JP6897661B2 - Porting machine - Google Patents

Description

The present invention relates to a transplanting machine for transplanting vegetable seedlings such as onions and lettuce into a field.

Conventionally, there is known a transplanting machine that travels along a ridge while planting seedlings put into a seedling supply device with a plurality of planting devices (see Patent Document 1).

Japanese Unexamined Patent Publication No. 2015-139438

However, in the transplanting machine of Patent Document 1, when there is an obstacle such as a water tank or a container for carrying seedlings in front of or to the side of the machine, or another worker, the manipulating worker performs the running and planting operation. It is necessary to stop, remove obstacles, or move other workers, but the maneuvering worker operates the aircraft along the ridges, throws seedlings into the seedling supply device, seedlings. Obstacles and other workers may not be noticed when performing work such as checking the planting status of the plant.

When the aircraft comes into contact with obstacles or workers, the advance of the aircraft is hindered, so the seedlings are planted at a position different from the position where the seedlings are originally planted. , There is a problem that there are places where the space between stocks is too wide or too narrow.

If the strains are not uniform, the application of fertilizers and chemicals during growth will be uneven and the growth will be different, and if there are poorly ventilated areas, pests will be more likely to occur. Further, when the harvesting work is performed using the harvesting work machine, there is a problem that the work is interrupted because the harvesting part is clogged when trying to harvest a plurality of crops in a narrow space at the same time.

In addition, in the above-mentioned work machine, the worker may follow the rear of the machine to supply seedlings, but when the worker receives a phone call or the like and stops at the place, only the machine plants the seedlings. It moves forward without it, and it is necessary to move the aircraft to the planting restart position. This causes extra labor for the operator, and also causes problems such as extra fuel consumption and unnecessary exhaust gas emission.

Furthermore, although it is necessary for the worker to judge whether the planting of seedlings is normal, the worker does not concentrate on other work and looks at the seedlings, or the planting is abnormal in the worker's subjectivity. Due to reasons such as not being able to determine that there is, there is a problem that stock shortages occur or seedlings are planted at an angle that may collapse due to the influence of wind or the like.

It is an object of the present invention to provide a transplant machine that prevents obstacles in the course of the machine and contact with an operator, or automatically stops moving according to the situation of the machine, in consideration of the conventional problems. And.

In order to solve the above problems, the following technical measures were taken.

That is, the invention according to claim 1 is a left and right traveling device (44) traveling in a field on a traveling vehicle body (40), a planting device (42) for planting seedlings in the field, and a driving device for generating a driving force (42). In a transplant machine including a 41) and a mission mechanism (39) for transmitting the driving force of the drive device (41) to the traveling device (44) and the planting device (42), the traveling from the mission mechanism (39). Obstacle detection members (401, 405) are provided with a transmission on / off member (200a) for turning on / off transmission to the device (44) and the planting device (42), and detect obstacles around the traveling vehicle body (40). , 408), and when the obstacle detection member (401, 405, 408) is in the detection state, the transmission on / off member (200a) is operated to transmit the transmission to the traveling device (44) and the planting device (42). A control device (100) is provided , and the obstacle detection member (401, 405, 408) is a distance detection member (403, 407, 410) that detects the front-rear or left-right side of the traveling vehicle body (40). When the transmission to the traveling device (44) and the planting device (42) is stopped by the detection of the distance detecting member (403, 407, 410), the control device (100) detects the time. The transplant machine is characterized in that information is recorded in the recording unit (101a) and the direction in which the obstacle is approached to a predetermined distance is recorded.

The invention according to claim 2, the distance of the distance detecting member (403,407,410) is the vehicle body (40) and obstacle detection is less than a predetermined value, said control device (100) is a transmission ON OFF The transplanting machine according to claim 1, wherein the member (200a) is operated to stop the transmission to the traveling device (44) and the planting device (42).

In the invention according to claim 3, the obstacle detection member (401,405,408) has a photographing device (402,406,409), and the detection state of the obstacle detection member (401,405,408) and the like. A recording unit (101a) for recording information on each work device of the machine is provided, and the operation of the worker and the machine control information related to the operation are recorded in association with the recording unit (101a), and the control device (100) is used. The image information captured by the photographing device (402, 406, 409) is compared with the operation recorded in the recording unit (101a), and the operation and settings of each working device are changed according to the operation. The transplanting machine according to claim 1 or 2, wherein the transplanting machine is characterized by the above.

In the invention according to claim 4, the distance detecting member (403, 407, 410) detects the distance between the traveling vehicle body (40) and the worker or the working machine following the rear, and the control device (100) is used. If the distance between the traveling vehicle body (40) and the worker or the working machine is not less than the predetermined value and the distance detected within the predetermined time is less than the predetermined value, the driving device (41) is stopped. The transplanting machine according to any one of claims 1 to 3, wherein the transplanting machine is characterized by the above.

The invention according to claim 5 is a rear photographing device in which the planting device (42) is arranged at a predetermined interval at the rear portion of the traveling vehicle body (40), and the seedlings to be planted by the planting device (42) are photographed respectively. (402, 406, 409) are provided in the traveling vehicle body (40), a communication device (412) is provided in the control device (100), and the communication device (412) captures an image taken by an information terminal (411). The transplanting machine according to any one of claims 1 to 4, wherein the transplanting machine is sequentially or periodically transmitted.

In the invention according to claim 6, the control device (100) or the information terminal (411) determines whether or not the planting position and planting posture of the seedlings in the image are normal, and the planting is abnormal. The transplanting machine according to claim 5, wherein if it is determined that there is, the information terminal (411) is notified that an abnormal planting has occurred.

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According to the invention of claim 1, when the obstacle detection member (401, 405, 408) detects an obstacle that hinders the traveling, the transmission to the traveling device (44) and the planting device (42) is stopped. , The running is stopped due to contact with obstacles, and it is possible to prevent the planting interval of seedlings from being different from the setting and the aircraft from being damaged.
In addition, the obstacle is recorded by recording the time information when the transmission to the traveling device (44) and the planting device (42) is stopped by the detection of the distance detecting member (403, 407, 410) and the direction approaching the obstacle. Since it is possible to record as information when the approach to an object occurs and in which direction there was an obstacle with respect to the aircraft, it is possible to grasp the problems of the field management and the aircraft and utilize them for the subsequent work.

According to the invention of claim 2, in addition to the effect of the invention of claim 1, when the distance to the obstacle detected by the distance detecting member (403, 407, 410) becomes less than a predetermined value, the traveling device (44) and the traveling device (44) By stopping the transmission to the planting device (42), a collision can be prevented, and damage to the machine body and disorder of the planting interval can be prevented.

In addition, since it is possible to detect and warn that the aircraft is extremely inclined due to the inclination of the field or the like, it is possible to prevent the aircraft from being damaged due to a fall and the seedlings placed on the field from being scattered in the field.

According to the invention of claim 3, in addition to the effect of the invention of claim 1 or 2, the operation and setting of each work device of the machine body according to the movement of the worker to be photographed by the photographing device (402, 406, 409). Since it is possible to change the work efficiency, it is possible to set an appropriate work even if the worker is away from the control unit, and the work efficiency and planting accuracy are improved .

According to the invention of claim 4, in addition to the effect of the invention of any one of claims 1 to 3, if the worker is not moving or is in a position too far from the traveling vehicle body (40) for a predetermined time or more. By automatically stopping the drive device (41), it is possible to prevent the traveling vehicle body (40) from moving straight and continuing to plant the seedlings while the seedlings are planted close to the ridges, so that the seedling planting accuracy is improved. Improve .
In addition, even if the end of the ridge during the planting work is exceeded, the planting stop operation is not performed, and it is possible to prevent the seedlings from being empty-planted in the place without the ridges, so that the work of collecting the seedlings becomes unnecessary. ..
In addition, since the running of the machine is not stopped and it is possible to prevent the machine from going out of the field, the work of returning the machine to the field becomes unnecessary, the labor of the worker is reduced, and the machine falls. The aircraft is prevented from being damaged.

According to the invention of claim 5, in addition to the effect of the invention of any one of claims 1 to 4, the image taken by the photographing device (402, 406, 409) is informationed via the communication device (412). By transmitting to the terminal (411), it is possible to show the planting status of the seedlings to the worker who follows behind the aircraft or the worker at another position, so that multiple workers monitor the planting status. By doing so, it is possible to prevent overlooking that abnormal planting has occurred .

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According to the invention of claim 6, in addition to the effect of the invention of claim 5, if there is an abnormality in the image captured by the photographing apparatus (402, 406, 409), the information terminal (411) is notified that there is an abnormality. By letting the worker notice the abnormality, the seedlings can be replanted promptly, or the position where the abnormality occurred can be recorded and the place where the abnormality should be replanted can be easily recorded. I can grasp it .

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Left side view of the transplant machine Right side view of the transplant machine Rear view of the transplant machine Front view of the transplant machine Top view of the transplanter Bottom view of the transplant machine Top view of the transplant machine with a part of the structure on the running body removed Top view of the transplant machine with a part of the structure on the running body removed Perspective view of the transplant machine with a part of the structure on the running body removed Perspective view of the transplant machine with a part of the structure on the traveling vehicle body removed. Top view showing the area around the bumper on the front side of the aircraft Side view of the main part showing the periphery of the bumper on the front side of the aircraft Perspective view of the main part showing the periphery of the bumper on the front side of the aircraft Side view showing the elevating mechanism and the inter-row adjustment mechanism of the left and right planting hoppers Top view showing the elevating mechanism and the inter-row adjustment mechanism of the left and right planting hoppers Rear view showing the elevating mechanism and the inter-row adjustment mechanism of the left and right planting hoppers Perspective view showing the elevating mechanism and the inter-row adjustment mechanism of the left and right planting hoppers Rear view showing the main part of the opening and closing mechanism of the planting hopper (A) Rear view of the main part showing the interstitial adjustment plate, (b) Front view of the main part showing the interstitial adjustment plate. Block diagram showing each part related to control A flowchart showing control of detecting obstacles on the front side or side of the machine based on the number of pixels or the pixel area. Flowchart showing control to detect obstacles on the front or side of the aircraft by collating with recorded data Flow chart showing control to detect obstacles on the front side or side of the machine by the presence or absence of movement of a group of pixels Flow chart showing control to stop running and planting when an abnormality occurs in planting seedlings on the rear side of the machine Schematic diagram showing the range for pixel determination Flow chart showing control to stop running and planting when the worker continues to be away from the running vehicle body A flowchart showing control to stop running and planting when a fall occurs and to record the fall direction, location, and date and time. A flowchart showing a part of the airframe control when a predetermined operation of the operator is performed. Side view of the main part of the transplant machine equipped with an irrigation pump and a check valve (A) Front view showing the mesh filter, (b) Front view of the main part showing the water absorption hose equipped with the mesh filter. (A) Front view of a main part showing a water absorption hose with a water absorption hole equipped with a cap, (b) Front view showing a cap Front view of the main part showing a water absorption pipe with a hose nipple and a strainer

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

FIG. 1 is a left side view showing a transplanting machine 10 for transplanting onion seedlings as an example of the transplanting machine according to the embodiment of the present invention, FIG. 2 is a right side view, FIG. 3 is a rear view, and FIG. 4 is a front view. , FIG. 5 is a plan view, and FIG. 6 is a bottom view.

In the following description, the side on which the steering wheel 47 is arranged is the rear side, and the opposite side, that is, the side on which the engine 41 is arranged is the front side. Then, the right-hand side is the right and the left-hand side is the left when facing the front side of the aircraft.

As shown in FIGS. 1 to 6, the transplanting machine 10 of the present embodiment has a traveling vehicle body 40 capable of traveling forward, a steering handle 47 for walking maneuvering provided at the rear of the traveling vehicle body 40, and a field. A planting device 42 for planting seedlings and a seedling supply device 43 for supplying seedlings to the planting device 42 are provided.

