JP6281436B2 - Work vehicle - Google Patents

Description

  The present invention relates to a work vehicle for planting seedlings while working in a field.

  Some recent work vehicles that travel while performing work on a field or the like have improved traveling accuracy in order to perform appropriate work. For example, in the work vehicles described in Patent Literature 1 and Patent Literature 2, the steering direction is automatically advanced by automatically steering the steering wheel based on the change in position coordinates by GPS (Global Positioning System) and the operation angle of the aircraft. Is equipped with a function to correct the direction of travel of the aircraft. As a result, in these work vehicles, the operator can visually observe the front of the aircraft and operate the handle appropriately to advance the aircraft without correcting the traveling direction. In addition, the operator can concentrate on operations other than the handle operation, so that operability and work efficiency are improved.

JP2013-74815A JP 2005-71142 A

  However, position information based on GPS or the like varies minutely depending on the traveling speed of the aircraft or the inclination of the field. Therefore, if the position information is acquired uniformly, position information different from the actual position of the aircraft is acquired. May end up. At this time, there is a problem that the automatic steering is corrected even though the vehicle is actually going straight, and the aircraft moves in a direction deviating from the straight running direction. In addition, depending on the vehicle speed, coordinates that can be regarded as stopping or traveling backwards may be obtained, and in this case, automatic steering will not operate and the traveling direction remains deviated from the straight traveling direction. You may run. As a result, there is a problem that work accuracy such as planting accuracy of seedlings, harvesting accuracy of crops such as seedlings, and tilling accuracy of the field is lowered.

  The present invention has been made in view of the above, and an object of the present invention is to provide a work vehicle in which a traveling vehicle body can travel straight ahead with high accuracy and work accuracy can be improved.

In order to solve the above-described problems and achieve the object, a work vehicle according to claim 1 of the present invention includes a traveling vehicle body (2) including a traveling device (8) that travels in a field, and the traveling vehicle body (2 ), A steering member (32) for steering operation, a working device (50) disposed on the rear portion of the traveling vehicle body (2) and performing work on a farm field, and disposed on the traveling vehicle body (2). The position information acquisition device (121) that acquires information at predetermined intervals, the direction change detection member (115) that detects a change in the traveling direction of the traveling vehicle body (2), and the steering member (32) are operated to An automatic steering device (110) for maintaining the traveling vehicle body (2) in a straight traveling direction, and a vehicle speed detection member (23) for detecting the vehicle speed of the traveling vehicle body (2), the automatic steering device (110), The position information acquisition device (121) and the direction change detection member ( The position information acquisition device (121) operates based on the detection value of 15), and when the vehicle speed detected by the vehicle speed detection member (23) is equal to or higher than a predetermined speed, the position information acquisition unit (121) sets the information acquisition interval of the position information. When the vehicle speed is less than a predetermined speed, the information acquisition interval of the position information is lengthened, and the traveling device (8) has the automatic steering device (110) operated within a predetermined time. If it becomes above, the said vehicle speed of the said traveling vehicle body (2) will be decelerated .

Further, an invention according to claim 2, in the working vehicle according to claim 1, wherein the automatic steering device (110), the actuation speed at the time of operating the steering member (32) comprises vehicle speed detecting member ( The vehicle speed is increased or decreased in accordance with the vehicle speed detected in 23).

According to a third aspect of the present invention, in the work vehicle according to the first or second aspect , when the vehicle speed detected by the vehicle speed detection member (23) is equal to or higher than a certain level, the automatic steering device (110) The turning angle of the steering member (32) is regulated within a predetermined range.

According to a fourth aspect of the present invention, in the work vehicle according to any one of the first to third aspects, a control seat (28) provided on the traveling vehicle body (2) and seated by an operator; A seating detection member (130) provided on the control seat (28) for detecting the seating of the operator, and when the seating detection member (130) is in a non-detection state, the automatic steering device ( 110), the turning angle of the steering member (32) is restricted within a predetermined range.

According to a fifth aspect of the present invention, in the work vehicle according to any one of the first to fourth aspects, the travel device (8) includes an engine (10) as a power source and the engine (10). And a throttle motor (12) for increasing and decreasing the number of revolutions of the control body, a control seat (28) provided on the traveling vehicle body (2) and seated by an operator, and the operator and the control seat (28) A separation detecting member (135) for detecting the separation from the steering seat (28). When the separation detecting member (135) detects that the worker has left the control seat (28), the throttle motor (12) detects the engine. The number of rotations of (10) is reduced.

According to a sixth aspect of the present invention, in the work vehicle according to the fifth aspect , the separation detection member (135) wirelessly detects the separation between the operator and the control seat (28). It comprises a receiving member (136) on the control seat (28) side and a transmitting member (137) on the operator side, and can detect that the operator is on the right side or the left side of the aircraft. When the separation detection member (135) detects that the worker is on the left side, left and right steering when operating the steering member (32) with the automatic steering device (110) When the right side steering amount is increased and the separation detection member (135) detects that the worker is on the right side, the automatic steering device (110) is used to operate the steering member (32). Of left and right steering amount when Chi, characterized in that to increase the left steering amount.

According to a seventh aspect of the present invention, in the work vehicle according to the fifth or sixth aspect , the separation detecting member (135) detects a separation between the worker and the control seat (28) by radio. And a receiving member (136) on the side of the control seat (28) and a transmitting member (137) on the operator side, and detecting that the operator is on the front side or the rear side of the fuselage. When the separation detection member (135) detects that the worker is on the front side, the automatic steering device (110) can operate the steering member (32). When the steering amount is reduced and the separation detecting member (135) detects that the worker is on the rear side, the steering when the steering member (32) is operated by the automatic steering device (110). Characterized by increasing the amount That.

The invention according to claim 8 is the work vehicle according to any one of claims 4 to 7 , wherein the moving speed based on the position information acquired by the position information acquiring device (121), and the vehicle speed. The vehicle speed detected by the detection member (23) is compared, and when the moving speed based on the position information becomes faster than the vehicle speed, the traveling vehicle body (2) enters the field via an inclined entrance / exit. When it is determined that the vehicle is entering, and the moving speed based on the position information is slower than the vehicle speed, the traveling vehicle body (2) is detached from the field via the inclined entrance / exit. It is characterized by judging.

Further, the invention according to claim 9 is the information storage for storing the position information of one or a plurality of the fields and the position information at the previous work in the fields in the work vehicle according to claim 8. A terminal (140), and when the traveling vehicle body (2) enters the field, the operator selects one of the fields stored in the information storage terminal (140) and is selected Based on the position information of the farm field and the position information of the stored approach position to the farm field, the automatic steering device (110) is operated, and the traveling vehicle body (2) with the maximum turning radius that can enter the farm field. Is turned to cause the traveling vehicle body (2) to enter the field, and the traveling direction of the traveling vehicle body (2) detected by the direction change detection member (115) when entering the field is the information storage terminal. Remembered And if not, the direction parallel to the traveling direction or the field side, the driving force to the work device (50), characterized in that the no longer transmission.

  The work vehicle according to claim 1 causes the traveling vehicle body (2) to travel straight ahead accurately by operating the automatic steering device (110) in accordance with the positional information of the traveling vehicle body (2) and changes in the traveling direction. Therefore, it is possible to prevent the work position of the work device (50) from swinging left and right. Further, when the traveling speed of the traveling vehicle body (2) is high, the position information of the traveling vehicle body (2) can be accurately acquired by acquiring the position information from the position information acquisition device (121) at short intervals. . Further, when the traveling speed of the traveling vehicle body (2) is slow, by acquiring the position information from the position information acquisition device (121) at long intervals, it is possible to acquire incorrect position information due to the influence of rotation of the earth. Therefore, the position of the traveling vehicle body (2) can be accurately acquired. Thus, automatic steering when the traveling vehicle body (2) travels straight can be made accurate. As a result, the traveling vehicle body (2) can travel straight with high accuracy, and the working accuracy can be improved.

Further, the work vehicle, frequently when automatic steering is in Shigeru, by decelerating the travel speed, the traveling direction of the correction by automatic steering can be reliably performed. As a result, the traveling vehicle body (2) can travel straight ahead more reliably and work accuracy can be improved.

In addition to the effect of the invention of claim 1, the work vehicle according to claim 2 changes the operating speed of the automatic steering device (110) according to the running speed, so that the traveling vehicle body (2) during high speed running. Can be made to travel straight ahead and at the same time can be slowly returned to straight travel during low speed travel, it is difficult for the airframe to swing left and right when the travel vehicle body (2) returns to straight travel. As a result, straightness can be improved more reliably.

In addition to the effect of the invention of claim 1 or 2 , the work vehicle according to claim 3 regulates the steering angle by the automatic steering device (110) when the traveling vehicle body (2) travels at a high speed. It is possible to prevent the balance of the aircraft from being lost when adjusting the traveling direction. As a result, it is possible to prevent the work position of the work device (50) from being shaken due to the shaking of the machine body, and to prevent a reduction in work accuracy. Further, by preventing the body from shaking, it is possible to prevent the worker from being easily fatigued due to vibration or the like, so that the labor of the operator can be reduced.

In addition to the effect of the invention according to any one of claims 1 to 3 , the work vehicle according to claim 4 performs another work by leaving the control seat (28) while the operator is traveling straight ahead. When this is detected, the airframe can be prevented from shaking by preventing the steering member (32) from being excessively operated. As a result, the work efficiency is improved without being disturbed, the operator can be prevented from disturbing the posture, and the safety of the work can be improved.

In addition to the effect of the invention according to any one of claims 1 to 4 , the work vehicle according to claim 5 rotates the engine (10) when it is detected that the worker has left the control seat (28). Since the traveling speed can be reduced by lowering the number, the traveling vehicle body (2) can be made difficult to shake. This makes it easier for the operator to perform work other than maneuvering. Further, since the airframe is less likely to shake when the automatic steering is activated, it is possible to prevent the operator from disturbing the posture and to improve the safety of work.

According to a sixth aspect of the present invention, in addition to the effect of the fifth aspect of the present invention, the steering amount of the automatic steering device (110) is changed in accordance with the weight deviation on the side where the worker stands in the lateral direction of the machine body. Thus, it is possible to perform appropriate steering for returning the traveling vehicle body (2) to straight traveling. As a result, it is possible to improve straight running performance and work accuracy more reliably.

