JP6660073B2 - Seedling transplanter - Google Patents

Description

  The present invention relates to a seedling transplanter.

  When planting in a paddy field, the number of strains per field area and the number of seedling mats required for planting are set in advance in anticipation of the yield per field area. Then, during the planting operation, by controlling the number of seedling mats used for planting, the respective parts are controlled so that the remaining seedling mats can be consumed for the remaining work area. For example, the consumption rate of the seedling mat is changed by adjusting the length of the seedling mat that the planting nail scrapes off.

  However, in order to grasp the number of used seedling mats during the planting operation, it is necessary to memorize or record the number of times the operator actually added the seedling mats to the seedling table (seedling number). Was.

  Patent Literature 1 includes an existence sensor for determining the presence or absence of a seedling mat at an upper position and a lower position of a seedling mounting table, respectively, and accumulates the number of seedling mats each time a seedling mat is detected by the upper existence sensor. There is disclosed a configuration for counting the number of sheets consumed in. Here, an optical sensor that detects the presence or absence of the seedling mat without contact and a limit switch that detects the presence or absence of the seedling mat by detecting the weight of the seedling mat are used as the presence / absence sensor.

JP 2013-5748 A

  Then, the seedling transplanter of this invention aims at providing the seedling transplanter which can detect the number of times of seedling succession during planting operation.

  The seedling transplanter of the present invention, the seedling mat is placed in an inclined state, the mounting surface is arranged in the machine body width direction according to the number of rows, and a seedling mounting table, scraping the seedlings from the lower end of the seedling mat A seedling transplanter comprising: a planting claw to be transplanted; a lateral feed mechanism for reciprocating the seedling mounting table in the machine body width direction; and a vertical feeding mechanism for feeding a seedling mat placed on the seedling mounting table downward. A downstream rotating body provided at a position rotatable in conjunction with the vertical feeding of the seedling mat by the vertical feeding mechanism when one seedling mat is placed above the lower end of the mounting surface, When a single seedling mat is placed above the lower end of the surface at an interval greater than the vertical length of at least one seedling mat, and one seedling mat is placed above the downstream rotating body, the vertical length of the seedling mat is An upstream rotating body provided at a position rotatable in conjunction with the feed, Serial based on the rotational state of the downstream side rotary member and the upstream-side rotating member, to detect the NaeTsugi number of seedling mat.

  The feed amount of the seedling mat was calculated based on the number of rotations of the downstream rotating body, and the seedling mat was placed on the seedling table based on the calculated feed amount of the seedling mat and the number of times of seedling mating. The remaining amount of the seedling mat is estimated, and the number of seedlings of the seedling mat is corrected based on the estimated remaining amount of the seedling mat and the rotation states of the downstream rotating body and the upstream rotating body.

  When the downstream rotating body shifts from a state in which the downstream-side rotating body is not rotating to a state in which the downstream-side rotating body rotates in conjunction with the vertical feeding of the seedling mat, the number of splicing of the seedling mat is incremented by one.

  ADVANTAGE OF THE INVENTION According to this invention, the consumption efficiency of a seedling mat can be improved.

The side view of a rice transplanter. The top view of a rice transplanter. One side view of a planting work machine. The other side view of a planting work machine. (A) A rear view and a side view of a mounting surface for each strip of a seedling table provided with an upstream rotating body and a downstream rotating body. (B) A seedling table provided with an upstream rotating body and a downstream rotating body. The back view and side view of the mounting surface for every row | line. The figure which shows detection of the number of times of the seedling mating of the seedling mat. The figure which shows correction | amendment of the number of times of the seedling connection of the seedling mat. The figure which shows correction of the estimated remaining amount of the seedling mat. FIG. 4 is a side view showing the configuration of the downstream rotating body. FIG. 4 is a rear view showing the configuration of the downstream rotating body. FIG. 3 is a front view showing a configuration of a downstream rotating body. FIG. 4 is a side cross-sectional view showing contact between a downstream rotating body and a seedling mat. FIG. 10 is a side sectional view showing another embodiment of the downstream-side rotating body. (A) A cross-sectional side view showing a state in which the gears and claws are disengaged by the weight of the seedling mat. (B) A state in which the gears and claws are not disengaged by the seedling mat floating from the mounting surface. FIG. The side sectional view showing another embodiment of a nail. (A) Rear view of seedling mounting table showing positional relationship between seedling holding rod, downstream rotating body, and upstream rotating body (b) Second implementation of positional relationship between seedling holding rod, downstream rotating body, and upstream rotating body Rear view of seedling mounting table showing form (c) Rear view of seedling mounting table showing third embodiment of positional relationship between seedling holding rod and downstream rotating body and upstream rotating body (d) Seedling holding rod and downstream side The rear view of the seedling mounting stand which shows 4th Embodiment of the positional relationship of a rotating body and an upstream rotating body. FIG. 4 is a block diagram showing a vertical control. FIG. 3 is a control block diagram of a seedling collection calculator. 4 is a graph showing a correlation between the amount of settlement of a rear wheel in a field and a slip ratio. (A) Side view showing the amount of settlement of the rear wheel into the field. (B) Side view showing the height from the contact surface of the rear wheel to the float bottom. The side view which shows the height from the contact surface of a rear wheel to the rice field.

  Hereinafter, an overall configuration of a rice transplanter 1 which is an embodiment of a seedling transplanter will be described with reference to FIGS. 1 and 2. The rice transplanter 1 includes a traveling machine body 2 and a planting work machine 3 attached to a rear portion thereof. The rice transplanter 1 performs planting work with the planting machine 3 while traveling by the traveling machine body 2.

  The traveling body 2 includes an engine 4, a transmission 5 for shifting power from the engine 4, a body frame 6 supporting the engine 4 and the transmission 5, front wheels 7 and rear wheels driven by power transmitted from the engine 4 and the transmission 5. 8 and so on.

  Power from the engine 4 and the transmission 5 is transmitted to a front axle case 9 and a rear axle case 10, respectively. The front axle case 9 is supported by the front part of the body frame 6, and front wheels 7 are supported on both left and right ends. Similarly, the rear axle case 10 is supported by the rear part of the body frame 6, and the rear wheels 8 are supported on both left and right ends. The upper part of the body frame 6 is covered with a step 11, and the operator can move on the step 11.

  The power from the engine 4 and the transmission 5 is transmitted to the planting machine 3 via an inter-stock transmission (not shown). The inter-stock transmission is configured to be able to change the planting interval of seedlings that are planted along the traveling direction of the traveling body 2. The seedling collection calculator 70, which will be described later, is connected to an inter-segment setting device 17 (see FIG. 18) that sets the planting interval of seedlings in a stepless manner, and is configured to be able to acquire the planting interval of seedlings.