The traveling vehicle body 40 is provided with a mission case 39 at the front portion of the machine body, and an engine 41 serving as a drive source is provided at the front side of the mission case 39. Axle covers 101 covering the axles that can adjust the tread to change the left and right positions of the rear wheels 44 are connected to the lower rear parts of the fuselage on both the left and right sides of the mission case 39, and are connected to the outer ends of the fuselage of the axle covers 101. Is equipped with a traveling transmission case 38 for transmitting a driving force to a rear wheel 44 provided on the rear side of the machine body so as to be rotatable up and down.

The left and right rear wheels 44 are arranged between the traveling transmission case 38 and the left and right sides of the main frame 103, which will be described later, to suppress the left-right width of the airframe. However, if the left and right rear wheels 44 can be mounted on the outside of the machine body of the traveling transmission case 38 in order to meet the conditions such as the width of the ridges for planting the seedlings, the work conditions that can be handled can be increased. ..

More precisely, the left and right axle covers 101 are rotatably mounted with the internal axle (not shown) as a fulcrum, and the traveling transmission case 38 is mounted on each of these axle covers 101. The axle cover 101 rotates due to the expansion and contraction of the rolling cylinder 310, so that the traveling transmission case 38 rotates up and down.

Inside the mission case 39, side clutches 201 and 201 for turning on and off the transmission to the left and right traveling transmission cases 38, and a planting clutch 202 for turning on and off the transmission to the planting device 42 and the seedling supply device 43, respectively. A main clutch 200 for switching the on / off of the driving force from the engine 41 is provided.

The left and right side clutches 201 and 201 are either a side clutch cable (not shown) or a side clutch actuator by operating the side clutch levers 47b and 47b provided on the rear left and right sides of the steering handle 47 as shown in FIG. It is configured to be turned on and off via 201a. Further, the planting clutch 202 moves to the planting work position by operating the vehicle height adjusting lever 123 that adjusts the vehicle height of the traveling vehicle body 40 up and down to adjust the planting depth of seedlings by the planting device 42. When it is moved, it is turned on via a planting clutch cable (not shown) or a planting clutch actuator 202a, and when it is separated from the planting work position, it is turned off.

The main clutch 200 is configured to be turned on and off via the main clutch cable (not shown) or the main clutch actuator 200a by operating the main clutch lever 125 provided at the rear portion of the machine body.

The side clutch cable, the planted clutch cable, and the main clutch cable have springs mounted between the corresponding operating levers and the clutches, and the operating positions of the operating levers are in the on or off state. Even when the conditions are met, each clutch is switched to the on state or the off state by the operation of each clutch actuator regardless of the operation of each operation lever.

With the above configuration, conditions are recorded in the storage 100a, which is a recording unit of the control device 100 provided in the machine body, and each actuator is operated according to the detection of each sensor described later, and the side clutches 201, 201 and the planting clutch are used. The 202 and the main clutch 200 can be automatically turned on and off.

The storage 100a uses an HDD (hard disk drive), an SSD (solid state drive), or a flash memory.

When working with the transplanter, the worker pays attention to the state of planting and running, such as checking the planting state of seedlings, putting seedlings into the seedling supply device 43, and adjusting the traveling direction of the traveling vehicle body 40. You may need to be unaware that you are approaching an obstacle in front of the aircraft, such as another worker, a tank of water, a marker pole, or a wall. When it comes into contact with such obstacles, damage such as deformation of the constituent members of the aircraft occurs, and the progress of the aircraft is hindered, and the distance between the plants for planting seedlings (front-back spacing) differs (narrows or widens) from the setting. ) May occur.

Further, when the field is inclined, the aircraft also tilts in the inclined direction, and if the balance of the aircraft is lost when passing through the unevenness of the field scene, the aircraft may fall in the inclined direction. When the machine falls, the field is damaged, the work efficiency is reduced due to the interruption of planting work, the labor of the worker who causes the machine is increased, and the seedlings loaded on the seedling supply device 43 and the spare seedling frame 50 described later are fielded. There are problems such as damage when falling to the ground and increased labor required for collecting the fallen seedlings.

In order to solve the above problems, as shown in FIGS. 1, 2, 5, and 20, the left and right front boarding steps on which the operator puts his / her foot on the front side of the traveling vehicle body 40, for example, when the operator gets on and off from the front side of the aircraft. A front side photographing unit 401 for detecting the presence or absence of an obstacle in front of the traveling vehicle body 40 and taking a picture is provided in the lower part of the 113, 113 and the horizontal frame 16 or the vertical frame 17 supporting the left and right front wheels 45, respectively. The front side photographing unit 401 includes a first camera 402 that captures an image and a first distance sensor 403 that detects a distance between an object determined to be an obstacle in the image captured by the first camera 402.

The images taken by the first camera 402 are sequentially transmitted to the control device 100, and the conditions recorded in the storage 100a, for example, "the color of seedlings (green) and the color of the field (brown to black) in the image). The number or area of pixels different from is above a certain level. "
"Matches or approximates pre-recorded image data"
"A certain number of pixels are moving within a predetermined time (another worker or a work machine operated by another worker is moving)"
Etc., and determine whether it matches. As shown in FIGS. 21 to 23, when the captured image meets the conditions, the control device 100 operates the main clutch actuator 200a to disengage the main clutch 200. At this time, if the main clutch 200 is suddenly disengaged and running or planting is stopped, the planting work may be interrupted for a long time without being noticed by the operator, which may reduce the work efficiency. Therefore, the buzzer 404a The configuration is such that the notification device 404 such as the lamp 404b or the lamp 404b is operated.

However, even if the above conditions are satisfied, if the distance from the traveling vehicle body 40 is sufficient, the operator can notice the distance before approaching, so that the distance between the traveling vehicle body 40 and the obstacle detected by the first distance sensor 403 is reached. Is less than the predetermined range, the main clutch actuator 200a and the notification device 404 are activated.

If the main clutch actuator 200a is activated at the same time as the conditions are met, the planting work will be stopped even in the case of false detection. Therefore, when the conditions are satisfied for a predetermined time (example: 2 to 5 seconds), the main clutch actuator 200a is operated. When the clutch actuator 200a is controlled to operate, the decrease in work efficiency is reduced.

Further, if the notification device 404 is operated before the operation of the main clutch actuator 200a and the operator is made to recognize in advance that the notification device 404 will be stopped, it is possible to prepare for the operation after the stop and the work is interrupted. Time is shortened.

Then, as shown in FIGS. 1, 2, 5, and 20, the left and right side portions of the traveling vehicle body 40, for example, the lower part of the side step 118 that serves as a scaffold for the worker to get on and off, and the spare seedling frame 50. A side photographing unit 405 that detects the presence or absence of obstacles on the left and right sides of the traveling vehicle body 40 and photographs each of the seedling mounting columns 51 and the mounting table 55, or the upper part near the rotation fulcrum of the traveling transmission case 38, respectively. Provide. The side photographing unit 405 includes a second camera 406 that captures an image and a second distance sensor 407 that detects a distance between an object determined to be an obstacle in the image captured by the second camera 406. ..

The images taken by the second camera 406 are sequentially transmitted to the control device 100 as shown in FIGS. 21 to 23, and when the conditions are satisfied and the obstacle is approached to an obstacle less than a predetermined distance as described above, the image is mainly transmitted. It is assumed that the clutch actuator 200a and the notification device 404 are operated.

Further, as shown in FIGS. 1, 2, 5, and 20, the planting device 42 is located at the rear of the traveling vehicle body 40, for example, at the lower part of the control handle 47 that bifurcates and projects toward the rear side of the airframe. A rear side photographing unit 408 for photographing the seedlings planted by the plant and the worker following from behind is provided respectively.
The rear side photographing unit 408 is composed of a third camera 409 that captures an image and a third distance sensor 410 that detects the distance between the operator and the worker in the image captured by the third camera 409.

In addition, the rear side photographing unit 408 photographs not only the operator but also the working machine (such as a fertilizer or chemical supply working machine or a transport trolley loaded with water or seedlings) that follows from the rear of the machine, and measures the distance. It may be detected.

The image taken by the third camera 409 and the distance from the traveling vehicle body 40 to the operator detected by the third distance sensor 410 are sequentially transmitted to the control device 100. As shown in FIG. 24, it is determined whether or not the seedlings in the captured image match or approximate the number or area of pixels of the reference image to be determined to be normal recorded in the storage 100a. The term "normal planting" as used herein means that seedlings of average vertical length are planted in a posture that is substantially vertical with respect to the field scene.

In the above judgment, the part where there is no pixel considered as a seedling is not planted, the pixel itself is detected but the number of pixels or the area is insufficient or excessive with respect to the reference image. Some are judged to be "abnormal" because they are likely to have been planted in an inclined position with respect to the field scene.

In addition to this, the third camera 409 assumes that at least two seedlings in the front-rear direction are included in the photographing range, and determines how much the seedling planting position is deviated in the left-right direction. When the positions of the pixels are significantly separated, the traveling vehicle body 40 is out of the straight direction, and there is a possibility that seedlings have been planted near the ridges that are easily collapsed. Therefore, it is also determined as "abnormal" at this time.

When the seedling planting posture is tilted in the front-back direction, it can be judged from the excess or deficiency of the number of pixels or the area, but when the seedling is tilted in the left-right direction, it may fall within the allowable range. For example, as shown in FIG. 25, the pixels in the predetermined range A in the left-right direction from the left-right center of the image captured by the third camera 409 are measured, and the pixels outside the range are not measured.

As shown in FIG. 5, one third camera 409 is provided for the planting device 42, and in this case, a pair of left and right cameras is provided. In the airframe equipped with four planting devices 42, four third cameras 409 are provided.

Furthermore, if the worker receives a phone call or stops at the spot and is significantly away from the traveling vehicle body 40, the seedling supply work or the course correction is not performed, and the seedling planting position is disturbed. The traveling vehicle body 40 moves forward without the seedlings being planted, and it becomes necessary to move the traveling vehicle body 40 backward and restart the work. As a result, extra seedlings and fuel are consumed, the work cost increases, and the time required for the work becomes long.

Therefore, as shown in FIG. 26, the distance from the traveling vehicle body 40 detected by the third distance sensor 410 to the operator does not exceed the predetermined value and does not fall below the predetermined value within a predetermined time (example: 10 to 20 seconds). That is, when the worker does not follow the traveling vehicle body 40, it is determined that the worker is in an "abnormal" state that the worker is too far away.

When the above-mentioned "abnormal" condition is satisfied, the main clutch actuator 200a and the notification device 404 are activated.

However, the situation where the worker does not follow may continue for a long time, for example, a long telephone call or leaving the field due to an urgent need, and the engine 41 is left running, consuming extra fuel and consuming extra fuel. Exhaust gas may be emitted.

In order to prevent this, instead of operating the main clutch actuator 200a and the notification device 404, the control device 100 may control the engine throttle motor 41a to operate and stop the engine 41.

Alternatively, if the engine 41 is stopped after a predetermined time (example: 5 to 10 minutes) has elapsed from the automatic stop of the planting running by the operation of the main clutch actuator 200a and the notification device 404, the non-following time is short. It is not necessary to restart the engine 41 at a certain time, and a decrease in work efficiency is prevented.

With the above configuration, if the traveling vehicle body 40 is too close to an obstacle, the planting traveling can be automatically stopped, so that the aircraft is damaged and seedlings are planted at planting intervals different from the setting. Is prevented.

Further, even if the worker continues to be too far from the traveling vehicle body 40, the planting traveling can be automatically stopped, so that the traveling vehicle body 40 advances while planting seedlings that are not suitable for growth. Since it is possible to prevent the seedlings from being continuously planted, the accuracy of planting the seedlings is improved, and it is not necessary to move the traveling vehicle body 40 to a position where the planting work is to be redone, so that the time and labor required for the work can be reduced.

