JP6685607B2 - Seedling transplanter - Google Patents

Description

  The present invention relates to a seedling transplanter.

  When planting in paddy fields, the number of strains per field area and the number of seedling mats required for planting are set in advance in consideration of the yield per field area. Then, during the planting work, by grasping the number of seedling mats used for planting, each part is controlled so that the remaining seedling mats can be consumed for the remaining work area. For example, the consumption rate of the seedling mat is changed by adjusting the vertical amount taken from the seedling mat scraped by the planting nail.

  Patent Document 1 includes sensors for determining the presence or absence of a seedling mat at the upper position and the lower position of the seedling mounting table, and the number of seedling mats is added every time the seedling mat is detected by the upper existence sensor. A configuration is disclosed in which the number of consumed seeds is counted and a seedling consumption rate indicating the number of seedling mats consumed per unit area is calculated based on the traveled distance during planting work and the counted number. Here, as the presence / absence sensor, an optical sensor for detecting the presence / absence of the seedling mat without contact and a limit switch for detecting the presence / absence of the seedling mat by detecting the weight of the seedling mat are used.

JP, 2013-5748, A

  The presence / absence sensor described in Patent Document 1 is configured to detect the feeding amount of the seedling mat only when the seedling mat is sent to a predetermined position of the seedling mounting table. Then, the seedling transplanter of this invention aims at providing the seedling transplanter which can detect the sending amount of the seedling mat at any time.

  The seedling transplanting machine of the present invention is a seedling table in which the placing surfaces placed in a tilted state of the seedling mat are arranged side by side in the machine width direction according to the number of lines, and the seedlings are scraped off from the lower end of the seedling mat. In a seedling transplanter comprising a planting claw to be transplanted, a lateral feed mechanism that reciprocates in the machine width direction of the seedling placing table, and a vertical feeding mechanism that feeds the seedling mat placed on the seedling placing table downward, The rotating body is provided so as to project upward from the back side of the placing surface and is rotated in conjunction with the vertical feeding of the seedling mat by the vertical feeding mechanism, and the rotation speed of the rotating body. The feed amount of the seedling mat is detected based on the above.

  The rotating body is provided on the back surface of the mounting surface, and is rotatably supported by the tip of a swing arm that swings in the separating direction and the approaching direction with respect to the back surface of the mounting surface. A gear that rotates together with the rotating body is provided at the tip of the arm, and a biasing member that biases the swing arm toward the back surface of the mounting surface is provided on the back surface of the mounting surface, and the biasing member. A claw that maintains a state of meshing with the gear of the swing arm by an urging force is provided, and in a state where the gear of the swing arm and the claw mesh with each other, the claw rotates in conjunction with the vertical feed of the seedling mat of the rotating body. Rotation in the direction opposite to the rotation direction is regulated, and the biasing force of the biasing member is set by the weight of the seedling mat placed on the rotating body so as to release the meshing between the gear and the claw. .

  In the meshed state, the gear and the claw are configured to allow the seedling mat to rotate in a direction interlocking with the vertical feed.

  The outer peripheral portion of the rotating body is provided with a plurality of protrusions that are arranged radially with respect to the center of rotation, and the surface of the protrusion on the contact side with the seedling mat has a shape warped toward the upstream side in the rotation direction. Have.

  According to the present invention, the consumption efficiency of seedling mats can be improved.

Side view of rice transplanter. Top view of rice transplanter. One side view of the planting work machine. The other side view of the work machine with a planting. (A) A rear view and a side view of a placement surface of each row of the seedling placing table on which the upstream rotating body and the downstream rotating body are provided, and (b) a seedling placing table on which the upstream rotating body and the downstream rotating body are provided. The rear view and side view of the mounting surface for each article. The figure which shows the detection of the seedling succession frequency of a seedling mat. The figure which shows the correction | amendment of the seedling succession number of a seedling mat. The figure which shows correction | amendment of the residual amount of the estimated seedling mat. The side view which shows the structure of a downstream rotary body. The rear view which shows the structure of a downstream rotary body. The front view which shows the structure of a downstream rotary body. The side surface sectional view showing contact between a downstream rotating body and a seedling mat. FIG. 6 is a side sectional view showing another embodiment of the downstream side rotating body. (A) A side cross-sectional view showing a state where the gears and the claws are disengaged by the weight of the seedling mat. (B) A state where the gears and the claws are not disengaged by the seedling mat floating from the mounting surface. FIG. The sectional side view which shows another embodiment of a nail. (A) Rear view of the seedling stand showing the positional relationship between the seedling holding rod, the downstream rotating body, and the upstream rotating body (b) Second embodiment of the positional relationship between the seedling holding rod, the downstream rotating body, and the upstream rotating body Rear view of the seedling placing table showing the form (c) Rear view of the seedling placing table showing the third embodiment of the positional relationship between the seedling holding rod and the downstream rotating body and the upstream rotating body (d) The seedling holding rod and the downstream side The rear view of the seedling stand which shows 4th embodiment of the positional relationship of a rotary body and an upstream rotary body. The block diagram which shows vertical amount control. The control block diagram of a seedling collection amount calculation part. The graph which shows the correlation of the amount of subsidence of a rear wheel to a field, and a slip ratio. (A) A side view showing the amount of subsidence of the rear wheel to the field (b) A side view showing the height from the ground contact surface of the rear wheel to the bottom surface of the float. The side view which shows the height from the grounding surface of a rear wheel to a rice field.

