JP6680316B2 - Seedling transplanter - Google Patents

Description

  The present invention relates to a seedling transplanter such as a rice transplanter.

  It is desirable to supply the drug to the seedlings placed on the seedling placing table to suppress the generation of pests.

  Therefore, a seedling platform on which the seedlings are placed, a seedling platform moving mechanism that reciprocates the seedling platform in the left-right direction on the seedling platform support, and a drug supply that supplies a drug to the seedlings placed on the seedling platform. A rice transplanter including a device and a drug supply device moving mechanism that reciprocally moves the drug supply device in the left-right direction on a drug supply device support portion attached to a seedling mounting table is known (for example, Patent Document 1). 1).

Patent No. 3986297

  However, in the conventional rice transplanter described above, the balance of the airframe may be deteriorated.

  The present inventor believes that such a deterioration of the body balance is caused by the reciprocating movement of the drug supply device in the left-right direction above the seedling placing base support portion, whereby the center of gravity moves. There is.

  An object of the present invention is to provide a seedling transplanter capable of suppressing deterioration of body balance in consideration of the above-mentioned conventional problems.

According to the invention of claim 1, a seedling placing table (51) for placing a seedling on the traveling vehicle body (2) is provided so as to be movable in the left-right direction, and a medicine is supplied to the seedling placed on the seedling placing table (51). A drug supply device (500) is provided, and a drug supply device support part (600) for movably supporting the drug supply device (500) in the left and right direction is provided, and the drug supply is performed along the drug supply device support part (600). In the seedling transplanter provided with a controller (900) for controlling the movement of the device (500), the controller (900) controls the left and right sides of the seedling placing table (51) according to the left and right position of the seedling placing table (51). Drug supply control for supplying a drug while moving the drug supply device (500) from one side to the other side, or the drug supply device (500 in a direction opposite to the lateral movement direction of the seedling placing table (51). ) Move And configured to perform balance movement control, provided seedling stage movement detection unit for detecting a (300) that the seedling stage (51) reaches the at least one end portion in the lateral direction, the controller (900) is When the seedling table movement detection unit (300) detects that the seedling table (51) has reached an end, the seedling table is detected from a position between the left and right ends (600L, 600R) of the drug feeder supporting unit (600). The preparation movement control for moving the medicine supply device (500) to one end portion (600R) of the left and right end portions (600L, 600R) of the medicine supply device support portion (600) is performed, and the preparation movement control is performed to perform the preparatory movement control. When the drug supply device (500) reaches one of the left and right ends (600R), one of the left and right ends (600R) of the drug supply device support (600) to the other left and right ends (600L). A seedling transplantation machine, characterized in that starting the medicine supply movement control for moving the drug supply device (500).

According to a second aspect of the present invention, the controller (900) is configured such that when the medicine supply device (500) reaches the other end portion (600L) on the left and right sides by the medicine supply movement control, the controller of the medicine supply device support portion (600). The seedling transplanter according to claim 1 , wherein return movement control is performed to move the drug supply device (500) to a position between the left and right ends (600L, 600R) .

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  Further, in the first related invention according to claim 1 to claim 6, the controller (900) performs a predetermined time period after starting the drug supply control when performing the drug supply movement control. The seedling transplanter is characterized in that the drug supply movement control is started after a lapse of time.

  Further, in the first related invention and the second related invention related to the first related invention, in the controller (900), when performing the preparatory movement control, the left and right sides of the medicine supply device (500). The seedling transplanter is characterized in that the medicine supply device (500) is moved from a position different from the center position of the left and right of the moving stroke.

  In addition, in the third related invention related to the first to sixth inventions and the first or second related invention, the medicine supply device supporting portion (600) is provided on both left and right sides of the seedling placing table (51). Has a rail (610) attached to a stay (620L, 620R) provided in the, and the drug supply device moving mechanism (700) travels on the drug supply device (500) on the rail (610). A seedling characterized by having an actuator (710) for causing the controller (900) to control the movement of the medicine supply device moving mechanism (700) based on the detection result of the operation amount of the actuator (710). It is a transplanter.

  In addition, in a fourth related invention related to the first to sixth inventions and the first to third related inventions, the medicine supply device (500) includes a medicine storage hopper (510) for storing the medicine. A shutter mechanism (520) for dropping the medicine from a medicine falling path (511) of the medicine storage hopper (510), and the shutter mechanism (520) is an opening / closing plate for opening and closing the medicine falling path (511). (521), a switching member (522) for switching the open / closed state of the medicine dropping path (511), and an adjusting member (523) for adjusting the opening degree of the medicine dropping path (511) in the open state. The seedling transplanting machine according to any one of claims 1 to 6, which is characterized.

  A fifth related invention related to the first to sixth inventions and the first to fourth related inventions is a test in which the medicine supply movement control and the medicine supply control are performed on the controller (900) on a trial basis. A test operation execution instruction member (910) for instructing execution of a test operation for causing the medicine supplying device (500) to move from the one end (600R) to the other end. The seedling transplanter is characterized in that it can be moved only once to a part (600 L).

  Further, a sixth related invention relating to claims 1 to 6 and the first to fifth related inventions is to plant the seedlings placed on the seedling placing base (51) in the lateral direction. A plurality of seedling planting devices (52) arranged, and on / off of transmission of driving force to the seedling planting device (52) provided so as to correspond to the plurality of seedling planting devices (52). The controller (900) includes a plurality of partial-row clutches (71) for switching the state, and the controller (900) is configured such that the drug supply device (500) is provided at a position where the on / off state of transmission of the driving force is switched to the off state. The seedling transplanter is characterized in that the medicine supply control is performed so that the medicine is not supplied to the seedlings placed on the seedling placing table (51).

  Further, in the seventh related invention related to the first to sixth related inventions and the first to sixth related inventions, the controller (900) performs the preparatory movement control in the medicine supply device (500). ), The drug supply device (500) is moved from the left and right center position of the left and right movement stroke, and the controller (900) performs the return movement control by changing the left and right movement strokes of the drug supply device (500). The seedling transplanter is characterized in that the drug supply device (500) is moved to the center position on the left and right.

According to the invention of claim 1, the medicine supply device (500) is controlled by performing the balance movement control in which the left and right movement directions of the seedling placing table (51) and the left and right movement directions of the medicine supply device (500) are opposite directions. As a result, it is possible to prevent the center of gravity of the seedling placing table (51) from shifting to the left and right to prevent the balance from being deteriorated.
Further, when the seedling table movement detection unit (300) detects the arrival of the end of the seedling table (51), the preparatory movement control is started, so that it is possible to perform drug supply at an appropriate drug supply timing. Excessive consumption is prevented.

According to the invention of claim 2, in addition to the effect of the invention of claim 1, after the medicine is supplied to the seedlings by the medicine supplying device (500), the medicine supplying device (500) is controlled by the return movement control so that the medicine supplying device supporting portion is provided. By moving it between the left and right ends (600L, 600R) of (600), the center of gravity of the seedling placing table (51) is less likely to be biased to the left or right side, so it is possible to suppress deterioration of the machine balance. Is .

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  According to the first related invention, in addition to the effect of the invention of any one of claims 1 to 6, in performing the drug supply movement control, after a predetermined time has elapsed after the drug supply control was started, the drug Since the supply movement control is started, it is possible to set an appropriate drug supply amount even at the drug supply start position.

  According to the second related invention, in addition to the effect of any one of claims 1 to 6 or the effect of the first related invention, in performing the preparatory movement control, the left and right center of the left and right movement stroke of the medicine supply device (500). Since the drug supply device (500) is moved from a position different from the position, the step of moving the drug supply device (500) to the left and right center position of the horizontal movement stroke of the drug supply device (500) during the preparatory movement control is unnecessary. Therefore, it is possible to supply the medicine with more flexible operation control and to supply the medicine with less energy consumption.