Working vehicle according to claim 7, in addition to the effect of the invention according to claim 5 or 6, the operator when it is detected that are in the body front side, to reduce the steering amount of the automatic steering system (110) Accordingly, it is possible to perform appropriate steering in accordance with an increase in the grip force by the weight due to the operator being on the front side of the machine body. In addition, when it is detected that the worker is on the rear side of the aircraft, by increasing the steering amount of the automatic steering device (110), the grip force is reduced due to the weight of the worker on the rear side of the aircraft. It is possible to perform appropriate and appropriate steering. As a result, it is possible to improve the accuracy of the straight traveling control more reliably.

In addition to the effect of the invention according to any one of claims 4 to 7 , when the traveling vehicle body (2) is inclined at the entrance / exit of the farm field, the work vehicle according to claim 8 is provided with a position information acquisition device (121). The position information acquisition device (121) is used to detect the entry or departure from the field by using the positional information shift due to the position preceding or behind the traveling vehicle body (2). It is possible to determine the start and end of work in As a result, other detection members for determining the start and end of work are not necessary, and the number of parts can be reduced.

According to a ninth aspect of the present invention, in addition to the effect of the eighth aspect of the invention, the work vehicle enters the field with a turning trajectory that draws the maximum turning radius when entering the field. Since the advancing direction can be set to a substantially straight running posture, it is not necessary to finely adjust the advancing direction after entering the field, and it is possible to prevent the interval from the field entrance to the work start position from increasing. This eliminates the need for the operator to manually work in the non-work section, thereby reducing the labor of the operator and improving the work efficiency. Further, when the direction change detecting member (115) does not detect the straight traveling direction when entering the field, the driving force is not transmitted to the working device (50), so that the work position near the work start position is changed. It can prevent swinging from side to side. As a result, the working accuracy can be improved more reliably.

FIG. 1 is a side view of a seedling transplanter according to an embodiment. FIG. 2 is a plan view of the seedling transplanter shown in FIG. 3 is a cross-sectional view taken along the line AA in FIG. 4 is a detailed view of FIG. 3B. 5 is a cross-sectional view taken along the line CC of FIG. 6 is a DD arrow view of FIG. FIG. 7 is a functional block diagram of an apparatus included in the seedling transplanter shown in FIG. FIG. 8 is an explanatory diagram when the antenna frame is tilted. FIG. 9 is a perspective view of the vicinity of the end of the hydraulic lifting cylinder shown in FIG. FIG. 10 is a side view of the vicinity of the end of the hydraulic lifting cylinder shown in FIG. FIG. 11 is an exploded perspective view of a connecting member to the hydraulic lifting cylinder shown in FIG. FIG. 12 is a flowchart showing control for changing the position information acquisition interval in accordance with the traveling speed. FIG. 13 is a flowchart showing control for changing the traveling speed in accordance with the operation frequency of the automatic steering device. FIG. 14 is a flowchart showing control for changing the operating state of the automatic steering device in accordance with the traveling speed. FIG. 15 is a flowchart showing control for changing the operating state of the automatic steering device and the traveling speed in accordance with the position of the worker on the traveling vehicle body. FIG. 16 is a flowchart showing a control for determining entry / exit to the field from a comparison between the position information acquisition interval and the traveling speed. FIG. 17 is a flowchart showing control for starting an operation in a state in which the vehicle can travel straight ahead while assisting the entry in the optimum trajectory to the farm field having the farm field information. FIG. 18 is a flowchart showing control for tilting the receiving antenna in conjunction with the operation of the rolling mechanism of the seedling planting unit. FIG. 19 is a flowchart showing control for changing the sensitivity of the float in accordance with the front-rear position on the traveling vehicle body of the worker. FIG. 20 is a flowchart illustrating control for stopping the automatic steering device during reverse travel and for restricting the automatic steering device to be input immediately after the reverse travel is stopped.

  Hereinafter, an embodiment of a work vehicle according to the present invention will be described in detail with reference to the drawings. In addition, this invention is not limited by this embodiment. In addition, constituent elements in the following embodiments include those that can be easily replaced by those skilled in the art or those that are substantially the same.

Embodiment
FIG. 1 is a side view of a seedling transplanter according to an embodiment. FIG. 2 is a plan view of the seedling transplanter shown in FIG. In the following description, the front / rear / left / right direction reference defines the front / rear, left / right reference based on the traveling direction of the vehicle body as viewed from the control seat of the seedling transplanter. A seedling transplanter 1 according to this embodiment, which is an example of a work vehicle, includes a traveling vehicle body 2 on which an operator can board. The traveling vehicle body 2 has a pair of left and right front wheels 4 and a pair of left and right rear wheels 5, and is a four-wheel drive vehicle in which each wheel is driven during traveling. Thereby, the traveling vehicle body 2 can travel on a farm field or a road. In addition, a seedling planting section 50 that can be moved up and down by a seedling planting section lifting mechanism 40 is disposed at the rear of the traveling vehicle body 2 as a working device that performs work in a farm field.

  The traveling vehicle body 2 includes a main frame 7 disposed substantially at the center of the vehicle body, an engine 10 mounted on the main frame 7, and power for transmitting the power of the engine 10 to the drive wheels and the seedling planting unit 50. And a transmission device 15. The engine 10 and the power transmission device 15 constitute a traveling device 8 that is a device for traveling on a farm field or a road. Moreover, in this seedling transplanter 1 according to the present embodiment, the power generated by the engine 10 that is a power source is not only used for moving the traveling vehicle body 2 forward or backward, but also for driving the seedling planting unit 50. And heat engines such as diesel engines and gasoline engines are used.

  Further, the engine 10 is arranged at a substantially center in the left-right direction of the traveling vehicle body 2 and in a state of protruding upward from a floor step 26 on which an operator puts his / her foot when getting on. Further, the floor step 26 is provided between the front portion of the traveling vehicle body 2 and the rear portion of the engine 10 and is mounted on the main frame 7. The mud can be dropped on the field. A rear step 27 that also serves as a fender for the rear wheel 5 is provided behind the floor step 26. The rear step 27 has an inclined surface that is inclined upward as it goes rearward, and is disposed on each of the left and right sides of the engine 10.

  The engine 10 protrudes upward from the floor step 26 and the rear step 27, and an engine cover 11 that covers the engine 10 is disposed in a portion protruding from these steps. That is, the engine cover 11 covers the engine 10 in a state of protruding upward from the floor step 26 and the rear step 27.

  Further, the traveling vehicle body 2 is provided with a control seat 28 on which an operator is seated on the upper portion of the engine cover 11, and in front of the control seat 28 and at the front center portion of the traveling vehicle body 2 is a control unit. 30 is disposed. The control unit 30 is arranged in a state of protruding upward from the floor surface of the floor step 26 and divides the front side of the floor step 26 into left and right. Further, the control seat 28 is provided with a pressure-sensitive sensor 130 (see FIG. 7), which is a seating detection member that detects the seating of the operator. The pressure sensor 130 is constituted by a pressure sensor and is disposed in the seating surface of the control seat 28, and detects the operator's seating by detecting the pressure when the operator is seated. It is possible.

  A front cover 31 that can be opened and closed is provided at the front of the control unit 30. In addition, an operation lever and the like for operating the operation device, instruments, and a handle 32 are disposed on the upper portion of the control unit 30. The handle 32 is provided as a steering member for steering the traveling vehicle body 2 by an operator steering the front wheel 4, and the front wheel 4 can be steered via an operation device or the like in the control unit 30. It is possible. In addition, as the operation lever, a shift lever 35 that is a shift operation member that switches between forward and backward travel of the traveling vehicle body 2 and a traveling output, and a sub traveling operation that switches the traveling speed of the traveling vehicle body 2 to a speed corresponding to the traveling place. Sub-transmission levers 38, which are members, are disposed on the right and left sides of the machine body.

  In addition, on the portions of the floor step 26 located on the left and right sides of the control unit 30, a spare seedling stage 65 on which a replenishment seedling is placed is arranged. The preliminary seedling stage 65 is rotatably supported by a support shaft (vertical shaft) protruding from the floor surface of the floor step 26, and is rotated by a worker's hand or a rotating member such as an electric motor. Is possible.

  The power transmission device 15 includes a hydraulic continuously variable transmission 16 that is a transmission for shifting the driving force transmitted from the engine 10, and a belt type that transmits power from the engine 10 to the hydraulic continuously variable transmission 16. And a power transmission mechanism 17. Among these, the hydraulic continuously variable transmission 16 is configured as a hydrostatic continuously variable transmission called HST (Hydro Static Transmission). For this reason, the hydraulic continuously variable transmission 16 generates hydraulic pressure by a hydraulic pump that is driven by power from the engine 10, and converts this hydraulic pressure into mechanical force (rotational force) by a hydraulic motor and outputs it. Thereby, the hydraulic continuously variable transmission 16 converts the power generated by the engine 10 into a force that causes the traveling vehicle body 2 to travel.

  At that time, the hydraulic continuously variable transmission 16 can change the forward and backward travel and the traveling speed of the traveling vehicle body 2 by changing the direction and the rotational speed of the rotational force. By changing the output and output direction of the hydraulic continuously variable transmission 16, it is possible to operate the forward and backward travel and the traveling speed of the traveling vehicle body 2.

  The hydraulic continuously variable transmission 16 is disposed in front of the engine 10 and below the floor surface of the floor step 26. In the seedling transplanter 1 according to the present embodiment, the upper surface of the traveling vehicle body 2 is disposed. As viewed from the front side of the engine 10.

  The belt-type power transmission mechanism 17 includes a pulley attached to the output shaft of the engine 10, a pulley attached to the input shaft of the hydraulic continuously variable transmission 16, a belt wound around both pulleys, A tension pulley for adjusting the tension of the belt. As a result, the belt-type power transmission mechanism 17 can transmit the power generated by the engine 10 to the hydraulic continuously variable transmission 16 via the belt.

  Further, the power transmission device 15 is transmitted to the hydraulic continuously variable transmission 16 via the belt-type power transmission mechanism 17 and transmits the driving force from the engine 10 shifted by the hydraulic continuously variable transmission 16 to each part. It has a mission case 18 as a device. The transmission case 18 has a sub-transmission mechanism (not shown) for switching the working speed of the traveling vehicle body 2 when traveling on the road or planting, and is attached to the front portion of the main frame 7. The auxiliary transmission lever 38 can switch the traveling speed of the traveling vehicle body 2 by operating the auxiliary transmission mechanism in the mission case 18. The transmission case 18 shifts the output from the engine 10 transmitted via the belt-type power transmission mechanism 17 and the hydraulic continuously variable transmission 16 by the auxiliary transmission mechanism in the transmission case 18, and The power can be output separately for the driving power to the rear wheel 5 and the driving power to the seedling planting section 50.