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

  The traveling vehicle body 2 includes an engine 4, a transmission 5 that shifts the power from the engine 4, a vehicle body frame 6 that supports the engine 4 and the transmission 5, front wheels 7 and rear wheels that are driven by the power transmitted from the engine 4 and the transmission 5. 8 and so on.

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

  Further, power from the engine 4 and the transmission 5 is transmitted to the planting work machine 3 via an inter-stock transmission (not shown). The inter-plant transmission is configured to be able to change the planting interval of the seedlings planted along the traveling direction of the traveling machine body 2. The seedling collection amount calculation unit 70, which will be described later, is connected to the inter-plant setter 17 (see FIG. 18) that continuously sets the seedling planting interval, and is configured to be able to acquire the seedling planting interval.

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

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

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

  The planting arm 31 is rotated by the power transmitted from the planting transmission case 36. The seedlings are supplied to the planting claws 32 from the seedling mounting table 33. With the rotational movement of the planting arm 31, the planting claw 32 is inserted into the field, and the seedling is planted so as to have a predetermined planting depth. In this embodiment, the rotary type planting claw is adopted, but a crank type one may be used.

  The seedling mounting table 33 is formed of a plate-shaped member and is arranged so as to incline in a front high and a low shape in a side view of the machine body. On the rear surface of the seedling mounting table 33, the mounting surfaces on which the seedling mats are mounted are arranged side by side in the machine width direction according to the number of planting arms (number of rice transplanters). Since the rice transplanter 1 of the present embodiment is a six-row rice transplanter, six mounting surfaces are formed. The seedling mat is placed on the placement surface in an inclined state.

  The front end of the float 34 is swingably supported in the up-down direction with respect to the planting frame 37, and the rear end of the float 34 is vertically movable via a link mechanism 39 to a rotation support shaft 38 provided in the planting transmission case 36. It is attached (see FIG. 20 (b)).

  In the float 34, a sensor 40 (see FIG. 21) that detects the surface of the field (rice field) is provided immediately before the planting position of the planting section 4. The sensor 40 extends from the front to the rear. The sensor 40 is swingably supported by the planting frame 37 in the pitching direction, and hangs down due to gravity around the swing fulcrum, so that the tip end is kept in contact with the field surface. That is, the rice transplanter 1 advances so that the tip of the sensor 40 always follows the surface of the field.

  A lateral feed mechanism for reciprocating the seedling placing table 33 in the machine width direction will be described with reference to FIG. As shown in FIG. 3, the feed screw 41 extends from the planted center case 35 toward one side in the machine width direction. Cross-shaped grooves are formed on the outer peripheral surface of the feed screw 41 along the axial direction. The feed screw 41 is provided with a slider 42 slidable along the groove and a slider receiver 43 supporting the slider 42. The slider receiver 43 is formed in a substantially T shape. The feed screw 41 is provided in the slide receiver 43, and the slide 42 is accommodated in the slide receiver 43 so as to be slidable along the groove of the feed screw 41.

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

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

  A lateral feed switching lever 48 for adjusting the lateral feed amount of the seedling placing table 33 is provided on the side surface of the planting center case 35 where the feed screw 41 extends. By operating the lateral feed switching lever 48, the operator can adjust the lateral feed amount of the seedling placing table 33 and change the number of lateral feeding of the seedling placing table 33. The lateral feed switching lever 48 is provided with a lateral feed number detection sensor 48a (see FIG. 18) that detects the number of lateral feeds of the seedling placing table 33 by detecting the position of the lateral feed switch lever. The seedling picking amount calculation unit 70 is connected to the lateral feed number detection sensor 48a, and is configured to be able to detect the lateral feed number of the seedling placing table 33.

  A vertical feeding mechanism that feeds the seedling mat placed on the seedling mounting table 33 downward will be described with reference to FIG. 4. As shown in FIG. 4, a vertical feed cam shaft 52 to which the vertical feed cam 51 is fixed extends from the planted center case 35 toward the other side in the machine width direction. The vertical feed cam shaft 52 is connected to the feed screw 41, and comes into contact with the driven cam 53 when reaching the stroke end. The driven cam 53 is provided on a conveyor belt drive shaft 55 that drives the conveyor belt 54 below the seedling table 33. When the vertical feed cam 51 and the driven cam 53 come into contact with each other as the vertical feed cam shaft 52 rotates, the driven cam 53 rotates. The conveyor belt drive shaft 55 is rotated in accordance with the rotation of the driven cam 53, so that the conveyor belt 54 is circulated and the seedling mat placed on the conveyor belt 54 is conveyed by a predetermined distance. The conveyor belt drive shaft 55 is provided with a plurality of vertical feed clutches 55a in the machine width direction that connect and disconnect the transmission of power to the conveyor belt 54 arranged in a predetermined line. When the vertical feed clutch 55a is actuated, power is transmitted to the conveyor belt 54 arranged in a line corresponding to the vertical feed clutch 55a.

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

  By driving and controlling the actuator 56a, the seedling stand rail support shaft 56 is configured to be rotatable. Therefore, the support frame 57 is rotated in accordance with the rotation of the seedling table rail support shaft 56, whereby the guide rail 46 (seedling table 36) is moved up and down (movable up and down), and the planting claw 32 is moved. It is possible to change the distance between the planted transmission case 36 and the seedling stand 33 that are supported. Therefore, the vertical amount of the planting claw 32 from the seedling mat can be changed. Here, the vertical amount refers to an amount of scraping the seedling mat in the traveling direction of the traveling machine body 2 in a plan view. By adjusting the vertical amount, it is possible to change the amount of the seedling mat taken by the planting claw 32.

