not.

According to the configuration of the fifth aspect of the invention, when an abnormal amount of shifting of the mat-shaped seedling occurs due to the movement of the body, the movement exceeding the heel, the vibration of the airframe due to the planting traveling, or the softness of the root of the mat-shaped seedling, The control means automatically switches from the correction control mode to the non-correction control mode, and the automatic drive amount change of the longitudinally fed transport body is not performed. Then, it is possible to prevent the actual feeding amount from being excessive or deficient due to the change in the driving amount of the vertical feeding carrier regardless of the occurrence of the abnormal shift movement. This allows seedling planting to make the amount of seedlings used per unit area uniform or nearly uniform and reduce changes in the number of seedlings contained in planted seedlings, even if large running vibration occurs or soft seedlings Both the work and the seedling planting work that avoids the seedlings taken out by the seedling planting mechanism from becoming very small seedlings can be easily performed without requiring any special switching work.

The sixth invention, in the configuration of the fourth invention, the control means, abnormal information to adjust the operation of the detection information Naetate feeding by the longitudinal feed carrier correction control mode by said drive changing mechanism It is configured to determine whether or not.

According to the configuration of the sixth aspect of the invention, when the mat-like seedling is vertically fed by the vertically feeding carrier, if there is a trouble such as a detection failure, the automatic drive amount change of the vertically feeding carrier is stopped. Can do. Then, it is possible to prevent the actual feeding amount from being excessive or insufficient by changing the driving amount of the longitudinally fed transport body despite the occurrence of trouble. As a result, seedling planting work that makes the amount of seedlings used per unit area uniform or almost uniform and reduces the number of seedlings contained in the planted seedlings avoids the seedlings taken out by the seedling planting mechanism from becoming very small seedlings. The seedling planting work can be performed easily without the need for special switching work.

Configuration of the seventh invention, in the configuration of the fourth invention, the control means, in the seedling stage of transverse feed information to adjust operation of the drive changing mechanism according to the correction control mode is the abnormal information It is configured to determine whether or not.

According to the configuration of the seventh aspect of the present invention, if there is an operation failure or a detection failure in the lateral feed of the seedling platform, the automatic drive amount change of the longitudinal feed carrier can be stopped. Then, the drive amount of the vertical feed carrier is changed even if the seedling stage has not reached the lateral feed stroke end, or the vertical feed conveyance is performed even if the seedling stage has reached the horizontal feed stroke end. It is possible to prevent the trouble that the body drive amount is not changed. As a result, seedling planting work that makes the amount of seedlings used per unit area uniform or almost uniform and reduces the number of seedlings contained in the planted seedlings avoids the seedlings taken out by the seedling planting mechanism from becoming very small seedlings. The seedling planting work can be performed easily without the need for special switching work.

Construction of the eighth invention, in the configuration of the fourth invention, the control means, the setting by the longitudinal feeding amount setting means information to adjust operation of the drive changing mechanism according to the correction control mode in the abnormality information It is configured to determine whether or not there is.

According to the configuration of the eighth aspect of the invention, when the detection failure of the setting by the vertical feed amount setting means occurs, the automatic drive amount change of the vertical feed carrier can be stopped. Then, regardless of the occurrence of a detection failure, the vertical feed carrier is automatically changed in driving amount, and the amount of seedling supplied by the seedling planting mechanism by driving the vertical feed carrier is not as desired. Occurrence can be prevented. As a result, seedling planting work that makes the amount of seedlings used per unit area uniform or almost uniform and reduces the number of seedlings contained in the planted seedlings avoids the seedlings taken out by the seedling planting mechanism from becoming very small seedlings. The seedling planting work can be performed easily without the need for special switching work.

The ninth invention, in the configuration of the fourth invention, the control means, abnormal information to the information detected by the vehicle speed detecting means for detecting a vehicle running speed to adjust operation of the drive changing mechanism by the correction control mode It is configured to determine whether or not.

According to the configuration of the ninth aspect of the present invention, when the vehicle body travels at a moving speed or a speed exceeding the eaves, it is possible to stop the automatic drive amount change of the longitudinally fed transport body. Then, despite the occurrence of an abnormally large shift of the seedling caused by the machine vibration due to moving and moving over the heel, the drive amount of the vertical feed carrier is changed and the actual seedling supply amount becomes excessive or insufficient. Can be prevented. As a result, seedling planting work that makes the amount of seedlings used per unit area uniform or almost uniform and reduces the number of seedlings contained in the planted seedlings avoids the seedlings taken out by the seedling planting mechanism from becoming very small seedlings. The seedling planting work can be performed easily without the need for special switching work.

The tenth invention, in the configuration of the fourth or fifth invention, including an alarm means for warning an abnormality occurrence, the control means, the input information to perform the adjustment operation of the drive changing mechanism according to the correction control mode If it is determined that the information is abnormal, the alarm means is operated.

According to the configuration of the tenth aspect of the present invention, when the control means switches from the correction control mode to the non-correction control mode, this can be known by the operation of the alarm means. In this way, seedling planting work with uniform or almost uniform seedling usage per unit area and less change in the number of seedlings in planted seedlings can be avoided as the seedlings taken out by the seedling planting mechanism become very small seedlings. This seedling planting operation can be performed easily and without any special switching effort, and the switching can be recognized quickly and easily.

Embodiments of the present invention will be described below with reference to the drawings.
FIG. 1 is a side view showing the entire riding rice transplanter with a fertilizer applicator equipped with a seedling planting apparatus according to a first embodiment of the present invention. FIG. 2 is a plan view showing the entire riding rice transplanter with a fertilizer applicator equipped with the seedling planting apparatus of the first embodiment. As shown in these figures, the riding type rice transplanter with a fertilizer is self-propelled with a pair of left and right steering operations and front wheels 1 and 1 that can be driven and a pair of rear wheels 2 and 2 that can be driven freely. The vehicle body, the seedling planting device 10 according to the embodiment of the present invention connected to the rear portion of the vehicle body frame 3 of the self-propelled vehicle body, and the fertilizer tank 21 located near the rear side of the driver seat 4 of the self-propelled vehicle body. And a fertilizer application device 20.

  The self-propelled vehicle body includes the left and right front wheels 1 and 1 and the left and right rear wheels 2 and 2, as well as a driving portion having an engine 5 provided at the front portion of the vehicle body, a driving seat 4 and a steering wheel 6. And a reserve seedling storage device 7 provided on both lateral sides of the driving part. The self-propelled vehicle body transmits the driving force from the engine 5 to the seedling planting device 10 by the rotation transmission shaft 8 provided in place of the rear portion of the vehicle body and the seedling planting device 10.

  The seedling planting device 10 is connected to the vehicle body frame 3 via a link mechanism 9. This seedling planting device 10 is a descending operation in which the grounding float 11 provided in the seedling planting device 10 is grounded to the rice field by the link mechanism 9 swinging up and down with respect to the vehicle body frame 3 by a hydraulic lifting cylinder 9a. The state is moved up and down to the non-working state in which the grounding float 11 is raised from the surface.

  FIG. 2 shows the structure of the seedling planting device 10 in plan view. FIG. 3 is a side view of the seedling planting device 10. FIG. 4 shows the structure of the seedling planting device 10 in plan view. As shown in these drawings, the seedling planting device 10 includes a main frame 12 made of a steel pipe material along the lateral direction of the seedling planting device, and from the main frame 12 toward the rear side of the self-propelled vehicle body, in the lateral direction of the self-propelled vehicle body. A planting device frame comprising a plurality of planting drive cases 13 extended side by side, a seedling planting mechanism 14 provided on both sides of the rear end of each planting drive case 13, and the planting device frame One seedling platform 15 provided in a downwardly inclined posture located at a lower arrangement height on the rear end side above the front end side of the two and a plurality provided side by side in the lateral direction of the self-propelled vehicle body at the lower portion of the planting device frame The grounding float 11 is provided.

  The fertilizer application device 20 includes the fertilizer tank 21, a fertilizer feeding device 22 provided in the lower part of the fertilizer tank 21 in the lateral direction of the self-propelled vehicle body, and an electric blower connected to a fertilizer feeding section of each fertilizer feeding device 22. 23, and a fertilizer hose 24 extended from the fertilizer delivery section of each fertilizer feeding device 22 toward the rear of the self-propelled vehicle body. The extending end portions of the plurality of fertilizer application hoses 24 are connected to a plurality of fertilizer applicators 25 provided in the seedling planting device 10, respectively. The plurality of fertilizer applicators 25 are supported by being distributed in the plurality of grounding floats 11 in the lateral direction of the seedling planting device so as to be positioned one by one near the front side of the seedling planting mechanism 14.