  Among these, a part of the driving power can be transmitted to the front wheel 4 via the left and right front wheel final cases 21, and the rest can be transmitted to the rear wheel 5 via the left and right rear wheel gear cases 22. Yes. The left and right front wheel final cases 21 are disposed on the left and right sides of the mission case 18, respectively. The left and right front wheels 4 are connected to the left and right front wheel final cases 21 via axles. Further, the front wheel final case 21 is driven in accordance with the steering operation of the handle 32 and can steer the front wheel 4. Similarly, the rear wheels 5 are connected to the left and right rear wheel gear cases 22 via axles. On the other hand, the driving power is transmitted to a planting clutch (not shown) provided at the rear portion of the traveling vehicle body 2, and is transmitted to the seedling planting unit 50 by a planting transmission shaft (not shown) when the planting clutch is engaged. Is done.

  The seedling planting part lifting mechanism 40 for raising and lowering the seedling planting part 50 provided at the rear part of the traveling vehicle body 2 has a lifting link device 41, and the seedling planting unit 50 uses the lifting link device 41. It is attached to the traveling vehicle body 2 via. The lifting link device 41 includes a parallel link mechanism 42 that connects the rear portion of the traveling vehicle body 2 and the seedling planting portion 50. The parallel link mechanism 42 has an upper link and a lower link, and these links are rotatably connected to a rear-view portal-type link base frame 43 erected at the rear end of the main frame 7. The other end side of each link is rotatably connected to the seedling planting part 50, so that the seedling planting part 50 is connected to the traveling vehicle body 2 so as to be movable up and down.

  The seedling planting part lifting mechanism 40 has a hydraulic lifting cylinder 44 that expands and contracts by hydraulic pressure, and the seedling planting part 50 can be lifted and lowered by the expansion and contraction operation of the hydraulic lifting cylinder 44. The seedling planting part raising / lowering mechanism 40 can raise the seedling planting part 50 to the non-working position or lower it to the ground work position (ground planting position) by the raising / lowering operation.

  In addition, the seedling planting unit 50 can plant a range in which a seedling is planted in a plurality of sections or a plurality of rows. In the seedling transplanting machine 1 according to the present embodiment, the seedling is planted in six sections. The seedling planting part 50 is provided. The seedling planting unit 50 includes a seedling planting device 60, a seedling placement table 51, and a float 47. Among these, the seedling mounting base 51 is provided as a seedling mounting member for loading a plurality of seedlings on the rear part of the traveling vehicle body 2, and the seedling mounting bases for the number of planting strips partitioned in the left-right direction of the traveling vehicle body 2. It has a surface 52, and a mat-like seedling with soil can be placed on each seedling placement surface 52. Thereby, it is not necessary to return the seedling prepared outside the field every time the seedling placed on the seedling placing stand 51 is planted, and continuous work can be performed, so that the work efficiency is improved.

  The seedling planting device 60 is disposed below the seedling placement table 51 and supported by a planting support frame 55 that is a frame of the seedling planting unit 50 disposed on the front side of the seedling placement table 51. Has been. The seedling planting device 60 is a device that takes the seedlings placed on the seedling placement stand 51 from the seedling placement stand 51 and places the seedlings on the field, and has a planting transmission case 64 and a planting body 61. Yes. Among these, the planting body 61 is configured so as to be able to take seedlings from the seedling mounting table 51 and plant them in the field, and the planting transmission case 64 can supply driving force to the planting body 61. It is possible.

  Specifically, the planting transmission case 64 is configured to be able to supply the power transmitted from the engine 10 to the seedling planting unit 50 to the planting body 61, and the planting body 61 is connected to the planting transmission case 64. It is connected to be rotatable. In addition, the planting body 61 is rotatably connected to the planting transmission case 64 while supporting the planting basket 62 so as to rotate the planting basket 62 that takes seedlings from the seedling mounting table 51 and plantes them in the field. And a rotary case 63. The rotary case 63 includes an inconstant speed transmission mechanism (not shown) that can be rotated while changing the rotation speed when the implantation rod 62 is rotated by the driving force transmitted from the planting transmission case 64. ing. Thereby, at the time of rotation of the planting body 61, the planting basket 62 can rotate, changing a rotational speed with the rotation angle with respect to the rotary case 63. FIG.

  The seedling planting device 60 configured as described above is arranged for every two strips, that is, each of the plurality of seedling planting devices 60 is assigned a planting strip. Each planting transmission case 64 is provided with two planted bodies 61 so as to be rotatable, that is, two planting transmission cases 64 are provided with two rotary cases 63 on both sides in the lateral direction of the body. It is connected to. The seedling planting device 60 included in the seedling transplanter 1 according to the present embodiment includes three planting transmission cases 64, and thereby includes six rows of planted bodies 61.

  In addition, the float 47 slides on the farm scene along with the movement of the traveling vehicle body 2 to level the ground. The center float 48 located in the center of the seedling planting part 50 in the left-right direction of the traveling vehicle body 2 and the left-right direction Side floats 49 located on both sides of the seedling planting part 50 in FIG.

  Further, a leveling rotor 67 for leveling the agricultural field is provided on the front side of the lower position of the seedling planting unit 50. The leveling rotor 67 is configured to be rotatable by the output from the engine 10 transmitted through the rear wheel gear case 22.

  In addition, on both the left and right sides of the seedling planting part 50, there are provided drawing markers 68 for forming a line that is a guide in the traveling direction on the next planting line. That is, the line drawing marker 68 draws a mark on the field when the seedling transplanter 1 moves straight forward in the field and then moves straight forward on the field. The drawing marker 68 is operated by a marker motor 69 (see FIG. 7), and is configured so that the left and right drawing markers 68 can be switched each time the traveling vehicle body 2 turns. The left and right drawing markers 68 are replaced by a controller 150 (see FIG. 7) to which a marker motor 69 is connected. That is, the controller 150 is also provided as a marker switching device that alternately switches the left and right drawing markers 68 between the activated state and the inactivated state when the traveling vehicle body 2 turns. As shown in FIGS. 1 and 2, the drawing action portions of the left and right drawing markers 68 are provided with a plurality of protrusions on the outer periphery of the disk and are rotatably attached to the rod portion. The grounding resistance can surely form a line on the farm scene, making it easy to perform a straight-ahead operation at the next planting work position and improving work efficiency.

  Further, a fertilizer application device 70 is mounted behind the control seat 28 in the traveling vehicle body 2. The fertilizer 70 is a storage hopper 71 that stores fertilizer, a feeding device 72 that feeds the fertilizer supplied from the storage hopper 71 by a set amount, and a fertilizer that is a fertilization passage that supplies the fertilizer fed by the feeding device 72 to the field. It has a hose 74 and a blower 73 that is a wind-up device for transferring the fertilizer in the fertilizer hose 74 to the seedling planting part 50 side by supplying the conveying wind to the fertilizer hose 74. Furthermore, the fertilizer application device 70 is disposed below the seedling planting unit 50, is provided with a fertilizer guide 75 to which fertilizer is transferred by the fertilizer hose 74, and is provided on the front side of the fertilizer guide 75 and is transferred by the fertilizer hose 74. And a groove producing device 76 for dropping the fertilizer into a fertilizer groove formed in the vicinity of the side of the seedling planting strip.

  Moreover, the seedling transplanting machine 1 according to the present embodiment includes a rolling mechanism 80 that rotates the seedling planting unit 50 about the longitudinal axis of the machine body. 3 is a cross-sectional view taken along the line AA in FIG. 4 is a detailed view of FIG. 3B. 5 is a cross-sectional view taken along the line CC of FIG. The rolling mechanism 80 includes a vertical frame 82 that is a rolling frame disposed on the planting support frame 55 and an electric motor 84 that is a rolling actuator. Specifically, the planting support frame 55 includes left and right support members 56 that are positioned on both sides in the left and right direction of the body and extend in the up and down direction of the body, and the vertical frame 82 is formed between the left and right support members 56. Between and in the vicinity of the center in the left-right direction of the airframe, the airframe is arranged extending in the vertical direction.

  The vertical frame 82 extends on the longitudinal axis of the machine body, and the lower end side is connected to a rolling shaft 81 that supports the seedling planting part 50 so as to be slidable in the lateral direction of the machine body. A support plate 83 is fixed to the upper portion of the vertical frame 82 by welding, and the electric motor 84 is attached to the support plate 83 with bolts. A small-diameter drive gear 86 is mounted on the rotational drive shaft 85 of the electric motor 84 so as to be driven to rotate forward and backward.

  The support plate 83 is provided with a large-diameter driven gear 88 that is rotatable about a rotation shaft 87 and meshes with a drive gear 86 that is attached to the rotation drive shaft 85 of the electric motor 84. . Thereby, the driven gear 88 is configured to rotate while reducing the rotational drive of the electric motor 84. Further, the base end portion of the rolling drive pin 90 is fixed to the driven gear 88 by welding, and the distal end portion of the rotating gear 95 is provided on the support plate 83 so as to be rotatable about the pivot shaft 91. Is fitted in the long hole 96.

  At the swinging tip portion of the pivot arm 95, one end of each of the left and right tension springs 100 arranged on the left and right sides of the support plate 83 in the left and right direction of the body, that is, the inner side of the left and right tension spring 100 in the left and right direction of the body. Each end located is engaged. Further, the other ends of the left and right tension springs 100, that is, the respective end portions of the left and right tension springs 100 located on the outer side in the left and right direction of the machine body are engaged with the left and right support members 56 of the planting support frame 55. For this reason, the rotation arm 95 swings in the LR direction by forward / reverse rotation of the rotation drive shaft 85 of the electric motor 84, and the seedling planting part 50 is moved with respect to the traveling vehicle body 2 via the left and right tension springs 100. Thus, the seedling planting part 50 can be rotated about the rolling shaft 81.

  In addition, the seedling planting unit 50 performs a planting operation while the seedling placement table 51 reciprocates left and right during seedling planting work. For this reason, the center of gravity of the seedling planting part 50 greatly fluctuates left and right when the seedling placement table 51 is located at the center, when it is located at the right end, and when it is located at the left end, and the control by the rolling mechanism 80 is appropriate. It may become difficult to go to. For this reason, in the rolling mechanism 80, one end of each of the correction left and right tension springs 101 disposed on the left and right sides of the support plate 83 in the left and right direction of the body, that is, the correction left and right tension springs 101 is provided at the tip of the support plate 83. The respective end portions located on the inner side in the left-right direction of the body are engaged. Further, the other ends of the left and right correction left and right tension springs 101, that is, the respective end portions of the correction left and right tension springs 101 located on the outer side in the left and right direction of the machine body are engaged with the seedling placement table 51 of the seedling planting unit 50. doing. As a result, when the seedling mounting table 51 is moving near the left end and near the right end, the weight of the seedling mounting table 51 tends to be lowered due to the weight of the seedling mounting table 51. However, the right and left tension springs 101 for correction act in the direction of pulling up the side on which the seedling placing table 51 moves and becomes stubborn, and can perform an appropriate rolling operation.