  A driver's seat 12 is arranged in the front and rear part of the traveling body 2, and a steering handle 13, an operation pedal 14, a dashboard 15, and the like are provided in front of the driver's seat 12. On the dashboard 15, in addition to the steering wheel 13, operating tools and display devices for various operations are arranged. The dashboard 15 is provided with a select dial 66 as a dial capable of setting various items (plant depth, vertical picking amount, etc.). The select dial 66 is connected to the seedling collection calculator 70 (see FIG. 18).

  The planting work machine 3 is connected to the traveling machine body 2 via a lifting link mechanism 20. The lifting link mechanism 20 includes a pair of left and right upper links 21 and lower links 22, a lifting cylinder, and the like. The lower link 22 and the upper link 21 are rotated by the lifting cylinder, and the planting work machine 3 is raised and lowered.

  The planting work machine 3 includes a planting arm 31, a planting claw 32, a seedling mounting table 33, a float 34, and the like. The planting claw 32 is attached to the planting arm 31. The planting machine 3 is driven by a PTO shaft 16 extending rearward from the transmission 5. More specifically, power is transmitted from the PTO shaft 16 to the planting transmission case 36 provided in the planting work machine 3 via the planting center case 35, and the planting transmission case 36 transfers the planting arm 31 to the planting arm 31. Power is distributed to the claws 32. A planting clutch is provided in the planting center case 35, and the planting clutch is configured to disconnect and connect the transmission of power from the engine 4 to the planting work machine 3.

  The planting arm 31 is rotated by the power transmitted from the planting transmission case 36. Seedlings 33 are supplied with seedlings to the planting claws 32. As the planting arm 31 rotates, the planting claws 32 are inserted into the field, and the seedlings are planted at a predetermined planting depth. In this embodiment, a rotary type planting claw is adopted, but a crank type may be used.

  The seedling mounting table 33 is formed of a plate-shaped member, and is disposed so as to be inclined forward and rearward and low when viewed from the side of the machine body. On the rear surface of the seedling mounting table 33, mounting surfaces on which seedling mats are mounted are arranged in the machine width direction in accordance with the number of planting arms (the number of rice transplanters). Since the rice transplanter 1 of the present embodiment is a six-row rice transplanter, six mounting surfaces are formed. The seedling mat is placed on the mounting surface in an inclined state.

  The float 34 has a front end supported so as to be vertically swingable with respect to the planting frame 37, and a rear end capable of ascending and descending via a link mechanism 39 on a rotation support shaft 38 provided in the planting transmission case 36. It is attached (see FIG. 20 (b)).

  In the float 34, a sensor 40 (see FIG. 21) for detecting a field surface (field surface) is provided immediately before the planting position of the planting unit 4. The sensor 40 extends rearward from the front. The sensor 40 is supported by the planting frame 37 so as to be swingable in the pitching direction, and hangs around the swing fulcrum by gravity, so that a state in which the tip portion is in contact with the surface of the field is maintained. That is, the rice transplanter 1 advances so that the tip of the sensor 40 always follows the field surface.

With reference to FIG. 3, a lateral feed mechanism for reciprocating the seedling mounting table 33 in the machine body width direction will be described.
As shown in FIG. 3, the feed screw 41 extends from the planting center case 35 toward one side in the machine body width direction. On the outer peripheral surface of the feed screw 41, a cross-shaped groove is formed along the axial direction. The feed screw 41 is provided with a slider 42 that can slide along the groove and a slider receiver 43 that supports the slider 42. The slider receiver 43 is formed in a substantially T shape. In the slider receiver 43, a feed screw 41 is penetrated, and a slider 42 is accommodated slidably along a groove of the feed screw 41.

  A lower rail 44 is attached to a lower part of the front surface (the back surface of the mounting surface) of the seedling mounting table 33. The lower rail 44 is disposed with the body width direction as a longitudinal direction. The slider receiver 43 is fixed to the lower rail 44 via a support arm 45.

  Below the lower rail 44, a guide rail 46 that supports the lower rail 44 slidably in the machine body width direction is provided. The guide rails 46 are arranged with the machine body width direction as the longitudinal direction. The guide rail 46 includes an engaging portion 46a that engages with the lower rail 44, and an extending portion 46b that extends from the engaging portion 46a along the shape of the bottom of the seedling mounting table 33. By engaging the lower rail 44 with the engaging portion 46a of the guide rail 46, the lower rail 44 is configured to be slidable along the guide rail 46 in the machine width direction. A stopper 47 for preventing the lower rail 44 from coming off the guide rail 46 is detachably attached to the guide rail 46 by a bolt.

  On the side of the planting center case 35 from which the feed screw 41 extends, a lateral feed switching lever 48 for adjusting the lateral feed amount of the seedling mounting table 33 is provided. By operating the lateral feed switching lever 48, the operator can adjust the lateral feed amount of the seedling mounting table 33, and can change the number of times of the lateral feeding of the seedling mounting table 33. The lateral feed switching lever 48 is provided with a lateral feed frequency detection sensor 48a (see FIG. 18) that detects the number of lateral feeds of the seedling mounting table 33 by detecting the position of the lateral feed switching lever. The seedling collection amount calculation unit 70 is connected to the number-of-lateral-feeds detection sensor 48a, and is configured to be able to detect the number of lateral-feeds of the seedling table 33.

With reference to FIG. 4, a vertical feed mechanism for sending the seedling mat placed on the seedling mounting table 33 downward will be described.
As shown in FIG. 4, a vertical feed cam shaft 52 to which the vertical feed cam 51 is fixed extends from the planting center case 35 toward the other side in the machine body width direction. The vertical feed cam shaft 52 is connected to the feed screw 41, and comes into contact with the driven cam 53 when the stroke end is reached. The driven cam 53 is provided on a transport belt drive shaft 55 that drives the transport belt 54 below the seedling mounting table 33. When the vertical feed cam 51 and the driven cam 53 come into contact with the rotation of the vertical feed cam shaft 52, the driven cam 53 rotates. By rotating the transport belt drive shaft 55 with the rotation of the driven cam 53, the transport belt 54 is circulated to transport the seedling mat placed on the transport belt 54 by a predetermined distance. The transport belt drive shaft 55 is provided with a plurality of longitudinal feed clutches 55a in the machine body width direction for connecting and disconnecting the transmission of power to the transport belt 54 arranged on a predetermined strip. When the vertical feed clutch 55a is operated, power is transmitted to the transport belt 54 disposed on the strip corresponding to the vertical feed clutch 55a.

  A seedling stand rail support shaft 56 is supported at the front upper portion of each planting transmission case 36 so as to be rotatable in the machine body width direction. A plurality of support frames 57 are protruded rearward and upward from the seedling stand rail support shaft 56 at appropriate intervals, and the guide rails 46 are supported by the support frame 57 in the left-right horizontal direction. Further, an arm 58 is attached to the front upper side from the seedling stand rail support shaft 56. At the other end of the arm 58, a rotation angle detection sensor 59 for detecting the rotation angle of the seedling stand rail support shaft 56 is provided. The rotation angle detection sensor 59 is attached to the planting frame 37. The seedling rail support shaft 56 is provided with an actuator 56a (see FIG. 18). The seedling collecting amount calculation unit 70 is connected to the rotation angle detection sensor 59, and can detect the vertical collecting amount from the seedling mat.

