JP6674125B2 - Seedling transplanter - Google Patents

Description

  The present invention relates to a seedling transplanter having a planting control system for planting seedlings such as vegetable seedlings in a field at predetermined intervals.

  The seedling transplanter described in Patent Literature 1 includes a planting device that receives vegetable seedlings in a planting tool that moves up and down and plants the plants one by one in a field, and a planting device that operates and controls the planting device at a predetermined moving distance pitch. By providing an attachment control device, it is possible to plant seedlings at regular intervals. Further, by linking the start of the running of the machine body with the start of the planting of the planting device, it is possible to perform the planting for the entire planting travel starting from the field end.

JP 2010-142185 A

  However, the planting interval is disturbed due to the slip of the drive wheels, troubles in the distance sensor, and the like. In particular, at the beginning of the traveling, the first planting is performed until the steady traveling is performed. The accuracy of detection of the traveling distance cannot be ensured, and temporary disturbance between the planted strains occurs, and the disturbance based on the distance detection accuracy during traveling is further added up to the end of the planting traveling based on the planting position. Problem.

  An object of the present invention is to provide a seedling transplanter capable of stably ensuring the distance accuracy between planted strains from the start of running.

The invention according to claim 1 includes a lifting drive mechanism (400) for raising and lowering the planting tool (11) and planting the seedlings in a field, a travel distance sensor for detecting a travel distance of an airframe, and the lift drive mechanism (400). A planting control device (800) for performing planting interval control that repeats the drive of (400) every time a predetermined inter-plant distance is traveled based on the traveling distance by the traveling distance sensor,
An elevating drive mechanism (400) for elevating and lowering the planting tool (11) and planting the seedlings in the field, a travel distance sensor for detecting the travel distance of the aircraft, and driving the elevating drive mechanism (400) to the travel distance A seedling transplanter comprising: a planting control device (800) that performs planting interval control that is repeated for each run of a predetermined inter-plant distance based on a travel distance by a sensor,
A link mechanism (310) for raising and lowering the implant (11);
The lifting drive mechanism (400) includes a planting clutch (420) for turning on and off the transmission of a driving force for moving the link mechanism (310) up and down, and a solenoid (470) for switching on and off of the planting clutch (420). With
The traveling distance sensor includes a theoretical traveling distance sensor (421s) for detecting a theoretical traveling distance based on the driving rotation of the driving wheel (3), and an actual traveling detecting the actual traveling distance based on the driven rotation of the rolling wheel (2). A distance sensor (2s),
The planting control device (800) starts the planting interval control on condition that the running distance is equal to or longer than a predetermined initial set distance from the start of running , and the theoretical running distance and the actual running distance And the planting interval control by the travel distance calculated by correcting the theoretical travel distance based on the difference,
The theoretical mileage sensor (421s) is configured to be able to calculate the theoretical mileage by detecting a rotation angle of a transmission shaft (421) of the planting clutch (420).
The planting control device (800) is configured to perform control to operate the solenoid (470) to periodically put the planting clutch (420) into the on state.
When the planting clutch (420) is in the engaged state, the link mechanism (310) receives the transmission of the driving force by the rotation of the transmission shaft (421), and raises and lowers the planting tool (11). Further, when the planting clutch (420) is in the disengaged state, the rotation of the transmission shaft (421) is stopped, and the vertical movement of the planting tool (11) is stopped .

The invention according to a second aspect is the invention according to the first aspect, wherein the lifting / lowering drive mechanism (400) is moved in or out of contact with the planting clutch (420) to enter or disengage the planting clutch (420). A stopper (460a) capable of switching between a state and an off state is provided,
A stopper pushing cam (442) is provided coaxially with a vertically moving arm drive shaft (440) for rotating a vertically moving arm (320) for vertically moving the link mechanism (310),
When the vertical movement arm drive shaft (440) rotates by a predetermined amount, the stopper (460a) is forcibly brought into contact with the planting clutch (420) by the stopper pushing cam (442).
An urging member (481) for urging the stopper (460a) away from the planting clutch (420) is provided, and the stopper pressing cam (442) resists the urging force of the urging member (481). The stopper (460a) is pressed against the planting clutch 420 via the action arm (463) to make contact with the planting clutch 420, and when the stopper (460a) is in the pressed state, the bias provided on the solenoid (470) is provided. The stopper (460a) is urged in the pressing direction by a lock member (470a) .

According to the invention according to claim 1, the planting control device (800) controls the operation of the drive of the elevating drive mechanism (400) repeatedly by the planting interval control every time the vehicle travels at the predetermined inter-stock distance. In this case, Since the planting interval control is started on the condition that the traveling distance from the start of traveling by the wheels (2, 3) is equal to or longer than a predetermined initial set distance, the timing at which the unstable behavior at the beginning of traveling is released , The lifting drive mechanism (400) can be operated, so that disturbance between planted plants at the start of traveling can be prevented, and the distance between plants can be secured from the first planting. In addition, the planting operation is performed intermittently, and a desired planting stock is realized.

According to the invention of claim 2, in addition to the effect of the invention of claim 1, the stopper (460a) is pushed into the planting clutch (420) by the stopper pushing cam (442). Even if the rotation speed is high, it is possible to prevent a situation in which the stopper (460a) is flipped and the clutch is not disengaged. ) Operation can be ensured .

Input / output block diagram of planting control system Flow chart of planting interval control Flowchart of vehicle height correction processing Flowchart of the partial processing of "S" in FIG. Example of distance correction diagram based on slip distance Flow chart of mileage calculation Flowchart of detailed processing example 1 Flowchart of detailed processing example 2 Perspective view of another configuration example of the detection roller Side view of a configuration example of an intermittent planting mechanism Side view of another configuration example of the intermittent planting mechanism Side view of front and rear wheel support mechanism Left side view of applicable seedling transplanter Top view of seedling transplanter to be applied Left side view of seedling planting device and seedling planting device drive mechanism Schematic left side view of the intermittent drive mechanism of the seedling planting device Plan view around the steering handle Left side view showing the schematic configuration of the planting depth adjustment mechanism Schematic configuration diagram for explaining input / output to the control unit

An embodiment specifically configured based on the above technical idea will be described below with reference to the drawings.
The planting control system of the present invention includes a planting raising / lowering drive mechanism 400, travel distance sensors 2s and 421s, a planting control device 800, and the like. In the planting traveling, the seedlings can be planted at the inter-plant distance position according to the setting while responding to sensor abnormality or the like, and the space between the planting plants can be secured from the first seedling at the start of the planting traveling.