  The rolling mechanism 80 includes a horizontal sensor 105, a center position sensor 106, and a maximum swing position sensor 107. Among these, the horizontal sensor 105 can detect the horizontal inclination of the seedling planting unit 50 with respect to the horizontal as a change in the electrical signal. The rolling mechanism 80 can bring the seedling planting part 50 into a horizontal posture by operating the electric motor 84 forward and backward in accordance with the detection value of the horizontal sensor 105.

  The center position sensor 106 is a sensor for detecting the position of the driven gear 88 in order to stop the rotating arm 95 at the left and right center position. The result of detection by the center position sensor 106 as to whether or not the turning arm 95 is in the left-right center position is used for various controls such as when rolling control is stopped. Further, the maximum swing position sensor 107 is a sensor for detecting the position of the driven gear 88 in order to stop the rotating arm 95 at the left and right maximum swing position. When the maximum swing position sensor 107 detects that the turning arm 95 is in the left and right maximum swing position, the electric motor 84 is stopped, and further rolling operation in the left and right direction is stopped.

  Further, the seedling transplanter 1 according to this embodiment includes a GPS control device 120 (see FIG. 7) that acquires position information of the seedling transplanter 1 by GPS (Global Positioning System). A receiving antenna 121 constituting the GPS control device 120 is provided. The receiving antenna 121 is provided as a position information acquisition device that acquires position information on the earth at predetermined intervals by acquiring GPS coordinates at predetermined time intervals. The receiving antenna 121 is attached to an antenna frame 124 that is connected to a spare seedling stage support 66 that is a support for supporting the preliminary seedling stage 65.

  6 is a DD arrow view of FIG. The antenna frame 124 is formed in a gate shape with the lower side open, and two lower ends of the gate shape are connected to the left and right auxiliary seedling support columns 66. That is, the antenna frame 124 includes a frame horizontal portion 125 extending in the left-right direction of the machine body and two frame vertical portions 126 extending downward from both ends of the frame horizontal portion 125. The lower end of the frame vertical portion 126 is It is connected to the preliminary seedling support column 66. The vertical frame portion 126 and the preliminary seedling support column 66 are connected by a rotating portion 128 whose axial direction extends in the longitudinal direction of the machine body. It is connected to the preliminary seedling support column 66 so as to be rotatable in the direction.

  Of the left and right frame vertical portions 126, one frame vertical portion 126 is provided with a telescopic cylinder 127 that can expand and contract in the direction in which the frame vertical portion 126 extends. The full length of the telescopic cylinder 127 can be expanded and contracted by hydraulic pressure, so that the frame vertical portion 126 on the side where the telescopic cylinder 127 is provided can be expanded and contracted. Further, the receiving antenna 121 is attached to the frame horizontal portion 125, and specifically, is attached to the upper surface of the frame horizontal portion 125 at a position near the center in the length direction of the frame horizontal portion 125.

  FIG. 7 is a functional block diagram of an apparatus included in the seedling transplanter shown in FIG. The seedling transplanter 1 according to the present embodiment can control each part by electronic control. For this reason, the seedling transplanter 1 includes a controller 150 that controls each part. The controller 150 includes a processing unit having a CPU (Central Processing Unit) and the like, a storage unit such as a RAM (Random Access Memory), and an input / output unit, which are connected to each other and exchange signals with each other. It is possible. The storage unit stores a computer program for controlling the seedling transplanter 1. The controller 150 is connected to actuators such as a motor and sensors for acquiring information on each part.

  For example, the controller 150 includes, as actuators, a throttle motor 12 that increases or decreases the rotational speed of the engine 10 by operating a throttle (not shown) that adjusts the intake air amount of the engine 10, and a marker motor that operates the drawing marker 68. 69, the electric motor 84 of the rolling mechanism 80, the telescopic cylinder 127 provided on the antenna frame 124, and the like are connected.

  The sensors connected to the controller 150 include a rear wheel rotation sensor 23, a work clutch sensor 58, a horizontal sensor 105, a center position sensor 106, a maximum swing position sensor 107, a gyro sensor 115, a tilt sensor 116, and a pressure sensor. 130 is connected. Among these, the rear wheel rotation sensor 23 is provided as a vehicle speed detection member that detects the vehicle speed of the traveling vehicle body 2 by detecting the rotation speed of the rear wheel 5. The work clutch sensor 58 is provided as a work detection member that detects the operation of the seedling planting unit 50 by detecting the connection state of a clutch (not shown) that transmits power to the seedling planting unit 50. . The gyro sensor 115 is provided as a direction change detection member that detects a change in the traveling direction of the traveling vehicle body 2. The tilt sensor 116 is provided as a tilt detection member that detects the front-rear tilt of the traveling vehicle body 2.

  The seedling transplanter 1 includes an automatic steering device 110, a GPS control device 120, an information storage terminal 140, and a separation detection member 135, which are connected to a controller 150. Among these, the automatic steering device 110 can maintain the traveling vehicle body 2 in the straight traveling direction by operating the handle 32. Therefore, the automatic steering apparatus 110 includes a steering motor 111 that rotates the handle 32 by applying an arbitrary rotational force to the handle 32, and a handle potentiometer 112 that detects the rotation angle of the handle 32. . The steering motor 111 and the handle potentiometer 112 operate the handle 32 by rotating the rotation axis of the handle 32, detecting the rotation angle of the rotation axis of the handle 32, and rotating the handle 32. It is possible to detect the angle.

  Further, the GPS control device 120 can acquire the position information or coordinate information of the seedling transplanter 1 on the earth by using GPS, and the position information acquired by the GPS control device 120 can be transmitted to the controller 150. It has become. The GPS control device 120 has a receiving antenna 121 that receives a signal from an artificial satellite used in GPS in order to acquire the position information of the seedling transplanter 1 by using GPS in this way.

  The information storage terminal 140 includes a display unit that displays information, an input operation unit that performs various input operations, and a storage unit that stores information. Among these, a display part and an input operation part may be comprised separately, and may be comprised integrally by the touchscreen type display. Further, the storage unit of the information storage terminal 140 stores position information of one or a plurality of farm fields and position information at the time of previous work on the farm fields.

  The separation detection member 135 can detect separation between the operator and the control seat 28. The reception member 136 on the control seat 28 disposed on the control seat 28 and the operator And a worker-side transmission member 137 to be carried. The receiving member 136 and the transmitting member 137 perform wireless communication. When the receiving member 136 receives a signal transmitted from the transmitting member 137, the separation detecting member 135 is connected between the operator and the control seat 28. The separation is detected wirelessly. The controller 150 is connected to the receiving member 136 of the separation detecting member 135 configured as described above.

  The seedling transplanter 1 according to the present embodiment has the above configuration, and the operation thereof will be described below. During operation of the seedling transplanter 1, traveling of the traveling vehicle body 2 and planting of seedlings placed on the seedling placement table 51 are performed by the power generated by the engine 10. This planting operation was placed on the seedling placement table 51 by rotating the planting basket 62 while the entire planted body 61 of the seedling planting device 60 was rotated in a direction in which the rotation axis was in the horizontal direction. The seedlings are sequentially picked up by the planting basket 62 and the taken seedlings are gradually planted in the field. At that time, by reciprocating the seedling placement table 51 in the lateral direction of the machine body within the range of the width of the machine body in the lateral direction of one line to be placed on the seedling placement table 51, each seedling planting device 60 can A seedling is taken out from the part corresponding to each seedling planting device 60 in the mounting table 51 and planted in the field. That is, each seedling planting device 60 takes out a seedling from a portion corresponding to a predetermined strip of the seedling mounting table 51, and plants the seedling on the predetermined strip. At the time of planting work, the seedlings are planted in a plurality of rows by traveling in the field with the traveling vehicle body 2 while operating the seedling planting device 60 in this manner.

  When the traveling vehicle body 2 travels, the power generated by the engine 10 is transmitted to the belt-type power transmission mechanism 17 and is transmitted from the belt-type power transmission mechanism 17 to the hydraulic continuously variable transmission 16. Is converted into a desired rotation speed, rotation direction, and torque and output. The power output from the hydraulic continuously variable transmission 16 is transmitted to the mission case 18, where the mission case 18 has a rotational speed suitable for the traveling speed when traveling on the road or a rotational speed suitable for the traveling speed when planting seedlings. The gears are shifted and output to the front wheel 4 side and the rear wheel 5 side. A part of the power output from the mission case 18 is also transmitted to the seedling planting unit 50 side and used for planting work in the seedling planting unit 50.

  In addition, the seedling transplanter 1 according to the present embodiment performs steering by the automatic steering device 110 while acquiring the position information of the seedling transplanter 1 by the GPS control device 120 when performing planting work in the field. It is possible to perform planting work while going straight. Specifically, the seedling transplanter 1 receives a signal from an artificial satellite used in GPS by the receiving antenna 121 of the GPS control device 120, thereby obtaining the position information of the seedling transplanter 1 on the earth at a predetermined time interval. Get every.

  The information storage terminal 140 stores information on a straight traveling path that is a traveling path for efficiently performing planting work in the field, and the controller 150 stores information on the straight traveling path stored in the information storage terminal 140, The position information acquired by the receiving antenna 121 is compared, and the automatic steering device 110 is controlled.

  The control of the automatic steering device 110 is such that the steering angle is detected by the handle potentiometer 112 so that the position information acquired by the receiving antenna 121 is along the information of the straight running path stored in the information storage terminal 140, and further, the gyro sensor While detecting a change in the traveling direction of the traveling vehicle body 115 at 115, the steering motor 111 is operated to perform steering. Thereby, the traveling vehicle body 2 is caused to travel along the straight traveling path stored in the information storage terminal 140. In other words, the automatic steering device 110 operates based on the detection values of the receiving antenna 121 and the gyro sensor 115 and causes the traveling vehicle body 2 to travel straight along the straight traveling path stored in the information storage terminal 140.