  By controlling the drive of the actuator 56a, the nursery stand rail support shaft 56 is configured to be rotatable. Therefore, by rotating the support frame 57 with the rotation of the seedling stand rail support shaft 56, the guide rail 46 (the seedling placing stand 36) is moved up and down (movable up and down), and the planting claw 32 is moved. The distance between the planting transmission case 36 to be supported and the seedling mounting table 33 can be changed. Therefore, it is possible to change the length of the planting nail 32 from the seedling mat. Here, the vertical pick-up amount refers to an amount of scraping the seedling mat in the traveling direction of the traveling machine body 2 in plan view. By adjusting the vertical picking amount, the picking amount of the seedling mat by the planting claws 32 can be changed.

  The nursery stand rail support shaft 56 is connected to the driven cam 53 via an interlocking wire 60. By rotating the follower cam 53 by a predetermined angle by the tension of the interlocking wire 60 with the rotation of the seedling stand rail support shaft 56, the feed amount by the conveyor belt 54 is adjusted according to the amount of vertical pick-up from the seedling mat. are doing.

  In the above configuration, when the power from the engine 4 is transmitted to the feed screw 41 via the planting center case 35, the slider 42 slides in the groove of the feed screw 41 and slides with the slide. The child receiver 43 slides in the machine body width direction. When the slider receiver 43 is slid, the lower rail 44 slides along the guide rail 46 via the support arm 45, and at the same time, the seedling mounting table 33 slides in the machine body width direction. When the seedling mounting table 33 reaches the stroke end in the machine body width direction, the vertical feed cam 51 comes into contact with the driven cam 53, and the transport belt drive shaft 55 rotates, so that the transport belt 54 is circulated.

  The reciprocating movement of the slider 42 along the groove of the feed screw 41 causes the seedling mounting table 33 to reciprocate along the guide rail 46. The seedling table 33 is reciprocated along the guide rails 46 by the lateral feed mechanism, so that the seedling mat placed on the seedling table 33 is planted from one side to the other side or from the other side to one side. Claws 32 allow the seedlings to be scraped and transplanted. When the planting claw 32 scrapes the seedlings on one side or the other side of the seedling mat by the vertical feed mechanism, the conveyor belt 54 operates to move the seedling mat toward the lower end (rear end) of the mounting surface. It is possible to carry. As described above, the seedling mat is reciprocated in the machine width direction and is appropriately conveyed downward, so that the seedlings can be scraped from the lower end of the seedling mat placed on the seedling mounting table 33.

With reference to FIG. 5 to FIG. 7, the detection of the number of times of the seedling mating of the seedling mat will be described.
As shown in FIG. 5, a rotating body is provided on the mounting surface of the seedling mounting table 33 on which the seedling mats are placed for each row, as means for detecting the number of times the seedling mats succeed in seedling. As a rotating body, a downstream rotating body 71 provided on the downstream side (downstream in the feeding direction of the seedling mat) on the mounting surface and an upstream side (upstream in the feeding direction of the seedling mat) from the downstream rotating body 71. And the upstream rotating body 81 provided. The seedling yield calculation unit 70 detects the number of times the seedling mat has been added (number of times of seedling connection) based on the rotation state of the downstream rotating body 71 and the upstream rotating body 81. The seedling collecting amount calculation unit 70 adjusts the vertical picking amount of the planting claws 32 from the seedling mat so that the planting operation can be performed with a desired number of seedling mats in a desired field.

  The downstream rotating body 71 is provided so as to protrude above the mounting surface (front surface) from the back surface side of the mounting surface. The downstream rotating body 71 is provided so as to rotate in conjunction with the vertical feeding of the seedling mat by the transport belt 54 when the seedling mat is placed on the downstream rotating body 71.

  The downstream rotating body 71 is provided at a position where the seedling mat can be rotated in conjunction with the vertical feeding of the seedling mat when one seedling mat is placed on the mounting surface from the lower end to the upper side. The downstream rotating body 71 is arranged below the upper end of the seedling mat at a position spaced apart by a vertical feed amount F1 for one seedling mat. In addition, the downstream rotating body 71 is disposed at a position at a predetermined interval F2 above the lower end of the seedling mat and at a lower limit thereof. The predetermined interval refers to an interval in consideration of a time lag from when the compression ratio is calculated in one section described later to when the correction control of the reference vertical take-in amount is performed. In order to detect the feed amount of the seedling mat based on the rotation linked to the vertical feed of the seedling mat, the downstream-side rotating body 71 is preferably disposed near the lower end of the mounting surface. Be placed.

  Also, as a lower limit at which the downstream rotating body 71 is provided, when a new seedling mat is added after the upper end of the seedling mat is sent below the downstream rotating body 71, the new seedling mat is connected. The seedling mats remaining before being added may be set at positions spaced apart so as not to consume the seedling mat.

  The seedling collection amount calculation unit 70 adds one to the seedling mating frequency of the seedling mat when the state where the downstream rotating body 71 is not rotating is changed to a state in which the downstream rotating body 71 rotates in conjunction with the vertical feeding of the seedling mat. . When the state in which the downstream rotating body 71 is not rotating is changed to a state in which the downstream rotating body 71 is rotated in conjunction with the vertical feeding of the seedling mat, the downstream rotating body 71 is linked with the vertical feeding of the seedling mat from the non-rotating state. Indicates when rotation is detected. The seedling collection amount calculation unit 70 determines whether or not the rotation is linked to the vertical feeding of the seedling mat by the transport belt 54 based on the number of rotations per predetermined time.

  When detecting the rotation of the downstream rotating body 71 linked to the vertical feeding of the seedling mat, the seedling collection amount calculation unit 70 changes the rotation of the downstream rotating body 71 linked to the vertical feeding of the seedling mat within a predetermined time after the rotation. By judging whether or not there is, it is detected whether or not the downstream rotating body 71 is in a state of rotating in conjunction with the vertical feeding of the seedling mat. The predetermined time here is set according to the interval at which the seedling table 33 is vertically fed.

  The upstream rotating body 81 is provided so as to protrude above the mounting surface (front surface) from the back surface side of the mounting surface. The upstream rotating body 81 is provided so as to rotate in conjunction with the vertical feeding of the seedling mat by the transport belt 54 when the seedling mat is placed on the upstream rotating body 81.

  The upstream rotating body 81 is located on the mounting surface at a position spaced from the lower end to the upper side at least longer than the vertical length of one seedling mat, and one seedling mat from the downstream rotating body 71 to the upper side. When placed, it is provided at a position where it can rotate in conjunction with the vertical feeding of the seedling mat. The upstream rotating body 81 is arranged below the upper end of the seedling mat at a position spaced apart by the vertical feed amount F1 for one seedling mat. In the present embodiment, the upstream rotating body 81 is arranged in the vicinity of a position where a single seedling mat is vertically spaced from the lower end to the upper side.