  This riding type rice transplanter with a fertilizer application performs the rice planting work of 8 articles and the fertilization work with respect to a planting seedling. That is, when the seedling planting device 10 is in the descending work state and the self-propelled vehicle body is driven, the seedling planting device 10 leveles the surface by the grounding float 11 and the eight seedling planting mechanisms arranged in the lateral direction of the self-propelled aircraft body. 14, the block seedlings are taken out from the mat-like seedlings A placed on the seedling placing stand 15, and the block seedlings are planted on the field after leveling. Along with this, the fertilizer application device 20 feeds the granular fertilizer stored in the fertilizer tank 21 from the fertilizer tank 21 by each fertilizer feed device 22, and sends this feed fertilizer to the fertilizer hose 24 by the conveying wind from the electric blower 23. Each fertilizer applicator 25 forms a groove near the side of the seedling planting site by the seedling planting mechanism 14 on the rice field, and supplies fertilizer from the fertilizer hose 24 into the formed groove.

Next, the seedling planting device 10 will be described in further detail.
FIG. 3 shows the structure of the seedling planting mechanism 14 in a side view, and FIG. 4 shows the structure of the seedling planting mechanism 14 in a plan view. As shown in these drawings, each seedling planting mechanism 14 includes a rotary case 14b that is supported by the planting drive case 13 via a rotary support shaft 14a so as to be freely rotatable, and rotates at both ends of the rotary case 14b. A planting arm 14d supported so as to be able to be driven and rotated via a support shaft 14c and a seedling planting claw 14e supported by each planting arm 14d are provided. When the rotary case 14b is driven and rotated, each planting arm 14d rotates inside the rotary case 14b while rotating with respect to the planting drive case 13 around the axis of the rotation support shaft 14a (see FIG. It rotates with respect to the rotary case 14b around the axis of the rotation support shaft 14c by the action of (not shown).

  That is, each seedling planting mechanism 14 is input to the feed case 16 located at the center of the main frame 12 by the rotary transmission shaft 8 and transmitted from the feed case 16 to the planting drive case 13 by the rotary transmission shaft 17. Driven by driving force. Thereby, each seedling planting mechanism 14 reciprocally moves each seedling planting claw 14e up and down along the rotation path S (see FIG. 3) over the seedling supply port 18 and the rice field of the seedling table 15 and The seedling planting claws 14e, 14e perform a seedling planting movement in which the seedling planting nails 14e alternately pass through the seedling supply port 18, and block for one stock from the lower end portion of the mat-like seedling A placed on the seedling platform 15 by each seedling planting claw 14e. The seedlings are cut and taken out, and the taken out block seedlings are transported down to the rice field and planted.

FIG. 2 shows the structure of the seedling table 15 in plan view, and FIG. 3 shows the support structure of the seedling table 15. As shown in these drawings, the seedling stage 15 includes seedling placement parts 15a corresponding to the seedling planting mechanisms 14 in a state in which the seedling stage 15a is aligned in the lateral direction of the seedling stage (the lateral direction of the self-propelled machine body). The lower end side of the seedling placing table 15 is slidably supported by a guide rail 32 supported by a holder 30 fixed to the planting drive case 13 via a connecting member 31. A plurality of the connecting members 31 are provided side by side in the longitudinal direction of the guide rail 32. The seedling support frame 15 b fixed to the upper end side of the seedling support 15 is supported by a roller 34 included in a column 33 erected on the main frame 12.
That is, the seedling stage 15 stores the mat-like seedlings A to be supplied to each seedling planting mechanism 14 in a state where they are placed side by side in the lateral direction of the seedling stage, and is guided by the guide rails 32 in this state and each seedling planting mechanism. 14 moves in the lateral direction of the seedling planting device. As shown in FIG. 6, the guide rail 32 includes a seedling receiving portion 32a arranged on the lower end side of the seedling placing table 15, and the lower end portion of the mat-like seedling A in each seedling placing portion 15a by the seedling receiving portion 32a. The lower limit of each mat-like seedling A on the seedling stage 15 is set. Moreover, the guide rail 32 is provided with a notch hole provided in the seedling receiving part 32a corresponding to each seedling planting mechanism 14, and the seedling supply port 18 is formed by this notch hole.

  As shown in FIG. 4, a seedling lateral feed mechanism 40 is provided across the feed case 16 and the seedling platform 15. The seedling lateral feed mechanism 40 includes a lateral feed shaft 41 that is rotatably supported by the feed case 16 and a lateral feed body 42 that is mounted on the lateral feed shaft 41 so as to be relatively rotatable and slidable. . The transverse feed shaft 41 is rotationally driven in conjunction with the drive of each seedling planting mechanism 14 by the driving force transmitted to the feed case 16 by the rotary transmission shaft 8, and is a spiral transverse feed mechanism provided on the transverse feed shaft 41. The transverse feed body 42 is reciprocated along the transverse feed shaft 41 by the action of the stop groove. When the lateral feed body 42 is moved and operated by the lateral feed shaft 41, the seed feed stage 15 is moved together for connection with the seedling stage 15 by the connecting portion 42 a of the lateral feed body 42.

  That is, the seedling horizontal feed mechanism 40 rotates the horizontal feed shaft 41 in conjunction with the seedling planting movement of each seedling planting mechanism 14, and the horizontal feed shaft 41 moves the seedling mounting table 15 to the left and right via the horizontal feed body 42. Move back and forth in the direction. Thereby, the seedling horizontal feed mechanism 40 is configured so that each seedling planting mechanism 14 sequentially takes out seedlings from one end side to the other end side in the lateral direction of the lower end portion of the mat-like seedling A. The mat-like seedling A is reciprocated in the left-right direction with respect to the corresponding seedling supply port 18.

  As shown in FIGS. 2, 3, and 4, the seedling placing table 15 includes a pair of seedling vertical feed belts 50 arranged in the widthwise direction of the seedling placing table on the lower end side of each seedling placing unit 15 a. Each seedling vertical feed belt 50 is driven by a belt drive wheel 51 around which the lower end side of the seedling vertical feed belt 50 in the vertical direction of the seedling stand is wound, and is mat-shaped placed on the seedling placement portion 15a. The seedling A is vertically fed toward the seedling supply port 18.

As shown in FIG. 4, a seedling vertical feed mechanism 52 is provided across the feed case 16 and the seedling stage 15. The seedling vertical feed mechanism 52 includes a vertical feed shaft 53 that is rotatably supported by the feed case 16, a transmission shaft 54 that is rotatably supported on the back side of the seedling platform 15, and the seedling platform 15. And a belt drive unit (vertical feed drive unit) 60 provided side by side in the lateral direction of the seedling platform.

  As shown in FIGS. 4 and 6, the transmission shaft 54 includes a passive arm 55 and a positioning piece 56 that are provided in an intermediate portion of the transmission shaft 54 so as to be integrally rotatable. The passive arm 55 is oscillated and biased by a return spring 58 to a standby position determined by the positioning piece 56 being in contact with and supported by the stopper portion 57a of the stopper arm 57. The transmission shaft 54 reciprocates in the left-right direction together with the seedling table 15 with respect to the feed case 16, and when the seedling table 15 reaches the left lateral movement stroke end, the passive arm 55 rotates integrally with the vertical feed shaft 53. It enters into the rotation path of one vertical feed arm 53a of a pair of left and right vertical feed arms 53a, 53a that are provided movably. When the seedling stage 15 reaches the right side lateral movement stroke end, the passive arm 55 enters the rotation path of the other vertical feed arm 53 a of the vertical feed shaft 53. Even when the passive arm 55 enters the rotation path of any of the vertical feeding arms 53a, the transmission roller 53b of the vertical feeding arm 53a contacts the passive arm 55, and the passive arm 55 is driven to swing from the standby position to be transmitted. 54 is driven. At this time, the positioning piece 56 swings integrally with the passive arm 55. When the passive arm 55 swings a predetermined angle from the standby position, the transmission roller 53b of the longitudinal feed arm 53a is detached from the passive arm 55, the rotation of the transmission shaft 54 is stopped, and the passive arm 55 and the positioning piece 56 are returned. Due to the spring 58, the return swinging occurs, the positioning piece 56 comes into contact with the stopper portion 57a, and the passive arm 55 returns to the standby position.