The control device 100 includes an image captured by the front imaging unit 401, the side imaging unit 405, and the rear imaging unit 408, and a distance from an obstacle detected by the front imaging unit 401 or the side imaging unit 405. Information is transmitted to an information terminal 411 such as a tablet owned by a worker following from behind the traveling vehicle body 40 or another worker in or outside the field, and a signal transmitted from the information terminal 411 is received. Communication unit 412 is provided.

The communication unit 412 can select either a method of sequentially transmitting information or a method of transmitting information at predetermined time intervals.

Even if the worker who follows the traveling vehicle body 40 places the information terminal 411 in the central portion of the seedling supply device 43, for example, corrects the course of the traveling vehicle body 40 and throws the seedlings into the seedling supply device 43. From the image displayed on the information terminal 411, it is easy to approach an obstacle and confirm the planting state of seedlings.

Further, by displaying the same image on the information terminal 411 owned by another worker, an instruction is given when the worker following the traveling vehicle body 40 does not notice the approach of an obstacle or the abnormality of planting seedlings. Since it can be put out, contact with obstacles can be prevented, and replanting work can be efficiently performed in a place where abnormal planting was performed or seedlings were not planted.

Further, when the planting of "abnormal" seedlings is detected from the image taken by the third camera 409, a message indicating that "abnormality" has occurred is displayed on the information terminal 411, and the worker is informed of the abnormal planting. Make sure that you notice the occurrence of the attachment.

In addition to the above, the first distance sensor 403, the second distance sensor 407, and the third distance sensor 410 can also detect the distance between the traveling vehicle body 40 and the field scene. When the traveling vehicle body 40 is tilted due to the inclination of the field, the distance sensor located at a low position of the traveling vehicle body 40 includes the field scene in the detection range. At this time, if the field scene is recognized as an obstacle, the planting run may be stopped and the work efficiency may be lowered. Therefore, when most of the pixels are the colors recognized as the field, the stop condition is not satisfied. ..

When the traveling vehicle body 40 is tilted, the distance detected by each distance sensor is a relatively long distance as long as the angle does not hinder the planting traveling. On the other hand, if normal planting is not possible or if the vehicle is tilted to such an extent that it interferes with running, the distance detected by each distance sensor becomes short. When this distance is extremely short (eg, less than 5 to 10 cm) or becomes approximately 0, it is determined that the aircraft has fallen in one side.

At this time, if the rear wheel 44 or the planting device 42, which is a traveling device, is operating, not only the machine body is damaged but also the movement of the operator who raises the machine body is hindered. Even if there is no obstacle in the area, when any one of the distance sensors detects an extremely short distance, the main clutch actuator 200a or the engine throttle motor 41a shall be operated.

As a result, the fallen machine can be easily raised and returned to work, so that work efficiency is improved.

The above-mentioned problems such as obstacle detection, abnormal planting of seedlings, and overturning of the traveling vehicle body 40 should be improved by recording where and when they occurred in the field. It can also be useful for extracting points to be improved in the field or points to be improved in the field construction such as tillage. However, if the workers who plant the seedlings keep records one by one, the work efficiency will decrease.

As shown in FIGS. 20 and 27, in order to record the occurrence of a problem while maintaining work efficiency, the control device 100 controls the operation of the main clutch actuator 200a, controls the operation of the notification device 404, or stops the engine 41. When the control is performed, along with the image taken most recently by each camera, the distance detected by each distance sensor, and the time indicated by the built-in clock 100b (example: year / month / day / hour / minute / second). Record in storage 100a.

In the above, the position where the occurrence occurred will be inferred by the operator looking at the recorded time, but in order to grasp a more accurate position, a GPS receiver 413 is provided on the traveling vehicle body 40, or the traveling vehicle body is installed. The position information acquired by the GPS receiver 413 built in the information terminal 411 loaded on the 40 is also recorded in the storage 100a.

By creating a work map of the information recorded in the above storage 100a using an application installed on the information terminal 411 or the like, it can be visually used to improve the maneuvering of the aircraft and the field construction, and problems will occur from the next time onward. It enables efficient and highly accurate planting work in difficult fields.

The third camera 409, which photographs the rear of the machine body, has a photographing angle within the upper limit of the photographing range up to at least the upper arm of the operator. Then, as shown in FIG. 28, the storage 100a is made to record images of the movement of the worker's arm, for example, movement from right to left, movement from top to bottom, etc., and is executed for each image of the aircraft. Have the setting changes recorded in association with each other.

As an example, it is conceivable that the output of the engine 41 is increased when the arm is shaken from right to left over a predetermined range, and the output is decreased when the arm is shaken from left to right over a predetermined range. As a result, the operator does not need to move to operate the throttle lever or the like, so that it is easy to put the seedlings into the seedling supply device 43, and it is not necessary to move from a place such as a ridge where it is easy to walk. Efficiency is improved. In addition to this, trampling on accidentally planted seedlings is also prevented.

Further, when the arm is shaken from top to bottom over a predetermined range, the left and right side clutch actuators 201a or the main clutch actuator 200 are activated to stop the running, or the arm is moved from bottom to top above a predetermined range. It is also possible to operate the planting clutch actuator 202a to stop the planting device 42 by shaking the planting clutch actuator 202a so as to perform only traveling.

In order to prevent unintended malfunction of the operator, the change of the aircraft setting based on the operation of the operator taken by the third camera 409 is performed by turning on the control handle 47 of the traveling vehicle body 40 or the motion switch 414 provided on the information terminal 411. It should be accepted only when it is in the state.

The planting state of seedlings and the appearance of running differ between the worker who follows the rear of the traveling vehicle body 40 and the worker who monitors the work from a distant position via the information terminal 411, which is unnecessary due to the difference in recognition. Work may be interrupted and work efficiency may be reduced. Further, if there is a distance to the traveling vehicle body 40, it is difficult to grasp the planting situation from the outside in the first place.

In order to solve this problem, as shown in FIG. 20, in order to share the viewpoint of the following worker, the following worker wears the viewpoint camera 415 on the head, and the other workers wear the head-mounted display 416. Then, the image taken by the viewpoint camera 415 is transmitted to the head-mounted display 416 for display.

As a result, since a plurality of workers can check the planting state of the seedlings from substantially the same viewpoint, it becomes easy to detect the occurrence of abnormal seedling planting, and it becomes possible to efficiently replant the seedlings.

Then, as shown in FIGS. 6 to 10, L-shaped connecting stays 102 are provided on the rear upper portion of the left and right axle covers 101 in a plan view, and the front and rear connecting stays 102 are provided on the rear side of the fuselage. The front ends of the main frame 103 whose direction is the longitudinal direction are connected to each other. The mounting positions of the left and right main frames 103 are inside the machine body with respect to the traveling transmission case 38.

As shown in FIGS. 5 to 8, the left and right main frames 103 are arranged linearly in the front-rear direction of the fuselage. Bend in an inclined posture toward the outside of the machine and above the body, that is, toward the outside of the machine, between the front and rear positions of the hoppers 20a and 20b on the front side of the machine. Further, the main frame 103 is bent toward the rear side of the machine body at a position below both the left and right outer sides of the seedling supply device 43, which will be described later. As a result, the left-right width on the rear end side is wider than the left-right width on the front end side of the left and right main frames 103.

Then, as shown in FIGS. 3, 6 to 8, an operator stands at the rear end of the left and right main frames 103 and pushes down the rear end of the machine body during turning, storage work, etc. A control handle 47 for operating the traveling direction of the airframe is attached to the left and right ends of the handle frame 104 in the left-right direction.

As described above, by arranging the left and right main frames 103 with a space between the left and right sides, the constituent members are arranged in the left and right space portions of the main frames 103, and it is difficult for the main frame 103 to divide the arrangement position of the members. Since it is configured, the degree of freedom in design is high.

Further, the main frame 103 is bent toward the outside of the machine body and upward at a position rearward from the front-rear central portion of the rear wheel 44 and at a position on the front side of the planting hoppers 20a and 20b. The bent portion is separated upward from the rear side, which has a large amount of vertical movement when the traveling transmission case 38 rotates, and is also largely separated from the rear wheel 44, so that the main frame 103 hinders the change in vehicle height. Is prevented.

In addition, the bent portion of the main frame 103 to the rear side of the machine body is configured to pass below the left and right sides of the seedling supply device 43, so that the seedling supply device 43 constitutes the seedling supply device 43 and accommodates the introduced seedlings and is in a predetermined drop position. It is possible to prevent the main frame 103 from hindering the movement of the plurality of seedling accommodating bodies 22 to be transported to.

Then, the front ends of the left and right main frames 103 are connected to the axle cover 101 via the connecting stay 102, and the left and right rear ends are connected to the handle frame 104, whereby the frame structure of the transplanter is quadrangular. Since it can be configured in a frame shape, the strength of the aircraft can be improved.

As shown in FIGS. 7 and 8, of the left and right main frames 103, mounting support plates 105 that are tilted backward are provided on both the left and right sides of the machine body and on the front side of the machine body from the upwardly bent portion. Beam frames 106f and 106r are mounted between the left and right sides of the mounting support plate 105 at predetermined intervals in the front-rear direction. Of the front and rear beam frames 106f and 106r, the rear beam frame 106r located on the rear side of the airframe is arranged above the airframe above the front beam frame 106f.

In the left and right center portions of the front and rear beam frames 106f and 106r, that is, in the vicinity of the intermediate positions in the left and right directions between the left and right center of the machine body and the left and right main frames 103, the seedlings put into the seedling container 22 by the operator are placed at predetermined positions. A supply support frame 107 is provided to support the seedling supply device 43 that is conveyed and supplied to the left and right planting hoppers 20a and 20b from below.

Then, at the lower part of the left and right supply support frames 107, a transmission case 26 that receives a driving force from the mission case 39 and transmits the driving force to the seedling supply device 43 and the vertical movement mechanism 21 of the left and right planting hoppers 20a and 20b. The lower ends of the left and right supply support frames 107 are attached to the upper side surfaces of the transmission case 26 and the front and rear beam frames 106f and 106r.

The left and right supply support frames 107 are L-shaped plates when viewed from the side, and the rear side of the machine body whose longitudinal direction is the vertical direction is bent toward the inside of the machine body.

With the above configuration, the transmission case 26, which has a strong structure for incorporating the transmission system, can be used as a support member for the left and right supply support frames 107, and thus is deformed under the load of the seedling supply device 43. , It is prevented that the seedling supply device 43 is tilted and the seedlings cannot be supplied.

Further, on the front side of the machine body and on both the left and right sides of the mission case 39, a U-shaped bumper support frame 108 is provided so as to project toward the front side of the machine body in a front cross-sectional view. Then, in front of the left and right bumper support frames 108, bumpers 109 projecting to the front side of the machine body are provided.

As shown in FIGS. 11 to 13, the bumper 109 includes a bumper plate 109a in which the front side and the left and right sides of the plate body are bent downward, a front weight 109b that can be attached to and detached from the upper surface of the bumper plate 109a, and a bumper plate. It is composed of a bumper rod 109c extending in the left-right direction from 109a. The front weight 109b is made of a mass of a relatively heavy and hard material such as iron, and has a shape protruding toward the front side of the machine body from the bumper plate 109a.

As a result, the front weight 109b, which is a mass having weight and hardness, protrudes most forward of the machine body, so that it is possible to prevent damage to the bumper plate 109a when it comes into contact with an obstacle.

The left and right bumper support frames 108 are formed on the front side of the fuselage and on the lower side of the fuselage with recesses (not shown) having openings on the lower side of the fuselage. Insert the frame 110 and fix it.