  In the state where the downstream rotating body 71 rotates in conjunction with the vertical feeding of the seedling mat, the seedling collection amount calculation unit 70 changes the state in which the upstream rotating body 81 does not rotate in conjunction with the vertical feeding of the seedling mat. When the state shifts to the rotating state, the seedling mating frequency of the seedling mat is incremented by one. When the upstream rotating body 81 has transitioned from a state in which the upstream rotating body 81 is not rotating to a state in which the upstream rotating body 81 rotates in conjunction with the vertical feeding of the seedling mat, the upstream rotating body 81 is linked with the vertical feeding of the seedling mat from the non-rotating state. Indicates when rotation is detected. The seedling collection amount calculation unit 70 determines whether or not the rotation is linked to the vertical feeding of the seedling mat by the transport belt 54 based on the number of rotations per predetermined time.

  When detecting the rotation of the upstream rotating body 81 linked to the vertical feeding of the seedling mat, the seedling collection amount calculation unit 70 changes the rotation of the upstream rotating body 81 linked to the vertical feeding of the seedling mat within a predetermined time after the rotation. By judging whether or not there is, it is detected whether or not the upstream rotating body 81 is in a state of rotating in conjunction with the vertical feeding of the seedling mat. The predetermined time here is set according to the interval at which the seedling table 33 is vertically fed.

  The seedling collection amount calculation unit 70 calculates the compression ratio of the seedling mat when transitioning from the state in which the upstream rotating body 81 rotates in conjunction with the vertical feeding of the seedling mat to the state in which the seedling mat does not rotate. The compression ratio is determined by the length of the seedling mat placed on the seedling mounting table 33 in the feeding direction (the length from the lower end of the mounting surface measured in advance to the upstream rotating body 81) and the downstream rotating body 71. It is calculated by dividing the sum of the feeding amount of the seedling mat calculated from the number of rotations and the length of the seedling mat for the number of times of seedling passage.

  With reference to FIG. 6, detection of the number of times of planting during the planting operation will be described. Here, the seedling collection amount calculation unit 70 is configured to be able to store the number of times of seedling succession. When the planting clutch is actuated, the seedling collection calculator 70 is configured to detect the rotation state and the rotation speed of the downstream rotating body 71 and the upstream rotating body 81.

  In the present embodiment, two seedling mats are placed on the mounting surface of the seedling mounting table 33, from which the planting clutch is operated to start the planting operation. When the seedling mat located at the lower end side is vertically fed by the conveyor belt 54, the downstream rotating body 71 rotates. When detecting the rotation of the downstream rotating body 71 in conjunction with the vertical feeding of the seedling mat by the transport belt 54, the seedling collection amount calculation unit 70 adds one to the number of seedlings to be connected (detects the first seedling mat). .

  Then, as the first seedling mat is vertically fed, the upper seedling mat is vertically fed to the lower end side of the first seedling mat, whereby the upstream rotating body 81 is rotated. . When detecting the rotation of the upstream rotating body 81 in conjunction with the vertical feeding of the seedling mat, the seedling collection amount calculation unit 70 adds one to the number of times of seedling connection (detects the second seedling mat).

  When the second seedling mat is vertically fed to the lower side of the upstream rotating body 81, the state where the upstream rotating body 81 rotates in conjunction with the vertical feeding of the seedling mat is changed to a non-rotating state. You. When detecting the state in which the upstream rotating body 81 is not rotating, the seedling collection calculator 70 calculates the compression ratio of the seedling mat. The seedling collection amount calculation unit 70 calculates the sum of the length of the seedling mat placed on the seedling mounting table 33 in the feed direction and the feed amount of the seedling mat calculated from the rotation speed of the downstream rotating body 71. Then, the compression ratio is calculated by dividing by the length of the seedling mat for the number of times of seedling connection.

  Then, in a state where the upper end of the second seedling mat is located above the downstream rotating body 71 and below the upstream rotating body 81, when the seedling mat is added, The seedling collection calculating unit 70 detects the rotation of the upstream rotating body 81 in conjunction with the vertical feeding of the seedling mat, and adds one to the number of seedlings to be connected (detects the third seedling mat).

  Similarly, when the third seedling mat is vertically fed to the lower side of the upstream rotating body 81, the state where the upstream rotating body 81 rotates in conjunction with the vertical feeding of the seedling mat is changed to a state in which it is not rotating. Is transited to. When detecting the state in which the upstream rotating body 81 is not rotating, the seedling collection calculator 70 calculates the compression ratio of the seedling mat.

  As described above, the downstream-side rotating body 71 is provided at a position where the seedling mat is rotatable in conjunction with the vertical feeding of the seedling mat when one seedling mat is placed upward from the lower end on the mounting surface. Thus, the seedling mat placed on the mounting surface can be detected.

  The upstream rotating body 81 is located on the mounting surface at a position spaced from the lower end to the upper side at least longer than the vertical length of one seedling mat, and one seedling mat from the downstream rotating body 71 to the upper side. When the seedling mat is placed, the seedling mat is provided at a position where it can be rotated in conjunction with the vertical feed, so that the seedling mat is placed on the downstream rotating body 71 (the downstream rotating body 71 is When the seedling mat is newly added in a state where the seedling mat is rotated in conjunction with the vertical feed), the seedling mat can be detected.

  In addition, since the downstream rotating body 71 is configured to rotate in conjunction with the vertical feeding of the seedling mat, the feed amount of the seedling mat can be calculated based on the number of rotations of the downstream rotating body 71. That is, the downstream rotating body 71 is used as a feed amount detecting unit for the seedling mat. In addition, the length from the lower end of the mounting surface to the upstream rotating body 81 is measured in advance, and the state is rotated from the state in which the upstream rotating body 81 rotates in conjunction with the vertical feeding of the seedling mat to the state in which it does not rotate. By detecting the transition, the compression ratio can be calculated.

  In the above configuration, the seedling collection calculator 70 uses the compression ratio to calculate the seedling mat based on the length of the seedling mat before compression from the feed amount of the seedling mat calculated from the rotation speed of the downstream rotating body 71. The number of mats used can be calculated.

With reference to FIG. 7, the correction of the number of times of the seedling mating of the seedling mat will be described.
The seedling collection amount calculation unit 70 calculates the number of seedling mats detected based on the rotation state of the downstream rotating body 71 and the upstream rotating body 81 and the number of rotations of the downstream rotating body 71. And the remaining amount of the seedling mat placed on the mounting surface is estimated from time to time. The seedling collection amount calculation unit 70 corrects the number of seedlings to be connected to the seedling mat based on the remaining amount of the seedling mat and the rotation states of the downstream rotating body 71 and the upstream rotating body 81.