As shown in FIG. 4, the eight seedling placement units 15a are divided into four seedlings so that two adjacent seedling placement units 15a belong to one seedling planting unit strip. The belt drive units 60 are grouped into unit strips, and are provided so as to belong to one seedling planting strip one by one. FIG. 7 is a cross-sectional view of the belt driving unit 60. FIG. 9 is a perspective view of the belt driving unit 60 in an exploded state. FIG. 13 is a side view of the belt driving unit 60. As shown in these drawings, each belt driving unit 60 includes one transmission rotor 62 and a rotation angle adjusting rotor (driven rotor ) that is externally fitted to the cylindrical shaft portion 62b of the transmission rotor 62 so as to be relatively rotatable. 63, a drive interlocking hook (driving rotator) 64 provided integrally with the transmission shaft 54, and a positioning arm (receiving member) 65 supported rotatably on the cylindrical shaft portion 62b of the transmission rotor 62. And a one-way rotation clutch 66 provided across the rotation angle adjusting rotor 63 and the cylindrical shaft portion 62b of the transmission rotor 62.

  The transmission rotor 62 includes a plurality of transmission claws 62a provided at an end opposite to the side where the cylindrical shaft portion 62b is located, and all the belt driving wheels of one seedling planting unit strip to which the belt driving unit 60 belongs. One belt drive wheel body 51 of the body 51 is linked to one end side of the belt driving wheel body 51 so as to be integrally rotatable by the plurality of transmission claws 62a. The transmission rotor 62 is fitted on the transmission shaft 54 via a bush 68 so as to be relatively rotatable. The rotation angle adjustment rotor 63 is urged to rotate by a return spring 67 at a position where a passive portion 63 a provided on one end side of the rotation angle adjustment rotor 63 is in contact with and supported by the base of the positioning arm 65. All the belt drive wheels 51 in one seedling planting unit strip to which the belt drive unit 60 belongs are connected by a single belt drive shaft 61 so as to be integrally rotatable. The belt drive shaft 61 is fitted on the transmission shaft 54 so as to be relatively rotatable.

8A shows a stopped state of the transmission shaft 54 and the drive interlocking hook 64, and FIG. 8B shows a driving state of the transmission shaft 54 and the drive interlocking hook 64. As shown in these drawings, the drive interlocking hook 64 is positioned at the standby position X when the transmission shaft 54 is stopped, and is driven to rotate by the transmission shaft 54 when the transmission shaft 54 is driven. The drive position Y is rotated from the position X by a drive angle a equal to the drive rotation angle of the transmission shaft 54. The drive interlocking hook 64 driven to the drive position Y is brought into contact with the passive portion 63a of the rotation angle adjustment rotor 63 by a hook portion (active portion) 64a, and rotationally drives the rotation angle adjustment rotor 63 from the standby position M. The driven rotation angle adjusting rotor 63 drives the transmission rotor 62 via the one-way rotation clutch 66 and drives one belt driving wheel body 51 via the transmission claw 62a. The belt driving wheel body 51 and the belt The other belt drive wheel body 51 is rotationally driven via the drive shaft 61. Thereby, the driven rotation angle adjusting rotor 63 feeds all the seedling vertical feeding belts 50 located in the two seedling placement portions 15a of one seedling planting unit strip to which the belt driving unit 60 belongs to the seedling vertical feeding direction. To drive.

  Each belt drive unit 60 includes a drive change mechanism 80 having the positioning arm 65. FIG. 12 shows the structure of the drive change mechanism 80 in a bottom view. FIG. 13 shows the structure of the drive change mechanism 80 in a side view. As shown in these drawings, the drive changing mechanism 80 includes the positioning arm 65, the rotation angle adjusting rotor 63, a speed reduction mechanism 81 supported by the seedling stage 15, and the speed reduction mechanism 81. And a vertical feed correction motor 82 composed of an electric motor. The vertical feed correction motor 82 includes the speed reduction mechanism 81, a swingable drive arm 86 coupled to the output shaft 81 a of the speed reduction mechanism 81 so as to be integrally rotatable, and the drive arm 86 in conjunction with the positioning arm 65. The positioning link 65 is linked to the positioning arm 65 through the linked link 87.

  FIG. 10A is a side view of the drive changing mechanism 80 in a state where the positioning arm 65 is operated in the vertical feed area D. FIG. FIG. 10B is a side view of the drive change mechanism 80 with the positioning arm 65 being operated to the stop position T. FIG. As shown in these drawings, when the longitudinal feed correction motor 82 is driven, the positioning arm 65 is driven by the drive force of the longitudinal feed correction motor 82 and the operating force of the return spring 67. It is swung around, operated in the vertical feed area D, or switched to the stop position T. The positioning arm 65 operated in the vertical feed area D positions the rotation angle adjusting rotor 63 at the standby position M. When the position of the positioning arm 65 is changed in the vertical feed region D, the positioning arm 65 changes and adjusts the standby position M of the rotation angle adjusting rotor 63. When the rotation angle adjustment rotor 63 is positioned at the standby position M, when the transmission shaft 54 is driven and the drive interlock hook 64 is driven at the drive angle a, the hook portion 64a of the drive interlock hook 64 adjusts the rotation angle. The rotor 63 is driven by coming into contact with the passive portion 63a. When the standby position M of the rotation angle adjustment rotor 63 is changed, the interval between the passive portion 63a of the rotation angle adjustment rotor 63 and the hook portion 64a of the drive interlocking hook 64 positioned at the standby position X changes in size. The rotation angle of the rotation angle adjustment rotor 63 when the adjustment rotor 63 is rotationally driven by the drive interlocking hook 64 changes in size.

  On the other hand, the positioning arm 65 operated to the stop position T positions the rotation angle adjusting rotor 63 at the transmission cut position ST. When the rotation angle adjusting rotor 63 is positioned at the transmission cut position ST, the distance between the passive portion 63 of the rotation angle adjusting rotor 63 and the hook portion 64a of the drive interlocking hook 64 positioned at the standby position X is the drive of the driving interlocking hook 64. Even when the transmission shaft 54 is driven and the drive interlocking hook 64 is driven to rotate around the drive angle a by being larger than the angle a, the rotation angle adjusting rotor 63 is not driven.

  That is, when the vertical feed correction motor 82 is driven and the positioning arm 65 is operated to the vertical feed range D, the drive change mechanism 80 is driven in conjunction with the drive shaft 54 when the drive shaft 54 is driven. The driving force of the hook 64 is transmitted to the transmission rotor 62 by the rotation angle adjusting rotor 63, and the vertical feed belt driving state is set so as to drive the seedling vertical feed belt 50. In the drive changing mechanism 80 in the longitudinal feed belt driving state, the rotation angle at which the rotation angle adjusting rotor 63 is driven by the drive interlocking hook 64 is adjusted by changing and adjusting the operation position of the positioning arm 65 in the vertical feed region D. Is adjusted so as to increase or decrease the drive amount of the seedling vertical conveyance belt 50. On the other hand, when the longitudinal feed correction motor 82 is driven and the positioning arm 65 is operated to the stop position S, the drive changing mechanism 80 uses the drive force of the drive interlocking hook 64 to drive the transmission rotor even when the transmission shaft 54 is driven. The vertical feed belt is stopped so that the seedling vertical feed belt 50 is maintained in the stopped state.

That is, the seedling vertical feed mechanism 52 transmits the driving force of the vertical feed shaft 53 to the transmission shaft 54 by the contact between the vertical feed arm 53a and the passive arm 55 every time the seedling platform 15 reaches the left and right lateral movement stroke ends. Then, the drive interlocking hook 64 of each belt driving unit 60 is driven by the driving angle a by the transmission shaft 54 to operate each belt driving unit 60, and the seedling planting unit to which the belt driving unit 60 belongs is driven by each belt driving unit 60. The belt driving wheel body 51 located on the two seedling placement portions 15a of the strip is driven. As a result, the seedling vertical feed mechanism 52 is configured so that if the drive change mechanism 80 is operated to the vertical feed belt driving state by the vertical feed correction motor 82 when the seedling stage 15 reaches the left and right lateral movement stroke ends, If the seedling vertical feed belt 50 of the seedling placement unit 15a in the seedling planting unit strip to which the drive change mechanism 80 belongs is driven and the drive change mechanism 80 is operated by the vertical feed correction motor 82 to the vertical feed belt stopped state, this The seedling vertical feed belt 50 of the seedling placement section 15a in the seedling planting unit strip to which the drive changing mechanism 80 belongs is not driven. Further, when the seedling vertical feed belt 50 is driven, a drive amount corresponding to the standby position M adjusted by the vertical feed correction motor 82 of the rotation angle adjusting rotor 63 is driven.
The vertical feed arm 53a is driven at a driving speed corresponding to this so that the seedling vertical feeding by the seedling vertical feed belt 50 is completed while the seedling planting mechanism 14 performs the seedling planting movement between the seedlings in the aircraft traveling direction. ing.