  At the time of seedling planting work, the automatic steering device 110 moves the traveling vehicle body 2 straightly based on the position information of the seedling transplanter 1 acquired at predetermined intervals by the GPS control device 120 as described above. Changes the interval for acquiring the position information in accordance with the vehicle speed of the traveling vehicle body 2. Specifically, as shown in FIG. 12, when the vehicle speed detected by the rear wheel rotation sensor 23 is equal to or higher than the predetermined speed, the reception antenna 121 of the GPS control device 120 shortens the information acquisition interval of the position information, When the vehicle speed detected by the wheel rotation sensor 23 is slower than the predetermined speed when the position information acquisition interval is shortened and less than the predetermined speed, the position information acquisition interval is increased. For example, when the vehicle speed detected by the rear wheel rotation sensor 23 is 1.0 to 1.6 km / h or more, the cycle for acquiring the position information is shortened, and the vehicle speed detected by the rear wheel rotation sensor 23 is 0. When the speed is less than 0.5 to 0.9 km / h, the cycle for acquiring the position information is lengthened.

  Further, when the traveling vehicle body 2 is traveling straight ahead by the automatic steering device 110, as shown in FIG. 13, the vehicle speed is regulated based on the number of times of operation of the automatic steering device 110, and the operation of the automatic steering device 110 within a predetermined time is performed. When the number of times exceeds a predetermined number, the traveling device 8 decelerates the vehicle speed of the traveling vehicle body 2. That is, when the number of times of operation of the automatic steering device 110 within a predetermined time exceeds a predetermined number, for example, the throttle motor 12 is operated to reduce the intake amount of the engine 10, thereby reducing the vehicle speed of the traveling vehicle body 2. With the vehicle decelerated and the vehicle speed lowered, the automatic steering device 110 continues the operation of causing the traveling vehicle body 2 to travel straight ahead.

  Further, when the traveling vehicle body 2 travels straight ahead, the automatic steering device 110 makes the steering speed proportional to the vehicle speed. That is, as shown in FIG. 14, the automatic steering device 110 increases or decreases the operating speed when operating the handle 32 according to the vehicle speed detected by the rear wheel rotation sensor 23. Specifically, in the automatic steering device 110, as the vehicle speed detected by the rear wheel rotation sensor 23 increases, the operating speed of the steering motor 111 increases, so that the operating speed when operating the handle 32 increases. As the vehicle speed becomes lower, the operating speed of the steering motor 111 becomes slower, so that the operating speed when operating the handle 32 becomes slower.

  In addition, when the vehicle body 2 detected by the rear wheel rotation sensor 23 is equal to or higher than a predetermined speed when the vehicle body 2 is traveling straight by the automatic steering device 110, the rotation angle of the handle 32 by the automatic steering device 110 is set to a predetermined value. Regulate within range. For example, when the vehicle speed detected by the rear wheel rotation sensor 23 is equal to or higher than a predetermined vehicle speed that can be determined to be high, the automatic steering device 110 restricts the turning angle of the handle 32 to 15 degrees on both the left and right sides, Perform the steering operation.

  When the steering amount in the automatic steering device 110 is regulated in this way, the steering amount is regulated not based on the vehicle speed but based on the steering speed when steering is performed by the automatic steering device 110. May be. That is, when the steering speed in the automatic steering device 110 is slow, it indicates that the vehicle speed is also slow. In this case, the regulation of the steering amount is moderated or the regulation of the steering amount is not performed. On the other hand, when the steering speed in the automatic steering device 110 is high, it indicates that the vehicle speed is also high. In this case, the control of the steering amount is strengthened, and the angle at which the steering can be performed is reduced.

  In addition, when the traveling vehicle body 2 travels straight by the automatic steering device 110, the steering state of the automatic steering device 110 is switched depending on the state of the operator. For example, as shown in FIG. 15, when the pressure-sensitive sensor 130 provided in the control seat 28 is in a non-detection state, the rotation angle of the handle 32 by the automatic steering device 110 is restricted within a predetermined range. That is, when the pressure-sensitive sensor 130 that detects pressure detects that the operator is not seated on the control seat 28 because the pressure-sensitive sensor 130 detects pressure, the automatic steering device 110 Regulate the amount of steering. Thus, the automatic steering device 110 prevents the steering from being performed at a large rotation angle in a state where the operator is not seated on the control seat 28.

  Further, in the seedling transplanter 1 according to the present embodiment, the distance detection member 135 can detect how far the operator is away from the control seat 28. The separation detection member 135 includes a reception member 136 and a transmission member 137 capable of wireless communication with each other, and the reception member 136 is disposed on the control seat 28. On the other hand, the transmission member 137 is a member carried by the operator, and the separation detection member 135 receives a radio signal transmitted by the transmission member 137 by the reception member 136, so that the transmission member 137 is removed from the reception member 136. It detects how far away it is and the direction in which it is separated.

  When the separation detection member 135 detects that the operator has left the control seat 28, the throttle motor 12 is operated to reduce the intake amount of the engine 10 as shown in FIG. Reduce the number of revolutions. At that time, the separation detection member 135 estimates the distance of the transmission member 137 from the reception member 136 based on the strength of the wireless signal received by the reception member 136. When the controller 150 controls the throttle motor 12 to adjust the rotational speed of the engine 10, the controller 150 also refers to the estimated distance, and decreases the rotational speed of the engine 10 as the estimated distance increases. As a result, the controller 150 increases the distance between the operator and the control seat 28 detected by the separation detection member 135, and therefore reduces the rotational speed of the engine 10, that is, as the operator moves away from the control seat 28, the controller 150 travels. The vehicle body 2 is decelerated.

  As described above, when the separation detection member 135 detects that the worker has left the control seat 28, the automatic steering device 110 steers the steering motor 111 as the worker moves away from the control seat 28. The steering amount at the time of performing is regulated. Further, as shown in FIG. 15, when the separation detecting member 135 detects that the operator has greatly moved away from the control seat 28 and has come out of the traveling vehicle body 2, the controller 150 Stop driving.

  Further, the separation detection member 135 detects the relative position of the transmission member 137 with respect to the reception member 136 by detecting from which direction the wireless signal from the transmission member 137 is sent to the reception member 136. It is possible to detect. Thereby, the separation detecting member 135 can detect that the worker is on the right side or the left side of the machine body, or can detect that the worker is on the front side or the rear side of the machine body. The automatic steering device 110 that travels the traveling vehicle body 2 straightly adjusts the steering according to the position of the operator detected by the separation detection member 135.

  For example, as shown in FIG. 15, when the separation detection member 135 detects that the operator is on the left side of the control seat 28, that is, the operator is on the left side of the center in the left-right direction of the aircraft, the automatic steering device Among the left and right steering amounts when operating the handle 32 at 110, the right steering amount is increased. That is, when the steering motor 111 is operated to perform left and right steering, the steering amount when steering to the right side is made larger than the steering amount at the normal time. Similarly, when it is detected by the separation detection member 135 that the operator is on the right side of the center in the left-right direction of the machine body, the left steering amount among the left and right steering amounts when the handle 32 is operated by the automatic steering device 110. Increase

  When the separation detection member 135 detects that the operator is in front of the control seat 28, the steering amount when operating the handle 32 by the automatic steering device 110 is reduced. That is, the steering amount when steering the left and right by operating the steering motor 111 is made smaller than the steering amount at the normal time. On the contrary, when the separation detecting member 135 detects that the operator is behind the control seat 28, the steering amount when operating the handle 32 by the automatic steering device 110 is set to be larger than the normal steering amount. Enlarge.

  Further, the controller 150 compares the moving speed based on the position information acquired by the receiving antenna 121 and the vehicle speed detected by the rear wheel rotation sensor 23, and determines the posture of the traveling vehicle body 2 based on the comparison result. Based on the determined posture, the working state of the traveling vehicle body 2 is determined.

  Specifically, since the receiving antenna 121 acquires the position information of the traveling vehicle body 2 at a predetermined cycle, the controller 150 estimates the moving speed of the traveling vehicle body 2 based on the change in the position information. At this time, since the receiving antenna 121 is disposed above the traveling vehicle body 2 by the antenna frame 124, when the traveling vehicle body 2 is tilted in the front-rear direction, the position information acquired by the receiving antenna 121 is the actual traveling vehicle body. It is acquired as information that is located forward or backward from the position of 2. For this reason, the moving speed based on the position information acquired by the receiving antenna 121 is estimated as a speed that is faster or slower than the actual vehicle speed.

  For example, as shown in FIG. 16, if the posture changes in a direction in which the traveling vehicle body 2 tilts forward and downward while the seedling transplanter 1 is traveling, the receiving antenna 121 disposed above the traveling vehicle body 2 falls forward. The position information acquired by the receiving antenna 121 is acquired as information positioned ahead of the actual position of the traveling vehicle body 2 because it is inclined in the direction. For this reason, the moving speed estimated based on this position information is estimated as a speed faster than the actual moving speed.

  On the other hand, the vehicle speed detected by the rear wheel rotation sensor 23 is substantially the actual vehicle speed. For this reason, when the movement speed based on the position information is compared with the vehicle speed detected by the rear wheel rotation sensor 23, and the movement speed based on the position information is faster than the vehicle speed detected by the rear wheel rotation sensor 23, The controller 150 determines that the traveling vehicle body 2 is tilted in the forward downward direction. At this time, if the current position is in the vicinity of the field stored in the information storage terminal 140, it is determined that the traveling vehicle body 2 is in a state of entering the field from the field entrance.

  That is, since the farm field is at a lower position than the surrounding saddle road, the entrance of the farm field, which is an approach path from the saddle road to the farm field, is formed as a downhill from the saddle road to the farm field. For this reason, when the traveling vehicle body 2 enters the field from the saddle road through the doorway, the vehicle body 2 is inclined forward and downward. Accordingly, when the traveling vehicle body 2 is tilted forward and downward, if the current position derived from the position information is in the vicinity of the field, the traveling vehicle body 2 enters the field from the field entrance. Judge. As described above, when the moving speed based on the position information increases with respect to the vehicle speed in the state where the current position of the seedling transplanter 1 is in the vicinity of the farm field, the controller 150 travels through the inclined entrance / exit. It is determined that the vehicle body 2 is in a state of entering the field.

  On the contrary, as shown in FIG. 16, when the posture changes in the direction in which the traveling vehicle body 2 tilts forward while the seedling transplanter 1 is traveling, the receiving antenna 121 disposed above the traveling vehicle body 2. Is tilted in the direction of falling backward, the position information acquired by the receiving antenna 121 is acquired as information positioned rearward of the actual position of the traveling vehicle body 2. For this reason, the moving speed estimated based on this position information is estimated as a speed slower than the actual moving speed.