By providing the front beam frame 110, the left and right bumper support frames 108 and the mission case 39 can be assembled into a quadrangular frame on the front side of the machine body, so that the strength of the front side of the machine body is improved. In particular, when the bumper 109 comes into contact with an obstacle, the left and right bumper support frames 108 are inserted and fixed to the front beam frame 110, so that damage or impact is unlikely to propagate to the rear side of the left and right bumper support frames 108. Become.

Further, when assembling the mission case 39 to the airframe, the recesses of the left and right bumper support frames 108 are inserted into the front beam frame 110 and then moved in the left-right direction to fix the front-rear position of the mission case 39 and then to the left-right position. Is adjustable, so that the assembly work is prevented from being delayed due to the deviation of the mounting position of the mission case 39.

As shown in FIGS. 7 and 8, the rear portion of the engine 41 is loaded on the front side of the mission case 39 and on the left and right sides, and the front portion of the engine 41 is located near the left and right center portions of the front beam frame 110. It is configured to be loaded on the engine mount to be arranged, but the bumper support frame 108 and the engine 41 on the side where the engine 41 is arranged are arranged so as to be spaced apart in the vertical direction. That is, the bumper support frame 108 is not a member that receives the engine 41 from below.

With the above configuration, it is possible to prevent the impact when the bumper 109 comes into contact with an obstacle from propagating from the bumper support frame 108 to the engine 41, thus preventing the engine 41 from being damaged or causing malfunction due to the impact. it can.

Further, even if the bumper support frame 108 is deformed by an impact, the load state of the engine 41 is not easily affected, and even if the bumper 109 is damaged, the work or movement can be performed by the power of the engine 41.

Then, as shown in FIGS. 11 to 13, step support plates 111 having recesses in the left-right direction for mounting the bumper rod 109c are mounted on the left and right sides of the bumper plate 109a, respectively. The left and right step support plates 111 are supported via reinforcing arms 112 provided on the rear side of the front beam frame 110 and on both the left and right sides, respectively. The upper surfaces of the left and right step support plates 111 are flat, and the front boarding step 113 on which the operator puts his / her feet when getting on and off from the front side of the machine body is mounted therein.

The left and right front boarding steps 113 have a configuration in which a plurality of plates are arranged in a trapezoidal frame to form large and small spaces, and are attached to the sole of the shoe when the operator puts his / her foot on it. It drops the existing soil downward. When unevenness is formed on the upper surface of the plate body, the convex portion easily comes into contact with the groove of the sole, and the soil removing effect is improved.

As a result, it becomes difficult for soil to be brought onto the machine body, so that the labor required for soil removal work can be reduced.

As described above, since the front boarding step 113 is formed with a plurality of space portions, it has a structure in which deformation is likely to occur when it comes into contact with an obstacle. The bumper 109 tends to come into contact with obstacles first. This prevents damage to the front boarding step 113.

Since it is necessary for the operator to pass through the left and right sides of the engine 41 and the mission case 39 when getting on and off from the front side of the traveling vehicle body 40, it is necessary to provide a step as a scaffold.
However, since the mission case 39 is arranged below the engine 41, if the left and right steps are common, one step interferes with the mission case 39 and cannot be attached.

Therefore, the front step 114R on the side where the engine 41 is provided unevenly is placed on a flat plate so as to be inserted between the engine 41 and the upper and lower bumper support frames 108 on the left and right sides. On the other hand, in the front step 114L provided on the side opposite to the engine 41, a notch 114La for exposing the mission case 39 is formed to cover the bumper support frame 108 on the left and right other sides.

As a result, since the left and right front side steps 114L and 114R can be mounted, the operator can get on and off on the side where it is easy to get on and off, so that the work efficiency is improved.

Further, since the notch 114La is not formed on the side where the engine 41 is biased, a wide foothold can be secured and the strength of the front side 114R on the right side can be improved.

In the left and right front steps 114L and 114R, one plate is bent, and the left and right front boarding steps 113 are rearward with the left and right front boarding steps 113, and the lower step 115 and the lower step 115 are in a substantially horizontal posture. Each has a rising tilting step 116 that is bent rearward and upward, and an upper step 117 that is bent from the rising tilting step 116 so as to be in a posture parallel to the lower step 115. If notches are formed in the rising inclined step 116 and the upper step 117, respectively, a space for moving hands and tools during maintenance work of the mission case 39 and its surroundings is widened, and work efficiency is improved.

Then, on the left and right upper steps 117 and on the front side of the machine body from the rear upper bending part of the left and right main frames 103, a worker gets on and off from the side of the machine body, and a side step 118 that serves as a scaffolding during work is provided. Provide each. In the side step 118, plate bodies are arranged vertically and horizontally in the frame to form a plurality of space portions, and the soil adhering to the sole of the worker is dropped downward.

A central step 119, which serves as a scaffold for the worker to be boarded, is detachably provided between the left and right sides of the left and right side steps 118. As shown in FIGS. 8 and 10, front and rear reinforcing beam frames 120f and 120r are provided below the central step 119 and between the left and right main frames 103 at front and rear intervals. The bolts for fixing the front and rear reinforcing beam frames 120f and 120r have a length that does not come into contact with the lower surface of the central step 119 or are not exposed from the upper surface of the central step 119, and are provided on the reinforcing frames 121 between the left and right sides of the left and right main frames 103. When each is attached, the bolt does not interfere with the movement of the worker's foot on the central step 119, and the work efficiency is improved.

As described above, the floor step 122 is configured.

The left and right front side steps 114L and 114R, the left and right side step 118, and the center step 119 are mounted independently, that is, they are not fastened together with one mounting member (bolt or the like). As a result, when removing each step structure during partial maintenance work, it is not necessary to remove another step structure, and the efficiency of maintenance work is improved.

Further, by arranging the front and rear reinforcing beam frames 120f and 120r at a space between the front and rear, the hydraulic cylinder 300 for raising and lowering, which will be described later, and the hydraulic balance of the rolling mechanism that makes the planting posture horizontal according to the left-right inclination of the field scene. Since the maintenance work of the 303 can be easily performed from the traveling vehicle body 40, the work efficiency is improved.

Further, on both the left and right sides of the traveling vehicle body 40 on the front side of the machine body, and on the front side of the machine body with respect to the rear wheels 44, the vehicle rolls via a horizontal frame 16 provided on the lower side of the front beam frame 110 and projecting in the left and right direction of the machine body. A front wheel 45 that is movably supported is provided.

Then, the tip of the wheel drive shaft extending outward from the mission case 39 to the left and right sides enters the rotation axis position of the front portion of the traveling transmission case 38, and the traveling unit system shift in the transmission case 39. The power for traveling through the transmission unit is transmitted to the transmission mechanism in the traveling transmission case 38. Then, the power for traveling is transmitted to the rear wheel axle 12 of the traveling transmission case 38 via the transmission mechanism in the traveling transmission case 38, and the rear wheels 44 are driven and rotated.

The left and right side clutches 201 and 201 provided in the mission case 39 can cut off the drive of the left and right rear wheels 44. Therefore, when the airframe is turned, the side clutches 201 and 201 are configured to allow the left and right rear wheels 44, which are inside the turn, to be turned in a non-driving state so that the machine can turn smoothly.

Further, the traveling transmission case 38 is connected to a driving means that rotates up and down to move the rear wheel 44 up and down with the front side of the traveling transmission case 38 as a rotation fulcrum. Specifically, an arm 13 extending upward is integrally attached to the attachment portion of the traveling transmission case 38 to the mission case 39, and the lifting hydraulic cylinder 300 in which the arm 13 is fixed to the mission case 39. It is connected to the left and right sides of the connecting body attached to the tip of the piston rod. One left and right side (right side) is connected by a connecting rod, and the other side (left side) is connected by a left and right horizontal control hydraulic cylinder that can be expanded and contracted in response to the inclination of the machine body.

When the lifting hydraulic cylinder 300 operates and its piston rod protrudes to the rear of the machine body, the left and right arms 13 rotate backward, and the traveling transmission case 38 rotates downward accordingly to raise the machine body. On the contrary, when the piston rod of the lifting hydraulic cylinder 300 moves to the front of the machine body and retracts into the cylinder, the left and right arms 13 rotate forward, and the traveling transmission case 38 rotates upward accordingly. The aircraft descends.

The lifting hydraulic cylinder 300 is operated by a ridge surface sensor 14 that touches the ridge surface and operates as the vertical distance between the machine body and the ridge surface fluctuates. The operation of the ridge surface sensor 14 is an operation of detecting the height of the upper surface of the ridge based on the position of the machine body, and the height of the machine body is set according to the height of the upper surface of the ridge based on the detection operation of the ridge surface sensor 14. The structure is such that the lifting hydraulic cylinder 300 operates.

Further, when the left-right horizontal control hydraulic cylinder expands and contracts, the left arm 13 connected to the left-right horizontal control hydraulic cylinder rotates to move only the left rear wheel 44 up and down to tilt the airframe left and right. .. The left-right horizontal control hydraulic cylinder is configured to operate based on the detection result of a sensor that detects the left-right tilt of the machine with respect to the left-right horizontal to make the machine horizontal.

The lifting hydraulic cylinder 300 expands and contracts by detection by the ridge sensor 14 or by operating the vehicle height adjusting lever 123 provided at the rear of the machine body to change the vehicle height.

As shown in FIGS. 1, 2 and 5, the horizontal frame 16 is rotatably mounted on the front beam frame 110 at the center of the axis in the front-rear direction, and is mounted on both left and right sides of the horizontal frame 16. , A vertical frame 17 that is long vertically is attached. The left and right front wheels 45 are rotatably attached to the front wheel axle 18 fixed to the lower end side of the vertical frame 17. Therefore, the left and right front wheels 45 are freely rolling around the axis in the front-rear direction at the center of the left and right sides of the airframe.
Further, the vertical frame 17 is provided so as to be vertically adjustable based on the left and right side portions of the horizontal frame 16, so that the height of the front wheel 45 can be adjusted.

The steering handle 47 is provided at the rear portion of the fuselage, and is located on the rear side of the fuselage with respect to the rear wheel axle 12 of the rear wheels 44. Specifically, it is attached to the rear end of the airframe frame 19 whose front end is fixed to the mission case 39.

The airframe frame 19 extends rearward at the center of the left and right sides of the airframe, and extends diagonally rearward and upward from the front-rear intermediate portion.

The steering handle 47 extends rearward to the left and right from the rear end of the fuselage frame 19, and each rear end thereof serves as a grip portion of the steering handle 47.

Although the grip portion is divided into left and right in FIG. 2, the left and right rear end portions of the steering handle 47 may be connected to each other on the left and right, and the connected portion may be used as the grip portion.

The planting device 42 raises and lowers a plurality of beak-shaped planting tools whose tips point downward, and a position where the lower end of the planting tool is above the field scene and a position below the field scene. The vertical movement mechanism 21 to move, the closed state where the lower end of the beak-shaped planting tool is closed and the seedlings can be received from above and the seedlings can be stored inside, and the lower end of the planting tool opens to the left and right to be stored inside. It is equipped with an opening / closing mechanism that opens and closes the planting tool in an open state that allows the seedlings to be released downward.

As shown in FIGS. 1 to 6, the planting device 42 of the present embodiment has a two-row planting configuration in which the first planting hopper 20a and the second planting hopper 20b are arranged side by side. The first planting hopper 20a and the second planting hopper 20b are respectively mounted on the vertical movement mechanisms 21 provided on the left and right side portions of the transmission case 26 transmitted from the mission case 39.