  Further, the seedling stand rail support shaft 56 is connected to the driven cam 53 via the interlocking wire 60. By rotating the driven cam 53 by a predetermined angle by the tension applied to the interlocking wire 60 with the rotation of the seedling table rail support shaft 56, the feed amount by the conveyor belt 54 is adjusted according to the vertical amount from the seedling mat. is doing.

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

  As the slider 42 reciprocates along the groove of the feed screw 41, the seedling stand 33 reciprocates along the guide rail 46. By the lateral feed mechanism, the seedling placing table 33 reciprocates along the guide rails 46, so that the seedling mats placed on the seedling placing table 33 are planted from one side to the other side or from the other side to the one side. The nails 32 allow the seedlings to be scraped and transplanted. When the planting claw 32 scrapes off the seedling on one side or the other side of the seedling mat by the vertical feed mechanism, the conveyor belt 54 operates to direct the seedling mat toward the lower end (rear end) of the placement surface. It is possible to carry. As described above, the seedling mat is reciprocally moved in the machine width direction and appropriately conveyed downward, so that the seedling mat can be scraped off from the lower end of the seedling mat placed on the seedling placing table 33.

  The detection of the number of seedling passages of the seedling mat will be described with reference to FIGS. 5 to 7. As shown in FIG. 5, on the placement surface of the seedling placing table 33 on which the seedling mat for each row is placed, a rotating body is provided as a means for detecting the number of seedling successions of the seedling mat. As a rotating body, a downstream side rotating body 71 provided on the downstream side (downstream side in the feeding direction of the seedling mat) on the mounting surface, and an upstream side (upstream side in the feeding direction of the seedling mat) from the downstream side rotating body 71. The upstream rotary body 81 is provided. The seedling harvesting amount calculation unit 70 detects the number of times the seedling mat has been added (seedling number of times) based on the rotational states of the downstream rotary body 71 and the upstream rotary body 81. The seedling removal amount calculation unit 70 adjusts the vertical removal amount of the planting claw 32 from the seedling mat so that the planting work can be performed with a desired number of seedling mats in a desired field.

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

  The downstream rotating body 71 is provided at a position that can rotate in conjunction with the vertical feeding of the seedling mat when one seedling mat is placed on the mounting surface from the lower end to the upper side. The downstream side rotating body 71 is arranged below the upper end of the seedling mat, with the upper limit being a position spaced by one vertical feed amount F1 of the seedling mat. Further, the downstream side rotating body 71 is arranged with the lower limit of the position spaced by a predetermined distance F2 from the lower end of the seedling mat to the upper side. The predetermined interval refers to an interval in consideration of a time lag from when the compression ratio is calculated in one article described later to when the correction control of the reference vertical amount is performed. The downstream rotating body 71 detects the feed amount of the seedling mat based on the rotation linked to the vertical feeding of the seedling mat, and therefore is preferably arranged near the lower end of the placing surface, and in the present embodiment, the lower limit is set. Will be placed.

  Further, as a lower limit of the provision of the downstream rotating body 71, when a new seedling mat is replenished after the upper end of the seedling mat is sent below the downstream rotating body 71, a new seedling mat is spliced. The mats may be set at a position such that the remaining seedling mats are not consumed until they are added.

  The seedling take-up amount calculation unit 70 adds one to the seedling succession number of the seedling mat when the downstream side rotating body 71 transitions from the state where it does not rotate to the state where it rotates in conjunction with the vertical feeding of the seedling mat. . When the downstream rotating body 71 transitions from a state in which it does not rotate to a state in which it rotates in synchronization with the vertical feeding of the seedling mat, the downstream rotating body 71 is linked from the non-rotating state to the vertical feeding of the seedling mat. It refers to when rotation is detected. The seedling collection amount calculation unit 70 determines from the number of rotations per predetermined time whether the rotation is linked to the vertical feeding of the seedling mat by the transport belt 54.

  When detecting the rotation of the downstream rotating body 71 that is interlocked with the vertical feeding of the seedling mat, the seedling taking amount calculation unit 70 detects that the downstream rotating body 71 that is interlocked with the vertical feeding of the seedling mat is rotated within a predetermined time after the rotation. By determining whether or not there is, it is detected whether or not the downstream side rotating body 71 is in a state of rotating in association with the vertical feeding of the seedling mat. The predetermined time here is set according to the interval at which the seedling placing table 33 is vertically fed.

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

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

  The seedling collection amount calculation unit 70 interlocks with the vertical feed of the seedling mat from the state where the upstream rotary body 81 does not rotate in a state where the downstream rotary body 71 rotates in conjunction with the vertical feed of the seedling mat. When the state transitions to the rotating state, the number of seedling passages of the seedling mat is incremented by one. When the upstream rotating body 81 transits from the state of not rotating to the state of rotating in association with the vertical feeding of the seedling mat, the upstream rotating body 81 is linked to the vertical feed of the seedling mat from the non-rotating state. It refers to when rotation is detected. The seedling collection amount calculation unit 70 determines from the number of rotations per predetermined time whether the rotation is linked to the vertical feeding of the seedling mat by the transport belt 54.