  In the embodiment shown in FIG. 7, a single seedling mat is placed on the mounting surface of the seedling mounting table 33, from which the planting clutch is operated to start the planting operation. When the seedling mat located at the lower end side is vertically fed by the conveyor belt 54, the downstream rotating body 71 is rotated. When detecting the rotation of the downstream rotating body 71 in conjunction with the vertical feeding of the seedling mat by the transport belt 54, the seedling collection amount calculation unit 70 adds one to the number of seedlings to be connected (detects the first seedling mat). . The seedling collection amount calculation unit 70 calculates the feed amount of the seedling mat based on the number of rotations of the downstream rotating body 71, and subtracts the feed amount of the seedling mat from the length of one seedling mat to obtain the seedling mat. Estimate the remaining amount.

  Then, when two new seedling mats are simultaneously added while the seedling mat is placed on the downstream rotating body 71, the rotation linked to the vertical feed of the seedling mat of the upstream rotating body 81 is detected. Then, the number of seedlings is incremented by one (the second seedling mat is detected). The feed amount of the seedling mat is calculated from the rotation speed of the downstream rotating body 71, and the remaining amount of the seedling mat is estimated by subtracting the feed amount of the seedling mat from the length of two seedling mats.

  When the estimated remaining amount of the seedling mat is lower than the upstream rotating body 81, the seedling collection amount calculation unit 70 rotates the upstream rotating body 81 in conjunction with the vertical feeding of the seedling mat. Is detected. When the rotation of the upstream rotating body 81 linked to the vertical feeding of the seedling mat is detected, the seedling mat is placed on the upstream rotating body 81 against the remaining amount of the seedling mat, that is, the estimated seedling mat. Since the actual remaining amount of the seedling mat is larger than the remaining amount of the seedling mat, the number of seedlings is corrected, specifically, the number of seedlings is increased by one (corrected from two to three). . In the above situation, if it is detected that the upstream rotating body 81 has transitioned from a state in which the upstream rotating body 81 rotates in conjunction with the vertical feeding of the seedling mat to a state in which it does not rotate, the estimated remaining amount of the seedling mat is estimated. And the actual remaining amount of the seedling mat are determined to be the same, and the number of times of the seedling connection is not corrected.

  Then, when the third seedling mat is sent to the lower side of the upstream rotating body 81, the state where the upstream rotating body 81 rotates in conjunction with the vertical feeding of the seedling mat is changed to a state where it is not rotating. Transitioned. When detecting the state in which the upstream rotating body 81 is not rotating, the seedling collection calculator 70 calculates the compression ratio of the seedling mat.

  As described above, the remaining amount of the seedling mat is estimated, and the number of the seedlings is corrected based on the estimated remaining amount of the seedling mat and the rotation states of the downstream rotating body 71 and the upstream rotating body 81. Thus, for example, even when two seedling mats are transferred simultaneously or when one seedling mat is arranged from the downstream rotating body 71 to the upstream rotating body 81, the number of times of seedling transfer can be accurately detected. can do. When estimating the remaining amount of the seedling mat, if the compression ratio is calculated, the compression ratio may be considered.

The correction of the remaining amount of the seedling mat will be described with reference to FIG.
In the embodiment shown in FIG. 8, the estimated remaining amount of the seedling mat is lower than the downstream rotating body 71, and the case where the downstream rotating body 71 transitions to a state where it is not rotating is described. I assume. When detecting that the downstream rotating body 71 has transitioned to a state in which the downstream rotating body 71 is not rotating, the seedling collection amount calculation unit 70 is estimated based on the rotation speed of the downstream rotating body 71 rotated by the extension of the seedling mat. Correct the remaining seedling mat.

  After detecting that the state has been changed from a state in which the seedling mat of the downstream-side rotating body 71 rotates in conjunction with the vertical feed of the seedling mat to a state in which the seedling mat has not rotated, the seedling mat is added when the seedling mat is added. Comes into contact with the downstream rotator 71 and the downstream rotator 71 is rotated. Then, the downstream rotating body 71 is rotated until the lower end of the seedling mat to be added contacts the upper end of the remaining seedling mat. Therefore, when there is a difference between the estimated remaining amount of the seedling mat and the actual remaining amount of the seedling mat, the seedling mat to be continued to the actual remaining position of the seedling mat is sent. Therefore, the seedling collection amount calculation unit 70 calculates the seedling mat estimated by subtracting the feed amount of the seedling mat calculated based on the rotation speed of the downstream rotating body 71 from the estimated remaining amount of the seedling mat. Correction is made so that the remaining amount is the actual remaining amount of the seedling mat.

  As described above, when it is detected that the downstream rotating body 81 has transitioned to a state in which the downstream rotating body 81 is not rotating, estimation is performed based on the rotation speed of the downstream rotating body 71 caused by the addition of the seedling mat. By correcting the remaining amount of the seedling mat to be performed, the remaining amount of the seedling mat can be accurately calculated, and the number of times of the seedling mating can be accurately calculated.

  In the above-described configuration, the downstream rotating body 71 and the upstream rotating body 81 are provided as the means for detecting the number of times of planting, but the present invention is not limited to this. For example, using only the downstream rotating body 71, the number of seedlings to be connected may be detected while estimating the remaining amount of the seedling mat.

  The configuration of the downstream rotating body 71 will be described with reference to FIGS. 9 to 11. The upstream rotator 81 has the same structure as the downstream rotator 71, and a description thereof will be omitted. 9 shows the configuration of the downstream rotating body 71 in a side view, and FIG. 10 shows the configuration of the downstream rotating body 71 in a rear view (as viewed from the mounting surface side). Here, the configuration of the downstream rotating body 71 is shown in a front view (as viewed from the back side of the mounting surface).

  The outer peripheral portion of the downstream rotating body 71 is provided with a plurality of projections 71a radially arranged with respect to the center of rotation. The downstream rotating body 71 is provided such that the projection 71a protrudes above the mounting surface from the back surface side of the mounting surface via the through hole 33a. The downstream rotating body 71 is configured to rotate in conjunction with the vertical feeding of the seedling mat while the protrusion 71a bites (engages) with the bottom surface of the seedling mat that is vertically fed on the mounting surface.

  The downstream rotating body 71 is provided on the back surface of the seedling mounting table 33 via the swing arm 73 on the bracket 72. A swing arm 73 is provided on a bracket 72 erected on the back surface of the mounting surface so that the tip swings in the direction away from and near the back surface of the seedling mounting table 33 with the base end as a fulcrum. A base end of the swing arm 73 is attached to a support shaft 72 a of the bracket 72. A downstream rotating body 71 is supported at the tip of the swing arm 73 so as to be rotatable around a pitch axis. An urging member 74 (in this embodiment, a torsion spring) that urges the swing arm 73 toward the back surface of the mounting surface is provided on the back surface of the mounting surface.