  In detail, as shown in FIG. 1, an input / output block configuration diagram of the planting control system, mileage sensors 2 s, 2 s, and 421 s for detecting the mileage of the body, a stock setting device 640, a planting lever sensor, or a planting lever sensor described later. Signals from the planting on / off button 620, the vehicle height sensor 10s, and the like are received by the planting control device 800, and the planting solenoid 470 of the elevating drive mechanism 400 is controlled intermittently according to the conditions by the plant distance set by the plant setting device 640. Configure as possible.

  The traveling distance sensor includes left and right front wheel rotation angle sensors 2 s and 2 s for detecting respective rotation angles of the left and right driven front wheels 2 and 2, and a seedling planting device driving mechanism 400 which is a lifting and lowering driving mechanism of the planting tool 11. And a planting transmission shaft rotation angle sensor 421s for detecting the rotation angle of the transmission shaft 421 of the planting clutch 420. The actual traveling distance and the driving rear wheel 3 which are the rolling distances of the left and right driven front wheels 2 and 2 are provided. , 3 is obtained as a driving distance by rotation.

  The vehicle height sensor 10s specifies the front-rear position of the front and rear wheels according to the detected vehicle height, calculates the amount of movement of the wheel position according to the change, and based on the amount of movement of the front and rear wheels, the plant supported by the body. The travel distance of the attachment 11 is corrected.

  The planting solenoid 470 carries out planting one plant at a time by switching the planting clutch 420 described below to “ON” and intermittently operating the planting tool 11.

  As shown in the flowchart of the planting interval control in FIG. 2, the planting control device 800 performs left and right by a first processing step (hereinafter abbreviated as “S1”) of traveling distance determination starting from traveling start. After waiting until both of the front wheel rotation angle sensors 1s and 1s detect the initial set distance, the first planting is performed by the operation of the planting solenoid 470 (S1a).

  The initial set distance is a distance (for example, 1 cm forward) in which it is possible to confirm that the aircraft has started traveling from the stopped state and the solenoid 470 has shifted to the planted state, and the solenoid 470 shifts to the planted state only at the time of initial movement. By causing the planting operation to wait until the start, it is possible to prevent the dispersion of planting at the time of initial movement.

  Next, by determining the cycle of the mileage calculation in accordance with the setting between the stocks (S1b), the cycle of the front wheel 2 making two turns is determined, and by calculating the theoretical mileage by the planting transmission shaft rotation sensor 421s (S1c). The theoretical traveling distance is calculated from the rotation angle of the driven rear wheel 3, and a detection abnormality is determined from the degree of the difference between the left and right front wheel rotation angle sensors 2s, 2s (S2).

  As a result of this determination (S2), if the difference between the left and right front wheel rotation angle sensors 2s, 2s is within a predetermined value, the actual travel distance is calculated from the larger of the two (S3), and then the theoretical travel distance and the actual travel distance are calculated. The detection abnormality is determined from the degree of the slip distance A, which is the difference from the above (S4).

  Regarding the actual travel distance calculation processing (S3), as shown in the flowchart of the vehicle height correction processing shown in FIG. 3 ("S" indicates a processing block based on the flowchart of the partial processing of FIG. 4), the left and right front wheels are used. The actual travel distances LL1 and RL1 obtained by the rotation angle sensors 2s and 2s are corrected for vehicle height, and the larger one of the left and right is set as the actual travel distance. Details of the vehicle height correction will be described later.

  As a result of the determination (S4), if the slip distance A is within a predetermined value, based on the slip distance A, an example of the correction diagram in FIG. 5 (solid lines are correction values, broken lines are actual travel distances replaced by travel distances) The calculated traveling distance is calculated by correcting the theoretical traveling distance (S5), and the operation cycle of the planting solenoid 470 is corrected based on the traveling distance (S6).

  Also, when the slip distance A is equal to or greater than the predetermined value according to the determination (S4), the abnormality is not determined by the abnormality determination of the theoretical traveling distance (S4a), and the left and right front wheels are determined according to the determination (S2). Including the case where the difference between the rotation angle sensors 2 s and 2 s is equal to or more than a predetermined value, an alternative set distance (for example, a fixed distance equivalent to two turns of the front wheel) is set as the actual running distance (S4b), and based on the slip distance A. Then, the travel distance is calculated by correcting the theoretical travel distance (S5).

  Further, when the above-described abnormality determination (S4a) indicates that the theoretical travel distance is abnormal, the actual travel distance is used as the travel distance (S4c), and the operation cycle of the planting solenoid 470 is corrected based on the travel distance ( S6).

The correction of the operation cycle of the planting solenoid 470 (S6) is corrected according to the set ratio of the traveling distance to the desired planting stock. More specifically, for example, the traveling distance during four cycles of the operation of the planting solenoid 470 is detected (calculated), and if the desired planting distance is 35 cm and the traveling distance is 175 cm, the desired planting is performed. Since the mileage is longer than four times between the plants (5 times between the desired planting plants), a value obtained by multiplying the operating period of the planting solenoid 470 by 0.8 is set as a new operating period.

  In this way, high-precision planting along the set inter-plant distance can be performed, and the influence of a sensor abnormality can be minimized.

  In the above-described planting control, the rotation of the front wheels 2, 2 is detected by the sensors 2s, 2s of the front wheels 2, 2, which are the driven wheels, and the traveling of the front wheels 2, 2 is determined every two revolutions (S1b). The distance is calculated to calculate the slip ratio, and the planting interval is corrected from the slip ratio.

  In detail, the running distance of the rear wheel 3 during the front wheel 2 makes two turns is Lr, Lf is twice the whole circumference of the tire which is the running distance of the front wheel 2, L is an integrated symbol, and the slip ratio is It is calculated by “(Lr / Lf) * 100 [%]”, and the corrected stock is calculated by “(before correction stock * slip ratio) / 100”.

  As described above, by setting the calculation cycle every two rotations of the front wheel 2, the slip ratio during the two rotations of the front wheel is kept constant, and by periodically correcting the stocks, the occurrence of variation can be reduced. . That is, the running distance is calculated by the sensors of the front wheel 2 and the rear wheel 3, and the planting control is performed by the slip ratio obtained from the running distance of two wheels. Variations in planting intervals are suppressed, and planting can be performed at equal intervals in various fields.

  Also, in the case where the sensor for detecting traveling does not function, by using a predetermined fixed value for the calculation without using the detection value of the sensor, it is possible to prevent the planting interval from largely fluctuating due to the unstable detection value. be able to.

  In detail, since the travel distance cannot be calculated if the sensor detection value does not change due to wheel idling or sensor failure, the sensor detection value is stored when the travel distance is detected, as shown in the flowchart of FIG. (S11, S12), the change in each cycle is compared (S13), the state of the sensor is checked, and when it is determined that the sensor is malfunctioning, the mileage is calculated using the fixed value (entire tire circumference) as an alternative set distance. (S13a). As described above, when the traveling distance is calculated every two rotations of the front wheel 2, the traveling distance at the time of malfunction in the detection of the traveling distance is set as a fixed value and is defined as two rotations of the front wheel.