  When detecting the rotation of the upstream rotating body 81 that is interlocked with the vertical feeding of the seedling mat, the seedling taking amount calculation unit 70 determines that the rotation of the upstream rotating body 81 that is interlocked with the vertical feeding of the seedling mat is within a predetermined time after the rotation. By determining whether or not there is, it is detected whether or not the upstream rotating body 81 is in a state of rotating in association with the vertical feeding of the seedling mat. The predetermined time here is set according to the interval at which the seedling placing table 33 is vertically fed.

  The seedling take-up amount calculation unit 70 calculates the compression rate of the seedling mat when the state where the seedling mat of the upstream rotary body 81 is rotated in association with the vertical feed is changed to the state where the seedling mat is not rotated. The compression rate is the length of the seedling mat placed on the seedling placing table 33 in the feeding direction (the length measured from the lower end of the placing surface to the upstream rotating body 81) and the downstream rotating body 71. It is calculated by adding the feed amount of the seedling mat calculated from the number of rotations and dividing the sum by the length of the seedling mat for the number of times of seedling passage.

  The detection of the number of seedling passages during the planting operation will be described with reference to FIG. Here, the seedling collection amount calculation unit 70 is configured to be able to store the number of seedling passages. Further, the seedling removal amount calculation unit 70 is configured to detect the rotational state and the rotational speed of the downstream rotary body 71 and the upstream rotary body 81 when the planting clutch is activated.

  In the present embodiment, two seedling mats are placed on the placing surface of the seedling placing table 33, and the planting clutch is activated from here to start the planting work. When the seedling mat located on the lower end side is vertically fed by the conveyor belt 54, the downstream rotating body 71 rotates. When detecting the rotation of the downstream side rotating body 71 which is interlocked with the vertical feeding of the seedling mat by the conveyor belt 54, the seedling taking amount calculation unit 70 adds one seedling succession number (detects the first seedling mat). .

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

  When the second seedling mat is vertically fed to the lower side of the upstream rotary body 81, the state in which the upstream rotary body 81 rotates in conjunction with the vertical feeding of the seedling mat transits to a state in which it does not rotate. It When detecting the state in which the upstream rotary body 81 is not rotating, the seedling harvesting amount calculation unit 70 calculates the compression rate of the seedling mat. The seedling taking amount calculation unit 70 adds the length in the feeding direction of the seedling mat placed on the seedling placing table 33 and the feeding amount of the seedling mat calculated from the rotation speed of the downstream side rotating body 71. Calculate the compression rate by dividing by the length of the seedling mat for the number of seedling passages.

  When the upper end of the second seedling mat is arranged above the downstream rotary body 71 and below the upstream rotary body 81, when the seedling mat is replenished, The seedling take-up amount calculation unit 70 detects the rotation of the upstream rotating body 81 that is interlocked with the vertical feeding of the seedling mat, and thereby adds one seedling succession number (detects the third seedling mat).

  Similarly, when the third seedling mat is vertically fed to the lower side of the upstream rotary body 81, the upstream rotary body 81 is rotated in conjunction with the vertical feed of the seedling mat and is not rotated. Is transitioned to. When detecting the state in which the upstream rotary body 81 is not rotating, the seedling harvesting amount calculation unit 70 calculates the compression rate of the seedling mat.

  As described above, the downstream rotating body 71 is provided at a position that can rotate in conjunction with the vertical feeding of the seedling mat when one seedling mat is placed on the mounting surface from the lower end to the upper side. Thus, the first seedling mat placed on the placing surface can be detected.

  The upstream rotating body 81 has a position on the mounting surface that is spaced apart from the lower end by a distance larger than the vertical length of at least one seedling mat from the lower end to the upper side, and one seedling mat from the downstream rotating body 71 to the upper side. When the seedling mat is placed, the seedling mat is placed at a position that can be rotated in conjunction with the vertical feeding of the seedling mat, so that the seedling mat is placed on the downstream rotary body 71 (the downstream rotary body 71 is When the seedling mat is newly added in the state where the seedling mat is rotated in association with the vertical feed, the seedling mat can be detected.

  Further, since the downstream rotary body 71 is configured to rotate in association with the vertical feeding of the seedling mat, the feed amount of the seedling mat can be calculated based on the rotation speed of the downstream rotary body 71. That is, the downstream rotating body 71 is used as a feeding amount detecting means of the seedling mat. In addition, the length from the lower end of the placing surface to the upstream rotary body 81 is measured in advance, and the state in which the upstream rotary body 81 rotates in conjunction with the vertical feeding of the seedling mat is changed from the state in which it does not rotate. The compression ratio can be calculated by detecting the transition.

  In the above configuration, the seedling collection amount calculation unit 70 uses the compression rate to determine the seedling mat length before compression from the seedling mat feed amount calculated from the rotation speed of the downstream rotating body 71. The number of mats used can be calculated.

  Correction of the number of seedling passages of the seedling mat will be described with reference to FIG. 7. The seedling removal amount calculation unit 70 calculates the seedling mating times of the seedling mat, which is detected based on the rotation states of the downstream side rotating body 71 and the upstream side rotating body 81, and the seedling matting calculated from the number of rotations of the downstream side rotating body 71. And the remaining amount of seedling mats placed on the placing surface are estimated from time to time. The seedling take-up amount calculation unit 70 corrects the seedling succession number of the seedling mat based on the remaining amount of the seedling mat and the rotation states of the downstream rotary body 71 and the upstream rotary body 81.