  As shown in FIG. 5, a seedling removal amount changing mechanism 70 provided with a removal amount adjusting lever 71 is provided on the back side of the seedling mount 15. The seedling removal amount changing mechanism 70 includes an operation arm 72 that is engaged with the upper end portion 31 a of each connection member 31 in addition to the amount adjustment lever 71.

  The amount adjustment lever 71 and the plurality of operation arms 72 are connected to a rotation support shaft 74 rotatably supported by a bracket 73 fixed to the planting drive case 13 so as to be integrally rotatable. When the amount adjustment lever 71 is swung along the guide groove of the lever guide 75 (see FIG. 5) around the axis of the rotation support shaft 74, each operation arm 72 is rotated around the axis of the rotation support shaft 74. The connecting member 31 is moved up and down with respect to the holder 30. Then, both the seedling stage 15 and the guide rail 32 are moved up and down with respect to the rotation trajectory S of the seedling planting mechanism 14, and the block seedling mat that each seedling planting mechanism 14 takes out from the mat-like seedling A is operated. The size of the seedlings in the vertical direction increases or decreases. When the amount adjustment lever 71 is engaged with the notch portion of the lever guide 75 and is held at the operation position, the seedling table 15 and the guide rail 32 are held at the adjustment position. As shown in FIG. 6, the seedling removal amount changing mechanism 70 includes the stopper arm 57 that is rotatably supported by the rotating support shaft 74.

  That is, the seedling removal amount changing mechanism 70 is adjusted by swinging the amount adjustment lever 71 around the axis of the rotation support shaft 74, and each seedling planting mechanism 14 removes the block seedling from the mat-like seedling A. The size of the mat-like seedlings in the vertical direction is changed so as to increase or decrease. When the seedling removal amount is thus changed, the stopper arm 57 swings and adjusts the positioning piece 56 around the axis of the transmission shaft 54 by the stopper portion 57a, and changes and adjusts the standby position of the passive arm 55. That is, as the size of the block seedlings taken out by each seedling planting mechanism 14 in the mat-like seedling longitudinal direction is increased, the swinging angle at which the passive arm 55 is driven by the longitudinal feed arm 53a is increased. The standby position of the arm 55 is changed and adjusted.

  FIG. 16 is a block diagram of a seedling supply control device provided in the seedling planting device 10. As shown in this figure, the seedling supply control device includes the plurality of drive change mechanisms 80, drive change detection means 85 provided in each drive change mechanism 80, and the vertical feed correction motor of each drive change mechanism 80. 82, the four seedling movement amount detection means 90 linked to the control means 95, the vertical feed amount setting means 96 linked to the control means 95, and the detection switch 97a to the control means 95. Are connected to each other, a feed number detecting means 97 linked to the control means 95, a feed detecting means 98 linked to the control means 95 to the detection switch 98a, and a control mode selecting means 99 linked to the control means 97.

  As shown in FIGS. 11, 12, and 13, the drive change detection means 85 provided in each drive change mechanism 80 is configured by a potentiometer supported by a base member 83 that supports the positioning arm 65 via a bracket 84. is there. The rotation operation shaft 85a of the potentiometer includes a swingable operation arm 88 coupled to the rotation operation shaft 85a so as to be integrally rotatable, and an interlocking link 89 linking the operation arm 88 to the positioning arm 65. Via the positioning arm 65. That is, each drive change detection means 85 detects the operation position of the positioning arm 65 of the drive change mechanism 80 provided with the drive change detection means 85 and feeds back the detection result to the control means 95.

As shown in FIGS. 2 and 4, the four seedling movement amount detecting means 90 are arranged on the seedling stage 15 in the horizontal direction of the seedling stage. The four seedling movement amount detection means 90 are arranged so that one seedling movement amount detection means 90 is positioned at one of the two seedling placement portions 15a of each seedling planting unit strip. FIG. 14 is a bottom view of the seedling movement amount detection means 90. FIG. 15 is a side view of the seedling movement amount detection means 90. As shown in these drawings, each seedling movement amount detection means 90 includes a rotating ring body 91 provided between the pair of seedling vertical feed belts 50, 50 on the lower end side of the seedling placement portion 15a, A rotary encoder 93 supported by a fixed bracket 92 is provided on the back side of the seedling table 15. The rotating ring body 91 is supported by a rotary operation shaft 93 a of the rotary encoder 93 facing the seedling stand so as to be integrally rotatable. The rotating ring body 91 includes a knurled portion 91a provided on the outer peripheral surface of the rotating ring body 91 so that slip between the rotating ring body 91 and the mat-like seedling A is unlikely to occur. A gear cutting portion may be employed instead of the knurling portion 91a .

  That is, the consumption of the mat-like seedlings A placed on the seedling placement unit 15a proceeds, and the rear end of the mat-like seedlings A moves to the seedling supply port 18 side beyond the rotating wheel 91, and the mat-like seedlings A As long as the rotating ring body 91 is not detached from the rotating ring body 91, the rotating ring body 91 is subjected to elastic deformation due to the weight of the mat-shaped seedling A applied to the rotating body 91, so that the rotating ring body 91 becomes the floor soil of the mat-shaped seedling A. The contact is biased to the bottom side of the part. As a result, when the mat-like seedling A moves toward the seedling supply port 18, the rotating wheel body 91 rotates accordingly, and the rotary encoder 93 rotates. That is, each seedling movement amount detection means 90 detects the vertical movement amount by the rotary encoder 93 when the mat-like seedling A moves vertically on the seedling placement portion unless the mat-like seedling A is removed from the rotating wheel body 91. The detection result is output to the control means 95.

  As shown in FIG. 16, the vertical feed amount setting means 96 is constituted by a rotary potentiometer in which a rotation operation unit is interlocked with the amount adjustment lever 71. When the seedling removal amount changing mechanism 70 is adjusted and the size of the extracted seedling in the mat-like seedling vertical direction is changed and set by the seedling planting mechanism 14, the vertical feed amount setting means 96 is set to change the extracted seedling. The size of the mat-like seedlings in the vertical direction is set as a control target vertical feed amount S0 for vertical feed control of the mat-like seedlings A, and this set control target vertical feed amount S0 is output to the control means 95.

As shown in FIG. 16, the transverse feed number detecting means 97 includes the detection switch 97a and a detection target piece 97b supported by the longitudinal feed shaft 53 so as to be integrally rotatable. The detection switch 97a is a proximity switch, and operates when the detection target piece 97b is rotated by the vertical feed shaft 53 and approaches the detection switch 97a.
That is, the transverse feed number detection means 97 detects the detection switch 97a every time the seedling planting claw 14e of each seedling planting mechanism 14 is taken out, and the control means 95 sets the detection operation number of the detection switch 97a to the mat shape. The seedling A is measured as the number of times of lateral feed, and based on the measurement result, it is detected whether or not the seedling lateral feed has reached the stroke end. Since this transverse feed number detecting means 97 detects the number of rotations of the vertical feed shaft 53 as the number of transverse feeds, the size of the seedlings in the lateral direction of the mat-like seedlings taken out from the mat-like seedlings A by the seedling planting mechanism 14 is determined. Even if it is changed, it is not necessary to change and set the set number of transverse feeds SN. That is, a lateral feed speed change device (not shown) that changes the size of the matted seedlings in the lateral direction of the picked seedling shifts on the lower side in the transmission direction with respect to the vertical feed shaft 53 to shift the lateral feed shaft 41. Do. For this reason, the rotational speed of the longitudinal feed shaft 53 is kept constant regardless of the speed change of the lateral feed shaft 41.

  As shown in FIG. 16, in addition to the detection switch 98a, the vertical feed detection means 98 includes a detection target piece 98b supported by the passive arm 55 of the transmission shaft 54 so as to be swingable integrally. The detection switch 98a is a proximity switch, and each time the passive arm 55 is driven by the longitudinal feed arm 53a and the transmission shaft 54 is driven, the detection target piece 98b is moved close to the detection switch 98a to perform a detection operation. That is, the vertical feed detection means 98 causes the control means 95 to detect that the detection switch 98a has been detected, and thereby causes the control means 95 to detect that the seedling vertical feed by the seedling vertical feed belt 50 has been performed.