  According to the third related invention, in addition to the effect of any one of claims 1 to 6 or the first or second related invention, the drug supply device movement is performed based on the detection result of the operation amount of the actuator (710). Since the movement of the mechanism (700) is controlled, precise drug supply can be performed with a simple device configuration.

  According to the fourth related invention, in addition to the effect of the related invention of any one of claims 1 to 6 or any of the first to third inventions, the drug supply device (500) is configured to store a drug. Since the hopper (510) and the shutter mechanism (520) for dropping the medicine from the medicine dropping path (511) of the medicine storage hopper (510) are provided, it is possible to perform precise medicine supply with a simple device configuration. is there.

  In addition to the effects of any one of claims 1 to 6 or any one of the first to fourth related inventions, in addition to the effects of the fifth related invention, in performing the test operation, the drug supply device (500). Can be moved from one end (600R) to the other end (600L) only once, so it is possible to finely adjust the supply amount of the drug suitable for the working conditions, and more convenient drug supply. It is possible to

  According to the sixth related invention, in addition to the effect of the related invention of any one of claims 1 to 6 or any of the first to fifth aspects, the on / off state of the transmission of the driving force is switched to the off state. In the place where the medicine is supplied, the medicine supply device (500) controls the medicine supply so that the medicine is not supplied to the seedlings placed on the seedling placing table (51), so that the medicine is supplied more economically. Is possible.

  According to the seventh related invention, in addition to the effect of any one of claims 1 to 6 or the related invention of any of the first to sixth aspects, in performing the preparation movement control, the medicine supply device (500) When the drug supply device (500) is moved from the left and right center position of the left and right movement stroke and the return movement control is performed, the drug supply device (500) is moved to the left and right center position of the left and right movement stroke of the drug supply device (500). Therefore, it is possible to supply the drug with simpler operation control.

Left side view of the rice transplanter according to the embodiment of the present invention The top view of the rice transplanter of embodiment in this invention Block diagram of a power transmission system and a control system of a rice transplanter according to an embodiment of the present invention Rear view of the vicinity of the seedling placing table of the rice transplanter according to the embodiment of the present invention Rear view of the vicinity of the medicine supply device moving mechanism of the rice transplanter according to the embodiment of the present invention (A) A schematic front view of the vicinity of the shutter mechanism of the rice transplanter of the embodiment of the present invention, (b) A schematic left side view of the vicinity of the shutter mechanism of the rice transplanter of the embodiment of the present invention (A) A schematic top view in the vicinity of the plate window of the rice transplanter according to the embodiment of the present invention when the shutter plate slides by zero and the solenoid member is not energized, (b) the present invention A schematic top view in the vicinity of the plate window of the rice transplanter according to the embodiment in FIG. 6 in a case where the sliding amount of the shutter plate is zero and the solenoid member is energized. (A) A schematic top view in the vicinity of the plate window of the rice transplanter according to the embodiment of the present invention when the shutter plate slide amount is not zero and the solenoid member is not energized, (b) the present invention A schematic top view in the vicinity of the plate window of the rice transplanter according to the embodiment in FIG. 6 when the sliding amount of the shutter plate is not zero and the solenoid member is energized Left side view of the vicinity of the seedling placing table of the rice transplanter according to the embodiment of the present invention The flowchart explaining the control routine of the rice transplanter of embodiment of this invention. Schematic rear view of the vicinity of the seedling stand of the rice transplanter according to the embodiment of the present invention (No. 1) Schematic rear view of the vicinity of the seedling placing table of the rice transplanter according to the embodiment of the present invention (Part 2) A schematic rear view of the vicinity of the seedling placing table of the rice transplanter according to the embodiment of the present invention (part 3) Schematic rear view of the vicinity of the seedling placing table of the rice transplanter according to the embodiment of the present invention (No. 4) A schematic rear view of the vicinity of the seedling placing table of the rice transplanter according to the embodiment of the present invention (No. 5) A schematic front view of a rice transplanter according to an embodiment of the present invention Left side view of the vicinity of the float of the seeder according to the embodiment of the invention related to the present invention (No. 1) Left side view of the vicinity of the float of the seeder according to the embodiment of the invention related to the present invention (No. 2) A schematic left side view of the vicinity of the float of the seeder of the embodiment of the invention related to the present invention Typical sectional drawing of the float of the seeder of embodiment of invention related to this invention.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  First, the configuration and operation of the rice transplanter 8 of the present embodiment will be specifically described with reference to FIGS. 1 and 2.

  1 is a left side view of the rice transplanter 8 according to the embodiment of the present invention, and FIG. 2 is a top view of the rice transplanter 8 according to the embodiment of the present invention.

  It should be noted that the basic configuration and operation of the rice transplanter 8 as a seedling transplanter will be described with reference to FIGS. 1 and 2, and the configuration and operation of the rice transplanter 8 regarding drug supply will be described with reference to FIGS. A detailed description will be given later mainly with reference to 20. Further, in FIGS. 1 and 2, the drug supply device 500 is omitted in the drawing.

  FIG. 1 shows a state in a side view of a riding-type 8-row rice transplanter 8 equipped with a traveling vehicle body 2, and FIG. 2 shows a state in a plan view.

  In the present specification, the front-rear, left-right direction reference defines the front-rear, left-right reference with reference to the traveling direction of the traveling vehicle body 2 when viewed from the driver's seat 31.

  The rice transplanter 8 is provided with a seedling planting section 4 which can be lifted and lowered via a lifting link mechanism 3 on the rear side of the traveling vehicle body 2, and a main body portion of the fertilizer application device 5 is provided on the upper rear side of the traveling vehicle body 2.

  The traveling vehicle body 2 is a four-wheel drive vehicle including a pair of left and right front wheels 10 and a pair of left and right rear wheels 11, which are drive wheels, and a mission case 12 is arranged in the front part of the machine body. Front wheel final cases 13 are provided laterally, and left and right front wheels 10 are attached to left and right front wheel axles that project outward from the front wheel support portions that can change the steering direction of the left and right front wheel final cases 13.

  Further, the front end of the main frame 15 is fixed to the rear surface of the mission case 12, and the rear wheel gear case 18 has a rear wheel rolling shaft provided horizontally in the front and rear at the center of the rear end of the main frame 15 as a fulcrum. A rear wheel 11 is attached to a rear wheel axle that is supported in a rolling manner and projects outward from the rear wheel gear case 18.

  The engine 20 is mounted on the main frame 15, and the rotational power of the engine 20 is transmitted to the mission case 12 via the belt transmission device 21 and the HST 23.

  The rotational power transmitted to the mission case 12 is speed-changed by the transmission in the mission case 12, and then separated into traveling power and external extraction power to be extracted. Then, a part of the traveling power is transmitted to the front wheel final case 13 to drive the front wheels 10, and the rest is transmitted to the rear wheel gear case 18 to drive the rear wheels 11.

  In addition, the external extraction power is transmitted to the planting clutch case 25 provided in the rear portion of the traveling vehicle body 2, and then transmitted to the seedling planting section 4 by the planting transmission shaft 26, and to the fertilizer application device 5 by the fertilizer transmission mechanism. Being transmitted.

  An upper part of the engine 20 is covered with an engine cover 30, and a driver's seat 31 is installed on the engine cover 30. In front of the driver's seat 31, there is a front cover 32 incorporating various operating mechanisms, and a steering handle 34 for steering the front wheels 10 is provided above the front cover 32.