  Next, the vehicle height correction in the planting control process will be described. The driven front wheels 2, 2 move to the driving rear wheels 3, 3 to the fulcrum due to the fluctuation of the vehicle height, causing variation in the running distance. A sensor for detecting the amount of vertical displacement of the vehicle is provided, and the variation ΔL of the traveling distance, which is the correction distance, is reduced or increased according to the increase or decrease of the vehicle height displacement Δh.

  Specifically, as shown in the flowchart of the detailed processing example 1 in FIG. 7, the vehicle height displacement amount Δh = h (n−1) −h (n) is calculated based on the detection value h (n) of the vehicle height sensor 10s. The correction distance ΔL = f (Δh) is calculated from the vehicle height displacement amount Δh.

  As shown in the flowchart of the detailed processing example 2 in FIG. 8, when the body is controlled to be rolled horizontally left and right according to the inclination of the field, correction is performed individually by the left and right vehicle height sensors.

  Regarding the handling when the mileage is detected abnormally, in the conventional planting control, planting output is not performed when both the left and right front wheels are abnormal, and when one of the left and right wheels is abnormal, there is a difference between plants depending on field conditions. Although it occurred, planting based on the theoretical mileage and planting based on the actual mileage can be switched by a switch operation, and when the front wheel sensor is abnormal, the planting is based on the theoretical mileage, and the rear wheel sensor is abnormal. In some cases, by stopping the planting, planting between the set planting stocks becomes possible.

  That is, the theoretical mileage is compared with the actual mileage, planting control is performed based on the travel distance corrected for the theoretical mileage based on the difference between the two, and if the actual mileage is abnormal, By performing planting control based on either the predetermined alternative set distance or the theoretical mileage, it is possible to prevent an extremely inappropriate distance between planted stocks even if there is an abnormality in actual mileage detection. .

  In addition, when the theoretical mileage detection is abnormal, the planting is controlled based on the actual mileage or the planting is stopped, thereby preventing an extremely inappropriate distance between the planted plants.

  Further, by shifting to the predetermined abnormality handling control on condition that the traveling distance of one of the left and right wheels by the traveling distance sensor deviates from the predetermined normal range, it is possible to respond promptly to a traveling abnormal situation, It is possible to accurately prevent planting due to improper planting. In other words, even if the rear wheel drive shaft is rotating, if there is no left or right rotation angular displacement, it is determined that there is an abnormality, and with that notification, planting control can be continued based on the theoretical traveling distance by the rear wheel Becomes

  If the actual mileage is abnormally shorter than the theoretical mileage, it is detected as a slip of the aircraft, and planting control is performed based on the actual mileage; otherwise, planting control is performed based on the theoretical mileage. Accordingly, it is possible to suppress a change between planted strains due to a control responsiveness factor.

  Further, by comparing the theoretical mileage and the actual mileage at a predetermined cycle according to the planting stock, it is possible to optimize planting control according to the planting stock. That is, when the set planting strains are wide, the comparison cycle becomes longer, so that high-precision planting control can be performed.When the planting stocks are narrow, the comparison cycle becomes shorter, Control responsiveness can be improved.

  Introducing a specific example, the setting between planting strains is configured to be adjustable in 1 cm increments within a range of 22 to 70 cm. Then, the cycle of comparison between the theoretical mileage and the actual mileage is changed in proportion to the setting between the planted stocks. For example, assuming that the working traveling speed is 0.5 m / s and the set planting interval is 35 cm, the period of comparison between the theoretical traveling distance and the actual traveling distance is set to 7 seconds so as to be a period of every 10 plants. I do. When the setting between the planted plants is changed to 70 cm, the cycle is changed to 14 seconds so as to be a cycle of every 10 plants. The cycle is not limited to the cycle of every 10 plants, but the cycle may be 0.7 seconds and the cycle of every other plant may be set. The cycle may be 6 seconds and the cycle of every 8.5 plants is generally set. Is also good.

(Detection roller)
Next, as shown in a perspective view of another configuration example of the detection roller, as shown in FIG. 9, two detection rollers 710a, 710a are arranged on the left and right of a sensor plate 710 described later, and the number of rotations is limited to the one with a higher rotation speed. By performing the correction, the risk of error detection due to clogging or slippage can be reduced.

  In this case, when the difference between the left and right signals (rotational speed) of the two detection rollers 710a, 710a is larger than the normal range, a warning lamp notifies that one of the rollers is abnormal.

(Intermittent mechanism)
Next, as shown in FIG. 10, a side view of a configuration example of the intermittent planting mechanism is a seedling planting device driving mechanism which is a raising and lowering driving mechanism for intermittently driving the planting tool 11 to plant seedlings in a field. The stopper 460a of the planting clutch 420 provided on the 400 is actuated in both directions by the cam. That is, when the planting output shaft 440 makes one rotation by the stopper timing cam 441, the stopper 460a enters the planting clutch 420 to stop transmission, and the stopper pushing cam 442 forcibly pushes the stopper 460a to disengage the planting clutch. At this position, the stopper pushing cam 442 is disengaged from the working arm 463, and the working arms 462 and 463 are provided so that the stopper 460a can be released by the retracting operation of the solenoid 470.

  As described above, since the stopper 460a is pushed into the planting clutch 420 by the stopper pushing cam 442, it is possible to prevent the stopper 460a from being flipped and the clutch from being disengaged even if the rotation of the planting clutch 420 is fast. The operation of the planting clutch 420 can be ensured without having to increase the capacity of the solenoid 470 due to the strengthening of the spring 480.

  As shown in FIG. 11, a side view of another example of the structure of the intermittent planting mechanism is provided with a spring 481 for releasing the stopper 460 a, and the pushing cam 442 connects the stopper 460 a via the operation arm 463 to the planting clutch 420. By holding the stopper 460a with the urging lock member 470a of the solenoid 470, the operation of the planting clutch 420 can be ensured by the small-capacity solenoid 470.

(Front wheel support mechanism)
Next, as shown in a side view of the front and rear wheel support mechanism in FIG. 12, the fulcrums 21a of the left and right front wheel support arms 21 and 21 are attached to the chain cases 9 and 9 of the rear wheels 3 and 3, respectively. By arranging the front wheels 2 and 2 behind the fulcrums 9a and 9a and supporting the front wheels 2 and 2 with a long support radius so as to be able to rotate vertically, the front and rear movements of the front wheels 2 and 2 due to the adjustment of the vehicle height can be reduced.