The vertical movement mechanism 21 is composed of a pair of upper and lower link arms 21a and 21b, and the upper and lower link arms 21a and 21b are attached to the transmission case 26 so as to be vertically rotatable, and the rear ends of the upper and lower link arms 21a and 21b. The part side is mounted between the left and right link holders 210 and 210 so as to be vertically rotatable. The front end of the upper link arm 21a is provided at a position separated from the rotation axis of the non-circular cam 211 rotatably mounted on the transmission case 26 toward the outer peripheral edge side, and the planting hopper 20a is moved up and down by the vertical movement mechanism 21. , 20b is configured to swing from front to back.

The transmission case 26 is fixed to the upper part of the mounting member whose lower part is fixed to the airframe frame 19. Further, the rear end side of the planting hoppers 20a and 20b and the vertical movement mechanism 21 are located on the rear side of the machine body with respect to the rear end parts of the left and right rear wheels 44 and 44 in a side view, and are located on the outer side of each machine body. Is a space without other members.

In particular, the position where the front end portion of the upper link arm 21a is attached to the non-circular cam 211 is the position where the planting hopper 20a, 20b, in the static trajectory of the planting hoppers 20a, 20b, is located between the time when the seedling is received and the time when the seedling is headed to the bottom dead center. 20b is set to a position where the posture changes from the backward leaning posture to a posture substantially perpendicular to the field scene, and when the posture starts to rise from the bottom dead center, the posture changes from the vertical posture to the forward leaning posture.

As a result, in the movement trajectory of the planting hoppers 20a and 20b, the time and distance for entering the soil for planting seedlings can be shortened, so that the size of the planting holes formed by the planting hoppers 20a and 20b in the field can be reduced. Since it is kept small, it is possible to prevent the seedlings from falling over and disturbing the planting posture.

Further, since the planting hoppers 20a and 20b are in a posture of being greatly tilted forward near the top dead center, the seedlings to be thrown by the operator are transported to a predetermined position and planted at the drop supply position of the seedling supply device 43. Since the upper ends of the hoppers 20a and 20b can be brought close to each other, seedlings are not supplied into the planting hoppers 20a and 20b, and stock shortages are prevented.

Then, since the planting hoppers 20a and 20b are in an inclined posture when the seedlings are dropped and supplied, the seedlings that have entered the planting hoppers 20a and 20b are slid and moved from the upper side to the lower side. Therefore, the seedlings stay in the planting hoppers 20a and 20b, and even if the planting hoppers 20a and 20b enter the soil, the seedlings are not planted and the stock shortage is prevented.

An adjustment plate 212 having a plurality of adjustment elongated holes 212a ... on a plurality of arcs is arranged between the non-circular cam 211 and the upper link arm 21a, and a fixing member such as a bolt is inserted into the adjustment elongated holes 212a. By changing the position, the planting hoppers 20a and 20b intended by the operator can be adjusted to the front-rear tilt angle.

As a result, the anteroposterior tilt angle of the planting hoppers 20a and 20b can be appropriately adjusted according to the working conditions such as the length and planting depth of the seedlings, so that the seedlings can be planted in a posture and planting depth suitable for growth. , The growth of seedlings becomes good.

The elevating drive force of the vertical movement mechanism 21 is transmitted from the elevating drive shaft 213 provided on the rear side of the machine body with respect to the rotation shaft of the non-circular cam 211. An unequal circular elevating cam 214 is attached to the elevating drive shaft 213, and an elevating crank 215 for rotating the upper link arm 21a up and down is provided between the elevating cam 214 and the upper link arm 21a. The lower link arm 21b rotates up and down in conjunction with the up and down rotation of the upper link arm 21a, and the vertical movement mechanism 21 is a parallel link.

One end of the elevating crank 215 is attached to a rotating shaft from the elevating cam 214 to the outside of the machine body, and the other end is attached to a connecting plate 216 provided inside the machine body of the upper link arm 21a, and the loci of the planting hoppers 20a and 20b. Is suitable for planting seedlings and receiving seedlings from the seedling supply device 43.

The connecting plate 216 is projected from the upper link arm 21a toward the lower side of the machine body, and the lower end portion is arranged so as to be slightly above the upper end portion or the upper end portion of the lower link arm 21b, and the lower end portion of the connecting plate 216 is arranged. The other end of the elevating crank 215 is mounted near the portion.

With the above configuration, the elevating crank 215 can be arranged closer to the lower part of the machine body, so that the center of gravity is closer to the lower part of the machine body, so that the machine body is less likely to tilt back and forth due to the weight of the members, etc. Stabilize.

Further, by mounting the other end of the elevating crank 215 on the connecting plate 216, the upper link arm 21a is configured not to receive a direct load from the elevating crank 215, so that the durability of the upper link arm 21a can be improved. ..

As described above, since the load applied by the elevating operation is small, the upper and lower link arms 21a and 21b may be formed of a square pipe having a hollow inside. If the upper and lower link arms 21a and 21b are lightweight, the load transmitted to the transmission case 26 through the elevating crank 215 and the elevating cam 214 is reduced, so that the durability of the transmission case 26 is also improved.

In addition, the ascending speed does not become too slow or the descending speed does not become too fast due to the weight, the ascending / descending locus of the planting hoppers 20a and 20b is stable, and the planting posture and planting depth of the seedlings are stable. Growth becomes good.

Further, by arranging the elevating cam 214, the elevating crank 215, and the connecting plate 216 between the transmission case 26 and the vertical movement mechanism 21, the upper and lower link arms 21a and 21b do not interfere with each other during the vertical rotation. Both the upper and lower link arms 21a and 21b can be made linear, which makes it possible to simplify the configuration and maintain the strength.

In order to make the raising and lowering and tilting of the planting hoppers 20a and 20b more suitable for planting seedlings, the front-back lengths of the upper link arm 21a and the lower link arm 21b are different. In this case, the upper link arm 21a is shorter than the lower link arm 21b.

As described above, the rear ends of the upper and lower link arms 21a and 21b are mounted between the left and right of the left and right link holders 210 and 210 with a vertical interval. At this time, the mounting position of the upper link arm 21a is set to the lower side. It is positioned on the front side of the machine body from the mounting position of the link arm 21b.

As a result, when the planting hoppers 20a and 20b rise near the top dead center, the distance between the fulcrums on the rear end side of the upper and lower link arms 21a and 21b becomes longer, and the amount of forward and backward swing of the planting hoppers 20a and 20b becomes longer. Is kept small, so that the amount of the front-rear position on the upper side of the planting hoppers 20a and 20b is unlikely to change in the vicinity of the drop supply position of the seedling supply device 43, and the failure to receive the seedlings is reduced.

When the planting hoppers 20a and 20b rise near the bottom dead center, the distance between the fulcrums on the rear end side of the upper and lower link arms 21a and 21b becomes shorter, and the amount of forward and backward swing of the planting hoppers 20a and 20b increases. Since the size is increased, the planting hoppers 20a and 20b can be changed from the backward leaning posture to the forward leaning posture, and the planting hoppers 20a and 20b are prevented from coming into contact with the seedlings and being knocked down or damaged.

At the front end of the lower link arm 21b, an opening / closing arm 218 having an opening / closing wire 220 for operating an opening / closing mechanism for opening / closing the planting hoppers 20a and 20b according to the elevating position is attached to the upper end side so as to be rotatable back and forth. Attach to. A contact roller 219 is provided on the upper rear side of the opening / closing arm 218 to come into contact with the non-circular cam 211 when a portion having a diameter equal to or larger than a certain value passes through.

When the non-circular cam 211 comes into contact, the opening / closing arm 218 rotates forward and pulls the opening / closing wire 220 to close the planting hoppers 20a and 20b. The planting hoppers 20a and 20b are opened by moving and loosening the opening / closing wire 220.

The planting hoppers 20a and 20b open while the seedlings are planted and start to rise from the middle of the descent, and close when the seedlings are planted and start to rise and then the seedlings are received and descend again. The shape of the non-circular cam 211 corresponds.

Notches 221 are formed on the rear sides of the left and right hopper holders 210 and 210 in a U-shape that opens to the rear side of the machine body. It is assumed that the structure of the hopper holder 210 projects to the rear of the machine body at the upper part and the lower part of the notch portion 221.

Then, at the rear portions of the left and right hopper holders 210 and 210, U-shaped interstitial adjustment plates 222 shown in FIGS. 15 to 19 in which the front side of the machine body opens in a side view are provided. Left and right cut grooves 222b ... Are formed in the upper and lower front protrusions 222a of the inter-strip adjustment plate 222 with substantially the same left and right spacing as the left and right hopper holders 210 and 210, and the cut grooves 222b are formed. … Insert into the hopper holders 210 and 210, respectively, and attach them. At this time, a quadrangular adjustment space portion 223 is formed between the notch portion 221 and the front and rear of the interstitial adjustment plate 222 in a side view.

The interstitial adjustment plate 222 has a central portion on the left and right located behind the upper and lower link arms 21a and 21b constituting the vertical movement mechanism 21, and protrudes in the left-right direction to substantially the same length. On the wall surface of the above, interstitial adjustment elongated holes 224 are formed in the left-right direction.

A hopper holder 225 that supports the planting hoppers 20a and 20b on the rear side of the machine body is provided at the rear portion of the inter-strip adjustment plate 222. The hopper holder 225 is bent toward the front side of the machine body in an L shape to form a connecting portion 225a, and on both the left and right sides, the planting hoppers 20a and 20b and fastening members 209 such as bolts are provided so as to project toward the rear side of the machine body. The connecting portions 225b and 225b that are connected via each other are formed. Further, a plurality of mounting holes (not shown) for fastening members 209 such as bolts are formed in one or left and right directions on the wall surface in the vertical direction below the connecting portions 225a and above the connecting portions 225b and 225b. In the hopper holder 225, the L-shaped connecting portion 225a is aligned with the upper side and the rear side of the inter-row adjustment plate 222 in a side view, and the inter-row adjustment elongated hole 224 and the mounting hole are located at the same vertical height. Mounting. As a result, when the fastening member 209 is removed or loosened, the hopper holder 225 can slide in the left-right direction along the interstitial adjustment plate 222.

When adjusting the left and right planting intervals of the left and right planting hoppers 20a and 20b, that is, the inter-row spacing, remove or loosen the fastening member 209 as described above, and set the hopper holder 225 arbitrarily within the left-right width of the inter-row adjustment plate 222. It is determined by moving to the position of and attaching or tightening the fastening member 209.

The fastening member 209 is inserted through the mounting hole of the hopper holder 225, and can be switched between the fixed position state and the inter-row adjustment state by screwing or pulling out the nut provided on the adjustment space portion 223 side.

In the above configuration, since the fastening member 209 is inserted in the interstitial adjustment elongated hole 224, the fastening member 209 serves as a stopper and the hopper holder 225 can be prevented from falling off from the left and right ends of the interstitial adjustment plate 222.

In the inter-row adjustment configuration of this case, which includes the left and right planting hoppers 20a and 20b, the inter-rows of the left and right planting hoppers 20a and 20b are the most interstitial because the left and right inter-row adjustment plates 222 and 222 can have a large left-right spacing. Even when the hopper holders 225 and 225 are narrowed, that is, when the inter-row adjustment plates 222 and 222 are moved to the inner end of the machine body, the left and right planting hoppers 20a and 20b are arranged so as not to interfere with each other. As a result, the space between the rows can be set narrower, so that it is possible to handle a wider variety of working conditions than before.

Further, since the inter-row adjustment plate 222 is provided at the rear part of the vertical movement mechanism 21, it is possible to prevent the inter-row adjustment plate 222 from hindering the left-right movement of the planting hoppers 20a and 20b. It is possible to set the inter-row spacing in a wider range over the width, and it is possible to correspond to a wider variety of working conditions.

Further, by forming the adjustment space portion 223 between the front and rear of the link holders 210 and 210 and the opening of the inter-strip adjustment plate 222, the operator can work on the rear side of the left and right rear wheels 44 and 44 and on the outside of the machine body. Since the work of tightening and loosening the nut can be performed in the space of the space, the inter-row adjustment work can be performed efficiently.