  In the embodiment shown in FIG. 7, one seedling mat is placed on the placement surface of the seedling placement table 33, and the planting clutch is activated from here to start the planting work. When the transport belt 54 vertically feeds the seedling mat located on the lower end side, the downstream rotary body 71 is rotated. When detecting the rotation of the downstream side rotating body 71 which is interlocked with the vertical feeding of the seedling mat by the conveyor belt 54, the seedling taking amount calculation unit 70 adds one seedling succession number (detects the first seedling mat). . The seedling take-up amount calculation unit 70 calculates the feed amount of the seedling mat based on the rotation speed of the downstream side rotating body 71, and subtracts the feed amount of the seedling mat from the length of one seedling mat so that the seedling mat Estimate the remaining amount.

  Then, when two seedling mats are newly added at the same time in a state where the seedling mat is placed on the downstream side rotating body 71, the rotation of the upstream side rotating body 81 which is interlocked with the vertical feeding of the seedling mat is detected. By doing so, the number of seedling passages is incremented by one (the second seedling mat is detected). The feed amount of the seedling mat is calculated from the rotation speed of the downstream side rotating body 71, and the feed amount of the seedling mat is subtracted from the length of two seedling mats to estimate the remaining amount of the seedling mat.

  When the estimated remaining amount of the seedling mat is lower than the upstream rotating body 81, the seedling taking amount calculation unit 70 rotates the upstream rotating body 81 in synchronization with the vertical feeding of the seedling mat. Detect whether or not. When the rotation of the upstream rotating body 81 linked to the vertical feeding of the seedling mat is detected, the seedling mat is placed on the upstream rotating body 81 against the remaining amount of the seedling mat, that is, the estimated seedling mat. Since the actual remaining amount of the seedling mat is larger than the remaining amount of, the number of seedlings is corrected, specifically, one is added to the number of seedling mats (corrected from 2 to 3) . If, in the above situation, it is detected that the upstream rotating body 81 has been rotated in conjunction with the vertical feed of the seedling mat to a state in which it is not rotating, the estimated remaining amount of the seedling mat is estimated. And the actual remaining amount of the seedling mat is determined to be the same, and the number of seedlings is not corrected.

  Then, when the third seedling mat is sent to the lower side of the upstream rotating body 81, the upstream rotating body 81 is rotated in conjunction with the vertical feeding of the seedling mat and then is rotated. It is transitioned. When detecting the state in which the upstream rotary body 81 is not rotating, the seedling harvesting amount calculation unit 70 calculates the compression rate of the seedling mat.

  As described above, the remaining amount of the seedling mat is estimated, and the seedling succession number is corrected based on the estimated remaining amount of the seedling mat and the rotation states of the downstream side rotating body 71 and the upstream side rotating body 81. Therefore, for example, even when two seedling mats are simultaneously spliced, or even when one seedling mat is arranged from the downstream side rotating body 71 to the upstream side rotating body 81, the number of seedling succession is accurately detected. can do. In addition, when the compression rate is calculated when estimating the remaining amount of the seedling mat, the compression rate may be considered.

  Correction of the remaining amount of the seedling mat will be described with reference to FIG. In the embodiment shown in FIG. 8, the estimated remaining amount of the seedling mat is lower than the downstream rotary body 71, and the case where the downstream rotary body 71 makes a transition to a non-rotating state is described. I am assuming. When detecting that the downstream rotary body 71 has transitioned to a state in which the downstream rotary body 71 is not rotating, the seedling removal amount calculation unit 70 is estimated based on the number of rotations of the downstream rotary body 71 rotated by the joint legs of the seedling mat. Correct the remaining amount of seedling mat.

  When the seedling mat is replenished after detecting the transition from the state of rotating in synchronization with the vertical feeding of the seedling mat of the downstream side rotating body 71 to the state of not rotating, the seedling mat to be replenished is added. Comes into contact with the downstream rotary body 71, and the downstream rotary body 71 is rotated. Then, the downstream side rotating body 71 is rotated until the lower end of the seedling mat to be added comes into contact with the upper end of the remaining seedling mat. Therefore, if there is a difference between the estimated remaining amount of the seedling mat and the actual remaining amount of the seedling mat, the seedling mat to be added to the actual remaining amount of the seedling mat is sent. Therefore, the seedling removal amount calculation unit 70 subtracts the seedling mat feed amount calculated based on the rotation speed of the downstream rotating body 71 from the estimated seedling mat remaining amount. The remaining amount is corrected to the actual remaining amount of the seedling mat.

  As described above, when it is detected that the downstream rotating body 81 has transitioned to the non-rotating state, it is estimated based on the number of rotations of the downstream rotating body 71 that is generated by newly adding the seedling mat. By correcting the remaining amount of the seedling mat, the remaining amount of the seedling mat can be calculated accurately and the number of seedling passages can be calculated accurately.

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

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

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

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

  A boss portion 71b is provided at the center of rotation of the downstream rotary body 71. The boss 71b is provided with a screw 75 for every 90 degrees of rotation, and the proximity sensor 76 provided on the tip side of the swing arm 73 detects the screw 75 to rotate the downstream rotary body 71. The number can be detected.

