JP6991102B2 - Working machine - Google Patents

Description

The present invention relates to a working machine for working in a field, for example, a working machine such as a riding-type rice transplanter for planting seedlings in a field.

The following Patent Document 1 (Japanese Unexamined Patent Publication No. 2018-057399) discloses a passenger-type rice transplanter for planting seedlings (rice planting) in a field. Generally, in a field where rice planting work is performed, a plurality of routes along the same direction are set in parallel, and the rice transplanter performs the work while passing through these multiple routes. When the rice transplanter finishes the rice planting work in one route and moves to another route adjacent to this route, a turn at the ridge is performed as shown in FIG. 5 of Patent Document 1. As a result, the rice transplanter moves to another route. Then, the rice transplanter that has moved to another route performs the rice planting work while proceeding in the direction opposite to the direction in which the rice transplanter was traveling in the immediately preceding route.

In such a field, if the turning range of the working machine is too large, there is a problem that the working efficiency in the field deteriorates. For example, in the passenger-type rice transplanter disclosed in Patent Document 1, if the turning range is large, it may not be possible to smoothly enter the set route, and the work efficiency may deteriorate.

Japanese Unexamined Patent Publication No. 2018-057399

In view of the above situation, it is required to realize a technique capable of reducing the turning range of the working machine.

The working machine of the present invention has a traveling machine that can turn left and right, a pair of left and right front wheels that are supported by the front side portion of the traveling machine body and function as steering wheels, and a pair of left and right wheels that are supported by the rear portion of the traveling machine body. A rear wheel and a seedling planting device supported by the traveling machine on the rear side of the traveling machine are provided, and when the traveling machine turns, the turning center of the traveling machine among the pair of front wheels is provided. The inner one is the inner front wheel, the outer one is the outer front wheel, and in a plan view, the virtual line along the rotation axis of the inner front wheel and extending toward the turning center side is the inner virtual line. A line is defined as an outer virtual line along the rotation axis of the outer front wheel and extending toward the turning center side, and a virtual line extending along each of the rotation axis of the pair of rear wheels is the rear side. As a virtual line, when the traveling machine turns at the maximum turning angle, the first intersection, which is the intersection of the inner virtual line and the outer virtual line, is located behind the posterior virtual line in a plan view. The seedling planting device is set so as to be located, and a plurality of seedling planting devices are provided so as to be arranged along the left-right direction on the rear side of the seedling stand and the seedling stand on which the seedlings are placed. A planting arm for taking out the placed seedlings and planting them in the field is provided, and when the traveling machine turns at the maximum turning angle, the outer virtual line and the rear virtual line are provided in a plan view. The second intersection, which is an intersection, is on the side of the center of the traveling aircraft in the left-right direction from the third intersection, which is the intersection of the inner virtual line and the posterior virtual line, and the plurality of the plants are planted. It is set so as to be located closer to the center of the machine body than the end on the side of the center of rotation in the planting arm located on the side of the center of rotation most of the arms .

According to this configuration, the swing angle of the pair of front wheels can be increased, and as a result, the turning range of the traveling machine body can be reduced. Therefore, it is possible to reduce the turning range of the working machine.

In addition, a plurality of the seedling planting devices are provided so as to be arranged along the left-right direction on the rear side of the seedling stand and the seedling stand on which the seedlings are placed, and are placed on the seedling stand. It is provided with a planting arm for taking out seedlings and planting them in a field, and is the intersection of the outer virtual line and the rear virtual line in a plan view when the traveling machine turns at the maximum turning angle. The two intersections are on the side of the center of the traveling aircraft in the left-right direction from the third intersection, which is the intersection of the inner virtual line and the rear virtual line, and are the most of the plurality of planting arms. The planting arm located on the side of the center of rotation is set to be located closer to the center of the machine body than the end on the side of the center of rotation .

According to this configuration, it is easy to set the swing angle of the inner front wheel closer to the turning center of the traveling machine among the pair of front wheels than the swing angle of the outer front wheel farther from the turning center than the inner front wheel. This makes it easier to reduce the turning range of the working machine.

Further, the seedling planting device is configured so that seedlings can be planted simultaneously over a plurality of rows, and the distance from the center of the machine body to the second intersection on the rear virtual line is the inter-row distance and the inter-row distance. It is preferable that the position of the second intersection is set so as to be less than or equal to the distance obtained by adding half the distance.