  The control mode selection means 99 is constituted by a changeover switch that can be switched to three kinds of operation positions of a correction control position C1, a non-correction control position C2, and an automatic position C3. When the control mode selection means 99 is switched to the correction control position C1, the control mode selection means 99 outputs a correction control command to perform the seedling vertical feed control in the correction control mode to the control means 95, and switches to the non-correction control position C2. When this is done, a non-correction control command for causing the seedling vertical feed control to be performed in the non-correction control mode is output to the control means 95. An automatic switching command to be automatically switched to the control mode is output to the control means 95.

  The control means 95 is configured using a microcomputer provided on the self-running vehicle body. FIG. 17 is a flowchart of seedling supply control performed for each control unit, with the one seedling planting unit strip as one control unit. FIG. 18 is a flowchart in the correction control mode of the seedling vertical feed control performed for each control unit, with the one seedling planting unit strip as one control unit. FIG. 19 is a flowchart in a non-correcting control mode of seedling vertical feed control performed for each control unit, with the one seedling planting unit strip as one control unit. The control means 95 operates as shown in these drawings.

  That is, the control means 95 performs the seedling vertical feed control in the correction control mode when the correction control command is input from the control mode selection means 99, and does not perform the seedling vertical feed control when the non-correction command is input from the control mode selection means 99. Perform in correction control mode. When the automatic switching command is input from the control mode selection unit 99, the control unit 95 sets the seedling movement amount detection unit 90 while the seedling stage 15 is laterally moved from one lateral movement stroke end to the other lateral movement stroke end. Used as the seedling deviation amount detection means 101, the amount B of seedling deviation movement toward the seedling supply port 18 generated in the mat-like seedling A of the seedling stage 15 is detected, and this detection deviation amount B is set in advance. It is determined whether or not the detection deviation amount B0 is larger. When it is determined that the detected deviation amount B is larger than the set detected deviation amount B0, the seedling vertical feed control is performed in the non-correction control mode, and it is determined that the detected deviation amount B is not larger than the set detected deviation amount B0. In this case, the seedling vertical feed control is performed in the correction control mode.

  As the set detection deviation amount B0, a correction control target vertical feed amount corresponding to the detection deviation amount B0 is set, and the drive change mechanism 80 is adjusted based on the correction control target vertical feed amount to perform seedling vertical feed. If done, the seedling vertical feed amount becomes extremely small, and the size in the vertical direction of the seedlings taken out by the seedling planting mechanism 14 in the initial or initial stage after this vertical feeding of seedlings will be too small Is set.

  As shown in FIG. 18, in order to perform the seedling vertical feed control in the correction control mode, the control means 95 is based on the detection information by the vertical feed detection means 98 and the detection information by the horizontal feed number detection means 97. The number of times of horizontal feeding after the vertical feeding by the vertical feeding belt 50 is detected is detected. At this time, if it is detected that the seedling vertical feed by the seedling vertical feed belt 50 is performed, the detection is reset every time. Seedling movement until the detected number of transverse feeds KN reaches the preset number of feeds SN set in advance as being performed while the seedling platform 15 is laterally moved from one lateral movement stroke end to the other lateral movement stroke end. The amount detection means 90 is used as the seedling deviation amount detection means 101, and based on the detection information from the seedling deviation amount detection means 101, the mat shape generated in the seedling placement portion 15a with the seedling vertical feed belt 50 stopped. A deviation amount B of the seedling A toward the seedling supply port 18 is detected. When the detected transverse feed number KN reaches the set transverse feed number SN, the set longitudinal control feed amount setting unit 96 set control target longitudinal feed amount S0 is stored by the storage unit 102 (see FIG. 16). A correction control target vertical feed amount S1 corrected based on the error Z and the detected deviation amount B is set. The set control target vertical feed amount S0 is set to be common to the four control units. However, depending on the control unit, the detected deviation amount B and the stored vertical feed error Z may be different, and the correction control target vertical feed amount S1 may be different. When the correction control target vertical feed amount S1 is set, the vertical feed correction motor 82 is operated while the operation change position of the positioning arm 65 is fed back by the drive change detecting means 85, thereby adjusting the positioning arm 65 and adjusting the rotation angle. The standby position M of the rotor 63 is adjusted to a standby position corresponding to the correction control target vertical feed amount S1. That is, the standby position M of the rotation angle adjusting rotor 63 is adjusted so that the seedling vertical feed belt 50 is driven by a stroke corresponding to the correction control target feed amount S1. That is, as the correction control target vertical feed amount S1 is larger than the set control target feed amount S0, the correction control target feed amount S1 is set so that the rotation angle at which the rotation angle adjusting rotor 63 is driven by the drive interlocking hook 64 becomes larger. The standby position M of the rotation angle adjustment rotor 63 is adjusted so that the rotation angle at which the rotation angle adjustment rotor 63 is driven by the drive interlocking hook 64 becomes smaller as the set control target feed amount S0 is smaller. Thereafter, when it is determined that the seedling vertical feed by the seedling vertical feed belt 50 has been performed based on the detection information by the vertical feed detection means 98, the seedling vertical feed belt 50 is operated by the seedling vertical feed mechanism 52. A vertical movement amount of the mat-like seedling A generated on the mounting table 15 is detected based on detection information by the seedling movement amount detection means 90, and an error between the detected vertical movement amount SK and the correction control target vertical feed amount S1 is calculated. The calculated vertical feed error Z is updated and stored in the storage unit 102. That is, the newly calculated vertical feed error Z is stored in place of the previously stored stored vertical feed error Z.

  As shown in FIG. 19, in order to perform the seedling vertical feed control in the non-correction control mode, the control means 95 is based on the detection information by the vertical feed detection means 98 and the detection information by the horizontal feed frequency detection means 97. The number of transverse feeds after the seedling vertical feed by the seedling vertical feed belt 50 is detected is detected. At this time, if it is detected that the seedling vertical feed by the seedling vertical feed belt 50 is performed, the detection is reset every time. When the detected lateral feed number KN reaches a preset lateral feed number SN that is set in advance while the seedling stage 15 is laterally moved from one lateral movement stroke end to the other lateral movement stroke end, the longitudinal feed amount is set. Based on the set control target longitudinal feed amount S0 set by the means 96, the drive change detecting means 85 operates the longitudinal feed correction motor 82 while feeding back the operation position of the positioning arm 65, thereby adjusting the positioning arm 65. By operating, the standby position M of the rotation angle adjusting rotor 63 is adjusted to a standby position corresponding to the set control target vertical feed amount S0. That is, the standby position M of the rotation angle adjusting rotor 63 is adjusted so that the seedling vertical feed belt 50 is driven by a stroke corresponding to the set control target vertical feed amount S0.

Thereby, seedling supply to each seedling planting mechanism 14 is performed as follows.
That is, the seedling placing table 15 is operated to move laterally along the guide rail 32 in conjunction with the seedling planting movement of each seedling planting mechanism 14 by the seedling lateral feed mechanism 40. Thereby, the seedling placing stand 15 is directed from one end side to the other end side in the mat-like seedling lateral direction from the lower end portion of the mat-like seedling A placed on the seedling placing portion 15a to which each seedling planting mechanism 14 corresponds. Then, the mat-like seedlings A of the respective seedling placement units 15a are moved in the lateral direction of the seedling platform with respect to the corresponding seedling supply ports 18 so that the block seedlings are sequentially taken out. At this time, the control means 95 uses the seedling movement amount detection means 90 as the seedling deviation amount detection means 101 for each control unit, and based on the detection information by the seedling deviation amount detection means 101, the seedling lateral feed is performed. The seedling deviation amount B generated during the operation is detected.

  When the seedling stage 15 reaches the left and right lateral movement stroke ends, the passive arm 55 of the transmission shaft 54 enters the rotation path of the vertical feed arm 53a of the vertical feed shaft 53, and the passive arm 55 is driven by the vertical feed arm 53a. The seedling vertical feed mechanism 52 operates. Thereby, in the seedling placement part 15a of each of the four seedling planting unit strips, the seedling vertical feeding belt 50 provided in the two seedling placement units 15a, 15a of each seedling planting unit strip is supported by the corresponding belt driving unit 60. Driven, the mat-like seedling A is fed vertically toward the seedling supply port 18.