  Left and right sides of the lower ends of the engine cover 30 and the front cover 32 are horizontal floor steps 35. The floor step 35 is partially in a grid pattern (see FIG. 2), and the mud on the shoes of the worker who walks on the floor step 35 falls on the field.

  The up-and-down link mechanism 3 has a parallel link configuration and includes one upper link 40 and a pair of left and right lower links 41. The upper link 40 and the lower link 41 are rotatably attached to the link base frame 42 of the rear view portal type whose base side is erected at the rear end of the main frame 15, and the vertical link 43 is connected to the tip side thereof. Has been done. A connecting shaft 44 rotatably supported by the seedling planting portion 4 is inserted and connected to a lower end portion of the vertical link 43, and the seedling planting portion 4 is connected to be rotatable around the connecting shaft 44.

  A lifting hydraulic cylinder 46 is provided between the support member fixed to the main frame 15 and the tip of a swing arm (not shown) integrally formed with the upper link 40. The lifting hydraulic cylinder 46 is hydraulically expanded and contracted. Thereby, the upper link 40 rotates up and down, and the seedling planting part 4 moves up and down with a substantially fixed posture.

  The seedling planting section 4 has an eight-row planting structure. The planting transmission case 50 also serving as a frame, and mat mat seedlings are reciprocally moved left and right to supply the seedlings one by one to the seedling take-out port 51a of each row and to the side. When all the seedlings for one row are supplied to the seedling take-out port 51a, the seedling placement table 51 transfers the seedlings downward by the seedling feeding belt 51b, and the seedlings that are supplied to the seedling take-out port 51a are planted in the field by the seedling planting tool 54. The attachment device 52 and the like are provided.

  The rear part of the planted transmission case 50 is branched into four parts, and the planted drive shaft is rotatably supported at each of the branched rear ends, and the rotary case is attached to the left and right protruding parts of the planted drive shaft. The central portion of 16 is fixedly attached so as to rotate integrally.

  Furthermore, the rotary shafts for planting are rotatably supported at both ends of the rotary case 16, and the seedling planting fixture 54 is attached to each of these two rotary shafts for planting.

  A center float 55 is provided at the center of the lower part of the seedling planting section 4, and a middle float 57 and a side float 56 are provided on both left and right sides thereof. When the aircraft is advanced with these floats 55, 57, 56 grounded on the mud surface of the field, the floats 55, 57, 56 slide while smoothing the mud surface, and the seedling planting device 52 is attached to the ground preparation marks. Seedlings are planted.

  The floats 55, 57, 56 are rotatably attached so that the front end side moves up and down corresponding to the unevenness of the soil surface of the field, and the elevation of the front part of the center float 55 is controlled during the planting work. The planting depth of seedlings is always kept constant by switching the hydraulic valve that controls the lifting hydraulic cylinder 46 according to the detection result detected by a sensor (not shown) and moving the seedling planting part 4 up and down. maintain.

  The fertilizer application device 5 feeds out granular fertilizer stored in the fertilizer tank 60 by the feeding portion 61 in fixed amounts, and attaches the fertilizer to the left and right sides of the center float 55 and the side float 56 by the fertilizer hose 62 (Fig. It is guided to the fertilization guide (not shown) and dropped into the fertilizer yard formed near the side part of the seedling planting row by a groove body (not shown) provided on the front side of the fertilizer guide. The air generated by the blower 58 driven by the electric motor 53 for blower is blown into the fertilizer application hose 62 via the air chamber 59 which is long in the left-right direction, and the fertilizer in the fertilizer application hose 62 is forcibly conveyed by wind pressure. Has become.

  A first leveling rotor 27a and a second leveling rotor 27b (the combination of the first leveling rotor 27a and the second leveling rotor 27b may be simply referred to as leveling rotor) are attached to the seedling planting section 4.

  Further, the seedling placing table 51 is configured to slide on the rail in the left-right direction by using the support rollers 65a of the rectangular support frame body 65 that supports the entire seedling planting part 4 in the left-right direction and the up-down direction. Is.

  A pair of spare seedling frames 38 on which supplementary seedlings are placed are provided on the left and right sides of the front part of the traveling vehicle body 2.

  The basic configuration and operation of the rice transplanter 8 have been specifically described above with reference to FIGS. 1 and 2.

  (A) Next, referring mainly to FIGS. 3 and 4, regarding the configuration and operation of the rice transplanter 8 of the present embodiment, which includes the drug supply device 500, the drug supply device support portion 600, and the drug supply device moving mechanism 700. This will be specifically described.

  3 is a block diagram of a power transmission system and a control system of the rice transplanter 8 according to the embodiment of the present invention, and FIG. 4 is a rear surface of the rice transplanter 8 according to the embodiment of the present invention near the seedling stand 51. It is a figure.

  In addition, in FIG. 3, the power transmission system is illustrated by using a solid line, and the control system is illustrated by using a dotted line. Further, in FIG. 4, the rice transplanter 8 for 6-row planting is illustrated, and the drug supply device 500 and the drug supply device moving mechanism 700 in three positions are illustrated at the same time.

  The seedling placing table 51 on which the seedlings to be planted are placed is reciprocally moved in the left-right direction on the seedling placing table supporting portion 100 attached to the traveling vehicle body 2 by the seedling placing table moving mechanism 200. The medicine supply device 500 that supplies medicines to the seedlings placed on the seedling placing table 51 is reciprocally moved in the left-right direction on the medicine supplying device supporting portion 600 attached to the seedling placing table 51 by the medicine supplying device moving mechanism 700. To be made.

  A more specific description is as follows.

  The width of movement of the seedling placing table 51 in the left-right direction is about the width w in the left-right direction of one seedling mat handled by one seedling planting tool 54. Therefore, for example, the moving distance of the seedling placing table from the left / right center position pC to the left side position pL corresponding to the left side portion 100L, and the seedling placing table from the left / right center position pC to the right side position pR corresponding to the right side portion 100R. The moving distance is about w / 2 in all cases.

  In addition, the left-right center position pC of the seedling mounting base support part 100 is a horizontal center position of the moving width of the seedling mounting base 51 in the left-right direction.

  The movement distance in the left-right direction of the drug supply device 500 in the balance mode described later is about D = 100 [mm]. Therefore, for example, the drug feeder movement distance from the left / right center position qC to the balance mode left end position qL and the drug feeder movement distance from the left / right center position qC to the balance mode right end position qR are both D / 2 = 50 [ mm].

  The left-right center position qC of the drug supply device support portion 600 is the left-right center position of the width of movement of the drug supply device 500 in the left-right direction.

  The lateral movement distance of the chemical | medical agent supply apparatus 500 in the chemical | medical agent supply mode mentioned later is about the width | variety W in the horizontal direction of the seedling stand 51. Therefore, for example, the seedling platform moving distance from the medicine supply mode right end position qR1 corresponding to the right end portion 600R to the medicine supply mode left end position qL1 corresponding to the left end portion 600L is about W.

In the present embodiment,
(Equation 1) 0 <D <W.

  Of course, embodiments in which D = 0 or D = W are also conceivable. In the embodiment in which D = 0, the medicine supply device 500 in the balance mode continues to stop at the left-right center position qC, and the consumption amount of the medicine supply device driving energy is greatly reduced. In the embodiment in which D = W, the drug supply device 500 in the balance mode is stopped for a short period of time, and the difficulty of speed control associated with the suspension of the drive of the drug supply device 500 is greatly reduced. .

  Further, an embodiment is conceivable in which the leftward and rightward movements of the medicine supply device 500 in the medicine supply mode are performed to the vicinity of the front plate guard outside the seedling placing table 51. However, it is desirable that the medicine supply control described below is performed so as not to wastefully supply the medicine in a place where the seedling placing table 51 is not provided.