  A boss 71b is provided at the rotation center of the downstream rotating body 71. The boss portion 71b is provided with a screw 75 at every 90 degrees in the rotation direction. By detecting the screw 75 by a proximity sensor 76 provided at the tip end of the swing arm 73, the rotation of the downstream rotary body 71 is The number can be detected.

  As shown in FIG. 12, the surface of the projection 71 a of the downstream rotating body 71 on the contact side with the seedling mat is formed in a shape warped toward the upstream side in the rotation direction of the downstream rotating body 71. In terms of the relationship between the seedling mounting table 33 and the downstream rotating body 71, the surface of the projection 71a on the contact side with the seedling mat is formed in a shape warped toward the source of the seedling mat. In the present embodiment, the projection 71a is formed so as to be curved from the base end to the distal end toward the upstream side in the rotation direction of the downstream rotator 71 in a side view.

  As described above, the surface of the downstream rotator 71 on the contact side of the protrusion 71a with the seedling mat is formed in a shape that is warped toward the upstream side in the rotation direction. When the seedling mat is sent to the mounting surface, the seedling mat is easily brought into contact with the projection 71a (it is easy to be caught). Therefore, slippage of the downstream rotating body 71 can be prevented, and the downstream rotating body 71 can be rotated in conjunction with the vertical feeding of the seedling mat.

  In addition, the projection 71a may be formed as a star wheel without curving from the base end to the distal end in the rotation direction upstream in the side view, or, for example, as illustrated in FIG. The tip may be formed to be inclined from the base end to the tip toward the upstream side in the rotation direction, and the tip may be formed in a pointed shape. By forming the tip of the projection 71a into a pointed shape, the projection 71a can be easily hooked on the downstream side surface or the bottom surface of the seedling mat. Therefore, slippage of the downstream rotating body 71 can be prevented, and the downstream rotating body 71 can be rotated in conjunction with the vertical feeding of the seedling mat.

  In the above configuration, by detecting the rotation speed of the downstream rotating body 71, the feed amount of the seedling mat can be calculated. The seedling collection calculator 70 is connected to the proximity sensor 76, and can detect the number of rotations of the downstream rotating body 71. In the present embodiment, the proximity sensor 76 is used to detect the number of revolutions of the downstream rotating body 71, but is not limited to this. A rotary encoder may be attached to the rotating shaft of the downstream rotating body 71 to calculate the number of rotations (rotation angle) of the downstream rotating body 71, or a potentiometer may be attached to the rotating shaft of the downstream rotating body 71, The rotation speed (rotation angle) of the downstream rotating body 71 may be calculated.

  In addition, the downstream rotating body 71 is attached to the tip of the swing arm 73 that swings in the separating direction and the approach direction with respect to the mounting surface, so that the mounting surface of the seedling mounting table 33 and the downstream rotating body 71 Is secured, and accumulation of mud or the like can be prevented.

  As shown in FIG. 12, a gear 77a that rotates together with the downstream rotating body 71 is provided at the tip of the swing arm 73. On the back surface of the mounting surface, there is provided a claw 77b that is maintained in a state of meshing with the gear 77a of the swing arm 73 by the urging force of the urging member 74.

  As shown in FIG. 14A, the urging force of the urging member 74 is such that when the seedling mat is sent onto the downstream rotating body 71, the mesh between the gear 77a and the claw 77b is released by the weight of the seedling mat. Is set to In the present embodiment, the claw 77b is formed such that the contact surface of the bracket 72 with the mounting surface extends downstream, and is formed at the extension destination. The claw 77b is provided on the bracket 72, but is not limited to this, and may be provided on the back side of the mounting surface. For example, as shown in FIG. 15, it may be configured to be formed directly on the back surface of the mounting surface.

  The gear 77a and the claw 77b have a ratchet structure, and are configured to allow rotation in a direction interlocked with the vertical feeding of the seedling mat in a meshed state. The rotation in the direction opposite to the direction of rotation in conjunction with is regulated.

  As described above, when the seedling mat is not placed on the downstream-side rotating body 71, the urging member 74 engages the teeth on the outer periphery of the gear 77a and the claws 77b, and the mounting surface of the seedling mounting table 33. Is pressed from the back side, so that the downstream rotating body 71 and the seedling mounting table 33 are locked. Therefore, rotation of the downstream rotating body 71 can be prevented by unintended external force.

  Further, the urging force of the urging member 74 is set so as to disengage the gear 77a and the claw 77b by the weight of the seedling mat, so that when the seedling mat is sent, the downstream rotating body 71 is rotated. Can be.

  As shown in FIG. 14 (b), the gear 77a and the claw 77b are provided so as to have a ratchet structure, and allow only the rotation in a direction interlocked with the vertical feed of the seedling mat, so that the bottom surface of the seedling mat is mounted. The downstream rotating body 71 can be rotated in conjunction with the vertical feeding of the seedling mat, even when the gears are sent slightly floating from the mounting surface and the gear 77a and the claw 77b are not completely disengaged. it can.

  Further, when the downstream rotating body 71 is provided on the mounting surface of the existing rice transplanter 1, the claw 77b and the bracket 72 are integrally configured as compared with the case where the claw 77b is formed directly on the back surface of the mounting surface. Therefore, it is only necessary to form the through hole 33a on the mounting surface, and the mounting is easy.

  In the above configuration, the rotating body is used as the seedling mat feed amount detecting means, but is not limited to this. In the contact-type measuring method, a capacitance-type gauge, a load cell, or the like can be considered. The capacitance-type gauge is installed, for example, over the entire mounting surface, so that the feed amount and the remaining amount of the seedling mat on the seedling mounting table 33 can be accurately measured. In addition, the load cell is attached to the support member of the seedling mounting table 33, for example, so that the feed amount of the seedling mat can be detected based on the load of the seedling mat placed on the mounting surface.

  In the non-contact type measurement method, a laser range finder, image processing of an image captured by a camera, an optical sensor, a brightness sensor, and the like are considered. The laser distance meter, for example, is provided so as to be able to measure the distance from the upper side of the mounting surface to the upper end surface of the seedling mat to be mounted, so that the feed amount of the seedling mat can be detected. . Further, since the camera is provided so as to be able to photograph the seedling mat placed on the placing surface, for example, it can detect the feed amount of the seedling mat by processing the photographed image. The optical sensor includes, for example, a light-emitting unit and a light-receiving unit that detects that light from the light-emitting unit is blocked by the seedling mat, and thus can detect the feed amount of the seedling mat.

  The positions of the downstream rotating body 71 and the upstream rotating body 81 in the machine width direction will be described with reference to FIG.

  The seedling holding rod has a role of pressing the seedling mat placed on the mounting surface of each strip from above to smoothly transport the seedling mat, and is formed in a rod shape with the feeding direction of the seedling mat of the seedling mounting table 33 as a longitudinal direction. Is done. In the embodiment shown in FIG. 16A, a long diameter seedling pressing rod 88a is provided symmetrically with respect to the center of the mounting surface, and a short diameter seedling pressing rod 88b is provided at the center of the mounting surface.