  Therefore, when the moving speed based on the position information is compared with the vehicle speed detected by the rear wheel rotation sensor 23, and the moving speed based on the position information is slower than the vehicle speed detected by the rear wheel rotation sensor 23, The controller 150 determines that the traveling vehicle body 2 is tilted in the forward upward direction. At this time, when the current position is in the vicinity of the field stored in the information storage terminal 140, it is determined that the traveling vehicle body 2 is in a state of leaving the field via the field entrance.

  That is, since the entrance / exit of the field is formed as an uphill from the field to the saddle road, when the traveling vehicle body 2 leaves the field through the entrance / exit, the entrance / exit is inclined upward. Therefore, when the traveling vehicle body 2 is tilted in the forward upward direction, if the current position derived from the position information is in the vicinity of the field, the traveling vehicle body 2 leaves the field via the field entrance / exit. Judged to be in a state. As described above, when the moving speed based on the position information becomes slower than the vehicle speed in the state where the current position of the seedling transplanter 1 is in the vicinity of the field, the controller 150 travels through the inclined entrance / exit. It is determined that the vehicle body 2 is in a state of leaving the field.

  The controller 150 more appropriately determines the position of the seedling transplanter 1 and the current operation state by determining the entry of the traveling vehicle body 2 into the field and the separation from the field as described above. Based on the determined result, the automatic steering device 110 and the like are controlled. For example, when it is determined that the traveling vehicle body 2 is in a state of entering the agricultural field, the automatic steering apparatus 110 is started to move the traveling vehicle body 2 straightly, and the traveling vehicle body 2 is detached from the agricultural field. If it is determined that the vehicle body 2 is traveling straight, the automatic steering apparatus 110 is stopped.

  In addition, when the seedling transplanter 1 enters the field, the automatic steering device 110 performs steering so that the seedling transplanter 1 can enter in a direction along a straight traveling path for efficiently performing planting work in the field. That is, as shown in FIG. 17, when the traveling vehicle body 2 enters the field, the operator selects one field to enter from among the fields stored in the information storage terminal 140. The controller 150 activates the automatic steering device 110 based on the position information of the farm field selected by the information storage terminal 140 and the position information of the approach position to the stored farm field, and travels with the maximum turning radius that can enter the farm field. 2 is turned to allow the traveling vehicle body 2 to enter the field.

  In other words, the controller 150 operates the automatic steering device 110 to turn the traveling vehicle body 2 with the maximum turning radius to cause the traveling vehicle body 2 to enter the field, so that when the traveling vehicle body 2 enters the field, the information storage terminal The traveling direction stored in 140 or the direction along the straight traveling path in the direction parallel to the side of the field is set. In this way, when the traveling direction of the traveling vehicle body 2 detected by the gyro sensor 115 when the traveling vehicle body 2 enters the field is the direction along the straight traveling path, the seedling planting unit 50 is A seedling planting operation is performed while the driving force is transmitted and the automatic steering device 110 travels straight.

  On the other hand, when the traveling direction of the traveling vehicle body 2 detected by the gyro sensor 115 is not the traveling direction stored in the information storage terminal 140 or the direction parallel to the side of the field when entering the field, the seedling planting unit The driving force is not transmitted to 50. That is, when the traveling vehicle body 2 enters the agricultural field, if the traveling vehicle body 2 is not oriented along the straight traveling path, the seedling planting unit 50 is not operated and the operator performs a driving operation. Thus, the driving force is transmitted to the seedling planting part 50 after the direction of the traveling vehicle body 2 is along the straight traveling path, and the planting operation is performed. Whether or not the traveling vehicle body 2 is directed along the straight traveling road is displayed on the information storage terminal 140, and the operator performs a driving operation while confirming the display on the information storage terminal 140. Change the orientation.

  In addition, at the time of seedling planting work, the seedling planting work is performed by the rolling mechanism 80 in a state where the seedling planting unit 50 is horizontal with respect to the field scene. Specifically, the rolling mechanism 80 detects the inclination of the seedling planting unit 50 by the horizontal sensor 105 and operates the electric motor 84 until the detection value of the horizontal sensor 105 becomes horizontal. Thereby, the seedling planting part 50 rotates around the rolling shaft 81 and becomes horizontal with respect to the farm field.

  The seedling planting unit 50 can maintain the level regardless of the state of the field by rotating the rolling mechanism 80 as described above. When the vehicle is rotated, the traveling vehicle body 2 is inclined in the left-right direction of the body. In this case, as shown in FIG. 18, the receiving antenna 121 disposed above the traveling vehicle body 2 is also inclined in the same direction as the traveling vehicle body 2. When the receiving antenna 121 is tilted, the communication accuracy in acquiring position information using GPS changes. Therefore, in the seedling transplanter 1 according to this embodiment, the antenna of the receiving antenna 121 is synchronized with the operation of the rolling mechanism 80. The receiving antenna 121 is tilted with respect to the traveling vehicle body 2 by tilting the frame 124 to the left and right.

  FIG. 8 is an explanatory diagram when the antenna frame is tilted. The antenna frame 124 of the receiving antenna 121 is tilted by expanding and contracting the telescopic cylinder 127. The telescopic cylinder 127 is disposed on one frame vertical portion 126 of the left and right frame vertical portions 126 of the antenna frame 124. For this reason, when the expansion / contraction cylinder 127 is expanded / contracted, the full length of the frame vertical part 126 on the side where the expansion / contraction cylinder 127 is provided is expanded / contracted. Since the two frame vertical portions 126 are both rotatably connected to the spare seedling stage support column 66 by the rotating portion 128, when one of the frame vertical portions 126 expands and contracts, the antenna frame 124 rotates. The frame vertical part 126 is tilted in the left-right direction of the body while the frame vertical part 126 rotates around the part 128.

  For example, when the telescopic cylinder 127 is extended, the frame vertical portion 126 on the side where the telescopic cylinder 127 is disposed has a longer overall length and is longer than the other frame vertical portion 126. For this reason, the antenna frame 124 is inclined toward the side opposite to the side where the telescopic cylinder 127 is disposed in the left-right direction of the body. On the other hand, when the telescopic cylinder 127 is contracted, the frame vertical portion 126 on the side where the telescopic cylinder 127 is disposed has a shorter overall length and is shorter than the other frame vertical portion 126. Therefore, the antenna frame 124 is inclined toward the side where the telescopic cylinder 127 is disposed in the left-right direction of the body.

  When the telescopic cylinder 127 is expanded and contracted, the antenna frame 124 is tilted as described above. Therefore, the frame horizontal portion 125 of the antenna frame 124 is tilted with respect to the traveling vehicle body 2, and the receiving antenna 121 attached to the frame horizontal portion 125 is also included. The vehicle body 2 is inclined with respect to the traveling vehicle body 2. When the rolling mechanism 80 is operated to rotate the seedling planting part 50, the antenna 121 is tilted by extending and retracting the telescopic cylinder 127 and tilting the antenna frame 124 in this manner, thereby receiving the receiving antenna 121 with respect to the traveling vehicle body 2 tilted. And the receiving antenna 121 is maintained in a horizontal state.

  The seedling transplanter 1 according to the embodiment described above can accurately travel the traveling vehicle body 2 straight by operating the automatic steering device 110 in accordance with the positional information of the traveling vehicle body 2 and the change in the traveling direction. Thereby, it can prevent that the work position of the seedling planting part 50 shakes right and left. Moreover, when the vehicle speed of the traveling vehicle body 2 is fast, the position information of the traveling vehicle body 2 can be accurately acquired by acquiring the position information from the receiving antenna 121 of the GPS control device 120 at short intervals. Further, when the traveling speed of the traveling vehicle body 2 is slow, by acquiring the position information from the receiving antenna 121 at long intervals, it is possible to prevent erroneous position information from being acquired due to the rotation of the earth, etc. The position of the vehicle body 2 can be acquired accurately. As a result, the automatic steering when the traveling vehicle body 2 travels straight can be made accurate, and the straight traveling accuracy can be improved.

  In other words, when acquiring position information using GPS, if the position coordinates are acquired finely while stopping or moving at low speed due to the rotation of the earth, etc., it will be mistaken for coordinates that are far from the actual coordinates. In this case, the automatic steering device 110 cannot be operated properly. For this reason, it is possible to accurately recognize the position of the seedling transplanter 1 by changing the period for acquiring the position coordinates according to the vehicle speed, and the automatic steering device 110 can be appropriately operated. The traveling vehicle body 2 can be traveled straight with high accuracy. As a result, the traveling vehicle body 2 can be traveled straight with high accuracy, and the work accuracy performed by the seedling planting unit 50, that is, the seedling planting accuracy can be improved.

  In addition, when the number of actuations of the automatic steering device 110 within a predetermined time exceeds a predetermined number, the traveling direction can be corrected more reliably by automatic steering by reducing the vehicle speed of the traveling vehicle body 2. it can. That is, if the steering direction is corrected many times during high-speed traveling and the traveling direction is corrected, the traveling direction is not fixed and the traveling vehicle body 2 may be shaken left and right. For this reason, when the number of times of operation of the automatic steering device 110 within a predetermined time becomes equal to or greater than the predetermined number, the automatic steering can be performed more appropriately by decelerating the vehicle speed of the traveling vehicle body 2. In 110, it is possible to ensure straightness when the traveling vehicle body 2 travels straight. As a result, the traveling vehicle body 2 can travel straight ahead more reliably, and the planting accuracy can be improved.

  Further, by changing the operating speed of the automatic steering device 110 in accordance with the vehicle speed of the traveling vehicle body 2, the vehicle body 2 is quickly straightened during high-speed traveling and is slowly steered during low-speed traveling. The vehicle body 2 is less likely to swing left and right when steering is performed to travel straight ahead. As a result, straightness can be improved more reliably.

  Further, when the traveling vehicle body 2 travels at a high speed, the balance of the airframe can be prevented from being lost when the traveling direction is adjusted by regulating the steering angle by the automatic steering device 110. As a result, it is possible to prevent the working position of the seedling planting part 50 from being shaken due to the shaking of the machine body, and it is possible to prevent a reduction in work accuracy. Further, by preventing the body from shaking, it is possible to prevent the worker from being easily fatigued due to vibration or the like, so that the labor of the operator can be reduced.