  In addition, since the front wheel support arms 21 and 21 are supported by the springs 22 and 22 and act as front wheel suspensions in the direction of raising the body, the vehicle height adjustment hydraulic assist is provided. In other words, at the lowest position where the hydraulic thrust increases, the spring force also increases, so that the hydraulic load fluctuation decreases. In addition, when the lift is performed, the spring force decreases, and the shared load of the front wheels 2 decreases, so the hydraulic suspension force decreases. Balanced.

(Linked cam)
Further, cam members 21b and 21b are provided on the left and right front wheel support arms 21 and 21 respectively, and the lower side of the front wheel support arms 21 and 21 is regulated by rollers 9b and 9b attached to the chain cases 9, 9 so that the machine body can be controlled. It can be lifted in a horizontal posture.

  Also, stoppers 9c, 9c for restricting the rotation of the chain cases 9, 9 are provided, and the height positions of the stoppers 9c, 9c can be changed according to the position of the lifting hydraulic rod and the height of the ridge, so that the front wheels can be changed. It is possible to regulate the reduction amount of 2, 2. Therefore, when the amount of lowering of the front wheel at the time of the maximum lift is reduced for the turning of the body, if the hydraulic rod is set to the low ridge position, the effect that the effect is lost can be solved.

(Transplant machine)
Next, the configuration of the transplantation machine to which the present invention is applied will be described focusing on related devices.
FIG. 13 shows a schematic left side view of the seedling transplanter 1, and FIG. 14 shows a schematic plan view.

  As shown in FIGS. 13 and 14, a seedling transplanter 1 for transplanting seedlings such as vegetables includes a traveling body 15 having a pair of left and right front wheels 2 and rear wheels 3 as traveling wheels, and a front portion of the traveling body 15. An engine 12 and a transmission case (also referred to as a main transmission case) 4 arranged in the vehicle, and a seedling planting device 300 arranged in the rear part of the traveling vehicle body 15 for vertically swinging the planting tool 11 to plant seedlings in a field. A tray supply device 100 that supplies a tray containing the seedlings, and a removal device 200 that fetches a seedling by inserting a removal member into the seedling pot of the tray of the tray supply device 100 and supplies the seedling to the planting tool 11. A planting depth adjusting mechanism including a sensor plate 710 for keeping the planting depth of the seedlings constant, the crushing wheel 13, the steering handle 8, and the operation unit 600 disposed at the center of the steering handle 8. prepare for It has been made.

  In addition, as shown in FIG. 14, the tray supply device 100 is provided with a tray detection device 1100 for detecting that a tray is not placed on the tray transport path 111.

  In the feeding operation of the tray supply device 100 of the seedling transplanter 1, (1) the seedling placing table 110 is intermittently moved in the horizontal direction so that the seedlings in the seedling pot for one row in the horizontal direction of the tray are sequentially taken out by the takeout member. (2) After the completion of taking out the seedlings of all the seedling pots for one row in the horizontal direction, the tray on the seedling holder 110 is moved by the tray feed rod 121 to the horizontal row of the seedling pots. There is a vertical feed operation that is sent downward.

  The vertical feed by the tray feed rod 121 is such that the tip of the tray feed rod 121 is engaged with the groove between the adjacent seedling raising pots on the back side of the tray. In this state, the tray feed rod 121 has a substantially square shape in side view. The rotation is performed by drawing a locus, so that the tray is intermittently vertically fed obliquely downward along the tray transport path 111.

  As shown in FIGS. 13 and 14, the rotational power output from the engine 12 drives the generator by belt transmission, is branched by the transmission case 4, and is separated by a pair of right and left traveling transmission cases 9. The transmission is transmitted to the rear wheel 3 and also to the planting transmission 18 provided on the rear side of the transmission case 4.

  That is, the seedling transplanter 1 transmits the power from the transmission case 4 to the planting transmission device 18 to take out the seedlings from the seedling raising pot and plant the seedlings in the ridges of the field. Is transmitted to the planting tool 11 via the seedling planting device drive mechanism 400 attached to the planting transmission device 18 and the seedling planting device 300.

  The planting operation of the seedling transplanter 1 can be performed intermittently by the seedling plant driving device 400.

  The detailed configurations of the seedling planting apparatus 300 and the seedling planting apparatus driving mechanism 400 will be described later with reference to FIGS.

  A main frame 17 extending to the right is provided at the rear of the left and right frames 16 arranged in the left and right direction at the rear end of the transmission case 4. A steering handle 8 extending rearward from the left and right ends is provided at the rear end of the main frame 17, and the steering handle 8 is supported by the transmission case 4 via the main frame 17 and the left and right frames 16. I have.

  Thus, the operator can perform the steering operation of the traveling vehicle body 15 with the operation handle 8 while walking behind the traveling vehicle body 15.

  That is, the seedling transplanter 1 advances the traveling vehicle body 15 in a state of straddling the ridge U by the pair of left and right front wheels 2, 2 and the pair of left and right rear wheels 3, 3, and transfers the seedlings stored in the tray to the ridge U. It is a configuration that can be automatically planted on the upper surface of the.

  The traveling section is provided with a body control mechanism 500 that moves the pair of left and right rear wheels 3, 3 up and down with respect to the traveling body 15 to control the attitude and the vehicle height of the traveling body 15.

  The airframe control mechanism 500 includes a hydraulic lift cylinder 10 that raises and lowers the traveling vehicle body 15 by raising and lowering the rear wheels 3 between the traveling transmission case 9 for the pair of right and left rear wheels 3 and the traveling vehicle body 15, and A horizontal hydraulic cylinder 14 for tilting is provided, and when the hydraulic lifting cylinder 10 is extended and retracted, the pair of left and right rear wheels 3 move up and down by the same amount in the same direction with respect to the traveling vehicle body 15. Goes up and down.

  The hydraulic lifting cylinder 10 is fixedly provided to a hydraulic switching valve unit 40 (see FIG. 13) mounted on the upper part of the transmission case 4 and switches hydraulic pressure from a hydraulic pump mounted on the transmission case 4. The operation is performed by operating a lifting operation valve (not shown) provided in the valve unit 40.

  In addition, a lifting operation lever is connected to the lifting operation valve via a cable, and a counter arm is connected via a rod.

  On the right side of the transmission case 4, a pendulum-type left-right inclination sensor 41 is provided. The right-left inclination sensor 41 detects a horizontal movement through a horizontal operation valve (not shown) provided in the hydraulic pressure switching valve section 40. The driving hydraulic cylinder 14 is operated to move only the left rear wheel 3 up and down, so that the traveling vehicle body 15 is maintained horizontally horizontally regardless of the unevenness of the valley U.

  Next, the above-described seedling planting device 300 and the seedling planting device driving mechanism 400 will be further described with reference to FIGS.

  FIG. 15 is a left side view of the seedling planting apparatus 300 and the seedling planting apparatus driving mechanism 400. FIG. 16 is a schematic left side view of the seedling plant driving device 400.