  At this time, if the control mode selection means 99 is operated to the correction control position C1, the control means 95 is set for each control unit by the vertical feed amount setting means 96 as common to the four control units. The storage vertical feed error Z stored as the control unit corresponding to the control target vertical feed amount S0 by the storage unit 102, and the detected deviation B detected as the control unit corresponding to the previous seedling horizontal feed The correction control target vertical feed amount S1 corrected based on the above is set, the vertical feed correction motor 82 is operated based on this correction control target vertical feed amount S1, and the standby position M of the rotation angle adjusting rotor 63 is set as the correction control target. An adjustment operation is performed to a standby position corresponding to the vertical feed amount S1. Thereby, the seedling vertical feed belt 50 of each control unit (each seedling planting unit strip) is driven with a stroke corresponding to the correction control target vertical feed amount S1, and the mat-like seedling A is directed toward the seedling supply port 18 and the correction control target. Vertical feed is performed so as to move the vertical feed amount S1. That is, during the previous seedling vertical feed, even if there is an excess or deficiency in the vertical feed of the seedling due to the inertia or slip of the mat-like seedling A, Even if the mat-like seedling A moves out of place due to the weight of the seedling A, the vibration of the seedling mount 15, the pulling of the seedling generated due to the seedling scraping by the seedling planting claws 14 e, etc. Even if the amount of vertical feeding of the seedlings that occurred and the magnitude of the shifting movement of the mat-like seedling A differ depending on the vertical feeding group (planting line unit), In the line unit, the shift amount of the mat-like seedling A is added to the vertical feed amount by the seedling vertical feed belt 50, and the actual vertical movement amount of the mat-like seedling A is set by the vertical feed amount setting means 96. Each seedling planting mechanism 14 becomes equal or almost equal amount To retrieve the block seedlings feed amount equal to the size set by the setting means 96 or approximately equal size, longitudinal feed mat Jonae A. When this seedling vertical feed is finished, the control means 95 compares the detected vertical movement amount SK by the seedling movement amount detection means 90 at the time of seedling vertical feed with the correction control target vertical feed amount S1 at the time of seedling vertical feed, and detects it. An error Z between the vertical movement amount SK and the correction control target vertical feed amount S1 is calculated, and the calculated vertical feed error Z is stored in the stored vertical feed for setting the correction control target vertical feed amount S1 at the next seedling vertical feed. As the error Z, the storage unit 102 updates and stores the previous storage vertical feed error Z.

  In addition, when the seedling vertical feeding belt 50 of each seedling planting unit is driven by the corresponding belt driving unit 60 to feed the mat-like seedling A vertically toward the seedling supply port 18, the control mode selection means 99 performs non-correction control. When operated to the position C2, the control unit 95 performs vertical control based on the set control target vertical feed amount S0 set by the vertical feed amount setting unit 96 as common to the four control units for each control unit. The feed correction motor 82 is operated to adjust the standby position M of the rotation angle adjusting rotor 63 to the standby position corresponding to the set control target vertical feed amount S0, and the seedling vertical feed belt 50 corresponds to the set control target vertical feed amount S0. Drive only the stroke. Thus, in each seedling planting unit strip, the seedling vertical feed belt 50 feeds the mat-like seedling A vertically to the seedling supply port 18 in an amount corresponding to the size set by the vertical feed amount setting means 96.

In addition, when the seedling vertical feeding belt 50 of each seedling planting unit is driven by the corresponding belt driving unit 60 to vertically feed the mat-like seedling A toward the seedling supply port 18, the control mode selection means 99 has an automatic position C3. If the deviation amount B of the mat-like seedling A generated at the time of the previous seedling lateral feeding toward the seedling supply port 18 is larger than the set detection deviation amount B0, the control means 95 controls As in the case where the mode selection means 99 is operated to the non-correction control position C2, for each control unit, the set control target vertical feed set as common to the four control units by the vertical feed amount setting means 96. The vertical feed correction motor 82 is operated based on the amount S0, the standby position M of the rotation angle adjusting rotor 63 is adjusted to the standby position corresponding to the set control target vertical feed amount S0, and the seedling vertical feed belt 50 is set to the set control target. Vertical feed It is driven by a stroke corresponding to the quantity S0. Thereby, the seedling vertical feed belt 50 feeds the mat-like seedling A vertically toward the seedling supply port 18 in an amount corresponding to the size set by the vertical feed amount setting means 96. On the other hand, when the deviation amount B of the mat-like seedling A generated at the time of the previous seedling lateral feed toward the seedling supply port 18 is not larger than the set detection deviation amount B0, the control means 95 is controlled by the control mode selection means 99. As in the case of being operated to the correction control position C2, for each control unit, the set control target vertical feed amount S0 set as common to the four control units by the vertical feed amount setting means 96 is stored in the storage unit. The correction control is performed by correcting based on the stored vertical feed error Z stored as that of the corresponding control unit 102 and the detected deviation amount B detected as that of the control unit corresponding to the previous seedling horizontal feed. A target vertical feed amount S1 is set, and the vertical feed correction motor 82 is operated based on the correction control target vertical feed amount S1. Thereby, the seedling vertical feed belt 50 is driven by a stroke corresponding to the correction control target vertical feed amount S1, and the mat-like seedling A is vertically fed toward the seedling supply port 18 by the correction control target vertical feed amount S1.

  When the control means 95 is in the automatic switching mode or the correction control mode according to a command from the control mode selection means 99, the detection information by the seedling movement amount detection means 90 and the transverse feed number detection means 97, Based on the setting information by the vertical feed amount setting means 96, the mode is automatically switched to the non-correction control mode.

  That is, the control means 95 determines whether or not the seedling vertical feed belt 50 has been driven based on information detected by the vertical feed detection means 98. When the control means 95 determines that the seedling vertical feed belt 50 has been driven, it is used for determination information for determining whether the seedling movement amount detection means 90 is detected and whether the seedling movement amount detection means 90 is in a normal state. Whether or not the seedling movement amount detection means 90 is in a normal state is detected based on the detection information for determination input in advance in the storage unit of the control means 95. When the control means 95 detects that the seedling movement amount detection means 90 is in a normal state, the detection information related to the vertical feeding of the seedlings by the seedling movement amount detection means 90 is to perform an adjustment operation of the drive change mechanism 80 in the correction control mode. Is determined to be normal information. Then, the control means 95 maintains the automatic switching mode or the correction control mode based on the determination detection result.

  On the other hand, when the control means 95 detects that the seedling movement amount detection means 90 is not in a normal state, the detection information regarding the seedling vertical feed by the seedling movement amount detection means 90 is the adjustment operation of the drive change mechanism 80 in the correction control mode. Judge that it is abnormal information to do. Then, the control means 95 automatically switches to the non-correction control mode based on this determination result, and does not change the drive amount of the seedling vertical feed belt 50 by the drive change mechanism 80.

  The control means 95 determines whether or not the seedling placing table 15 is being laterally fed based on the detection information of the operation state of a work clutch (not shown) that turns on and off the transmission to the seedling planting device 10. When the control means 95 determines that the lateral feed of the seedling platform 15 is being performed, the detection information by the horizontal feed number detecting means 97 and the determination for detecting whether or not the horizontal feed number detecting means 97 is in a normal state. Therefore, based on the detection information for determination inputted in advance in the storage unit of the control means 95, it is detected whether or not the transverse feed number detecting means 97 is in a normal state. When the control means 95 detects that the transverse feed number detecting means is in a normal state, the transverse feed information of the seedling table 15 by the transverse feed number detecting means 97 based on this detection result is the drive change mechanism 80 in the correction control mode. It is determined that the information is normal for performing the adjustment operation. Then, the control means 95 maintains the automatic switching mode or the correction control mode based on this determination result.

  On the other hand, if the control means 95 detects that the transverse feed number detecting means 97 is not in a normal state, the transverse feed information of the seedling table 15 by the transverse feed number detecting means 97 is based on the correction control mode based on this detection result. It is determined that the information is abnormal for performing the adjustment operation of the drive change mechanism 80. Then, the control means 95 automatically switches to the non-correction control mode based on this determination result, and does not change the drive amount of the seedling vertical feed belt 50 by the drive change mechanism 80.

  The control means 95 uses the vertical feed amount setting means 96 as a detection means, and determines whether or not the seedling removal amount changing mechanism 70 has been operated. When the control unit 95 determines that the seedling removal amount changing mechanism 70 has been operated, the setting information by the vertical feed amount setting unit 96 and a determination for determining whether or not the vertical feed amount setting unit 96 is in a normal state. Based on the setting information for determination input in advance in the storage unit of the control means 95, it is detected whether or not the vertical feed amount setting means 96 is in a normal state. When the control means 95 detects that the vertical feed amount setting means 97 is in a normal state, the setting information by the vertical feed amount setting means 97 performs the adjustment operation of the drive change mechanism 80 in the correction control mode based on this detection result. Is judged to be normal information. Then, the control means 95 maintains the automatic switching mode or the correction control mode based on this determination result.