  The controller 900 controls the seedling table moving mechanism 200, the medicine supplying device 500, and the medicine supplying device moving mechanism 700.

  In the present embodiment, controller 900 includes (1) a right end portion 600R as one end portion of drug supply device support portion 600 from a position between left end portion 600L and right end portion 600R of drug supply device support portion 600. And (2) drug supply for moving the drug supply device 500 from the right end 600R to the left end 600L as the other end of the drug supply device support 600. Movement control is performed, and (3) return movement control is performed to move the medicine supply device 500 from the left end portion 600L to a position between the left end portion 600L and the right end portion 600R.

  Of course, the same applies to the following, but one end of the drug supply device support part 600 is the left end part 600L and the other end of the drug supply device support part 600 is the right end part 600R. An embodiment in which the drug supply device 500 moves in the direction of, that is, in the left-right symmetrical direction is also conceivable.

  Then, when performing the medicine supply movement control, the controller 900 controls the medicine supply device 500 to supply the medicine to the seedlings placed on the seedling placing table 51.

  The control operations of the seedling table moving mechanism 200, the medicine supplying device 500 and the medicine supplying device moving mechanism 700 performed by the controller 900 will be described in detail later.

  The seedling placement platform movement detection unit 300 detects the arrival timing when the seedling placement platform 51 reaches the right side unit 100R as at least one of the left side unit 100L and the right side unit 100R of the seedling placement unit support unit 100, and the controller 900. Starts the drug supply movement control using the detected arrival timing. In the present embodiment, what arrival timing is used to start the drug supply movement control will be described in detail later.

  In addition to the above, the seedling platform movement detection unit 300 indicates the arrival timing when the seedling platform 51 reaches the left side unit 100L as at least one of the left side unit 100L and the right side unit 100R of the seedling platform support unit 100. Upon detection, the controller 900 starts the preparatory movement control using the detected arrival timing. In the present embodiment, what arrival timing is used when starting the preparation movement control will be described in detail later.

  Needless to say, the seedling placement table movement detection unit 300 may be provided on both the left side portion 100L and the right side portion 100R to detect the arrival of the left and right end portions of the seedling placement table 51. At this time, when the number of times the seedling placing table 51 reaches either end of the left side part 100L or the right side part 100R is one more than the other, the preparatory movement control is performed, and then the medicine is transferred. Start supply movement control. For example, if the preparation movement control and the medicine supply movement control are performed every time the seedling placement table 51 reaches the right side portion 100R three times, the left seedling placement table movement detection unit 300 detects the number of times twice and the right side. When the number of detections by the seedling table movement detection unit 300 becomes 3, the preparation movement control and the medicine supply movement control are performed. In addition to the seedling table movement detection unit 300, the preparation movement control and the medicine supply movement control are performed based on the number of times the seedling longitudinal feed section 51b that operates when the seedling table 51 reaches the end. May be For example, when the seedling vertical feeding unit 51b performs the seedling vertical feeding a predetermined number of times, the preparatory movement control is performed, and then the medicine supply movement control is started.

  A more specific description is as follows.

  The movement amount of the seedling table in the left and right direction is detected by the seedling table movement detection unit 300, the vertical feed amount of the seedling is detected by the vertical seedling sensor 400, and the movement amount of the drug supply device in the left and right direction is the movement of the drug supply device. It is detected by the sensor 800.

  The seedling platform movement detection unit 300 detects, for example, (1) a left side arrival detection switch that detects arrival of the seedling platform 51 to the left side position pL and an arrival of the seedling platform 51 to the right side position pR. The right side arrival detection switch and all or a part of the left and right center passage detection switches for detecting the passage and the passage direction of the left and right center positions pC of the seedling placement table 51, and (2) seedling placement table drive cam It is a rotation sensor that detects the number of rotations of the shaft.

  The seedling vertical feed sensor 400 is, for example, a seedling vertical feed counter switch provided on the rotation locus of a seedling feed cam (not shown) that rotates when the seedling placing table 51 reaches an end, or a seedling feed belt drive cam shaft. It is an angle sensor that detects the rotation angle.

  The medicine supply device movement sensor 800 may, for example, (1) detect the arrival of the medicine supply device 500 in the balance mode left end position qL in a balance mode left end detection switch, and detect the arrival of the medicine supply device 500 in the balance mode right end position qR. Balance mode for detecting right end arrival detection switch, medicine supply mode left end detection switch for medicine supply device 500 detecting arrival of medicine supply mode left end position qL1, detection of arrival of medicine supply device 500 right end position qR1 of medicine supply mode All or some of the right and left center passage detection switches that detect the right end arrival detection switch and the left and right center position qC of the medicine supply device 500, and (2) medicine supply The device moving mechanism 700 includes an actuator 710 (see FIG. 5) which will be described later. ) Is a timer for detecting the motor operating time of the actuator 710, or a rotation sensor for detecting the motor rotation speed of the actuator 710, and (3) When the drug supply device moving mechanism 700 uses a cylinder mechanism. Is a stroke sensor that detects the amount of cylinder expansion and contraction.

  Of course, the seedling vertical feed is performed according to the ON operation of the proximity switch according to the detection result of the seedling platform movement detection unit 300, and the vertical seedling feed amount is calculated by converting the seedling platform movement amount. Morphology is also conceivable.

  Furthermore, not only the movement control of the medicine supply device moving mechanism 700 for performing acceleration, deceleration, stop, etc. of the medicine supply device 500 is performed according to the above-described detection result, but the detection result is obtained for some reason. If there is not, the medicine supply device moving mechanism 700 is forcibly stopped 0.2 [seconds] after deceleration using the switch installed in the deceleration position, or the execution of the medicine supply mode described later is stopped. Such an embodiment is also conceivable.

  The medicine supply device supporting portion 600 has rails 610 attached to stays 620L and 620R provided on both left and right sides of the seedling placing table 51.

  As shown in FIG. 5, the drug supply device moving mechanism 700 has an actuator 710 that causes the drug supply device 500 to travel on a rail 610.

  Here, FIG. 5 is a rear view of the vicinity of the medicine supply device moving mechanism 700 of the rice transplanter 8 according to the embodiment of the present invention.

  A more specific description is as follows.

  The actuator gear 720 meshes with the sprocket gear 730, and is rotated by the actuator 710 that is driven by using the power supply from the cord-shaped actuator wiring harness 711. The sprocket 740 is coaxial with the sprocket gear 730 and meshes with a chain 750 laid on the case-shaped rail 610.

  Then, the medicine supply device 500 can be designed to prevent the machine body balance during the movement of medicine supply from being disturbed during self-sustaining movement, so that it is possible to perform precise medicine supply regardless of the amount of seedlings taken.

  Thus, it is possible to drive the drug supply device 500 on the rail 610.

  The controller 900 controls the movement of the medicine supply device moving mechanism 700 based on the detection result of the operation amount of the actuator 710.

  As shown in FIGS. 6A and 6B, the drug supply device 500 includes a drug storage hopper 510 that stores a drug and a shutter mechanism 520 that drops the drug from a drug drop path 511 of the drug storage hopper 510. And.

  6A is a schematic front view of the vicinity of the shutter mechanism 520 of the rice transplanter 8 according to the embodiment of the present invention, and FIG. 6B is a schematic front view of the rice transplanter 8 according to the embodiment of the present invention. FIG. 7 is a schematic left side view near the shutter mechanism 520.