  As shown in FIG. 15, the seedling planting apparatus 300 includes a planting tool 11 for planting seedlings in a field, an upper arm 311 and a lower arm arranged in parallel with each other for swinging the planting tool 11 in the vertical direction. A swing link mechanism 310 having a 312 and a vertically moving arm 320 that is rotatably attached to the lower arm 312 via a first connection shaft 321 and moves the swing link mechanism 310 up and down are provided. The first connection shaft 321 is fixed to the vertical movement arm 320.

  Note that a vertical movement arm drive shaft 440 for rotating the vertical movement arm 320 is provided so as to protrude from the seedling planting apparatus drive mechanism 400, and the vertical movement arm 320 is fixed to a distal end portion thereof.

  Further, as shown in FIG. 15, the seedling planting device 300 is rotatably attached to the lower arm 312 via the second connection shaft 341 and opens and closes the opening and closing arm 340, and the first connection shaft 321. And pivots around the second connecting shaft 341 while abutting on the outer peripheral edge of the opening / closing roller 342 that is rotatably attached via the third connecting shaft 343 to the distal end of the opening / closing arm 340. Thereby, the opening / closing cam 322 for swinging the opening / closing arm 340 in the front-rear direction, the one end 351 is connected to the third connecting shaft 343 at the tip of the opening / closing arm 340, and the other end 352 is the opening / closing mechanism for the planting tool 11. And a connection cable 350 for opening and closing connected to the 11a side.

  Here, the above-described swing link mechanism 310 will be further described.

  That is, as shown in FIG. 15, the swing link mechanism 310 is rotatably supported at the upper end by the upper front shaft 313 a at the front upper end 401 a of the casing 401 that houses the seedling plant drive mechanism 400, and has the lower end rotatably. The front swing arm 316a rotatably connected to the connection support plate 315 via the lower front shaft 314a and the rear upper end portion 401b of the casing 401 accommodating the seedling planting device drive mechanism 400, the upper end of which is upper and lower. An upper shaft provided on the connection support plate 315, comprising a rear swing arm 316b rotatably supported by the shaft 313b and a lower end rotatably connected to the connection support plate 315 via a lower rear shaft 314b. The front end of the above-mentioned upper arm 311 is rotatably connected to 316, and the front end of the above-mentioned lower arm 312 is rotatably connected to the lower rear shaft 314b of the connection support plate 315. Each of the rear end of the upper arm 311 and lower arm 312 is pivotally connected to the rotating upper shaft 317a and the rotation under shaft 317b provided on the support plate 317 of the planting device 11.

  According to the above configuration, when a rotational driving force is transmitted to the vertically moving arm drive shaft 440 in the seedling planting device drive mechanism 400, the vertically movable arm 320 fixed to the vertically movable arm drive shaft 440 rotates in the direction of arrow A1. By moving, the lower arm 312 and the upper arm 311 repeatedly swing up and down and swing back and forth, and the planting operation of the seedling by the planting tool 11 is performed at a predetermined interval with respect to the ridge U. Is done automatically.

  In addition, during the planting operation, when the vertical movement arm 320 to which the first connection shaft 321 is fixed rotates in the direction of the arrow A1, the opening and closing cam 322 fixed to the first connection shaft 321 opens and closes the opening and closing roller. Since the arm 342 rotates while abutting on the outer peripheral edge of the arm 342, the opening / closing arm 340 swings (rotates) forward (counterclockwise) about the second connection shaft 341. With this operation, the one end 351 of the opening / closing connection cable 350 is pulled forward, so that the opening / closing mechanism 11a operates to open the implant 11.

  Further, when the opening / closing arm 340 swings (rotates) backward (clockwise) about the second connecting shaft 341, the implanting tool 11 provided in the opening / closing mechanism 11 a is always urged in a closing direction. One end 351 of the opening / closing connection cable 350 is pulled backward by the action of the urging spring (not shown), and the opening / closing mechanism 11a operates to close the implant 11.

  With the above configuration, the structure of the vertical movement arm 320, the opening / closing arm 340, and the opening / closing cam 322 can be made compact, and the planting operation can be performed smoothly.

  Next, a clutch mechanism for turning on / off the transmission to the vertically moving arm drive shaft 440 in the seedling planting device drive mechanism 400 disposed on the right side of the seedling planting device 300 in a plan view (see FIG. 14) will be described mainly with reference to FIG. This will be further described with reference to FIG.

  As shown in FIG. 16, the seedling plant driving device 400 includes a first gear 410 for transmitting the driving force of the planting operation output from the planting transmission device 18 to the planting clutch 420, and a first gear 410. When the planting clutch 420 is in the "on" state, which switches the transmission to the vertical movement arm drive shaft 440 to the "on" state or the "off" state by receiving the driving force from the A second gear 430 receiving a driving force from a transmission gear 421a fixed to a transmission shaft 421 of the planting clutch 420, and a small-diameter gear 430a fixed coaxially with the second gear 430. And a third gear 450 fixed to the vertically movable arm drive shaft 440 for transmitting a driving force to the vertically movable arm drive shaft 440 in mesh therewith. Here, the transmission shaft 421 of the planting clutch 420 is stopped without rotating when the planting clutch 420 is in the “disengaged” state, and does not transmit the driving force to the second gear 430.

  Note that a conventional fixed-position stop clutch may be used as the planting clutch 420.

  Further, as shown in FIG. 16, the seedling planting device drive mechanism 400 is provided on the transmission downstream side of the planting clutch 420, is fixed to the vertically moving arm drive shaft 440, and moves the planting clutch 420 from the “on” state. An intermittent cam 441 having a concave portion 441a formed in a part of a circular outer peripheral portion for forcibly switching to a “cut” state, and whether the one end 460a is separated from or comes into contact with the planting clutch 420. A first arm 460 that is rotatably supported at a rotation fulcrum 461 and has a substantially “H” shape in a side view, for switching the engaged state and the disengaged state of the planting clutch 420. Have.

  Also, as shown in FIG. 16, the seedling plant driving mechanism 400 sucks the other end 460 b of the first arm 460 in the direction of arrow B <b> 1 via the movable plate 472 against the pulling force of the tension spring 480. Thus, the solenoid 470 that rotates the one end 460a of the first arm 460 in the direction of the arrow C1 about the rotation fulcrum 461 to switch the planting clutch 420 from the “disengaged” state to the “entered” state. In order to effectively apply the suction force of the solenoid 470 to the switching operation of the planting clutch 420 to the “engaged” state, a slot 471 a for adjusting the mounting position of the solenoid 470 is provided. , A solenoid fixing plate 471 fixed to a position below the casing 401, and one end 462 at a rotation fulcrum 461 of the first arm 460. There are fixed, the other end portion in conjunction with the operation of the first arm 460 462b is provided with a second arm 462 that abuts the outer peripheral edge portion of the intermittent cam 441, a.