  As shown in FIG. 12, the surface of the protrusion 71a that constitutes the downstream rotary body 71 on the contact side with the seedling mat is formed in a shape that is curved toward the upstream side in the rotational direction of the downstream rotary body 71. Described from the relationship between the seedling mounting table 33 and the downstream rotating body 71, the surface of the protrusion 71a on the side of contact with the seedling mat is formed in a shape warped toward the source of the seedling mat. In the present embodiment, the protrusion 71a is formed so as to curve from the base end portion to the tip end portion in the upstream side in the rotation direction of the downstream side rotating body 71 in a side view.

  As described above, since the surface of the protrusion 71a of the downstream rotary body 71 on the contact side with the seedling mat is configured to be curved toward the upstream side in the rotation direction, the vicinity of the upper side of the downstream rotary body 71 can be improved. When the seedling mat is sent to the placement surface, the seedling mat is likely to come into contact with the projections 71a (easy to be caught). Therefore, the downstream rotary body 71 can be prevented from slipping, and the downstream rotary body 71 can be rotated in association with the vertical feeding of the seedling mat.

  Further, the protrusion 71a may be formed as a star wheel without curving toward the upstream side in the rotation direction from the base end portion to the tip end portion in a side view. For example, as shown in FIG. Alternatively, the distal end portion may be formed in a pointed shape by being inclined toward the upstream side in the rotation direction from the base end portion to the distal end portion. By forming the tip of the protrusion 71a into a pointed shape, it is easy to hook it on the downstream side surface or the bottom surface of the seedling mat. Therefore, the downstream rotary body 71 can be prevented from slipping, and the downstream rotary body 71 can be rotated in association with the vertical feeding of the seedling mat.

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

  Further, the downstream rotary body 71 is attached to the tip of the swing arm 73 that swings in the separating direction and the approaching direction with respect to the mounting surface, so that the mounting surface of the seedling placing table 33 and the downstream rotary body 71 are connected to each other. The clearance is secured and the accumulation of mud can be prevented.

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

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

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

  As described above, when the seedling mat is not placed on the downstream side rotating body 71, the biasing member 74 causes the teeth on the outer periphery of the gear 77a and the claws 77b to mesh with each other, and the placing surface of the seedling placing table 33. Since it is pressed against the rear side from the rear side, the downstream rotary body 71 and the seedling stand 33 are locked. Therefore, the undesired external force can prevent the downstream rotary body 71 from rotating.

  Further, the urging force of the urging member 74 is set so that the gear 77a and the claw 77b are disengaged by the weight of the seedling mat, so that the downstream side rotating body 71 is rotated when the seedling mat is sent. You can

  As shown in FIG. 14 (b), the gear 77 a and the claw 77 b are provided so as to have a ratchet structure, and only the rotation in the direction interlocking with the vertical feeding of the seedling mat is allowed, so that the bottom surface of the seedling mat is placed. Even if the gear 77a and the pawl 77b are sent in a state slightly floating from the placing surface and the meshing of the gear 77a and the claw 77b is not completely disengaged, the downstream side rotating body 71 can be rotated in conjunction with the vertical feeding of the seedling mat. it can.

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

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

  Further, in the non-contact type measuring method, a laser range finder, image processing of an image taken by a camera, an optical sensor, a brightness sensor, etc. can be considered. The laser range finder can detect the feed amount of the seedling mat by being provided so as to measure the distance from the upper side of the placing surface to the upper end surface of the placed seedling mat, for example. . Further, the camera is provided, for example, so that the seedling mat placed on the placement surface can be photographed, and by performing image processing on the photographed image, the feeding amount of the seedling mat can be detected. The optical sensor includes, for example, a light emitting unit and a light receiving unit that detects that a light ray from the light emitting unit is blocked by the seedling mat, so that the feeding amount of the seedling mat can be detected.

  The positions of the downstream rotary body 71 and the upstream rotary body 81 in the machine width direction will be described with reference to FIG. 16.

  The seedling presser bar has a role of pressing the seedling mat placed on the placement surface of each strip from above and carrying it smoothly, and is formed into a rod shape with the seedling mat feed direction of the seedling table 33 being the longitudinal direction. To be done. In the embodiment shown in FIG. 16 (a), the long diameter seedling holding rod 88a is provided symmetrically with respect to the center of the placing surface, and the short diameter seedling holding rod 88b is provided in the center of the placing surface.

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

  As described above, the downstream rotating body 71 is arranged below the short-diameter seedling pressing rod 88b, so that the downstream rotating body 71 can be downstream of the seedling mat without forming a gap between the seedling mat and the downstream rotating body 71. The side rotating body 71 can be cut into. Therefore, slippage of the downstream rotary body 71 can be prevented, and the feed amount of the seedling mat can be accurately calculated from the number of rotations of the downstream rotary body 71.

  In the embodiment shown in FIG. 16 (b), the upstream rotary body 81 is arranged below the long-diameter seedling pressing rod 88 a located on the right side (direction to press the seedling mat). Therefore, similarly, slippage of the upstream rotary body 81 can be prevented, and the feed amount of the seedling mat can be accurately calculated from the rotation speed of the upstream rotary body 81.

  In the embodiment shown in FIG. 16 (c), three long diameter seedling pressing rods 88a are arranged side by side symmetrically with respect to the center of the placement surface. The upstream rotary body 81 and the downstream rotary body 71 are arranged below the seedling pressing rod 88a having a long diameter in the center (in the direction of pressing the seedlings). Therefore, the same effect is achieved.