  6A and 6B, the upper drug storage hopper 510 is not shown, and the solenoid member 522 switches the open / close state of the drug drop path 511 to the closed state. Further, in FIG. 6B, the interference assumption line J of the seedling placing table 51 in the rice transplanter 8 for 8-row planting is illustrated as a reference.

  For example, the volume of the drug storage hopper 510 is about 3700 [mL]. Since one drug storage hopper 510 having a sufficient volume is moved, it is possible to perform uniform drug supply using the lightweight drug supply device 500 with a small number of parts.

  The shutter mechanism 520 includes a shutter plate 521 as an opening / closing plate for opening / closing the medicine dropping path 511, a solenoid member 522 as a switching member for switching the open / close state of the medicine dropping path 511, and an opening degree of the medicine dropping path 511 in the open state. And an opening adjustment dial 523 as an adjusting member for adjusting.

  A more specific description is as follows.

  The dial gear 523a is coaxial with the opening adjustment dial 523 and meshes with a slider gear 521b that rotates the plate slider 521a. As described later in detail, the plate slider 521a slides the shutter plate 521 having a plate window 521e (see FIGS. 7 and 8) perforated. When the solenoid member 522 switches the opened / closed state of the medicine dropping path 511 to the closed state, a part of the solenoid member 522 is in contact with the plate positioning fitting 521d. When the solenoid member 522 is switching the open / closed state of the medicine dropping path 511 to the open state, the plate stopper 521c abuts a part of the solenoid member 522, so that the slidable shutter plate 521 is almost unlikely to fall off. Absent.

  When the test operation described below is executed, the measuring cup attachment metal fitting 524b below the medicine dropping path 511 is locked in the measuring cup attachment hole 524a formed in the test operation measuring cup 524, and the test operation weighing is performed. Cup 524 is fitted to receive the medication.

  When the operator manually rotates the opening adjustment dial 523, the opening of the medicine dropping path 511 in the open state is adjusted.

  A more specific description is as follows.

  As shown in FIG. 7A, when the sliding amount of the shutter plate 521 in the direction indicated by the arrow A1 that is the forward direction of the vehicle body is zero, the opening degree of the medicine drop path 511 in the open state is large. Although it is adjusted to the maximum opening degree, the solenoid member 522 is not pulling in the direction indicated by the arrow A2 that is the right turn direction of the vehicle body, and the open / closed state of the medicine dropping path 511 is the closed state.

  Here, FIG. 7A shows a case where the sliding amount of the shutter plate 521 near the plate window 521e of the rice transplanter 8 according to the embodiment of the present invention is zero and the solenoid member 522 is not energized. It is a typical top view.

  Then, as shown in FIG. 7B, when the solenoid member 522 is pulled in the direction indicated by the arrow A2, the opening degree of the medicine dropping path 511 in the open state is adjusted to the maximum opening degree. Therefore, the plate window 521e completely overlaps the medicine falling path 511, and the open / closed state of the medicine falling path 511 is switched to the open state with the maximum opening degree.

  Here, FIG. 7B shows a case where the sliding amount of the shutter plate 521 near the plate window 521e of the rice transplanter 8 according to the embodiment of the present invention is zero and the solenoid member 522 is energized. It is a typical top view.

  As shown in FIG. 8A, when the slide amount of the shutter plate 521 in the direction indicated by the arrow A1 is not zero, the opening degree of the medicine dropping path 511 in the open state is larger than the maximum opening degree. Although the opening is adjusted to a smaller value, the solenoid member 522 is not pulled in the direction shown by the arrow A2, and the open / closed state of the medicine dropping path 511 is also the closed state.

  Here, FIG. 8A illustrates a case where the sliding amount of the shutter plate 521 near the plate window 521e of the rice transplanter 8 according to the embodiment of the present invention is not zero and the solenoid member 522 is not energized. It is a typical top view.

  Then, as shown in FIG. 8B, when the solenoid member 522 is pulled in the direction indicated by the arrow A2, the opening degree of the medicine dropping path 511 in the open state is compared with the maximum opening degree. Since the plate window 521e is not completely overlapped with the medicine dropping path 511, the open / closed state of the medicine dropping path 511 is switched to the open state with a smaller opening degree.

  FIG. 8B shows a case where the sliding amount of the shutter plate 521 near the plate window 521e of the rice transplanter 8 according to the embodiment of the present invention is not zero and the solenoid member 522 is energized. It is a typical top view.

  Thus, it is possible to adjust the opening degree of the medicine dropping path 511 in the open state.

  For example, the slide amount of the shutter plate 521 corresponding to 1/5 rotation of the opening adjustment dial 523 is about 1 [mm]. The slide amount of the shutter plate 521 can easily reduce the drug supply amount even when the drug is contained in the drug storage hopper 510, unlike the roll opening adjustment of the drug feeding method in which the drug may be pinched. Is possible. This is because when the opening degree of the shutter plate 521 is adjusted by operating the opening degree adjusting dial 523, the shutter plate 521 itself does not open and close so that the medicine is not pinched and crushed by the shutter plate 521. Since the opening degree of the medicine dropping path 511 in the open state can be finely adjusted manually as described above in the test operation described later, the medicine is supplied without excess or deficiency.

  Of course, when the operator manually rotates the opening adjustment dial 523, the solenoid operation width adjusting arm slides in conjunction with each other so that the opening of the medicine dropping path 511 in the open state is adjusted. Morphology is also conceivable.

  The initial feeding button 910 as a test operation execution instruction member instructs the controller 900 to execute a test operation that causes drug supply movement control and drug supply control to be performed on a trial basis. When the test operation is performed, the drug supply device 500 is moved from the right end portion 600R to the left end portion 600L only once.

  For example, the initial feeding button 910 is a dial for adjusting the moving speed of the medicine supply device described above, a setting button for the number of seedling vertical feeds for starting the medicine supply movement control, a reset button for the number of vertical seedling feeds, a power switch, and a medicine feeding execution. It is arranged on the control panel together with the lamps and the like.

  The plurality of seedling planting devices 52 plant seedlings placed on the seedling placing table 51 and are arranged in the left-right direction. The plurality of partial clutches 71 are provided so as to correspond to the plurality of seedling planting devices 52, and switch the on / off state of transmission of the driving force to the seedling planting devices 52. The controller 900 controls the medicine supply so that the medicine supply device 500 does not supply the medicine to the seedlings placed on the seedling placement table 51 at the position where the on / off state of the transmission of the driving force is switched to the off state. I do.

  As shown in FIG. 9, the medicine supplying device 500, the medicine supplying device supporting portion 600, and the medicine supplying device moving mechanism 700 can move upward on the seedling placing table 51 when not in use.

  FIG. 9 is a left side view of the rice transplanter 8 according to the embodiment of the present invention in the vicinity of the seedling stand 51.

  Note that, in FIG. 9, the drug supply device 500, the drug supply device support portion 600, and the drug supply device moving mechanism 700 in two positions are shown at the same time, and the seedling pressing bending arm 1210 in three positions is shown at the same time. Has been done.

  The upper end of the upper support arm 630 is rotatably connected to the drug supply device support portion 600 side, and the lower end of the upper support arm 630 is rotatable about the upper support arm rotation shaft 640. As shown, it is connected to the seedling placing table 51 side. The upper end of the lower support arm 650 is connected to the drug supply device supporting unit 600 side, and the lower end of the lower support arm 650 is slidable upward and downward along the lower support arm slide groove 660. It is connected to the seedling placing table 51 side so as to be movable.

  Thus, when the operator lifts and moves the medicine supply device 500, the medicine supply device support portion 600 and the medicine supply device moving mechanism 700 upward, the operation of the seedling water dispelling bar 1110 or the seedling presser bending arm 1210, which will be described later, is performed. It is possible to secure the space required for such an operation when the seedlings are taken out.