Assuming that the thickness of the nut is less than half the front-rear width of the adjustment space portion 223, a work space for inserting a nut attachment / detachment tool into the left-right center portion of the inter-strip adjustment plate 222, that is, behind the upper and lower link arms 21a and 21b. Is secured, so that there is no position where the planting hoppers 20a and 20b cannot be fixed within the left and right width of the inter-row adjustment plate 222, and the necessary inter-row setting becomes possible.

In the above inter-row adjustment mechanism, the left and right planting hoppers 20a and 20b are basically moved in symmetrical directions. For example, when the inter-row spacing is 70 cm, the left and right planting hoppers 20a and 20b are moved to the left and right outer ends of the inter-row adjustment plates 222 and 222, respectively, and when the inter-row spacing is 30 cm, the left and right planting hoppers are planted. The hoppers 20a and 20b are moved to the left and right inner ends of the interstitial adjustment plates 222 and 222, respectively. Other inter-row spacing is set by moving it to an arbitrary position within the left-right width of the inter-row spacing adjustment plates 222 and 222, but the operator should be able to visually understand how many centimeters the inter-row spacing is set. , Indicators may be provided on the interstitial adjustment plates 222, 222. This indicator shall be affixed with a printed sticker, written on or engraved on the interstitial adjustment plate 222.

However, depending on the type of crop and the field environment, it is possible to plant more than two rows, for example four rows, in a wide ridge. When four rows are planted by reciprocating one ridge, both the left and right planting hoppers 20a and 20b are placed on the left and right sides of the inter-row adjustment plates 222 and 222 so that the planting position is offset to the left and right sides in the direction of travel of the ridges. It is possible to plant seedlings even if they are brought close to. This makes it possible to handle even more diverse working conditions.

The planting hoppers 20a and 20b cover the hopper cover 226 above the hopper holder 225 toward the rear side of the machine body, and cut out the upper surfaces on the rear side of the machine body and on both the left and right sides to form an open space portion. Left and right rotation support shafts 227 and 227 are provided between the front and rear walls of the rear side of the hopper holder 225 and the wall surface on the rear side of the hopper cover 226, respectively, and the rotation arms 227 and 227 are respectively provided with rotation arms. The 228 and 228 are rotatably mounted. Most of the left and right rotating arms 228 and 228 project upward from the open space portion.

The left and right rotary support shafts 227 and 227 are arranged below the notch 221 of the link holders 210 and 210 and the interstitial adjustment plate 222.

As a result, the rotary support shafts 227 and 227 on the hopper holder 225 side can be arranged on the lower side of the interstitial adjustment plate 222 and without a large front-rear distance from the link holders 210 and 210. The front-rear position does not move too far behind, and a compact configuration can be achieved.

Of the rotating arms 228 and 228, the cable outer of the opening / closing wire 220 is attached to the outside of the machine body, the cable inner is connected to the inside of the machine body, and the left and right rotating arms 228 are pulled and loosened by the opening / closing wire 220. The configuration is such that the 228 rotates.

Further, on the left and right rotation support shafts 227 and 227, U-shaped opening / closing arms 230 and 230, which mount a pair of left and right hopper stays 229 and 229 on the lower side, are mounted so as to be rotatable left and right, respectively. The opening / closing arms 230, 230 have a shape that covers the front and rear and the upper side of the hopper stays 229, 229, and as shown in FIG. 18, a gear in which irregularities in the left and right directions alternately mesh with each other on the upper side of the front and rear surfaces. The portions 230a and 230a are formed, respectively. By engaging the gear portions 230a and 230a, the amount of rotation of the opening and closing arms 230 and 230 at the time of opening and closing is synchronized, and the opening degree is such that the seedlings can be opened evenly from the planting hoppers 20a and 20b.

Further, support pins 232 and 232 are provided on the left and right sides of the front and rear surfaces of the opening / closing arms 230 and 230, respectively, and the left and right opening / closing arms 230 and 230 are brought close to each other on the left and right support pins 232 and 232. The springs 233 for urging in the direction are arranged in the front and rear respectively.

Further, the hopper stays 229 and 229 connect the front and rear bent portions to the front and rear portions of the opening and closing arms 230 and 230, and a pair of left and right hopper constituents 231 and 231 are attached to the inner portions of each machine body at the bottom in the front and rear direction. A semi-circular notch (not shown) is formed. The left and right hopper configurations 231,231 are configured such that when they are opened, they open wider in the left-right direction toward the lower end side, and when they are closed, their end faces are substantially evenly contacted with each other over the top and bottom. Further, the vicinity of the lower end portion of the hopper components 231,231 is formed in a plate shape so as to reduce the resistance when entering the soil.

Further, the hopper cover 226 is formed with an opening (not shown) having a diameter substantially the same as that of the uppermost portions of the left and right hopper configurations 231 and 231 or a slightly smaller diameter (not shown), and the seedling supply device 43 supplies the opening to the opening. The seedling guide 234 that guides the seedlings to the inside of the left and right hopper components 231 and 231 is inserted and attached. The diameter of the left and right hopper components 231 and 231 near the upper end is larger than the diameter from the vicinity of the upper end to the lower side.

Of the seedling guides 234, the lower side of the hopper cover 226 has substantially the same diameter, and the upper side of the hopper cover 226 has a larger diameter toward the upper side of the machine body, and has a tapered shape in side view and rear view.

Since the upper end side of the seedling guide 234 has a tapered shape, the diameter on the upper end side is maximized, so that the seedlings can be received even if the position where the seedlings are dropped and supplied is slightly deviated, and the planting hoppers 20a and 20b are seedlings. It is prevented from failing to plant.

Further, by making the diameter of the lower part of the seedling guide 234 substantially the same as the diameter of the upper end portion of the hopper constituents 231 and 231 or slightly smaller in diameter, the diameter between the seedling guide 234 and the hopper constituents 231,231 is set. Since there are no gaps, the seedlings can be taken over reliably and the seedlings can be planted reliably.

Each seedling container 22 has a tubular body that opens up and down and a bottom lid that opens and closes an opening on the lower side of the tubular body, and is connected to each other in a loop.

The moving mechanism 23 is a state in which each of the connected seedling accommodating bodies 22 passes in the upper vicinity of the left and right planting hoppers 20a and 20b, and the connected seedlings are formed by a long circular loop-shaped locus on the left and right in the plane view of the machine body. The accommodating body 22 is rotated counterclockwise.

The seedling dropping mechanism opens the bottom lid of the seedling accommodating body 22 at a position above the planting hoppers 20a and 20b corresponding to the seedling accommodating body 22.

In the present embodiment, a cylindrical outer peripheral portion is formed on the outer periphery of the seedling accommodating body 22, and an engaging portion (round hole) rotatably connected from the outside is provided on the cylindrical outer peripheral portion, and two seedling accommodating bodies 22 are provided. A plurality of connecting bodies for connecting the above were formed. Then, the engaging portion of the connecting body is rotatably connected to the outer peripheral portion of the cylinder of the seedling containing body 22, and the adjacent seedling containing body 22 is rotatably connected with the outer peripheral portion of the cylinder as the rotation axis. , A plurality of seedling accommodating bodies 22 are connected to each other. That is, the seedling accommodating body 22 and the connecting body are connected like an endless chain.

As a result, the seedling container 22 is left and right from the seedling container 22 because the distance between the linear portion 28 that moves linearly and the arc-shaped portion 29 that moves in an arc shape does not change from the adjacent seedling container 22. At the place where the seedlings are supplied to the planting hoppers 20a and 20b, the positional deviation of the left and right planting hoppers 20a and 20b of the seedling container 22 is less likely to occur, and the seedlings are properly supplied and the seedlings are properly supplied. Can be planted.

The moving mechanism 23 of the seedling supply device 43 winds the seedling accommodating bodies 22 connected to each other like an endless chain around the arcuate notches on the outer periphery of the sprockets provided on the left and right, and takes out the left and right sprockets from the transmission case 26. Each seedling accommodating body 22 is configured to rotate around the circumference by driving and rotating with the power.

The orbital movement path around which the seedling container 22 orbits is a length including a linear portion 28 extending in the left-right direction in a plan view and an arc-shaped portion 29 that bends in an arc shape from the linear portion 28 to the front side or the rear side by a sprocket. It has a circular shape and is arranged inside the fuselage from the left and right rear wheels 44.

Further, the left and right planting hoppers 20a and 20b are arranged on the rear side of the position of the rear wheel axle 12.

The seedling supply device 43 is configured such that the seedling accommodating body 22 orbits around in accordance with the left and right planting hoppers 20a and 20b to supply seedlings.

In the planting hoppers 20a and 20b, seedlings are dropped and supplied from the seedling container 22 at the first drop supply position 31a and the second drop supply position 31b, respectively.

Then, seedling accommodating bodies 22 for accommodating seedlings to be dropped and supplied corresponding to the left and right planting hoppers 20a and 20b are separately provided, and above the left and right planting hoppers 20a and 20b corresponding to the seedling accommodating bodies 22. The bottom lid opens only when it comes, and the bottom lid does not open above the left and right planting hoppers 20a and 20b that do not correspond to each other.

That is, the seedling container 22 corresponding to the planting hopper 20a arrives at the first drop supply position 31a only, and the seedling container 22 corresponding to the planting hopper 20b arrives at the second drop supply position 31b. The bottom lid is opened and seedlings are supplied to the corresponding planting hoppers 20a and 20b.

The first drop supply position 31a and the second drop supply position 31b are configured to be movable to the corresponding positions when the gaps between the left and right planting hoppers 20a and 20b are adjusted.

The operating cycle of the moving mechanism 23 is set to be synchronized with the operating cycle of the vertical moving mechanism 21, and the seedling accommodating bodies 22 corresponding to the left and right planting hoppers 20a and 20b are combined to form one seedling accommodating body unit. By connecting a plurality of the seedling storage units, the seedling storage 22 passes through the left and right drop supply positions 31a and 31b in series, and the seedlings are supplied corresponding to the left and right planting hoppers 20a and 20b. Seedlings can be supplied without leakage, and the seedling housings 22 for which seedlings were not supplied after passing through the left and right drop supply positions 31a and 31b are not generated, so that the left and right planting hoppers 20a and 20b are fully supplied. The structure is such that seedlings can be supplied accordingly.

In the transplanting machine 10 of the present embodiment, the soil covering suppression rings 37 used for soil covering suppression according to the seedlings planted by the left and right planting hoppers 20a and 20b are planted at the seedling planting points of the left and right planting hoppers 20a and 20b. It is provided near each of the rear left and right sides of. The left and right soil-covering compression wheels 37 are separately attached to support arms that can rotate up and down.

The left and right planting hoppers 20a and 20b can adjust the left and right positions according to the planting work conditions of the seedlings to change the line spacing, but the ridge sensor 14 is grounded according to the set line spacing. If the position is not changed, the detection accuracy may decrease.

As described above, the traveling vehicle body 40 has a configuration in which the left and right traveling transmission cases 38 are rotated up and down by the lifting hydraulic cylinder 300 to change the planting depth, but the left and right planting hoppers 20a and 20b Of the left and right traveling transmission cases 38, one of the left and right traveling transmission cases 38, in this case, the traveling transmission case 38 on the left side of the aircraft is rotated up and down separately in order to make the planting depth as appropriate as possible. ..

Specifically, a rolling cylinder 310 is arranged between the traveling transmission case 38 on the left side and the left end of the machine body of the hydraulic balance 303, and rolling is made according to the difference in the amount of vertical rotation of the soil covering suppression wheels 37 on the left and right. The cylinder 310 is configured to expand or contract.

Since the rolling cylinder 310 is provided closer to the left side of the machine body, the ridge sensor 14 can easily balance the left and right sides of the machine body when detecting the front of the planting hopper 20b on the right side of the machine body.