  Further, the above-described tension spring 480 presses the first arm 460 in the direction in which the planting clutch 420 is in the “disconnected” state, and presses the other end 462 b of the second arm 462 against the outer peripheral edge of the intermittent cam 441. It is a spring for urging in the direction.

  According to the above configuration, the intermittent cam 441 provided on the downstream side of the transmission of the planting clutch 420 can be used to change the planting clutch 420 from the “on” state to the “off” state. A planting mechanism can be realized.

  In addition, the first arm 460 and the second arm 462 are configured to rotate integrally around a rotation fulcrum 461, and the rotation fulcrum 461 is intermittently moved from the transmission shaft 421 of the planting clutch 420 by the intermittent cam 441. By arranging them on the side, the first arm 460 and the second arm 462 can be configured rationally and compactly.

  In addition, by disposing the heavy solenoid 470 below the casing 401, the center of gravity of the seedling transplanter 1 can be reduced.

  Next, with reference to FIG. 16, the items from the item A to the item A will be described with a focus on the operation of the planting clutch 420 and the intermittent cam 441 for turning on and off the transmission to the vertically moving arm drive shaft 440 in the seedling planting device drive mechanism 400. Each of the three scenes C will be described.

  A. When the solenoid 470 is energized (a short-time energization by a pulse signal), the movable plate 472 at the tip of the solenoid 470 is attracted in the direction of arrow B1 against the pulling force of the tension spring 480, and the first arm 460 is pulled. One end 460a of the second arm 462 and the other end 462b of the second arm 462 rotate counterclockwise (see the arrow C1 in FIG. 16) about the rotation fulcrum 461.

  As a result, the one end 460a of the first arm 460 separates from the planting clutch 420, and the following operations i) and ii) are performed.

  i) When the planting clutch 420 is in the “engaged” state and the transmission shaft 421 rotates, a driving force is transmitted to the second gear 430 side, and the vertically moving arm driving shaft 440 is transmitted via the third gear 450. Starts rotating, and ii) the other end 462b of the second arm 462 separates from the concave portion 441a formed on the outer peripheral edge of the intermittent cam 441 (until immediately before this, the other end 462b of the second arm 462). Is located in the concave portion 441a of the intermittent cam 441, the planting clutch 420 is in the "disengaged" state, and the vertically moving arm drive shaft 440 has stopped rotating), along the convex outer peripheral edge portion 441b. Meanwhile, the intermittent cam 441 and the vertically moving arm 320 keep rotating.

  That is, although the energization of the solenoid 470 has already been stopped and the suction force to the arrow B1 has not been generated, the other end 462b of the second arm 462 is connected to the convex outer peripheral edge 441b of the intermittent cam 441. Since the one end 460a of the first arm 460 is separated from the planting clutch 420 while the state along the main body is maintained, the planting clutch 420 can maintain the “engaged” state and can move up and down. By the rotation of the arm 320, the planting tool 11 (see FIG. 15) continues to move up and down (planting operation), and the planting tool 11 is planted only once before the intermittent cam 441 makes one rotation. Perform the action.

  B. Thereafter, when the intermittent cam 441 makes one rotation and the other end 462b of the second arm 462 reaches the concave portion 441a of the intermittent cam 441, the first arm 460 rotates clockwise by the pulling force of the tension spring 480. When the one end 460a of the first arm 460 comes into contact with the planting clutch 420, the following operations i) and ii) are performed.

  i) The planting clutch 420 is in the “disengaged” state, and since the rotation of the transmission shaft 421 stops, the driving force is not transmitted to the second gear 430 side, so that the vertically moving arm drive shaft 440 stops rotating. And ii) the other end 462b of the second arm 462 remains in the recess 441a formed on the outer peripheral edge of the intermittent cam 441 (until immediately before this, the other end 462b of the second arm 462 is intermittent). The planting clutch 420 is in the “engaged” state along the convex outer peripheral edge 441 b of the cam 441, and the vertical movement arm drive shaft 440 continues to rotate), the intermittent cam 441 and the vertical movement arm 320. Since the rotation continues to stop, the implant 11 (see FIG. 15) continues to stop the vertical movement (planting operation).

  C. Further, thereafter, when the solenoid 470 is energized at an arbitrary timing, the planting clutch 420 is in the “engaged” state, and the operation described in the above item A is started.

  According to the above configuration, the time during which the up-and-down movement (planting operation) of the planting tool 11 is stopped can be adjusted by controlling the arbitrary timing at which the solenoid 470 is energized. This allows intermittent planting with a simple configuration.

  Next, various operation levers disposed near the pair of left and right handle grips 8L and 8R of the operation handle 8 and the operation section 600 will be described with reference to FIG. FIG. 17 is a plan view illustrating various operation levers arranged near the pair of left and right handle grips 8L and 8R of the operation handle 8 and the operation unit 600.

  As shown in FIG. 17, a main clutch lever 80 is provided near the left handle grip 8L of the steering handle 8, and a lifting operation lever 81 for operating the hydraulic lifting cylinder 10 is provided near the right handle grip 8R. Is provided.

  The raising / lowering operation lever 81 is configured to be manually switchable in three stages of “lower”, “neutral”, and “raising”. When the lever is switched to the “lower” position, the hydraulic lifting cylinder 10 lowers the traveling vehicle body 15. When the lowering is stopped by the sensor plate 710 (see FIG. 18) described later and the planting on / off button 620 (see FIG. 17) described later is in the ON state, the planting clutch 420 is in the "on" state. Then, planting work is started.

  When the lifting operation lever 81 is switched to the “neutral” position, the planting operation is stopped, and when the lifting operation lever 81 is switched to the “up” position, the hydraulic lifting cylinder 10 operates to raise the traveling vehicle body 15.

  As shown in FIG. 17, the operation panel 601 includes, in order from the left end to the right end, (1) an empty planting operation button for operating only the planting tool 11 while the traveling of the traveling vehicle body 15 is stopped. 610 and (2) When the elevating operation lever 81 is operated to the lowering operation position for lowering the traveling vehicle body 15, the state where the planting tool 11 is operated in conjunction with the lowering operation, and is not interlocked with the lowering operation. A planting on / off button 620 for switching to any of the states, (3) a display unit 630 for displaying at least between planted plants, and (4) an adjustment button 640 for adjusting at least between planted plants are arranged.

  According to the above configuration, since the planting on / off button 620 is arranged near the center of the operation panel 601, the operation is easy.

  Further, since the empty planting operation button 610 is arranged on the left side of the rear surface 601b different from the upper surface 601a on which other operation buttons are arranged, erroneous operation by the operator can be reduced.