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

  As described above, by arranging the upstream rotary body 81 and the downstream rotary body 71 below the seedling pressing rod (the direction in which the seedling mat is pressed), slippage of the upstream rotary body 81 and the downstream rotary body 71 is prevented. Therefore, the feeding amount of the seedling mat can be accurately calculated from the rotation speed. In addition, the upstream rotary body 81 and the downstream rotary body 71 may be arranged side by side at the same height.

  The reference vertical amount of the planting claw 32 will be described with reference to FIGS. 17 and 18. The reference vertical amount refers to a vertical amount that becomes a reference when performing a planting operation in a predetermined field using a predetermined number of seedling mats. The operator inputs the number of seedling mats to be used and the field area to the seedling yield calculation unit 70 using the select dial 66 before planting seedlings in the field. That is, the select dial 66 is provided as a field area input means and a seedling mat number setting means. The seedling take-up amount calculation unit 70 calculates the reference vertical take-up amount based on the input number of seedling mats and the field area, and drives and controls the actuator 56a. The seedling collection amount calculation unit 70 is configured to be able to detect the number of strains (the number of strains per predetermined area calculated from the planting interval set by the operator) from the detection value of the inter-strain setting device 17. Then, the seedling collection amount calculation unit 70 is configured to be able to calculate the number of strains in consideration of the slip ratio described later. Here, the slip ratio is set from the amount of subsidence of the rear wheel 8 in the field at the work start point or a predetermined reference value.

  The seedling collection amount calculation unit 70 calculates the target number of mats (the number of seedling mats per predetermined area) from the field area and the number of seedling mats. Then, the seedling take-up amount calculation unit 70 calculates the reference vertical take-up amount from the target number of mats, the number of lateral feeds of the seedling placing table 33, and the number of stocks (the number of stocks may be a slip ratio taken into consideration).

  In the above configuration, by performing drive control of the actuator 56a so that the reference vertical amount is obtained, when performing planting work on a desired field with a desired number of seedling mats without relying on the experience and intuition of the operator. It is possible to set the vertical amount required for.

  When the planting work is started, the seedling collection amount calculation unit 70 determines the reference vertical collection amount based on the actual work area where the actual planting work was performed and the number of seedling mats used for the actual planting work. Is corrected at any time. Specifically, the seedling collection amount calculation unit 70 calculates the actual vertical collection amount based on the actual work area and the number of seedling mats used. Then, the seedling collection amount calculation unit 70 calculates the remaining work area calculated by subtracting the actual work area from the work area, and the remaining seedling mat number calculated by subtracting the seedling mat usage number from the seedling mat number. , The target vertical amount is calculated. The seedling taking amount calculation unit 70 corrects the reference vertical taking amount by adding the value obtained by subtracting the actual vertical taking amount from the target vertical taking amount to the reference vertical taking amount as a correction amount.

  Calculation of the actual work area will be described with reference to FIGS. 19 to 21. The actual work area is calculated from the vehicle speed of the traveling machine body 2 in consideration of the slip ratio and the work width set from the number of threads on which the planting work is performed. The vehicle speed of the traveling machine body 2 is calculated using the rotational speed of the traveling wheels. In the present embodiment, the number of rotations of the rear wheels 8 is used as the traveling wheel for calculation. A rear wheel rotation speed detection sensor 8a for detecting the rotation speed is provided on the rotation shaft of the rear wheel 8. The seedling yield calculation unit 70 is connected to the rear wheel rotation speed detection sensor 8a and is configured to detect the rotation speed of the rear wheel 8.

  As shown in FIG. 19, the slip ratio and the subsidence amount of the traveling wheels (in the present embodiment, the rear wheels 8) in the field have a linear function correlation. The subsidence amount of the rear wheel 8 in the field refers to the height from the contact surface of the rear wheel 8 to the field to the rice field (field surface). The slip ratio increases linearly as the rear wheel 8 sinks in the field.

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

  The seedling removal amount calculation unit 70 detects the length from the planting work machine position detection sensor 82 and the plant depth detection sensor 39a to the bottom surface of the float 34 with respect to the traveling machine body 2. The seedling harvesting amount calculation unit 70 subtracts the length from the lowest point (grounding surface) of the rear wheel 8 with respect to the traveling vehicle body 2 to the bottom surface of the float 34 with respect to the traveling vehicle body 2, so that the field of the rear wheel 8 is reduced. The subsidence amount h0 is calculated. The subsidence amount of the rear wheel 8 in the field may be calculated using the sensor 40 in consideration of the subsidence amount d (see FIG. 21) of the float 34 in the field.

  The working width refers to the length of the rice transplanter 1 in the machine width direction set by the planting interval in the machine width direction and the number of threads in which the planting work is performed. The number of rows in which the planting work is performed is detected by the connection / disconnection state of the unit clutch that connects / disconnects the power transmission to the planting arm 31 for each section. The seedling collection amount calculation unit 70 is connected to a unit clutch sensor 63a (see FIG. 18) that detects the connection / disconnection of the unit clutch, and is configured to be able to detect the number of rows for planting work.

  In the above configuration, the traveling distance of the rear wheel 8 in consideration of the slip ratio can be calculated from the slip ratio calculated from the sinking amount of the rear wheel 8 in the field and the rotation speed of the rear wheel 8. Then, the actual work area is calculated from the working distance of the rear wheel 8 in consideration of the slip ratio and the working width set according to the number of threads on which the planting work is performed.