According to this configuration, even when a model having a different number of rows that can be worked at the same time is used as the work machine, the swing angle of the inner front wheel closer to the turning center of the traveling machine is separated from the turning center than the inner front wheel. It is easier to set it larger than the swing angle of the outer front wheel. This makes it easier to reduce the turning range of the working machine.

Further, it is preferable that the working machine is configured as a riding-type rice transplanter for planting four rows, and four planting arms are provided so as to be arranged along the left-right direction.

According to this configuration, it can be suitably applied to a riding-type rice transplanter for four-row planting.

It is a side view which shows the whole of a passenger-type rice transplanter. It is a top view which shows the whole of a passenger-type rice transplanter. It is a front view which shows the traveling machine body. It is a schematic diagram which shows the steering operation system and the transmission system of a wheel. It is sectional drawing which shows a part of the rear wheel transmission system. It is a top view which shows typically the traveling body at the time of a turn.

The working machine according to the present invention will be described by taking as an example a passenger-type rice transplanter on which a worker can board. In the following, as an example, the configuration of a passenger-type rice transplanter for four-row planting will be described with reference to the drawings. However, the present invention is not limited to such a configuration, and can be applied to, for example, a riding-type rice transplanter for five-row planting.

In the following, the side where the passenger-type rice transplanter moves forward is defined as the "front side" and is indicated by "F" on the drawing. Further, the opposite side is defined as "rear side" and is indicated by "B" on the drawing. Then, "left side" and "right side" are defined with reference to the front side F and the rear side B, and are indicated by "L" and "R" on the drawing, respectively.

As shown in FIGS. 1 to 3, the passenger-type rice transplanter 100 has a traveling machine body 10 that can turn left and right and a pair of left and right front wheels 12 (wheels) that are supported by the front side portion of the traveling machine body 10 and function as steering wheels. And a pair of left and right rear wheels 13 (wheels) supported on the rear side portion of the traveling machine body 10. In the illustrated example, a vehicle body frame 11 is provided below the traveling machine body 10, and a pair of left and right front wheels 12 and a pair of left and right rear wheels 13 are supported by the vehicle body frame 11.

[Seedling planting device]
The passenger-type rice transplanter 100 is provided with a work device for performing work in the field. In the present embodiment, the passenger-type rice transplanter 100 includes a seedling planting device 20 supported by the traveling machine 10 on the rear side B of the traveling machine 10. The seedling planting device 20 is configured to be able to carry out rice planting work for planting seedlings in a field, and is configured to be able to plant seedlings simultaneously over a plurality of rows (4 rows in this example). In the illustrated example, a plurality of seedling planting devices 20 are provided so as to be arranged along the left-right direction on the seedling stand 23 on which the seedlings are placed and the rear side B of the seedling stand 23, and the seedling stand 23 is provided. It is provided with a planting arm 22a for taking out the seedlings placed on the plant and planting them in the field. However, the working machine is not limited to the above configuration, and the working machine does not have to be configured as a riding-type rice transplanter equipped with a seedling planting device, and is provided with a working device for performing work other than rice planting work. It may be configured.

The seedling planting device 20 is provided with a planting machine having a pair of left and right planting drive cases 21. The seedling planting mechanism 22 is movably supported on both lateral sides of the rear portion of each of the left and right planting drive cases 21. The above-mentioned seedling stand 23 is supported above the front part of the planting machine. Three grounding floats 24 arranged in the left-right direction are attached to the lower part of the planting machine.

The seedling planting device 20 is connected to the traveling machine body 10 via a link mechanism 19. The link mechanism 19 is configured to swing the seedling planting device 20 up and down with respect to the traveling machine body 10 by the elevating cylinder 19a. The seedling planting device 20 can be raised and lowered by the link mechanism 19 so as to be able to move up and down between the state where the grounding float 24 is in contact with the field scene and the state where the grounding float 24 is separated upward from the field scene. There is. As a result, the seedling planting device 20 is configured to be able to move up and down into a lowering work posture in which the rice planting work can be executed in the lowering position and an ascending non-working posture in which the rice planting work is interrupted in the ascending position.