  The upstream rotating body 81 is provided at the center of the mounting surface. The downstream rotating body 71 is arranged below the short diameter seedling holding rod 88b (in the direction of holding down the seedling mat).

  As described above, the downstream rotating body 71 is disposed below the seedling holding rod 88b having a short diameter, so that a gap is not generated between the seedling mat and the downstream rotating body 71, so that the downstream rotating body 71 is located downstream of the seedling mat. The side rotation body 71 can be made to bite. Therefore, the slip of the downstream rotating body 71 can be prevented, and the feed amount of the seedling mat can be accurately calculated from the rotation speed of the downstream rotating body 71.

  In the embodiment shown in FIG. 16 (b), the upstream rotating body 81 is disposed below the long diameter seedling holding rod 88a located on the right side (in the direction of holding down the seedling mat). Therefore, similarly, the slip of the upstream rotating body 81 can be prevented, and the feed amount of the seedling mat can be accurately calculated from the rotation speed of the upstream rotating body 81.

  In the embodiment shown in FIG. 16C, three long seedling holding rods 88a are arranged symmetrically with respect to the center of the mounting surface. The upstream rotating body 81 and the downstream rotating body 71 are arranged below (in the direction of holding down the seedlings) the long diameter seedling holding rod 88a arranged at the center. Therefore, a similar effect is obtained.

  In the embodiment shown in FIG. 16 (d), two long seedling holding rods 88a are symmetrically arranged side by side with respect to the center of the mounting surface. The upstream rotating body 81 is arranged below the long diameter seedling pressing rod 88a located on the right side (in the direction of pressing the seedling mat). Therefore, a similar effect is obtained.

  As described above, by arranging the upstream rotating body 81 and the downstream rotating body 71 below the seedling holding rod (in the direction in which the seedling mat is pressed), slippage of the upstream rotating body 81 and the downstream rotating body 71 is prevented. It is possible to accurately calculate the feed amount of the seedling mat from the rotation speed. Further, a plurality of the upstream rotating bodies 81 and the downstream rotating bodies 71 may be arranged at the same height.

With reference to FIG. 17 and FIG. 18, the reference length of the planted nail 32 will be described.
The reference take-up amount refers to a take-up amount that is used as a reference when planting a predetermined field using a predetermined number of seedling mats. The operator uses the select dial 66 to input the number of seedling mats to be used and the area of the field to the seedling collection amount calculation unit 70 before performing the seedling planting operation in the field. That is, the select dial 66 is provided as field area input means and seedling mat number setting means. The seedling collecting amount calculation unit 70 calculates the reference vertical collecting amount based on the input number of seedling mats and the field area, and controls the drive of the actuator 56a. The seedling collection calculator 70 is configured to be able to detect the number of plants (the number of plants per predetermined area calculated from the planting interval set by the operator) from the detection value of the plant setting device 17. Then, the seedling yield calculator 70 is configured to be able to calculate the number of strains in consideration of a slip ratio described later. Here, the slip ratio is set based on the amount of settlement of the rear wheel 8 into the field at the work start point or a predetermined reference value.

  The seedling collection amount calculation unit 70 calculates the target number of mats (the number of seedling mats per predetermined area) from the field area and the number of seedling mats. Then, the seedling collecting amount calculation unit 70 calculates the reference vertical picking amount from the target number of mats, the number of times of feeding the seedling table 33 and the number of strains (the number of strains may be considered in consideration of the slip rate).

  In the above-described configuration, by controlling the drive of the actuator 56a so as to have the standard vertical take-up amount, the planting operation can be performed on a desired field with a desired number of seedling mats without depending on the experience and intuition of the operator. Can be set to the required vertical length.

  When the planting operation is started, the seedling collection amount calculation unit 70 sets the reference vertical collection amount based on the actual work area where the actual planting operation was performed and the number of seedling mats used in the actual planting operation. Is corrected as needed. Specifically, the seedling collection amount calculation unit 70 calculates the actual vertical collection amount based on the actual work area and the number of used seedling mats. The seedling collection calculator 70 calculates the remaining work area calculated by subtracting the actual work area from the work area, and the number of remaining seedling mats calculated by subtracting the number of seedling mats used from the number of seedling mats. , The target vertical take-off amount is calculated. The seedling collecting amount calculation unit 70 corrects the standard collecting amount by adding a value obtained by subtracting the actual collecting amount from the target collecting amount to the reference collecting amount.

The calculation of the actual work area will be described with reference to FIGS.
The actual work area is calculated from the vehicle speed of the traveling machine body 2 in consideration of the slip ratio and a work width set from the number of strips on which the planting work is performed. The vehicle speed of the traveling body 2 is calculated using the rotation speed of the traveling wheels. In the present embodiment, it is calculated using the rotation speed of the rear wheel 8. The rotation shaft of the rear wheel 8 is provided with a rear wheel rotation speed detection sensor 8a for detecting the rotation speed. The seedling collection amount calculation unit 70 is connected to the rear wheel rotation speed detection sensor 8a, and is configured to be able to detect the rotation speed of the rear wheel 8.

  As shown in FIG. 19, the slip ratio and the amount of settlement of the running wheel (in this embodiment, the rear wheel 8) on the field have a linear function correlation. The amount of settlement of the rear wheel 8 in the field refers to the height from the contact surface of the rear wheel 8 to the field to the rice field (field surface). As the amount of subsidence of the rear wheel 8 into the field increases, the slip ratio increases linearly.

The amount of settlement of the rear wheel 8 on the field will be described with reference to FIG.
The amount of subsidence of the rear wheel 8 into the field is provided to the planting work machine position detection sensor 82 including an appropriate sensor such as a potentiometer provided in the lifting link mechanism 20 and to the link mechanism 39 of the float 34 or the rotation support shaft 38. It is calculated from a planting depth detection sensor 39a (see FIG. 18) composed of an appropriate sensor such as a potentiometer sensor. The planting work machine position detection sensor 82 is provided on a lifting link frame 83 to which rear ends of a pair of left and right upper links 21 and lower links 22 are attached. The seedling collection amount calculation unit 70 is connected to the planting work machine position detection sensor 82 and determines the height (distance) of the lowest point of the planting work machine 3 relative to the traveling machine body 2, specifically, the planting claw 32. It is configured to be detectable. The seedling collection calculator 70 is connected to the planting depth detection sensor 39a, and is configured to be able to detect the height of the planting machine 3 from the bottom of the float 34. The planting depth detection sensor 39a is configured to be able to detect the nail projection amount h1 of the planting nail 32 (the distance between the tip of the planting nail 32 and the bottom surface of the float).