  Of course, an embodiment in which the medicine supplying device 500, the medicine supplying device supporting portion 600 and the medicine supplying device moving mechanism 700 can be attached to and detached from the seedling placing table 51 is also conceivable.

  The seedling water removing unit 1100 has a seedling water removing bar 1110 and a seedling water removing bar attachment member 1111. The seedling water removing bar attachment member 1111 is a protruding member provided on the upper surface side of the seedling placing table 51, and supports the seedling water removing bar 1110 so that it can be detached. The seedling pressing bending arm 1210 is an arm member whose left-right direction is the longitudinal direction, and removes the seedling water from each seedling mat in which the seedlings are vertically fed.

  Since the leaf and stem seedlings are drained before the drug is supplied, the drug is well supplied to the root without adhering to the leaves and stems.

  The seedling holding section 1200 has a plurality of seedling holding bending arms 1210 and a seedling holding bending arm attachment member 1211. The seedling presser bending arm attachment member 1211 is a plurality of projecting members provided on the left and right sides and in the middle of the upper surface side of the seedling placing table 51, and a bar connecting the upper ends of the plurality of seedling presser bending arms 1210 can be rotated. Support as is. The seedling pressing bending arm 1210 is an arm member whose longitudinal direction is the longitudinal direction of the seedling, and several seedling pressing bending arms 1210 jointly take charge of one seedling mat and the lower end of each seedling mat. Suppress the rise of.

  Now, the control operation of the seedling table moving mechanism 200, the medicine supplying device 500, and the medicine supplying device moving mechanism 700 performed by the controller 900 will be described in detail.

  As described above, the seedling placing base 51 is reciprocally moved in the left-right direction on the seedling placing base supporting portion 100 attached to the traveling vehicle body 2. The arrival timing of reaching the left side portion 100L and the right side portion 100R of the platform support unit 100 is detected, and the seedling feeding belt 51b performs the vertical seedling feeding according to the arrival timing detected by the seedling placement platform movement detection unit 300.

  Then, the medicine supplying device 500 is reciprocated in the left-right direction on the medicine supplying device supporting portion 600 attached to the seedling placing base 51, and at the same time, the medicine is supplied to the seedlings placed on the seedling placing base 51.

  As shown in FIG. 10, the balance mode and the medicine supply mode are executed in the control routine for realizing the operation accompanied by the control of the medicine supply device 500 as described above.

  FIG. 10 is a flow chart for explaining the control routine of the rice transplanter 8 according to the embodiment of the present invention.

  As described later in detail, the preparation movement control, the medicine supply movement control, the return movement control, and the medicine supply control described above are performed in the medicine supply mode.

  (Step S1) When the control routine is started, it is determined whether or not the medicine supply mode execution condition is satisfied.

  When it is determined that the seedling placing table 51 has reached the left side position pL corresponding to the left side part 100L, the count value ν of the number of times the seedling placing table 51 has reached the left side position pL is incremented by 1, but reached. When the number-of-times count value ν reaches the predetermined value N, the number-of-arrival times count value ν is immediately reset to zero.

In the present embodiment, when the medicine supply control is performed once, the medicines are collectively supplied to the seedlings in six rows in the left-right direction.
(Equation 2) N = 6/2 = 3 [times]
Therefore, the drug supply mode execution condition is that the arrival count value ν is (Equation 3) N-1 = 3-1 = 2 [times]
The condition is that

In the present embodiment, as a result, the seedling vertical feeding unit 51b is (Equation 4) 2 × (N−1) = 2 × 2 = 4 [times]
When the seedling vertical feeding is performed, the preparation movement control is started, and when the seedling vertical feeding unit 51b performs another seedling vertical feeding, the medicine supply movement control is started.

  Then, whether or not the condition for executing the medicine supply mode is satisfied is determined by the arrival timing when the seedling placing table 51 reaches the left side position pL.

  Of course, an embodiment is conceivable in which the medicine is supplied to only one row of seedlings in the left-right direction when the medicine supply control is performed once.

  Further, in the embodiment in which the drug supply mode execution condition is that the seedling vertical feed amount is reset to 0 [mm] or the accumulated seedling vertical feed amount is 100 [mm], Conceivable.

  (Step S2) If it is determined that the drug supply mode execution condition is not satisfied, the balance mode is started.

  In the present embodiment, the seedling placing table 51 reaches the left side position pL at the timing when the medicine supply device 500 reaches the balance mode right end position qR.

  Therefore, as shown in FIG. 11, the drug supply device 500 that has moved to the right starts from the balance mode right end position qR to the left, moves to the balance mode left end position qL, and moves to the left. The seedling placing table 51 starts rightward from the left side position pL and moves to the right side position pR.

  Here, FIG. 11 is a schematic rear view (part 1) near the seedling placing table 51 of the rice transplanter 8 according to the embodiment of the present invention.

  Then, in the present embodiment, the seedling placement table 51 reaches the right side position pR at the timing when the medicine supply device 500 reaches the balance mode left end position qL.

  Therefore, as shown in FIG. 12, the drug supply device 500 that has moved to the left starts from the balance mode left end position qL to the right, moves to the balance mode right end position qR, and moves to the right. The seedling placing table 51 starts from the right side position pR to the left and moves to the left side position pL.

  FIG. 12 is a schematic rear view (No. 2) near the seedling placing table 51 of the rice transplanter 8 according to the embodiment of the present invention.

  A more specific description is as follows.

The movement of the seedling placing table 51 in the left-right direction is substantially constant at the speed v. Therefore, the time required for the seedling placement table 51 to leave the left side position pL to the right, to reach the right side position pR via the left and right center positions pC, and the seedling placement table 51 to the right side position pR to the left. The time required to start and reach the left side position pL via the left and right center positions pC is approximately (equation 5) Δt = w / v.

The movement of the drug supply device 500 in the left-right direction in the balance mode is a substantially constant movement of the velocity V. Therefore, the medicine supply device 500 in the balance mode starts from the balance mode right end position qR to the left, passes through the left and right center position qC, and reaches the balance mode left end position qL, and the medicine supply in the balance mode. The time required for the device 500 to leave the balance mode left end position qL to the right, to reach the balance mode right end position qR via the left and right center position qC is (Equation 6) ΔT = D / V or so. .

And in the present embodiment,
(Equation 7) Δt = ΔT.

  Of course, an embodiment in which Δt ≠ ΔT is also conceivable. For example, in the embodiment in which Δt> ΔT, the time period during which the drug supply device 500 in the balance mode stays at the left / right center position qC, the balance mode left end position qL, the balance mode right end position qR, or the like. It may be possible, and more specifically, the vehicle may be stopped at the left and right central position qC during the movement for a time length of Δt−ΔT.

  In this way, the controller 900 controls the balance movement so that the medicine feeding device 500 moves rightward when the seedling placing table 51 moves leftward in a part of the time period when the medicine feeding control is not performed. Then, when the seedling placing table 51 moves to the right, the balance movement control is performed so that the drug supply device 500 moves to the left.

  Then, in the controller 900, in a part of the time period when the drug supply control is not performed, (1) the seedling placing table 51 is based on the left and right center position pC as the left and right center position of the lateral movement stroke of the seedling placing table 51. When moving to the left side, the medicine supply device 500 performs balance movement control so that the medicine supply device 500 moves to the right side with reference to the left-right center position qC of the left-right movement stroke of the medicine supply device 500. However, when the drug supply device 500 is closer to the right side with respect to the left-right center position pC, the drug supply device 500 performs the balance movement control so as to be closer to the left side with respect to the left-right center position qC. However, when it is at the left-right center position pC, the medicine supply device 500 performs the balance movement control so that it is at the left-right center position qC.