  Further, since the display unit 630 is arranged near the center of the operation panel 601, it is easy to confirm.

  The adjustment button 640 is provided with an “up” push switch 640 a for changing the direction between the stocks to the upper side and a “down” push switch 640 b for changing the direction between the stocks to the lower side.

According to the above configuration, by operating the “up” push switch 640a and the “down” push switch 640b, the numerical value indicating the stock is directly displayed on the display unit 630, so that the operator can easily recognize the stock.

  Next, referring mainly to FIGS. 18 and 19, a solenoid 470 for turning on and off the planting based on the operation of the planting depth adjusting mechanism 700, the planting on / off button 620, and the raising / lowering operation lever 81 etc. The following description focuses on the control unit 800 that controls the operation of.

  FIG. 18 is a left side view showing a schematic configuration of the planting depth adjustment mechanism 700, and FIG. 19 is a schematic configuration diagram for explaining input and output to the control unit 800.

  As shown in FIG. 18, the planting depth adjustment mechanism 700 includes (1) a sensor plate 710 whose bottom is gently curved, which keeps the planting depth of the seedling constant by coming into contact with the field scene 701; A) a plate-like member having a substantially L-shape in a side view, in which an L-shaped bent portion is rotatably supported by the rotation support shaft 721 with respect to the traveling vehicle body 15 and one end 722 extending rearward is a sensor plate; The front end 711 of the sensor plate 710 is rotatably connected to the front end 711 of the sensor plate 710 via a rotation support shaft 722a, and the other end 723 extending upward is manually operated by an operator. A depth arm 720 rotatably connected to a distal end 741 of a transmission rod 740 for transmitting the movement of a depth lever 730 for setting a position; and (3) the depth arm 720 is swingably movable from the main frame 17. Spring 750 to be suspended, (4) An L-shaped plate member having a substantially L-shape in plan view, wherein the L-shaped bent portion is rotatably supported by the turning support shaft 761 with respect to the traveling vehicle body 15, and a long hole is formed below the turning support shaft 761. 762 is formed, and is urged by a tension spring 766 connected to the upper end portion 763 to rotate in the direction of arrow Y about the rotation support shaft 761, and provided in the hydraulic pressure switching valve portion 40. A counter arm 760 having a front end 764 connected to a lifting operation valve (not shown) by a rod 765, and (5) a counter arm 760 is inserted into the front end of a long hole 762 of the counter arm 760 so that a detection lever 771 is positioned. The planting switch 770 arranged on the arm 760 and (6) the connecting pin 781a provided at one end 781 are inserted into the long hole 762, and the other end 782 is connected via the connecting shaft 783. The upper end 712 and rotatably coupled to a sensor rod 780 of capacitors plate 710, and a.

  Further, the sensor rod 780 interlocks with the swing of the upper end 712 of the sensor plate 710 in the direction of the arrow Z due to the upward swing of the sensor plate 710, so that the front end edge 781b of the one end 781 enters and exits. The configuration is such that the detection lever 771 is moved in the pressing direction and the planting switch 770 is turned on.

  According to the above configuration, since the depth arm 720 is suspended by the spring 750, rattling of the connecting portion between the depth arm 720 and the depth lever 730 is eliminated, and the depth set by the depth lever 730 is stable. I do. The spring 750 is configured to suspend the depth arm 720, but is not limited thereto, and may be configured to press the depth arm 720 against the main frame.

  Further, according to the above configuration, since the counter arm 760 is pulled by the tension spring 766 in the direction of pushing down the sensor plate 710, it is possible to eliminate rattling due to the sensor rod 780 and the counter arm 760.

  Further, by changing the elastic force of the extension spring 766, the force pressing the sensor plate 710 can be changed.

  Next, a method of controlling the solenoid 470 by the control unit 800 provided below the operation panel 601 will be described with reference to FIG.

  As shown in FIG. 19, at least an on / off signal from the planting on / off button 620, a switching signal of the elevating operation lever 81, and an on / off signal from the planting switch 770 are input to the control unit 800. , And a pulse signal is output to the solenoid 470.

  With the above configuration, the operation of the control unit 800 will be mainly described with reference mainly to FIGS.

  Here, after the seedling transplanter 1 is moved to a predetermined position in the field, (1) a scene in which the planting operation is to be started, and then (2) a scene in which the planter runs while planting in the field, and (3) A description will be given separately for a scene in which the end of the ridge comes and turns.

(1) When the planting work is about to start:
When the seedling transplanter 1 is moved to a predetermined position in the field, the planting on / off button 620 is set to the “in” state, and the elevating operation lever 81 is set to the “up” position. Is located at a high position.

  When the operator operates the elevating operation lever 81 to the “down” position to lower the height of the traveling vehicle body 15, the sensor plate 710 is lowered together with the traveling vehicle body 15 toward the field scene 701.

  When the sensor plate 710 comes into contact with the field scene 701, the front end 711 of the sensor plate 710 rotates in the arrow Z direction, so that the front end edge 781b of the sensor rod 780 moves in the direction of pressing the on / off detection lever 771, and the planting is performed. By turning on the switch 770, an ON signal from the planting switch 770 is input to the control unit 800.

  The control unit 800 converts the signal indicating the “ON” state from the planting on / off button 620, the signal indicating the “down” position from the elevating operation lever 81, and the “ON” signal from the planting switch 770 under the AND condition. , A signal for energizing the solenoid 470 is output.

  Thereby, the planting clutch 420 is switched from the “off” state to the “on” state, and the planting operation is started.

(2) Scene while traveling while planting in the field:
Here, it is assumed that the elevating operation lever 81 is at the “down” position, and the sensor plate 710 moves up and down according to the unevenness of the field scene 701.

  Further, control section 800 outputs a pulse signal at the operation cycle to energize solenoid 470 at a predetermined operation cycle. Therefore, when the solenoid 470 is energized, the planting clutch 420 enters the “on” state, and the intermittent cam 441 starts rotating and completes one rotation (that is, the planting operation of the seedling is performed once. A series of operations of returning to the "off" state (after the end) are repeated in the operation cycle.

  Thus, the planting operation is performed intermittently, and a desired planting stock is realized.

  In response to the vertical movement of the sensor plate 710, the hydraulic lifting cylinder 10 operates as follows.

  That is, when the sensor plate 710 moves upward, the front end 711 of the sensor plate 710 moves in the direction of the arrow Z around the rotation support shaft 722a, and the connection pin 781a provided at one end 781 of the sensor rod 780 is moved. When the front edge of the long hole 762 is moved in the direction of pushing, the counter arm 760 is rotated clockwise in FIG. 18 around the rotation support shaft 761, and this movement is performed via the rod 765 and the hydraulic switching valve. It is transmitted to a lifting / lowering operation valve (not shown) provided in the section 40, and the hydraulic lifting / lowering cylinder 10 operates in the extending direction, so that the vehicle height of the traveling vehicle body 15 increases.