  The seedling collection calculator 70 detects the length from the planting work machine position detection sensor 82 and the planting depth detection sensor 39a to the bottom surface of the float 34 with respect to the traveling machine body 2. The seedling collection amount calculation unit 70 subtracts the length from the lowest point (ground contact surface) of the rear wheel 8 with respect to the traveling body 2 to the bottom surface of the float 34 with respect to the traveling body 2 so that the field of the rear wheel 8 The settlement amount h0 is calculated. Further, the sinking amount of the rear wheel 8 into the field may be calculated using the sensor 40 in consideration of the sinking amount d of the float 34 into the field (see FIG. 21).

  The work width refers to the length in the machine width direction set from the planting interval in the machine width direction of the rice transplanter 1 and the number of rows on which the planting operation is performed. The number of the strips on which the planting operation is performed is detected based on the connection / disconnection state of the unit clutch that disconnects / connects the power transmission to the planting arm 31 for each row. The seedling collection calculator 70 is connected to a unit clutch sensor 63a (see FIG. 18) for detecting connection and disconnection of the unit clutch, and is configured to be able to detect the number of rows on which the planting operation is performed.

  With the above configuration, the travel distance of the rear wheel 8 can be calculated from the slip ratio calculated from the amount of settlement of the rear wheel 8 into the field and the rotation speed of the rear wheel 8 in consideration of the slip ratio. Then, the actual work area is calculated from the travel distance of the rear wheel 8 in consideration of the slip ratio and the work width set according to the number of strips on which the planting work is performed.

  In the above configuration, the seedling collection amount calculation unit 70 calculates the actual vertical collection amount based on the actual work area and the number of used seedling mats in all the rows. The seedling collection amount calculation unit 70 calculates the actual number of mats (the number of seedling mats used per predetermined area) from the number of seedling mats used and the actual work area obtained by adding all the number of used seedling mats per row. Then, the seedling collecting amount calculation unit 70 calculates the actual vertical picking amount from the number of stocks in consideration of the actual number of mats, the number of times of lateral movement of the seedling table 33, and the slip ratio.

  The seedling collection calculator 70 calculates the remaining work area calculated by subtracting the actual work area from the field area, and the number of remaining seedling mats calculated by subtracting the number of seedling mats used from the number of seedling mats. The target vertical feed amount is calculated based on this. The seedling collection amount calculation unit 70 calculates a target mat number (the number of seedling mats per predetermined area) from the remaining work area and the number of remaining seedling mats. Then, the seedling collecting amount calculation unit 70 calculates the target vertical picking amount from the target number of mats, the number of traverses of the seedling table 33, and the number of strains in consideration of the slip ratio.

  After calculating the actual harvesting amount and the target harvesting amount, the seedling harvesting amount calculation unit 70 adds the value obtained by subtracting the actual harvesting amount from the target harvesting amount to the reference harvesting amount as a correction amount. The drive amount of the actuator 56a is controlled by correcting the vertical take-up amount.

  In the above configuration, the actual take-up amount is calculated from the actual work area and the number of seedling mats used for all the sections, and the target take-up amount is calculated from the remaining work area and the number of remaining seedling mats for all the sections. The correction amount for all the lines is calculated from the amount and the target take-up amount, but is not limited to this. The correction amount is calculated for each line, and the correction amount for all the lines is calculated based on the correction amount for each line. May be calculated.

  The seedling collection calculator 70 calculates the actual number of mats per line from the actual work area per line and the number of seedling mats used per line, and calculates the actual number of mats per line and the number of times the seedling table 33 is traversed. Calculate the actual take-up amount per line from the number of shares taking into account the slip ratio. Then, the seedling collection amount calculation unit 70 calculates the target number of mats per line from the remaining work area per line and the number of remaining seedling mats per line, and moves the target number of mats per line and the lateral movement of the seedling mounting table 33. From the number of shares taking the number of times and the slip rate into account, the target vertical take-in amount per line is calculated. The seedling collection amount calculation unit 70 calculates the correction amount for each line by subtracting the target vertical collection amount from the actual vertical collection amount calculated for each line, and calculates the total amount based on the correction amount calculated for each line. The correction amount of the line may be calculated.

  Further, the correction amount is calculated by subtracting the target collection amount from the actual collection amount, but is not limited to this. For example, correction is performed by dividing the difference in the number of seedling mats per predetermined area obtained by subtracting the number of remaining seedling mats from the actual number of mats by the number of vertical feeds per predetermined area (calculated from the number of stocks per predetermined area and the number of horizontal feeds). The amount may be calculated.

  In the above configuration, since the correction control of the reference vertical take-out amount is performed after the number of seedling mats used for all the number of rows on which the planting work is performed is calculated, the correction control is performed after one row calculates the compression ratio. There will be a time lag before performing. Therefore, in consideration of the time lag, the downstream rotating body 71 is disposed at least a predetermined interval upward from the lower end on the mounting surface of each row of the seedling mounting table 33.

  As described above, during the planting operation, the actual work area where the actual planting operation was performed and the number of seedling mats used for the actual planting operation can be calculated, so that the standard length Can be corrected. Therefore, the planting operation can be performed on a desired field with a desired number of seedling mats. Therefore, the consumption efficiency of the seedling mat can be improved.

  1: rice transplanter, 32: planting claw, 33: seedling mounting table, 71: downstream rotating body, 81: upstream rotating

Claims (3)

A seedling table on which the mounting surface on which the seedling mat is placed in an inclined state is arranged side by side in the machine width direction according to the number of strips, and a planting claw for scraping and transplanting seedlings from the lower end of the seedling mat, In a seedling transplanting machine including a transverse feed mechanism for reciprocating the seedling mounting table in the machine body width direction and a vertical feeding mechanism for sending a seedling mat placed on the seedling mounting table downward,
When placing one seedling mat upward from the lower end of the mounting surface, a downstream rotating body provided at a position that can be rotated in conjunction with the vertical feeding of the seedling mat by the vertical feeding mechanism,
The position where at least one seedling mat is spaced upward from the lower end of the placement surface above the vertical length of one seedling mat, and when one seedling mat is placed above the downstream rotating body, An upstream rotating body provided at a position rotatable in conjunction with the vertical feeding of the mat,
A seedling transplanter characterized by detecting the number of times the seedling mats succeed in seedling, based on the rotation state of the downstream rotating body and the upstream rotating body. Calculate the feed amount of the seedling mat based on the rotation speed of the downstream rotating body,
Estimate the remaining amount of the seedling mat placed on the seedling mounting table based on the calculated amount of feeding of the seedling mat and the number of seedlings of the seedling mat,
2. The seedling transplanter according to claim 1, wherein the seedling mating frequency of the seedling mat is corrected based on the estimated remaining amount of the seedling mat and the rotation states of the downstream rotating body and the upstream rotating body. 3.   The method according to claim 1 or 2, wherein when the downstream rotating body is shifted from a state in which the downstream rotating body is not rotating to a state in which the downstream rotating body rotates in conjunction with the vertical feeding of the seedling mat, the number of seedlings of the seedling mat is increased by one. Seedling transplanter as described.

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