  Then, since the time zone in which the left-right center position pC and the left-right center position qC substantially coincide with the center in the left-right direction of the machine body is sufficiently secured, deterioration of the machine body balance is greatly suppressed.

  Of course, an embodiment is also conceivable in which the controller 900 performs such balance movement control during the entire time period when the drug supply control is not performed. However, the time period during which the preparation movement control, the medicine supply movement control, and the return movement control are performed must be ensured.

  (Step S3) The balance mode is ended and the control routine returns.

  (Step S4) If it is determined that the condition for executing the medicine supply mode is satisfied, the medicine supply mode is started.

  (Step S5) First, preparation movement control is performed.

  As described above, the seedling placing table 51 reaches the left side position pL at the timing when the medicine supply device 500 reaches the balance mode right end position qR.

  Therefore, as shown in FIG. 13, the drug supply device 500 that has moved to the right passes through the balance mode right end position qR to the right as it is, moves to the drug supply mode right end position qR1, and moves to the left. The seedling placing table 51, which has been operated, starts rightward from the left side position pL and moves to the right side position pR.

  Here, FIG. 13 is a schematic rear view (part 3) near the seedling placing table 51 of the rice transplanter 8 according to the embodiment of the present invention.

  As described above, when performing the preparation movement control, the controller 900 moves the medicine supply device 500 toward the right end portion 600R of the medicine supply device supporting portion 600 when the medicine supply device 500 approaches the right side with respect to the left-right center position qC. The supply device 500 is moved.

  The movement of the drug supply device 500 in the left-right direction in the preparatory movement control is a substantially constant movement at the speed V1 (> V).

  Of course, when the controller 900 performs the preparatory movement control, when the drug supply device 500 approaches the left side with respect to the left-right center position qC, the drug supply device is directed toward the left end portion 600L of the drug supply device support portion 600. Embodiments in which 500 is moved are also conceivable.

  (Step S6) Next, drug supply movement control and drug supply control are performed.

  In the present embodiment, the seedling placement table 51 reaches the right side position pR at the timing when the drug supply device 500 reaches the drug supply mode right end position qR1.

  Therefore, as shown in FIG. 14, the medicine supply device 500 that has moved to the right starts from the medicine supply mode right end position qR1 to the left, moves to the medicine supply mode left end position qL1, and moves to the right. The seedling placing table 51, which has been operated, starts from the right side position pR to the left and moves to the left side position pL.

  FIG. 14 is a schematic rear view (No. 4) near the seedling placing table 51 of the rice transplanter 8 according to the embodiment of the present invention.

  Of course, an embodiment is conceivable in which the medicine supplying device 500 has already reached the medicine supply mode right end position qR1 at the timing when the seedling placing table 51 reaches the right side position pR. However, it is desirable that the preparatory movement control described above is not ended too early because the balance of the machine body may be deteriorated.

  Then, when performing the medicine supply movement control, the controller 900 starts the medicine supply movement control after a predetermined time has elapsed after starting the medicine supply control.

  Then, even at the drug supply start position, a sufficient drug supply amount is secured.

  The movement of the medicine supply device 500 in the left-right direction in the medicine supply movement control is a substantially constant speed movement of the speed V2 (> V1).

  Of course, the embodiment in which the lateral movement of the medicine supply device 500 in the medicine supply movement control is performed at a high speed during the medicine supply movement control, and at a low speed during other longitudinal seedling feeds. Is also conceivable. However, it is desirable that the drug supply control be precisely performed following the drug supply movement control so that the drug is not unnecessarily supplied in a place where the seedling placing table 51 is not provided.

  Further, an embodiment is conceivable in which the controller 900 starts the drug supply control at the same time when the drug supply transfer control is performed.

  (Step S7) And return movement control is performed.

  In the present embodiment, the seedling placing table 51 has not yet reached the left side position pL at the timing when the drug supply device 500 reaches the drug supply mode left end position qL1.

  Therefore, as shown in FIG. 15, the drug supply device 500 that has moved to the left starts from the drug supply mode left end position qL1 to the right, moves to the balance mode right end position qR, and moves to the left. The existing seedling placing table 51 moves leftward as it is to the left side position pL.

  Here, FIG. 15 is a schematic rear view (part 5) near the seedling placing table 51 of the rice transplanter 8 according to the embodiment of the present invention.

  Of course, an embodiment is conceivable in which the seedling placing table 51 has already reached the left side position pL at the timing when the drug supply device 500 reaches the drug supply mode left end position qL1. However, it is desirable that the above-mentioned medicine supply control be ended before the vertical seedling feed is completed.

  Then, in the present embodiment, the seedling placement table 51 reaches the left side position pL at the timing when the medicine supply device 500 reaches the balance mode right end position qR (see FIG. 11).

  The movement of the drug supply device 500 in the left-right direction under the return movement control is a movement at a substantially constant speed of the speed V2.

  Of course, an embodiment is conceivable in which the medicine supply device 500 has already reached the balance mode right end position qR at the timing when the seedling placing table 51 reaches the left side position pL.

  (Step S8) The medicine supply mode is ended and the control routine returns.

  In this way, the controller 900 moves the medicine supply device 500 from a position different from the left and right center position qC when performing the preparation movement control. That is, in the present embodiment, when the drug supply device 500 is located at either one of the left and right movement positions in the balance mode, the drug supply device 500 is not moved to the left and right center position qC of the drug supply device support portion 600 once, It is an embodiment in which it is moved to the left side position pL or the right side position pR in the medicine supply mode. As a result, since the medicine supplying device 500 can quickly perform the medicine supplying operation, the medicine is supplied to the seedlings at an appropriate timing, and the number of times the actuator 710 of the medicine supplying device moving mechanism 700 is turned on and off is reduced. As a result, the number of operations can be suppressed, and energy consumption can be suppressed.

  Of course, the controller 900 moves the medicine supply device 500 from the left-right center position qC when performing the preparation movement control, and moves the medicine supply device 500 to the left-right center position qC when performing the return movement control. The form of is also conceivable.

  In the present embodiment, both at the timing when the balance mode is ended and at the timing when the medicine supply mode is ended, the seedling placing table 51 reaches the left side position pL and the medicine supply device 500 reaches the balance mode right end position qR. Has arrived Therefore, after the return in the control routine is performed and it is determined whether or not the medicine supply mode execution condition is satisfied, the transition from the balance mode to the medicine supply mode and the transition from the medicine supply mode to the balance mode are performed. , Smooth operation is performed without using special transition operation control. Therefore, it is possible to repeatedly continue the periodic control operation by a simple combination of reciprocating movements.

  Of course, an embodiment is conceivable in which the shift operation control for shifting from the balance mode to the medicine supply mode or from the medicine supply mode to the balance mode is used.

  In the above, the control operation of the seedling table moving mechanism 200, the medicine supplying device 500, and the medicine supplying device moving mechanism 700 performed by the controller 900 has been described in detail.

  (B) Next, mainly with reference to FIG. 16, a configuration of the rice transplanter 8 of the present embodiment, which includes an electric rear marker 1300 that forms a linear mark as a guide for the next planting row in a field scene. The operation will be described.

  FIG. 16 is a schematic front view of the rice transplanter 8 according to the embodiment of the present invention.

  In the electric rear marker automatic storage / deployment control of the present embodiment, when seedlings are planted according to the auxiliary shift lever operation position or the like, the rotation amount θ of the electric rear marker 1300 from the reference line H is too small. It is done so as not to grow.

  A more specific description is as follows.