  On the other hand, when the sensor plate 710 moves downward, the front end 711 of the sensor plate 710 moves in the direction opposite to the arrow Z direction about the rotation support shaft 722a, and a connection provided at one end 781 of the sensor rod 780. When the pin 781a moves away from the front edge of the elongated hole 762, the tension force of the tension spring 766 causes the counter arm 760 to rotate in the direction of the arrow Y about the rotation support shaft 761 as an axis. Is transmitted to a lifting / lowering operation valve (not shown) provided in the hydraulic pressure switching valve section 40, and the hydraulic lifting / lowering cylinder 10 operates in a shorter direction, so that the vehicle height of the traveling vehicle body 15 decreases.

  By the above operation, even if the field scene 701 has irregularities, the planting depth of the seedlings can be kept constant.

(3) A scene that turns to the end of the ridge:
In this case, the operator moves the lifting operation lever 81 from the “down” position to the “neutral” position in order to interrupt the planting operation.

  As a result, the control unit 800 receives the signal indicating the “neutral” position from the lifting operation lever 81 and stops outputting the pulse signal to the solenoid 470. As a result, after the planting clutch 420 is switched from the “on” state to the “off” state, the planting operation is interrupted because the “off” state is maintained.

  Further, the operator moves the elevating operation lever 81 from the “neutral” position to the “raised” position in order to turn the traveling vehicle body 15 toward the adjacent ridge.

  In conjunction with the movement of the cable 82 in accordance with the operation of the elevating operation lever 81, an elevating operation valve (not shown) provided in the hydraulic switching valve portion 40 is operated, and the hydraulic elevating cylinder 10 moves in the extending direction. As a result, the vehicle height of the traveling vehicle body 15 increases.

  At this time, the sensor plate 710 is lowered, and the planting switch 770 is turned off, but no signal is output from the control unit 800.

  Note that the planting clutch 420 maintains the “disengaged” state, and the state where the planting operation has been interrupted is continued.

  Then, the operator turns the traveling vehicle body 15.

  Next, when the operator moves the elevating operation lever 81 from the “up” position to the “lower” position via the “neutral” position, the operator interlocks with the movement of the cable 82 according to the operation of the elevating operation lever 81, and the hydraulic pressure is increased. The height of the traveling vehicle body 15 starts to decrease when the elevating operation valve provided in the switching valve unit 40 is operated and the hydraulic elevating cylinder 10 moves in the direction of shortening. By the operation of the lifting operation lever 81, a signal indicating that the lifting operation lever 81 is at the “down” position is output to the control unit 800.

  Then, when the vehicle body of the traveling vehicle body 15 descends and the sensor plate 710 comes into contact with the field scene 701, the planting switch 770 is turned on in the same manner as described in the above item (1), and the signal is transmitted to the control unit. 800.

  Since the planting on / off button 620 remains in the “on” state, the control unit 800 outputs a signal indicating the “on” state from the planting on / off button 620, a signal indicating the “down” position from the lifting operation lever 81, Upon receiving the “ON” signal from the planting switch 770 under the AND condition, a signal for energizing the solenoid 470 is output. That is, similarly to the above, the control unit 800 outputs a pulse signal at the operation cycle to energize the solenoid 470 at the predetermined operation cycle.

  Thereby, the planting clutch 420 is switched from the “off” state to the “on” state, and the planting operation is started again.

  With the above configuration, by setting the planting on / off button 620 in the “entering” state, the above-mentioned (1) planting operation is started only by operating the elevating operation lever 81, and then (2) the field A series of operations of running while planting in the inside, and (3) turning to come to the end of the ridge, and then again planting can be performed.

1 Seedling transplanter 2 Wheels (driven front wheels)
2s Actual mileage sensor 3 Wheel (drive rear wheel)
11 planting tool 17 support frame 400 lifting drive mechanism 421s theoretical mileage sensor 800 planting control device

Claims (2)

An elevating drive mechanism (400) for elevating and lowering the planting tool (11) and planting the seedlings in the field, a travel distance sensor for detecting the travel distance of the aircraft, and driving the elevating drive mechanism (400) to the travel distance A seedling transplanter comprising: a planting control device (800) that performs planting interval control that is repeated for each run of a predetermined inter-plant distance based on a travel distance by a sensor,
A link mechanism (310) for raising and lowering the implant (11);
The lifting drive mechanism (400) includes a planting clutch (420) for turning on and off the transmission of a driving force for moving the link mechanism (310) up and down, and a solenoid (470) for switching on and off of the planting clutch (420). With
The traveling distance sensor includes a theoretical traveling distance sensor (421s) for detecting a theoretical traveling distance based on the driving rotation of the driving wheel (3), and an actual traveling detecting the actual traveling distance based on the driven rotation of the rolling wheel (2). A distance sensor (2s),
The planting control device (800) starts the planting interval control on condition that the running distance is equal to or longer than a predetermined initial set distance from the start of running , and the theoretical running distance and the actual running distance And the planting interval control by the travel distance calculated by correcting the theoretical travel distance based on the difference,
The theoretical mileage sensor (421s) is configured to be able to calculate the theoretical mileage by detecting a rotation angle of a transmission shaft (421) of the planting clutch (420).
The planting control device (800) is configured to perform control to operate the solenoid (470) to periodically put the planting clutch (420) into the on state,
When the planting clutch (420) is in the engaged state, the link mechanism (310) receives the driving force by the rotation of the transmission shaft (421), and moves up and down the planting tool (11). Further, when the planting clutch (420) is in the disengaged state, the rotation of the transmission shaft (421) is stopped and the raising and lowering of the planting tool (11) is stopped. . A stopper (460a) that can switch between an on state and an off state of the planting clutch (420) depending on whether the planting clutch (420) is separated from or abuts on the planting clutch (420),
A stopper pushing cam (442) is provided coaxially with a vertically moving arm drive shaft (440) for rotating a vertically moving arm (320) for vertically moving the link mechanism (310),
When the vertical movement arm drive shaft (440) rotates by a predetermined amount, the stopper (460a) is forcibly brought into contact with the planting clutch (420) by the stopper pushing cam (442).
An urging member (481) for urging the stopper (460a) away from the planting clutch (420) is provided, and the stopper pressing cam (442) resists the urging force of the urging member (481). The stopper (460a) is pressed against the planting clutch 420 via the action arm (463) to make contact with the planting clutch 420, and when the stopper (460a) is in the pressed state, the bias provided on the solenoid (470) is provided. The transplanter according to claim 1, wherein the stopper (460a) is urged in a pressing direction by a lock member (470a) .

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