  Further, when the pressure sensor 130 is in a non-detection state, the steering angle in the automatic steering device 110 is restricted within a predetermined range, so that the worker can leave the control seat 28 and perform another work while traveling straight ahead. In this case, the handle 32 can be prevented from being excessively operated. As a result, it is possible to prevent the airframe from shaking when the worker is performing another work. As a result, the work efficiency is improved without being disturbed, the operator can be prevented from disturbing the posture, and the safety of the work can be improved.

  Further, when the separation detecting member 135 detects that the operator has left the control seat 28, the vehicle speed can be reduced by reducing the number of revolutions of the engine 10, so that when the operator leaves the control seat 28, The traveling vehicle body 2 can be made difficult to shake. In addition, by reducing the vehicle speed, it is possible to make the aircraft difficult to shake even when automatic steering is activated. As a result, it becomes easier for the worker to perform work other than maneuvering, and the worker can be prevented from disturbing his / her posture during the work, and the safety of the work can be improved.

  Furthermore, when the worker is far away from the control seat 28 and the separation detecting member 135 detects that the worker has come out of the traveling vehicle body 2, the traveling vehicle 2 is stopped. The safety when falling from the vehicle body 2 can be improved. Further, when it is detected that the worker has moved out of the traveling vehicle body 2, the traveling vehicle body 2 stops traveling, so that the traveling vehicle body 2 continues to travel, or the worker is left behind. Can be prevented.

  In addition, the steering for causing the traveling vehicle body 2 to travel straight by changing the steering amount of the automatic steering device 110 in accordance with the weight deviation on the side where the operator stands detected by the separation detection member 135 in the left-right direction of the machine body. Can be made suitable for weight imbalance. As a result, it is possible to improve straight running performance and work accuracy more reliably.

  In addition, when the separation detection member 135 detects that the worker is on the front side of the machine body, the steering amount of the automatic steering device 110 is reduced to increase the grip force by the weight of the worker on the front side of the machine body. Appropriate steering can be performed according to. When it is detected that the worker is on the rear side of the aircraft, the steering amount of the automatic steering device 110 is increased to match the decrease in grip force due to the weight of the worker on the rear side of the aircraft. , Appropriate steering can be performed. As a result, it is possible to improve the accuracy of the straight traveling control more reliably regardless of the position of the operator.

  Further, when the traveling vehicle body 2 is tilted at the entrance / exit of the farm field, the position of the receiving antenna 121 of the GPS control device 120 precedes or travels from the traveling vehicle body 2 to use the positional information shift to delay the field to the farm field. By detecting entry or withdrawal, the reception antenna 121 can be used to determine the start or end of work on the field. As a result, other detection members for determining the start and end of work are not necessary, and the number of parts can be reduced.

  In addition, when entering the field, the traveling direction of the traveling vehicle body 2 at the time of entering can be set to a substantially straight running posture by entering the field with a turning trajectory that draws the maximum turning radius. There is no need to finely adjust the direction, and it is possible to prevent the interval from the field entrance to the work start position from widening. This eliminates the need for the operator to manually work in the non-work section, thereby reducing the labor of the operator and improving the work efficiency. In addition, when the gyro sensor 115 does not detect the straight traveling direction when entering the farm, the driving position is not transmitted to the seedling planting unit 50, so that the work position near the work start position swings to the left and right. This can be prevented. As a result, the working accuracy can be improved more reliably.

  Further, since the antenna frame 124 is tilted and the receiving antenna 121 is tilted with respect to the traveling vehicle body 2 in accordance with the rotation of the seedling planting part 50 due to the operation of the rolling mechanism 80, the receiving antenna 121 is It can be maintained in a horizontal state. Thereby, the attitude | position of the receiving antenna 121 at the time of receiving the signal from the artificial satellite used by GPS with the receiving antenna 121 can be stabilized, and a receiving accuracy can be improved. As a result, the position information of the seedling transplanter 1 can be acquired with high accuracy.

[Modification]
In the seedling transplanting machine 1 described above, the gyro sensor 115 is used as a direction change detection member that detects a change in the traveling direction of the traveling vehicle body 2, but the direction change detection member is other than the gyro sensor 115. May be used. The direction change detection member may be, for example, an angular velocity sensor that detects an angular velocity during rotation. The direction change detection member may be in any form as long as it can detect a change in the traveling direction of the traveling vehicle body 2 regardless of the detection form.

  In the seedling transplanting machine 1 described above, when the separation detecting member 135 detects that the operator is on the front side or the rear side of the machine body, the steering amount of the automatic steering device 110 is adjusted. May be corrected other than the steering amount of the automatic steering device 110 based on these positions. For example, as shown in FIG. 19, the hydraulic pressure sensitivity when raising and lowering the seedling planting unit 50 may be adjusted according to the position of the worker detected by the separation detection member 135. In other words, the seedling planting unit 50 can be moved up and down by the hydraulic lifting cylinder 44 according to the rotation of the float 47 whose posture changes according to the farm scene. The sensitivity of raising / lowering the rotation of the float 47 when raising / lowering the appendage 50 may be adjusted according to the position of the operator.

  Specifically, when the separation detection member 135 detects that the operator is on the front side of the machine body, the front side of the float 47 is likely to sink, and the float 47 is likely to change its posture frequently. The sensitivity of raising and lowering with respect to the rotation of the float 47 is dulled. On the contrary, when the separation detection member 135 detects that the operator is on the rear side of the machine body, the front side of the float 47 is likely to float, and the posture of the float 47 is difficult to change. Sensitivity of raising and lowering with respect to the rotation of. By these, since the hydraulic sensitivity at the time of raising / lowering the seedling planting part 50 can be adjusted so as to offset the ease of change in the posture of the float 47, the seedling planting part 50 can be adjusted to the posture of the float 47. It is possible to move up and down stably against changes, and to perform planting work more appropriately.

  Further, the operation of maintaining the straight traveling by the automatic steering device 110 may be linked with other functions. For example, when turning the traveling vehicle body 2 at the time of planting work, if a mechanism for raising and lowering the seedling planting part 50 in cooperation with the turning is provided, the seedling planting part 50 is lowered and planted. When the operation is “ON”, the operation for maintaining the straight traveling by the automatic steering device 110 may be “ON”. As a result, during turning, straight traveling by the automatic steering device 110 is automatically performed after completion of the turning, so that it is possible to improve usability when the automatic steering device 110 travels straight.

  Further, as shown in FIG. 20, it is preferable to stop the straight traveling by the automatic steering device 110 when the traveling vehicle body 2 moves backward. Since the reverse movement is performed when the direction of the traveling vehicle body 2 is changed, if the operator does not perform steering manually, the followability of the posture change when the direction is changed to an arbitrary direction is deteriorated. In addition, when the vehicle moves forward again after traveling backward, it is preferable that the straight traveling by the automatic steering device 110 is resumed based on the operation of the operator. When the vehicle travels straight forward again, it is difficult to correct the trajectory if the vehicle travels straight forward. Therefore, when the vehicle travels backward again, the vehicle travels again based on the operator's operation. Thus, the direction of the traveling vehicle body 2 can be easily changed to a direction in which the automatic steering device 110 can perform straight traveling.

  Further, when the steering is performed by the automatic steering device 110, the handle 32 may be rotated slightly larger and returned slightly. Thereby, the responsiveness in adjusting the direction of the traveling vehicle body 2 can be improved.

  Further, when the traveling body 2 is going to travel straight by steering with the automatic steering device 110, a message indicating that automatic steering cannot be performed is displayed on the display unit of the information storage terminal 140 when the steering frequency is too high. It may be displayed or an alarm may be sounded at the information storage terminal 140. When the condition of the field is not a condition that allows the automatic steering device 110 to maintain straight traveling, the operator can recognize that automatic steering is not possible, so that the operator can recognize that fact and manually steer. It becomes possible to do.

  In addition, when the torque at the time of steering by the automatic steering device 110 becomes larger than a predetermined value, the information storage terminal 140 may warn the operator. As a result, for example, even if it is difficult to steer due to a large stone coming into contact with the front wheel 4, it is possible to prevent the automatic steering device 110 or the like from malfunctioning or to run dangerously by steering forcibly. It can be prevented from becoming a state.

  In addition, when the reception sensitivity of the reception antenna 121 is poor, the direction in which the reception antenna 121 should be moved may be displayed on the display unit of the information storage terminal 140. If the direction of the receiving antenna 121 can be changed, the direction information is changed based on this information, so that acquisition of position information is continued even when the reception state of the signal from the artificial satellite used in the GPS is poor. And the steering by the automatic steering device 110 can be continued.

  In addition, the hydraulic lifting cylinder 44 that lifts and lowers the seedling planting portion 50 uses a spring 164 as a shock-absorbing member at the time of operation, and the cases disposed at both ends of the spring 164 are prevented from rotating. May be. FIG. 9 is a perspective view of the vicinity of the end of the hydraulic lifting cylinder shown in FIG. The hydraulic lift cylinder 44 is provided with a spring 164 made of a compression spring around a piston rod 45 that expands and contracts when the hydraulic lift cylinder 44 is operated by hydraulic pressure.

  Cases are provided at both ends of the spring 164. A spring case 160 is provided at the end of the spring 164 on the front end side of the piston rod 45, and a lower case 165 is provided at the other end. Has been. That is, the lower case 165 is disposed on the end side of the spring 164 where the main body of the hydraulic lifting cylinder 44 is located.

  Among these, the spring case 160 is attached to the piston rod 45 by a nut 163, and a trunnion shaft 166 is formed in the lower case 165 to transmit the operation of the hydraulic lifting cylinder 44 to the outside. Both ends of the spring 164 are disposed in contact with the spring case 160 and the lower case 165, and are held by the spring case 160 and the lower case 165.

  Further, the spring case 160 is formed with two shaft connecting portions 161 that are hook-shaped members that are point-symmetric about the position of the piston rod 45, and the two shaft connecting portions 161 include: A shaft 168 is connected to each. The two shafts 168 connected to the two shaft connecting portions 161 extend in the direction of the main body of the hydraulic lifting cylinder 44, that is, in the direction of the lower case 165.

  The lower case 165 is formed with a hole (not shown) through which the piston rod 45 passes, and the piston rod 45 extends from the main body side of the hydraulic lift cylinder 44 to the spring case 160 through the hole. Thus, the lower case 165 holds the spring 164 while allowing the piston rod 45 to communicate therewith. In the lower case 165, collars 167 through which the shaft 168 passes are formed at two points that are point-symmetrical with respect to the position of the piston rod 45. The two shafts 168 extending from the spring case 160 pass through the two collars 167 and are held by the collars 167.