  On the other hand, if the control means 95 detects that the vertical feed amount setting means 97 is not in a normal state, the setting information of the vertical feed amount setting means 97 is adjusted by the correction control mode based on this detection result. It is determined whether the information is abnormal information for the operation. Then, the control means 95 automatically switches to the non-correction control mode based on this determination result, and does not change the drive amount of the seedling vertical feed belt 50 by the drive change mechanism 80.

  As shown in FIG. 16, the alarm means 103 is linked to the control means 95. The alarm means 103 is provided in the control box 100 provided in the self-propelled vehicle body as shown in FIG.

  FIG. 20 is a flowchart of seedling reduction alarm control performed for each control unit, with each seedling planting unit strip as one control unit. As shown in this figure, the control means 95 determines whether or not the seedling vertical feed belt 50 is operating based on the information detected by the vertical feed detection means 98, and the seedling vertical feed belt 50 is operating. And when the detection information by the seedling movement amount detection means 90 is input, the mat-like seedling A of the seedling placement portion 15a is arranged at the location where the rotating ring body 91 of the seedling movement amount detection means 90 is arranged. It is detected that the set remaining amount determined by is not reduced. When it is determined that the seedling vertical feed belt 50 is operating and it is determined that the detection information by the seedling movement amount detection means 90 is not input, the mat-like seedling A of the seedling placement unit 15a is set to the set remaining amount. It detects that it decreased below, and operates alarm means 103.

  As a result, when the mat-like seedling A decreases below the set remaining amount in at least one of the four seedling placement portions 15a where the rotating wheel body 91 of the seedling movement amount detecting means 90 is installed, the mat-like seedling A is It comes off the rotating ring body 91. Thereafter, when the seedling vertical feed belt 50 is driven and the vertical feed detecting means 98 is detected and operated, the control means 95 operates the alarm means 103. Then, the alarm device 103 uses the liquid crystal screen to warn that there is a mat-like seedling A that has decreased below the set remaining amount on the seedling stage 15.

  FIG. 22 is a flowchart of abnormality occurrence alarm control performed for each control unit, with each seedling planting section as one control unit. As shown in this figure, the control means 95 receives an automatic switching command from the control mode selection means 99 and, based on information detected by the seedling deviation amount detection means 101, when the seedling vertical feed control is performed in the automatic switching mode. It is determined whether or not the detected deviation amount B calculated in step B is larger than the set detected deviation amount B0. When it is determined that the detected deviation amount B is larger than the set detected deviation amount B0, the input information from the seedling deviation amount detection means 101 is used as the seedling deviation amount for performing the adjustment operation of the drive change mechanism 80 in the correction control mode. Then, it is determined that the information is abnormal information that the seedling deviation amount is too large, and the alarm means 103 is operated based on the determination result.

  Thus, when the seedling vertical feed control in the automatic switching mode is selected, an abnormally large seedling shift occurs in the seedling placement portion 5a in at least one of the four control targets, and the seedling vertical feed control is performed. When the correction control mode is switched to the non-correction control mode, the control means 95 operates the alarm device 103. Then, the alarm device 103 uses the liquid crystal screen to indicate that an abnormally large seedling deviation has occurred in the seedling placement unit 15a and that the seedling vertical feed control has switched from the correction control mode to the non-correction control mode. Alarm.

  As shown in FIG. 4, the seedling planting device 10 is provided with a small number of clutches 110 provided one by one inside each planting drive case 13. The eight seedling planting mechanisms 14 and 14 are grouped into four seedling planting unit strips so that two adjacent seedling planting mechanisms 14 and 14 belong to one seedling planting unit strip. The small number of clutches 110 are provided so as to belong to one seedling planting unit. Each of the minority clutches 110 is switched between an on state and an off state by a clutch lever 111 (see FIG. 16) provided on the back side of the seedling table 15, and when this is switched to the on state, When the power is transmitted to the two seedling planting mechanisms 14 and 14 of the seedling planting unit 110 to which 110 belongs and is switched to the cut state, the transmission to the two seedling planting mechanisms 14 and 14 is cut off.

  As shown in FIG. 16, four command means 112 are linked to the control means 95. The four command means 112 are constituted by detection switches individually linked to the four clutch levers 111. Each command means 112 is turned on / off when the corresponding minority clutch 110 is switched, and when the minority clutch 110 is switched to the engaged state, it belongs to the seedling plant unit line to which the minority clutch 110 belongs. When an execution command to execute the vertical seedling feed of the two seedling placement units 15a, 15a is output to the control means 95 and the minority clutch 110 is switched to the disengaged state, the seedling planting unit strip to which the minority clutch 110 belongs is assigned. A stop command to stop the vertical seedling feed of the two seedling placement units 15a, 15a belonging to the above is output to the control means 95.

  FIG. 21 is a flow chart of the minority planting control performed for each control unit, with the one seedling planting unit strip as one control unit. As shown in this figure, the control means 95 determines whether or not there is a stop command by the command means 112. If it is determined that there is a stop command, the vertical feed correction motor 82 is set to the correction control target vertical feed amount S1. The drive change mechanism 80 is switched to the vertical feed belt stop state by operating the position corresponding to the stop command with priority and operating the positioning arm 65 to the stop position T. When it is determined that there is no stop command, the vertical feed correction motor 82 is operated based on the correction control target vertical feed amount S1, the drive change mechanism 80 is switched to the vertical feed belt drive state, and the positioning arm 65 is moved. The predetermined operation position of the vertical feed area D is operated, and the rotation angle adjustment rotor 63 is adjusted to the standby position M corresponding to the correction control target vertical feed amount S1.

  Thus, when performing a small number of planting operations, the predetermined clutch lever 111 is switched to the cut position. Then, the minority number clutch 110 corresponding to the clutch lever 111 is switched to the disconnected state, and transmission to the two seedling planting mechanisms 14 and 14 corresponding to the clutch lever 111 is cut off. At the same time, the drive changing mechanism 80 for the seedling placement portions 15a, 15a corresponding to the two seedling planting mechanisms 14, 14 is switched to the vertical feed belt stopped state, and the two seedling placement portions 15a, 15a are operated. All the seedling vertical feed belts 50 are not driven even when the seedling mount 15 reaches the left and right lateral movement stroke ends. As a result, the seedling planting device 10 has two seedling planting mechanisms 14 and 14 belonging to the seedling planting unit strip corresponding to the clutch lever 111 operated to the cutting position and the seedling vertical feed belt of the two seedling placement units 15a and 15a. The seedling planting in the seedling planting unit line corresponding to the clutch lever 111 operated to the entering position is performed while stopping the driving with 50 and stopping the seedling planting in the seedling planting unit line.

  FIG. 23 is a block diagram of a seedling supply control device provided in the seedling planting apparatus according to the second embodiment of the present invention. When the seedling supply control device according to the first embodiment is compared with the seedling supply control device according to the second embodiment, a vehicle speed detection means 106 for detecting the vehicle body traveling speed is provided, and based on detection information by the vehicle speed detection means 106. The seedling supply control device according to the first embodiment and the seedling supply control device according to the second embodiment have different configurations in that the control means 95 operates, and the other points relate to the first embodiment. The seedling supply control device and the seedling supply control device according to the second embodiment have the same configuration. Next, the difference between the seedling supply control device according to the second embodiment and the seedling supply control device according to the first embodiment will be described.

  The vehicle speed detecting means 106 detects the shift state of the hydrostatic continuously variable transmission 108 as the vehicle speed, and outputs the detection result to the control means 95. The vehicle speed detecting means 106 is constituted by a rotary potentiometer. The hydrostatic continuously variable transmission 108 converts the driving force from the engine 5 into a driving force on the forward side and a driving force on the reverse side, and performs a stepless shift on both the forward side and the reverse side. It is transmitted to the front wheel 1 and the rear wheel 2.

  When the control means 95 is in the automatic switching mode or the correction control mode, whether the vehicle body traveling speed is the planting speed, the moving speed, or the overshoot speed based on the information detected by the vehicle speed detecting means 106. Is detected. The planting speed is a traveling speed set to be adopted at the time of planting work. The moving speed is a traveling speed set to be adopted during traveling, and is higher than the traveling speed during planting work. The heel crossing speed is a traveling speed set to be adopted when moving over the heel and is lower than the traveling speed during planting work.