Therefore, as shown in FIGS. 6 and 8, the ridge sensor 14 is attached to the adjustment base plate 14a provided on the bottom beam frame 133 provided below the left and right main frames 103 and to the adjustment base plate 14a in the left-right direction. It is composed of a grounding plate 14b provided so that the position can be adjusted.

An adjustment slot 14c in the left-right direction is formed on the rear side of the body of the adjustment base plate 14a, and the grounding plate 14b is positioned in the left-right direction along the adjustment slot 14c with a fixing member such as a bolt. By fixing it, the detection position of the ridge sensor 14 is set.

With the above configuration, the detection position of the ridge sensor 14 can be adjusted to an appropriate position according to the setting between the left and right planting hoppers 20a and 20b, so that automatic control of the planting depth according to the setting line is more appropriate. The planting accuracy of seedlings is improved.

The transplanting machine of this case is provided with a work seat 46 on which the worker sits so that the worker who replenishes the seedlings can get on the seedling supply device 43 to perform the seedling replenishment work. Specifically, the work seats 46 are arranged rearward at the center positions on the left and right sides of the machine body, which is the front side of the seedling supply device 43. The worker sitting on the work seat 46 sits in a rearward posture toward the front side of the seedling supply device 43, and has a linear shape on the front side of the seedling supply device 43, particularly on the front side in the orbital movement path of the seedling container 22. Seedling replenishment work is performed corresponding to the portion 28.

Further, on the left and right other sides of the control panel 47a, the main clutch lever 125, which is built in the mission case 39 and switches the transmission of the driving force to the left and right traveling transmission cases 38 and the transmission case 26, is provided.

In the transplant machine of the present invention, the operation of the operator by the control handle 47 at the rear of the machine body is performed when moving to the field, loading and unloading from the transportation means, storing in the warehouse, and turning at the edge of the field. .. On the other hand, at the time of planting seedlings, the worker is on the work seat 46 of the traveling vehicle body 40, and it is difficult to operate the control handle 47 on the control panel 47a.

Therefore, on the traveling vehicle body 40, an on-vehicle body control unit 126 for a worker boarding the work seat 46 is provided.

As shown in FIGS. 4, 7 and 9, a rear step 127 that inclines upward to the rear side of the machine body is provided in the lower part of the seedling supply device 43, and either the left or right side of the rear step 127, that is, the right side of the machine body in this case. An on-vehicle control unit 126 is provided at the end (on the left side when the worker seated on the work seat 46 is used as a reference).

The vehicle body control unit 126 is provided with a second vehicle height adjusting lever 128 that adjusts the vehicle height of the traveling vehicle body 40 to adjust the planting depths of the planting hoppers 20a and 20b on the outermost side of the body. 2 The second main clutch lever 129 is arranged inside the machine body from the vehicle height adjustment lever 128.

Since it is basically not necessary to fix the vehicle height during the seedling planting work, the second vehicle height adjusting lever 128 is configured to have only the "high" position and the "low" position.

Then, at the outer end of the rear step 127, the vehicle height adjusting lever guide 130, which accommodates the second vehicle height adjusting lever 128 in the frame and forms a display scale indicating a guideline for the vehicle height, is inclined upward toward the front side of the machine body. The vehicle height adjusting lever guide 130 is provided in a posture, and a main clutch lever guide 131 for accommodating the second main clutch lever 129 in the frame is provided in an upwardly inclined posture toward the front side of the vehicle body.

The second vehicle height adjusting lever 128 has a larger amount of protrusion toward the front side of the machine body than the second main clutch lever 129.

Further, the second vehicle height adjusting lever 128 and the second main clutch lever 129 can rotate the base side of the mounting support plate 105 on the left and right sides of the machine body (on the right side of the machine body) and the front and rear beam frames 106f and 106r. If it is to be mounted, it is not necessary to separately provide a mounting member, and the number of parts can be reduced.

Further, on the left and right sides of the fuselage, that is, on the left side of the fuselage, side clutch pedals 132L and 132R for turning on and off the left and right side clutches 201 and 201 are exposed on the upper surface of the rear step 127. Provide.

The vehicle height adjusting lever guide 130 and the main clutch lever guide 131 are arranged with a constant vertical interval S between the upper surface of the side step 118. The above-mentioned vertical spacing S is set to such an extent that a space is secured even if the operator's feet are inserted (eg, about 15 to 20 cm).

With the above configuration, the worker on the floor step 122 and on the work seat 46 can manually operate the planting depth and turn on / off the planting work without getting off the traveling vehicle body 40. , Work efficiency is improved and seedling planting accuracy is improved.

In addition, by arranging the second main clutch lever 129 inside the machine body that is closer to the work seat 46 than the second vehicle height adjustment lever 128, the second main clutch lever 129 is used for replenishing seedlings, correcting the planting state, taking a break, etc. The main clutch lever 129 is easily accessible to the operator, and labor can be reduced.

In particular, when a problem occurs, the planting work of seedlings can be interrupted promptly, the work of replanting seedlings becomes unnecessary, and the number of seedlings that are unsuitable for growth and discarded is reduced.

In addition, by projecting the second vehicle height adjustment lever 128 toward the front side of the machine body from the second main clutch lever 129, the arm is greatly extended when operating the second vehicle height adjustment lever 128 on the side far from the work seat 46. There is no need, and the labor of the worker is reduced.

By providing the left and right side clutch pedals 132L and 132R in the rear step 127, which of the side clutch pedals 132L and 132R is used when the traveling direction of the traveling vehicle body 40 is about to deviate from the straight direction with respect to the ridge. By temporarily disengaging the corresponding side clutches 201 and 201 by operating the pedal, the course of the traveling vehicle body 40 can be corrected, and the seedling planting position is prevented from meandering in the left-right direction.

Further, the vehicle height adjusting lever guide 130 and the main clutch lever guide 131, that is, the work of getting on the work seat 46 by forming the vertical space S between the upper and lower parts of the vehicle body upper control unit 126 and the side step 118. The movement of the person's feet is not hindered, and the worker can board the driver's seat 46 in a comfortable posture, which reduces labor.

Spare seedling frames 50 capable of accommodating seedlings to be supplied to the seedling supply device 43 are provided at positions above the rear wheel axle 12 of the rear wheels 44 on both the left and right sides of the work seat 46 when viewed from the side of the machine body.

The spare seedling frame 50 is provided with a support stay 52 on the upper part of the seedling mounting column 51 projecting to the outside of the traveling vehicle body 40, and the support stay 52 can be switched between a rotating state and a non-rotating state. An arm 53 is provided, and seedling frame frames 54 and 54 in the vertical direction are arranged at intervals on the seedling mounting rotation arm 53, and seedlings for replenishment are housed on the same surface of the seedling frame frames 54 and 54. It is configured by mounting one side end of a mounting table 55 on which a container such as a seedling box or a seedling tray is placed.

Only one mounting table 55 may be provided in the vertical direction, but a plurality of mounting tables 55 may be arranged at intervals in the vertical direction so as not to hinder the removal of the container.

The spare seedling frame 50 having the above configuration is provided on each of the left and right sides of the traveling vehicle body 40, and the seedling mounting rotation arm 53 is rotated on the support stay 52 according to the situation.

For example, when planting seedlings, the longitudinal direction of the mounting table 55 is directed to the front-rear direction of the machine body, so that the container for seedlings can be taken out from the mounting table 55 and the empty container can be easily returned to improve work efficiency. Can be improved.

Further, since the mounting table 55 is located on both the left and right sides of the traveling vehicle body 40 at this position, it becomes easier for the operator to grasp the end portion of the riding vehicle body 40 on which the vehicle can be boarded, and the legs protrude from the traveling vehicle body 40 and the posture is increased. Is prevented from breaking.

Further, when the worker gets on and off the traveling vehicle body 40, the seedling mounting rotation arm 53 is rotated by about 90 degrees.

As a result, space for getting on and off is formed on both the left and right sides of the traveling vehicle body 40.

The operator can also get on and off from the front side of the traveling vehicle body 40, but the seedling frame rotating arm 53 is rotated so that the seedling frame frames 54 and 54 are located on the front side of the machine body, and the mounting table 55 is rear of the machine body. When the state is located on the side, the worker can use the seedling frame frames 54 and 54 as handrails, so that the traveling vehicle body 40 can get on and off smoothly.

Further, when loading or unloading the seedling container on the mounting table 55, there is no member that hinders the loading and unloading of the container from the rear side of the machine body, so that the work efficiency is improved.

The work seat 46 is attached to the traveling vehicle body 40 in a U-shape in front view or rear view, and is a portion of the seat frame 49 straddling the body cover 48 covering the upper part of the engine 41 or the like in the left-right direction of the body. Attach it to the top of the. The bases of the left and right seat stays 49a facing the front side of the machine body are mounted on the upper part of the seat frame 49, and the work seat 46 is centered on the left and right rotation fulcrums on the base side of the left and right seat stays 49a. It is mounted so that it can rotate in the front-back direction.

As a result, the work seat 46 can be placed in a posture of contacting the vicinity of the front end of the seedling supply device 43, so that it is possible to prevent sand and rainwater from adhering to the seated portion of the worker when the work is interrupted.

When transplanting seedlings to a field, so-called irrigation work may be performed in which water is supplied to the vicinity of the planted seedlings in consideration of conditions such as the soil quality of the field, the surrounding water environment, and the weather before the work.

As shown in FIG. 4, the transplanting machine of the present invention has a lateral protrusion 51a in which at least one of the seedling mounting columns 51 provided on the left and right sides of the traveling vehicle body 40 projects from the lower part of the floor step 122 to the outside of the machine body. At the same time, the outer end of the body of the lateral protrusion 51a is bent upward near the outer end of the traveling transmission case 38 to have the upper and lower portions 51b, and the lateral protrusions 51a and the upper and lower portions 51b are formed. Is provided with a water tank holder 601 having a rectangular frame shape in a plan view.

As shown in FIG. 1, the water tank holder 601 is arranged so that the long side portion faces in the front-rear direction of the machine body, and is located on the outer side of the machine body and at a position rearward from the center part in the front-rear direction of the machine body. A first joint 602 in the left-right direction to be connected to the 51b is provided, and a first joint in the vertical direction to be connected to the lateral protrusion 51a of the seedling support column 51 is provided at the inner part of the machine body and at a position rearward from the central part in the front-rear direction of the machine body. Two joints 603 are provided.

Since the mounting position of the water tank holder 601 is located on the rear side of the central part in the front-rear direction of the machine body, the rear part of the machine body of the water tank 600 to be loaded is separated from the rear wheel 44 to the front side of the machine body. It is prevented that the tank 600 comes into contact with the rear wheels 44 and interferes with the vehicle height adjustment.

Further, since the rear portion of the water tank 600 is located on the front side of the machine body, that is, above the vicinity of the rotation fulcrum, in the traveling transmission case 38, the vertical position during vertical rotation is difficult to change. Interference is prevented and it is prevented from interfering with vehicle height adjustment.

Then, by connecting the water tank holder 601 to the lateral protrusions 51a and the upper and lower portions 51b of the seedling support column 51 via the first joint 602 and the second joint 603, the seedling mounting column 51 is connected to the water tank holder 601. Since it can be used as a mounting member for the above, the number of parts can be reduced.

In addition, since the lateral protrusion 51a of the seedling support column 51 serves as the bottom support of the water tank 600, it is not necessary to separately prepare a bottom support member capable of withstanding the water tank 600 filled with water, and the number of parts can be reduced. More planned.

Both the left and right seedling mounting columns 51 may have the same shape, and water tank stays 601 may be provided on both.