  The weight from the seedling planting unit 50 is input to the lower case 165 as a force in the direction in which the spring 164 contracts with respect to the trunnion shaft 166. When the seedling planting part 50 is raised, the hydraulic lift cylinder 44 is operated to contract the piston rod 45 so that the force in the direction in which the piston rod 45 contracts contacts the spring case 160 attached to the piston rod 45. This is transmitted to the lower case 165 via the spring 164. As a result, the lower case 165 moves in the direction of the main body of the hydraulic lifting cylinder 44, and thus the force at the time of movement is transmitted to the seedling planting unit 50, and the seedling planting unit 50 rises.

  In this way, the lower case 165 and the spring case 160 that move when the hydraulic lifting cylinder 44 is expanded and contracted are in a state in which the two shafts 168 cannot be rotated relative to each other. For this reason, the spring case 160 does not rotate around the piston rod 45 even when the hydraulic elevating cylinder 44 is operated, and the rotation of the spring case 160 can be effectively stopped. Further, since the spring case 160 does not rotate, the distance from the lower case 165 changes without the spring case 160 rotating even when the hydraulic lifting cylinder 44 extends and contracts. Can be moved to.

  In addition, another member is connected to the piston rod 45 to the hydraulic lifting cylinder 44 that raises and lowers the seedling planting unit 50, and the force at the time of expansion and contraction of the hydraulic lifting cylinder 44 is transmitted from this member to the seedling planting unit 50. You may do it. FIG. 10 is a side view of the vicinity of the end of the hydraulic lifting cylinder shown in FIG. FIG. 11 is an exploded perspective view of a connecting member to the hydraulic lifting cylinder shown in FIG. When another member is connected to the piston rod 45 of the hydraulic lifting cylinder 44, for example, the connecting rod 171 is connected, and the force at the time of expansion / contraction of the hydraulic lifting cylinder 44 is transmitted through this connecting rod 171. 50 side.

  Specifically, the connecting rod 171 connects the joint 180 positioned at the tip to the piston rod connecting portion 46 positioned at the tip of the piston rod 45. The joint 180 is connected to the piston rod connecting portion 46 by a pin 181, whereby the connecting rod 171 is connected to the piston rod 45 so as to be rotatable about the pin 181.

  A spring case 170 is attached to the end of the connecting rod 171 opposite to the end where the joint 180 is located by a nut 172, and a lower case 176 is disposed between the spring case 170 and the joint 180. Has been. A spring 174 formed of a compression spring is disposed between the spring case 170 and the lower case 176, and the spring 174 is in contact with and held by the spring case 170 and the lower case 176.

  The lower case 176 is provided with a trunnion shaft 177, and a connection arm 185 is connected to the trunnion shaft 177 for transmitting the force during expansion / contraction of the hydraulic lifting cylinder 44 to the seedling planting part 50 side. When the lower case 176 moves in the extending / contracting direction of the hydraulic lift cylinder 44, the connecting arm 185 rotates about the arm rotation shaft 186 as the lower case 176 moves, so that the force at the time of the movement is planted. It transmits to the attaching part 50 side.

  The weight from the seedling planting unit 50 is input to the lower case 176 as a force in the direction in which the spring 174 contracts from the connecting arm 185 to the trunnion shaft 177. When raising the seedling planting portion 50, the hydraulic lift cylinder 44 is operated to contract the piston rod 45, whereby the force in the direction in which the piston rod 45 contracts is transmitted to the connecting rod 171 via the joint 180. Thereby, the connecting rod 171 moves in the direction of the main body of the hydraulic lifting cylinder 44 together with the piston rod 45. When the connecting rod 171 moves in this way, the force at the time of movement is transmitted to the lower case 176 via the spring 174 that contacts the spring case 170 attached to the connecting rod 171. As a result, the lower case 176 moves in the direction of the main body of the hydraulic lifting / lowering cylinder 44, so that the force during this movement is transmitted to the connecting arm 185, and the connecting arm 185 is rotated and transmitted to the seedling planting unit 50. Thereby, the seedling planting part 50 rises.

  The force when the hydraulic elevating cylinder 44 expands and contracts is thus transmitted from the lower case 176 to the seedling planting part 50 side. The connecting rod 171 and the piston rod 45 in which the lower case 176 is disposed are connected by a pin 181. It is pivotally connected. For this reason, even when a force in a direction orthogonal to the expansion / contraction direction of the piston rod 45 acts on the lower case 176 when the seedling planting part 50 is moved up and down, the connecting rod 171 and the piston rod 45 rotate around the pin 181. And this power can be released by bending. Thereby, even when the force of the direction orthogonal to the expansion-contraction direction of the piston rod 45 acts, it can prevent that the piston rod 45 bends.

  Moreover, in embodiment mentioned above, although demonstrated using the seedling transplanter 1 as an example of a working vehicle, things other than the seedling transplanter 1 may be sufficient as a working vehicle. The working vehicle may be of any type as long as a working device such as a seeding device or a rotary that performs work on a farm is provided at the rear of the traveling vehicle body.

DESCRIPTION OF SYMBOLS 1 Seedling transplanter 2 Traveling vehicle body 4 Front wheel 5 Rear wheel 7 Main frame 8 Traveling device 10 Engine 12 Throttle motor 15 Power transmission device 23 Rear wheel rotation sensor (vehicle speed detection member)
28 Control seat 30 Control section 32 Handle (steering member)
40 Seedling planting part lifting mechanism 47 Float 50 Seedling planting part (working device)
51 Seedling placement stand 55 Planting support frame 56 Left and right support member 58 Work clutch sensor (work detection member)
60 seedling planting device 61 planted body 64 planting transmission case 65 spare seedling stage 67 rotor for leveling 68 line drawing marker 70 fertilizer 80 rolling mechanism 81 rolling shaft 82 vertical frame (rolling frame)
84 Electric motor (rolling actuator)
110 Automatic steering device 111 Steering motor 112 Handle potentiometer (steering detection member)
115 Gyro sensor (Direction change detection member)
116 Tilt sensor (Tilt detection member)
120 GPS controller 121 Receiving antenna (position information acquisition device)
124 Antenna frame 125 Frame horizontal portion 126 Frame vertical portion 127 Telescopic cylinder 130 Pressure sensor (seat detection member)
135 Separation detection member 136 Reception member 137 Transmission member 140 Information storage terminal 150 Controller

Claims (9)

A traveling vehicle body provided with a traveling device that travels in a field;
A steering member for steering the vehicle body;
A working device disposed at a rear portion of the traveling vehicle body and performing work on a farm field;
A position information acquisition device disposed on the traveling vehicle body for acquiring position information at predetermined intervals;
A direction change detection member for detecting a change in the traveling direction of the traveling vehicle body;
An automatic steering device that operates the steering member to maintain the traveling vehicle body in a straight direction;
A vehicle speed detection member for detecting the vehicle speed of the traveling vehicle body;
With
The automatic steering device operates based on detection values of the position information acquisition device and the direction change detection member,
The position information acquisition device shortens the information acquisition interval of the position information when the vehicle speed detected by the vehicle speed detection member is equal to or higher than a predetermined speed, and the position information when the vehicle speed is lower than the predetermined speed. longer of information acquisition interval,
The traveling vehicle decelerates the vehicle speed of the traveling vehicle body when the number of actuations of the automatic steering device within a predetermined time exceeds a predetermined number . The work vehicle according to claim 1, wherein the automatic steering device increases or decreases an operating speed when operating the steering member in accordance with the vehicle speed detected by the vehicle speed detection member. 3. The work according to claim 1, wherein when the vehicle speed detected by the vehicle speed detection member is equal to or greater than a certain value, a rotation angle of the steering member by the automatic steering device is restricted within a predetermined range. vehicle. A steering seat provided on the traveling vehicle body and seated by an operator;
  A seating detection member that is provided on the control seat and detects the seating of the operator;
  With
  4. The device according to claim 1, wherein when the seating detection member is in a non-detection state, a rotation angle of the steering member by the automatic steering device is restricted within a predetermined range. 5. Work vehicle. The traveling device includes:
  An engine as a power source,
  A throttle motor that increases or decreases the rotational speed of the engine;
  Have
  A steering seat provided on the traveling vehicle body and seated by an operator;
  A separation detecting member for detecting separation between the operator and the control seat;
  5. The rotation speed of the engine is reduced by the throttle motor when the separation detection member detects that the worker has left the control seat. 5. Work vehicle. The separation detection member wirelessly detects separation between the operator and the control seat, and includes a reception member on the control seat side and a transmission member on the operator side, and the operator It is possible to detect being on the right or left side of the aircraft,
  When the separation detection member detects that the worker is on the left side, the right steering amount is increased among the left and right steering amounts when the steering member is operated by the automatic steering device,
  When the separation detecting member detects that the worker is on the right side, a left steering amount is increased among left and right steering amounts when the steering member is operated by the automatic steering device. The work vehicle according to claim 5. The separation detection member wirelessly detects separation between the operator and the control seat, and includes a reception member on the control seat side and a transmission member on the operator side, and the operator It ’s possible to detect that you ’re at the front or rear of the aircraft,
  When the separation detection member detects that the worker is on the front side, the steering amount when operating the steering member with the automatic steering device is reduced,
  The steering amount when operating the steering member by the automatic steering device is increased when the separation detection member detects that the worker is on the rear side. The work vehicle described. Compare the movement speed based on the position information acquired by the position information acquisition device and the vehicle speed detected by the vehicle speed detection member,
  When the moving speed based on the position information becomes faster than the vehicle speed, it is determined that the traveling vehicle body is in a state of entering the field via an inclined entrance / exit,
  5. When the moving speed based on the position information becomes slower than the vehicle speed, it is determined that the traveling vehicle body is in a state of leaving the field via the inclined entrance / exit. The work vehicle according to claim 1. An information storage terminal for storing the position information of one or a plurality of the fields and the position information at the previous work in the fields;
  When the traveling vehicle body enters the field, the operator selects one of the fields stored in the information storage terminal,
  The automatic steering device is operated based on the position information of the selected farm field and the stored position information of the approach position to the farm field, and the traveling vehicle body is turned at the maximum turning radius that can enter the farm field. The traveling vehicle body enters the field,
  When the traveling direction of the traveling vehicle body detected by the direction change detecting member at the time of entering the field is not the traveling direction stored in the information storage terminal or the direction parallel to the side of the field, the working device The work vehicle according to claim 8, wherein the driving force is not transmitted.

Images