  When the seedling placing table 51 on which the seedlings to be planted are placed is moved back and forth in the left-right direction, the electric rear marker 1300 may interfere with the seedling placing table 51.

  Therefore, when seedlings are planted, the electric rear marker automatic storage / deployment control of the present embodiment is performed so that the rotation amount θ becomes approximately 70 degrees.

  However, for example, if the body layout in which the electric rear marker 1300 is less likely to interfere with the seedling placement table 51 is adopted, the rotation amount even when seedlings are planted, as in the current model. Automatic storage / deployment control may be performed such that θ becomes 90 degrees.

  Of course, an embodiment is conceivable in which the electric rear marker automatic storage / deployment control is performed more precisely using a potentiometer for detecting the rotation amount θ.

Further, an embodiment is conceivable in which the control of the electric rear marker elevating motor is performed in the vibration mode by pulse drive according to the oscillating position of the electric rear marker 1300 obtained according to the detection result by the potentiometer described above. . For example, the control of the electric rear marker lift motor is performed by outputting the lift signal of the electric rear marker 1300 to output the rotation amount θ.
May be performed in such a vibration mode from 0 to approximately 10-20 degrees. Then, the mud adhering to the electric rear marker 1300 is shaken off by vibration without fear of scattering to the worker.

(Embodiment of the invention related to the present invention)
Hereinafter, embodiments of the invention related to the present invention will be described in detail with reference to the drawings.

  First, the configuration and operation of the seeder according to the embodiment of the invention related to the present invention will be specifically described with reference to FIGS. 17 and 18.

  FIG. 17 is a left side view (No. 1) near the float 2100 of the seeder according to the embodiment of the invention related to the present invention, and FIG. 18 is a seeder according to the embodiment of the invention related to the present invention. 3 is a left side view (No. 2) near the float 2100 of FIG.

In addition, in FIG. 17, the seed grooving device 2300 in the downward rotation position state is illustrated.
Further, in FIG. 18, the seed grooving device 2300 in the upper rotation position state is illustrated, and the float 2100 is not illustrated.

  The seeder of the embodiment of the invention related to the present invention is similar to the rice transplanter 8 of the embodiment described above, but is provided with the direct seeding device 2200 instead of the seedling planting device 52.

  The seed grooving device 2300 can be easily rotated around the rotation fulcrum 2310 depending on whether it is used or not, and can be locked by a rotation lock member 2320 having a slider stick 2321 and a snap pin 2322. is there.

  When the seed coating is a coating that requires grooving, the seed grooving device 2300 is rotated downward so that a part of the seed grooving device 2300 is located below the float ground contact surface S. Then, the slider stick 2321 is inserted into the lower rotation position hole 2120 formed on the upper surface side of the float 2100 and locked by the snap pin 2322 inserted into the snap pin hole of the slider stick 2321. In this way, the downward rotation position state when using the seed grooving device 2300 is realized.

  When the seed coating is an iron coating that does not require a grooving suitable for sowing in a field, the seed grooving device 2300 is rotated upward so that almost all of the seed grooving device is located above the float ground contact surface S. To be done. Then, the slider stick 2321 is inserted into the upper rotation position hole 2110 formed on the upper surface side of the float 2100, and is locked by the snap pin 2322 inserted into the snap pin hole of the slider stick 2321. In this way, the state of the upper turning position when the seed grooving device 2300 is not used is realized.

  A more specific description is as follows.

  The rotation lock member 2320 and the rotation fulcrum 2310 are provided above the float ground contact surface S. Therefore, there is almost no possibility that mud adheres to the rotation lock member 2320 and the rotation fulcrum 2310 to cause malfunction, and when not in use, the entire seed grooving device 2300 is located above the float ground surface S. It can be stored almost completely.

  The rotation lock member 2320 is provided in front of the seed grooving device 2300. Therefore, there is almost no risk that the rotation lock member 2320 hinders seeding.

  The rotation fulcrum 2310 is provided in front of the seed grooving device 2300.

  Of course, an embodiment in which the rotation fulcrum 2310 is provided behind the seed grooving device 2300 as shown in FIG. 19 is also conceivable.

  FIG. 19 is a schematic left side view of the vicinity of the float 2100 of the seeder according to the embodiment of the invention related to the present invention.

  In addition, in FIG. 19, the seed grooving device 2300 in the downward rotation position is illustrated, and the float 2100 and the like are not illustrated.

  Furthermore, an embodiment is also conceivable in which the rotation lock member 2320 is provided behind the seed grooving device 2300.

  Next, the configuration and operation of the seeder according to the embodiment of the invention related to the present invention will be described more specifically with reference mainly to FIG.

  FIG. 20 is a schematic AA ′ cross-sectional view of the float 2100 of the seeder according to the embodiment of the invention related to the present invention.

  The shape of the float bottom surface 2101 of the float 2100 is not a flat shape but an upward convex shape having a float bottom surface recessed portion 2101a provided at the left and right center positions. Therefore, since mud, water, straw, etc. are easily accumulated in the float bottom recessed portion 2101a, the drainage performance of the float 2100 is improved, ruts are less likely to remain on the float ground contact surface S, and the ground leveling performance is improved, and the float bottom surface 2101a is improved. Is less likely to be adsorbed on the float ground surface S, and thus the lifting operation of the grounded float 2100 is easy.

  Of course, an embodiment in which the shape of the floats 55 to 57 of the rice transplanter 8 of the above-described embodiment is such a shape is also conceivable.

  INDUSTRIAL APPLICABILITY The seedling transplanting machine according to the present invention can suppress deterioration of the body balance and is useful for the purpose of being used as a seedling transplanting machine such as a rice transplanter.

2 Traveling vehicle 51 Seedling placement platform 300 Seedling placement platform movement detection unit 500 Drug supply device 600 Drug supply device support unit 600L Left end 600R Right end 900 Controller

Claims (2)

A seedling placing table (51) for placing seedlings on the traveling vehicle body (2) is provided so as to be movable in the left-right direction, and a drug supply device (500) for supplying a drug to the seedlings placed on the seedling placing table (51) is provided. , A drug supply device support part (600) for movably supporting the drug supply device (500) in the left-right direction, and moving the drug supply device (500) along the drug supply device support part (600) In a seedling transplanter equipped with a controller (900) for controlling,
The controller (900) supplies a drug while moving the drug supply device (500) from one side of the seedling mounting table (51) to the other side of the left and right depending on the left and right position of the seedling mounting table (51). A configuration for performing drug supply control or balance movement control for moving the medicine supply device (500) in a direction opposite to the left and right movement directions of the seedling placing table (51) ,
A seedling table movement detection unit (300) for detecting that the seedling table (51) has reached at least one of the left and right ends is provided.
The controller (900) detects the arrival of the end of the seedling mount (51) by the seedling mount movement detection unit (300), and the left and right ends (600L, 600R) of the drug feeder supporting unit (600). Preparation movement control for moving the medicine supplying device (500) from one position (600R) of the left and right ends (600L, 600R) of the medicine supplying device supporting part (600) from a position between the positions. Done,
When the medicine supply device (500) reaches one of the left and right ends (600R) by the preparation movement control, the left and right ends (600L) of the medicine supply device supporting portion (600) are connected to the other left and right ends (600L). (3) A seedling transplanter, which starts the drug supply movement control for moving the medicine supply device (500) to (1) . When the medicine supply device (500) reaches the other end portion (600L) of the left and right sides by the medicine supply movement control , the controller (900) causes the left and right end portions (600L, 600R) of the medicine supply device support portion (600). 2. The seedling transplanter according to claim 1, further comprising a return movement control for moving the medicine supply device (500) to a position between the positions .

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