The water for irrigation stored in the water tank 600 is pumped up by the operation of the irrigation pump 700 provided at the bottom of the traveling vehicle body 40 and near the center of the front and rear of the machine body, and the positions where the planting hoppers 20a and 20b plant the seedlings. Is discharged to. The irrigation pumps 700 are arranged according to the number of planting hoppers 20a and 20b, and are arranged on the left and right at intervals with reference to the left and right center portions of the traveling vehicle body 40.

A hose may be attached to the irrigation pump 700 to discharge water from the water tank 600 via the irrigation pump 700 and the water from the watering nozzle 710. However, depending on the operation of the piston cylinder (not shown) of the irrigation pump 700. , A part of the water sent out in the discharge direction may be returned to the water tank 600 side. As a result, the amount of irrigation supplied to the field at one time may be reduced, the growth of seedlings may be delayed due to lack of water, or the quality of the harvested product may be deteriorated due to poor growth.

In order to prevent this, check valves 720 that limit the water supply direction to one side are provided at the lower part of the outer side of the left and right side steps 118, respectively, and the water tank 600 and the water supply side of the check valve 720 are connected by a water absorption hose 721. At the same time, the drain side of the check valve 720 and the drain nozzle 710 are connected by a drain hose 722. Further, the check valve 720 and the irrigation pump 700 are connected by a relay hose 723.

More specifically, as shown in FIG. 27, first, the water absorption check valve 724 and the drainage check valve 725 facing in the direction allowing water supply from the front side to the rear side of the machine body are arranged vertically and the outer end of the machine body of the side step 118. Attach it to the bottom of the part. Then, one side of the water absorption hose 721 is allowed to enter the water tank 600, the other side is connected to the inlet of the water absorption check valve 724, that is, the front side of the machine body, and one side of the drainage hose 722 is the outlet of the drainage check valve 725. That is, it is connected to the rear side of the machine body, and the other side is connected to the drainage nozzle 710.

The irrigation pump 700 is equipped with the base side of the first relay hose 723a in the left-right direction of the machine body, and the convergence port of the three-pronged branch joint 723d is mounted on the end side. A second relay hose 723b is provided between the water absorption port of the branch joint 723d and the outlet of the water absorption check valve 724 (rear side of the machine body), and the drainage port of the branch joint 723d and the inlet of the drainage check valve 725 (front side of the machine body). ), A third relay hose 723c is provided.

The drainage nozzle 710 may supply water directly to the field, but irrigation is poured into the inside from the upper openings of the planting hoppers 20a and 20b with a certain amount of water force and adheres to the inside of the planting hoppers 20a and 20b. It may be configured to be used for removing the mud.

As a result, the scraper that enters the inside while the planting hoppers 20a and 20b are open and removes mud becomes unnecessary, so that the number of parts can be reduced.

If the scraper draws a predetermined locus in conjunction with the raising and lowering of the planting hoppers 20a and 20b, the number of parts of the mechanism for raising and lowering the planting hopper 20a and 20b can be reduced. Is simplified.

Further, since the mud can be returned to the field by irrigation, it is possible to prevent the outside of the field from being contaminated with the mud, and the outflow of nutrients in the field is reduced.

With the above configuration, the check valve 720 is arranged in the space on the left and right outside of the machine, so when a problem such as clogging occurs, it is easy to investigate the cause and perform maintenance work, and it is possible to reduce labor and work time. ..

Further, by arranging the water absorption check valve 724 and the drainage check valve 725 to have the same water supply direction, it is difficult to make a mistake in the mounting direction during the assembly work after disassembly, and the work efficiency is improved.

Further, by arranging the check valve 720 on the rear side of the water tank 600, on the front side of the planting hoppers 20a and 20b, and on the outside of the body of the irrigation pump 700, the water absorption hose 721, the drain hose 722, and the first relay hose are arranged. The bending of the 723a, the second relay hose 723b, and the third relay hose 723c can be minimized, and the arrangement can be arranged so as not to overlap.

If the water absorption check valve 724 and the drainage check valve 725 are transparent cylinders, and the internal spring and the ball for preventing backflow can be confirmed from the outside, the water supply direction can be visually recognized and mounting mistakes are less likely to occur.

There is no problem if the water stored in the water tank 600 is tap water, but agricultural water is often drawn from rivers and ponds near the field, and tends to contain sand, algae, and other contaminants. When contaminants enter the water supply path, the drain nozzle 710 and the check valve 720 are particularly prone to clogging, which causes a problem that the irrigation work is stopped.

In order to deal with this problem, as shown in FIG. 30A, the water absorption hose 721 is formed of a wire mesh or a mesh filter 726 in which a thin metal plate in which innumerable small holes are punched is formed in a cylindrical or prismatic shape. To wear. As a result, water enters the water absorption hose 721 through the hole, and the contaminants are blocked from entering by the mesh filter 726, so that the interruption of irrigation due to the clogging of the contaminants is prevented.

However, since the inside of the mesh filter 726 is hollow, when a strong force is applied, the mesh filter 726 is deformed and the pores become large, so that impurities may pass through. If an operator accidentally steps on the mesh filter 726 and irreparable deformation occurs, the mesh filter 726 needs to be replaced.

In order to prevent this problem, as shown in FIG. 30B, a coil spring 727 having substantially the same diameter as the inner circumference of the mesh filter 726 is provided inside the mesh filter 726. The length of the coil spring 727 is set so that it is not compressed even if the mesh filter 726 is attached to the water absorption hose 721, and the mesh filter 726 is prevented from being removed by the force of extension of the coil spring 727.

With the above configuration, the coil spring 727 can suppress the deformation of the mesh filter 726 even if a slight force is applied, so that the mesh filter 726 can be prevented from being damaged.

Next, another configuration example of the water absorption hose 721 that does not take in impurities will be described.

As shown in FIGS. 31 (a) and 31 (b), innumerable small holes are formed near the end of the water absorption hose 721, and a resin or metal cap 728 is inserted into the opening at the end of the water absorption hose 721. .. Further, an O-ring (not shown) or the like may be provided between the water absorption hose 721 and the cap 728 to prevent water leakage. Further, it is preferable to provide clamps (not shown) on the end of the water absorption hose 721 and the outer periphery of the cap 728 to prevent the cap 728 from coming off.

If the cap 728 is made of a heavy substance, the water absorption hose 721 is less likely to lift up, so that water can be sucked up efficiently and continuously.

With the above configuration, even if the water absorption hose 721 is erroneously grasped or stepped on, the ingress prevention portion of contaminants can be prevented from being damaged, and the trouble and cost of parts replacement can be prevented.

Further, as shown in FIG. 32, a water supply pipe 728 is fixedly provided in the water tank 600, a hose nipple 729 is formed at the upper end of the water supply pipe 728, and the water absorption hose 721 is attached to the hose nipple 729 during irrigation work. The end of the hose may be inserted. After inserting the water absorption hose 721 into the hose nipple 729, a clamp (not shown) may be provided on the outer periphery of the water absorption hose 721 to prevent the water absorption hose 721 from coming off.

Further, a hemispherical strainer 730 is provided at the lower end of the water supply pipe 728 to prevent impurities from entering the water supply pipe 728.

With the above configuration, when the water absorption hose 721 is attached and detached from the outside of the water tank 600 to put it in the irrigation work state, it is not necessary to touch the strainer 730 which is reticulated and relatively easily deformed, so that the strainer 730 is damaged and water is sucked up. It is prevented from being unable to be used or being in a state where impurities can enter.

Further, by using the hemispherical strainer 730, even if some deformation occurs, many places where water can be absorbed are likely to remain while preventing the ingress of contaminants, and the frequency of replacement can be suppressed.

The hose nipple 729 may not be formed on the upper part of the water supply pipe 728, and the water absorption hose 721 and the water supply pipe 728 may be connected via a one-touch coupler (not shown) so that the water absorption pipe 728 can be easily attached and detached.

The transplanting machine according to the present invention automatically stops running and planting in a transplanting machine or the like for planting seedlings when approaching an obstacle, an abnormality in planting, or a fall of the machine body occurs. Because it can be used, there is little replanting of seedlings and the aircraft is not easily damaged, so it has high industrial applicability.

39 Mission case (mission mechanism)
40 Traveling vehicle body 41 Engine (drive device)
42 Planting device 43 Seedling supply device 44 Rear wheel (running device)
100 Control device 101a Storage (recording unit)
200a Main clutch actuator (transmission on / off member)
401 Front shooting unit (obstacle detection member)
402 First camera (shooting device)
403 First distance sensor (distance detection member)
405 Side photography unit (obstacle detection member)
406 Second camera (shooting device)
407 Second distance sensor (distance detection member)
408 Rear shooting unit (obstacle detection member)
409 Third camera (shooting device)
410 Third distance sensor (distance detection member)
411 Information terminal 412 Communication device

Claims (6)

Left and right traveling devices (44) traveling in the field on the traveling vehicle body (40), a planting device (42) for planting seedlings in the field, a driving device (41) for generating a driving force, and the driving device (41). In a transplant machine provided with a mission mechanism (39) that transmits the driving force of the above to the traveling device (44) and the planting device (42).
A transmission on / off member (200a) for turning on / off the transmission from the mission mechanism (39) to the traveling device (44) and the planting device (42) is provided.
An obstacle detection member (401,405,408) for detecting an obstacle around the traveling vehicle body (40) is provided, and when the obstacle detection member (401,405,408) is in the detection state, the transmission on / off member (transmission on / off member) A control device (100) for operating 200a) to stop transmission to the traveling device (44) and the planting device (42) is provided .
The obstacle detection member (401,405,408) has a distance detection member (403,407,410) that detects the front-rear or left-right side of the traveling vehicle body (40).
When the transmission to the traveling device (44) and the planting device (42) is stopped by the detection of the distance detecting member (403, 407, 410), the control device (100) records the detected time information. A transplanting machine characterized in that it records in a section (101a) and also records a direction in which an obstacle is approached to a predetermined distance. When the distance between the traveling vehicle body (40) detected by the distance detection member (403, 407, 410) and the obstacle becomes less than a predetermined value, the control device (100) operates the transmission on / off member (200a). The transplanting machine according to claim 1, wherein the transmission to the traveling device (44) and the planting device (42) is stopped. The obstacle detection member (401,405,408) has a photographing device (402,406,409).
A recording unit (101a) for recording the detection state of the obstacle detection member (401, 405, 408) and information on each work device of the machine body is provided, and the recording unit (101a) is related to the operation and operation of the operator. Associate and record aircraft control information,
The control device (100) compares the image information captured by the photographing device (402, 406, 409) with the operation recorded in the recording unit (101a), and sets the operation and setting of each work device according to the operation. The transplanting machine according to claim 1 or 2, wherein the transplanting machine is configured to be changed. The distance detection member (403, 407, 410) detects the distance between the traveling vehicle body (40) and the operator or the work machine following the rear.
The control device (100) is the drive device unless the distance between the traveling vehicle body (40) and the worker or the working machine is equal to or greater than a predetermined value and the distance detected within a predetermined time is not less than a predetermined value. The transplant machine according to any one of claims 1 to 3, wherein (41) is stopped. The planting devices (42) are arranged at a predetermined interval at the rear portion of the traveling vehicle body (40), and rear photographing devices (402, 406, 409) for photographing the seedlings to be planted by the planting device (42) are provided. Provided on the traveling vehicle body (40)
Wherein the control device (100) to the provided communication device (412), the communication device (412) from claim 1, characterized in that to transmit the images captured to the information terminal (411) sequentially or periodically The transplant machine according to any one of 4. The control device (100) or the information terminal (411) determines whether or not the planting position and planting posture of the seedlings in the image are normal, and determines whether or not the planting position and the planting posture are normal.
The transplanting machine according to claim 5, wherein when it is determined that there is an abnormality in the planting, the information terminal (411) is notified that the abnormal planting has occurred.

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