  In the above-described configuration, the seedling taking amount calculation unit 70 calculates the actual vertical taking amount based on the actual work area and the number of seedling mats used for all the rows. The seedling take-up amount calculation unit 70 calculates the actual number of mats (the number of seedling mats used per predetermined area) from the actual number of seedling mats used and the total number of seedling mats used for each row. Then, the seedling takeoff amount calculation unit 70 calculates the actual takeoff amount from the actual mat number, the number of lateral feeds of the seedling placing table 33, and the number of strains in consideration of the slip ratio.

  The seedling amount calculating unit 70 calculates the remaining work area calculated by subtracting the actual work area from the field area, and the remaining seedling mat number calculated by subtracting the seedling mat usage number from the seedling mat number. The target vertical amount is calculated based on this. The seedling collection amount calculation unit 70 calculates the target mat number (number of seedling mats per predetermined area) from the remaining work area and the number of remaining seedling mats. Then, the seedling take-up amount calculation unit 70 calculates the target vertical take-up amount from the target number of mats, the number of lateral feeds of the seedling placing table 33, and the number of strains in consideration of the slip ratio.

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

  In the above configuration, the actual amount of vertical stripping is calculated from the actual work area for all rows and the number of seedling mats used, and the target vertical stripping amount is calculated from the remaining work area for all rows and the number of remaining seedling mats, and the actual vertical stripping is calculated. The correction amount for all articles is calculated from the amount and the target vertical amount, but the invention is not limited to this and the correction amount for each article is calculated, and the correction amount for all articles is calculated based on the correction amount for each article. May be calculated.

  The seedling collection amount calculation unit 70 calculates the actual mat number for each row from the actual work area for each row and the number of seedling mats used for each row, and the actual mat number for each row and the number of lateral feeds of the seedling placing table 33 and The actual vertical stripping amount for each row is calculated from the number of shares taking the slip ratio into consideration. Then, the seedling take-up amount calculation unit 70 calculates the target mat number for each row from the remaining work area for each row and the remaining seedling mat number for each row, and the target mat number for each row and the lateral feeding of the seedling placing table 33. The target vertical stripping amount for each row is calculated from the number of shares taking into account the number of times and slip ratio. The seedling collection amount calculation unit 70 calculates the correction amount for each row by subtracting the target vertical collection amount from the actual vertical collection amount calculated for each row, and calculates the total amount based on the correction amount calculated for each row. The correction amount of the row may be calculated.

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

  In the above configuration, the correction control of the standard vertical stripping amount is performed after the number of all the seedling mats used for planting work is calculated, so the correction control is performed after one row calculates the compression ratio. There is a time lag before you do. Therefore, in consideration of the time lag, the downstream-side rotating body 71 is arranged at least a predetermined distance upward from the lower end portion on the mounting surface of each row of the seedling mounting table 33.

  As described above, during the planting work, it is possible to calculate the reference vertical amount by making it possible to calculate the actual work area where the actual planting work was performed and the number of seedling mats used for the actual planting work. Can be corrected. Therefore, planting work can be performed in a desired field with a desired number of seedling mats. Therefore, the consumption efficiency of the seedling mat can be improved.

  1: rice transplanter, 32: nail with planting, 33: seedling stand, 71: downstream rotating body, 71a: protrusion, 73: swing arm, 74: biasing member, 77a: gear, 77b: nail, 81: Upstream rotating body

Claims (3)

The seedling mat is placed on the seedling mat in a slanted state, and the seedling placing table is arranged side by side in the machine width direction according to the number of threads, and the planting claw for scraping and transplanting the seedling from the lower end of the seedling mat, In a seedling transplanter comprising a lateral feed mechanism for reciprocating in the machine width direction of the seedling mount, and a vertical feed mechanism for sending the seedling mat placed on the seed mount downward.
While being provided so as to project above the placing surface from the back side of the placing surface, a rotating body that rotates in conjunction with the vertical feeding of the seedling mat by the vertical feeding mechanism is provided,
Detecting the feed amount of the seedling mat based on the rotation speed of the rotating body ,
The rotating body is provided on the back surface of the mounting surface, and is rotatably supported by the tip of a swing arm that swings in the separating direction and the approaching direction with respect to the back surface of the mounting surface,
A gear that rotates together with the rotating body is provided at the tip of the swing arm,
A biasing member that biases the swing arm toward the back side of the placement surface on the back side of the placement surface, and a state in which the gear of the swing arm is engaged by the biasing force of the biasing member is maintained. Provided with nails
While the gear of the swinging arm and the claw are meshed with each other, rotation in a direction opposite to the rotation direction of rotation of the rotating body in conjunction with the vertical feed of the seedling mat is restricted,
The urging force of the urging member is set so as to release the meshing between the gear and the claw according to the weight of the seedling mat placed on the rotating body . The seedling transplanter according to claim 1, wherein the gear and the claw are configured to allow rotation in a direction interlocked with vertical feeding of the seedling mat in a meshed state . The outer peripheral portion of the rotating body is provided with a plurality of protrusions arranged radially with respect to the center of rotation,
The surface of the protrusion that is in contact with the seedling mat has a shape that is curved toward the upstream side in the rotation direction.
The seedling transplanting machine according to claim 1 or 2 .

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