  When the control means 95 detects that the vehicle body traveling speed is the planting speed, the control means 95 determines that the information detected by the vehicle speed detection means 106 is normal information for performing the adjustment operation of the drive change mechanism 80 in the correction control mode. Then, the control means 95 maintains the automatic switching mode or the correction control mode based on this determination result.

  When the control means 95 detects that the vehicle body traveling speed is the moving speed, and when it detects that the vehicle body traveling speed is the overshoot speed, the detection information by the vehicle speed detecting means 106 indicates that the drive change in the correction control mode. It is determined that the information is abnormal for adjusting the mechanism 80. Then, the control means 95 switches to the non-correction control mode based on this determination result, and does not change the drive amount of the seedling vertical feed belt 50 by the drive change mechanism 80.

[Another Example]
The object of the present invention can also be achieved when implemented by adopting a transport rotary wheel having a transport claw that engages in a mat shape instead of the seedling vertical feed belt 50 shown in the above embodiment. Can do. Accordingly, the seedling vertical feed belt 50, the transport rotary wheel, and the like are collectively referred to as the vertical feed transport body 50.

  Instead of the seedling movement amount detecting means 90 shown in each of the above embodiments, a configuration using an optical sensor may be adopted. Also in this case, the object of the present invention can be achieved.

  The present invention can also be applied to a seedling planting apparatus capable of planting seedlings other than the eight-row planting, such as replacement of the seedling planting apparatus 10 shown in each of the above-described embodiments, such as four-row planting or six-row planting. In addition, as shown in each of the above embodiments, instead of performing vertical feed control using a two-plant seedling planting unit strip as one control unit, single-planting or multiple strips other than two strips such as strips 3 and 4 You may implement and implement | achieve the structure which performs vertical feed control by using the seedling planting unit row | line of planting as one control unit, and the objective of this invention can be achieved also in this case.

Overall side view of riding type rice transplanter with fertilizer applicator equipped with seedling planting device of the first embodiment Overall plan view of a riding type rice transplanter with a fertilizer device equipped with the seedling planting device of the first embodiment Side view of seedling planting device Top view of seedling planting device Side view of seedling change mechanism Side view at the seedling vertical feed shaft arrangement part of the seedling planting device Cross section of belt drive (A) is a side view of the drive change mechanism when the drive interlocking hook is stopped, and (b) is a side view of the drive change mechanism when the drive interlocking hook is driven. The perspective view in the disassembled state of a belt drive part (A) is a side view of the drive change mechanism when the longitudinal feed belt is driven, and (B) is a side view of the drive change mechanism when the longitudinal feed belt is stopped. Back view of the seedling stand drive change mechanism Bottom view of drive change mechanism Side view of drive change mechanism Bottom view of seedling movement detection means Side view of seedling movement amount detection means Block diagram of seedling supply control device Seedling supply control flow chart Flow chart in correction control mode of seedling vertical feed control Flow chart in non-correction control mode of seedling vertical feed control Flow chart of alarm control Flow chart of small number of planting control Abnormality alarm control flow The block diagram of the seedling supply control apparatus with which the seedling planting apparatus of 2nd Example is provided.

14 Seedling planting mechanism 14e Seedling planting claw 15 Seedling stand 18 Seedling supply port 50 Vertical feed carrier
60 vertical feed drive (belt drive)
63 driven rotor (rotation angle adjustment rotor)
63a passive part
64 drive rotating body (drive interlocking hook)
64a active part (hook part)
65 receiving member (positioning arm)
66 one-way rotating clutch
67 Return spring 80 drive change mechanism
90 seedling movement amount detection means 95 control means 96 vertical feed amount setting means 101 seedling deviation amount detection means
102 storage unit 103 alarm means 106 vehicle speed detection means A mat-like seedling

Claims (10)

A seedling planting mechanism having a seedling planting claw is driven so that the seedling planting claw reciprocates up and down over the seedling supply port of the seedling platform and the rice field, and seedlings are taken out from the mat-like seedlings placed on the seedling platform And a seedling planting device configured to plant the extracted seedlings on the rice field,
A vertical feed transport body that vertically feeds the mat-like seedlings placed on the seedling mount toward the seedling supply port; a drive change mechanism that changes a drive amount of the vertical feed transport body; A longitudinal feed amount setting means for setting a control target longitudinal feed amount for feed control, and the seedling stage is moved from one lateral movement stroke end to the other lateral movement stroke end in a state where the longitudinal feed carrier is stopped. A seedling deviation amount detecting means for detecting a vertical movement amount of the mat-like seedling while being laterally moved ,
A correction control target vertical feed amount obtained by correcting the set control target vertical feed amount by the vertical feed amount setting means based on the detection deviation amount by the seedling deviation amount detection means is set, and the mat-like seedling has the setting correction control target vertical feed. to be longitudinal feed amount, before Kiho positive control and the correction control mode the desired longitudinal feeding amount the drive changing mechanism on the basis of the adjustment operation, the mat-like seedlings set control target longitudinal feeding amount by the longitudinal feeding amount setting means Control means switchable to a non-correction control mode in which the drive change mechanism is adjusted based on the set control target vertical feed amount without setting the correction control target vertical feed amount. Seedling planting equipment. A seedling movement amount detecting means for detecting a vertical movement amount of the mat-like seedlings on the seedling placing table in a state where the vertical feeding carrier is driven, and a vertical feed during the vertical feeding of the mat-like seedlings by the vertical feeding carrier. A storage unit for storing the error,
Said control means, every time the longitudinal feed of the mat Jonae by the longitudinal feed carrier is made, the longitudinal based on the detected vertical movement and before Kiho positive control target longitudinal feeding amount by the seedling moving amount detecting means calculating a feed error, the said storage unit by the calculated said longitudinal feed error is stored to update the longitudinal feed errors, the most recent previous Kiho positive control target longitudinal feeding amount, the said longitudinal feed error of the updated Correction is made based on the amount of deviation detected by the seedling deviation amount detection means, and the correction control target vertical feed amount is set when the mat-like seedling is fed vertically by the vertical feed carrier. The seedling planting apparatus according to claim 1. A driving rotator, and a driven rotator coupled to the longitudinal feed carrier via a one-way rotation clutch. The rotation of the driving rotator causes the active portion of the driving rotator to move at a predetermined standby position. By rotating the driven rotary body in the seedling longitudinal feed direction against the action of a return spring that urges the passive part to return to the standby position while abutting the passive part of the driven rotary body waiting. A vertical feed drive unit configured to drive the vertical feed conveyance body in a vertical drive with a predetermined drive amount;
The drive change mechanism operates the receiving member that receives the passive portion that returns to the standby position by the action of the return spring to change the predetermined standby position, whereby the drive amount of the vertical feed transport body is changed. The seedling planting apparatus according to claim 1 or 2, wherein the seedling planting apparatus is configured to be changed.   The control means determines whether or not the input information is abnormal information for performing the adjustment operation of the drive change mechanism in the correction control mode. If the input information is determined to be abnormal information, the control unit automatically enters the non-correction control mode. The seedling planting apparatus according to any one of claims 1 to 3, wherein the seedling planting apparatus is configured to be switched automatically.   5. The control unit is configured to determine whether or not input information from the seedling deviation amount detection unit is abnormal information for performing an adjustment operation of the drive change mechanism in a correction control mode. The seedling planting device described.   The control means is configured to determine whether or not the detection information of the seedling vertical feed by the vertical feed carrier is abnormal information for performing the adjustment operation of the drive change mechanism in the correction control mode. Item 4. A seedling planting apparatus according to Item 4.   5. The control unit according to claim 4, wherein the control means is configured to determine whether or not the lateral feed information of the seedling platform is abnormal information for performing the adjustment operation of the drive change mechanism in the correction control mode. Seedling planting equipment.   5. The control unit is configured to determine whether or not the setting information by the vertical feed amount setting unit is abnormal information for performing an adjustment operation of the drive change mechanism in the correction control mode. Seedling planting equipment.   The control means is configured to determine whether or not detection information by a vehicle speed detection means for detecting a vehicle body traveling speed is abnormal information for performing an adjustment operation of the drive change mechanism in a correction control mode. Item 4. A seedling planting apparatus according to Item 4. Equipped with warning means to warn of abnormal occurrence,
6. The control unit is configured to operate the alarm unit when it is determined that the input information is abnormal information for performing the adjustment operation of the drive change mechanism in the correction control mode. Seedling planting equipment.

Images