Each of the four seedling planting mechanisms 22 is provided with the above-mentioned planting arm 22a. In this embodiment, four planting arms 22a are provided so as to be arranged along the left-right direction. A planting claw 22b is provided on the tip end side of the planting arm 22a. Each seedling planting mechanism 22 performs a seedling planting motion in which the tip end side of the planting claw 22b rotates and moves up and down by swinging the planting arm 22a, and the planting claw 22b causes the seedling mounting table 23 to perform a seedling planting motion. Seedlings are taken out from the mat-shaped seedlings, and the taken out seedlings are carried down and transported to a field scene prepared by a grounding float 24 for planting.

On the seedling stand 23, mat-shaped seedlings supplied to the four seedling planting mechanisms 22 are placed side by side in the left-right direction. The seedling stand 23 is supported so as to be slidable in the left-right direction with respect to the planting machine. The seedling stand 23 reciprocates in the left-right direction in conjunction with the seedling planting mechanism 22 to supply mat-shaped seedlings to each seedling planting mechanism 22.

[Traveling aircraft]
As shown in FIGS. 1 to 3, the traveling machine body 10 is provided with a driving unit 14 and a boarding type driving unit 15. The driving unit 14 is provided with an engine 14a and an engine bonnet 14b. The driving force from the engine 14a is input to the mission case 16 and transmitted from the mission case 16 to the left and right front wheel drive cases 17. As a result, the left and right front wheels 12 are driven. Further, the driving force from the mission case 16 is transmitted to the rear wheel drive case 18, so that the left and right rear wheels 13 are driven.

The driving unit 14 is provided on the front portion of the traveling machine body 10. The driving unit 15 is provided over the rear end of the driving unit 14 and the rear of the traveling machine body 10. Step 40 is provided on each of the left side L and the right side R in the front portion of the traveling machine body 10.

The driving unit 15 includes a driving step 41, a driver's seat 42, a steering handle 43, and a brake pedal 44. The driver's seat 42 is provided at the rear of the traveling machine body 10. The steering handle 43 is provided in front of the driver's seat 42 so as to be rotatable. The steering wheel 43 and the pair of left and right front wheels 12 are connected to each other via a steering member 56 (see FIG. 4) described later so as to be interlocked with each other. By rotating the steering handle 43, the pair of left and right front wheels 12 can be steered. By depressing the brake pedal 44, the traveling brake can be turned on and the rear wheel 13 can be braked. By releasing the stepping operation of the brake pedal 44, the traveling brake can be turned off and the brake of the rear wheel 13 can be released.

[Preliminary seedling storage device]
The passenger-type rice transplanter 100 includes a spare seedling accommodating device 30 for accommodating spare seedlings (in this example, mat-shaped seedlings). The spare seedling accommodating device 30 is provided on each of the left side L and the right side R of the front portion of the traveling machine body 10.

The spare seedling storage device 30 includes a support column 31 provided along the vertical direction and a plurality of (two in this example) seedling loading shelves 32 supported by the support column 31 so as to be arranged in the vertical direction. There is. The seedling rack 32 is supported so as to be swingable in the vertical direction with respect to the support column 31, and has a storage posture that swings upward to be stored and a use that swings downward to mount spare seedlings. It is configured so that the posture can be changed freely.

[Wheel steering operation system and transmission system]
Next, the steering operation system and the transmission system of the wheels (front wheels 12 and rear wheels 13) will be described.
As shown in FIG. 4, the power of the engine 14a is transmitted to the hydrostatic continuously variable transmission 51 and the transmission case 16 via the transmission belt 50. Then, this power is transmitted from the auxiliary transmission device (not shown) inside the transmission case 16 to the left and right front wheels 12 via the front wheel differential mechanism (not shown) and the front wheel drive case 17. The power transmitted to the auxiliary transmission is the transmission shaft 52, the input shaft 53 of the rear wheel drive case 18, the input side bevel gear 53a fixed to the input shaft 53, the output side bevel gear 54a that meshes with the input side bevel gear 53a, and the output side. The bevel gear 54a is transmitted to the left and right rear wheels 13 via the fixed output shaft 54 and the left and right side clutches 55. The hydrostatic continuously variable transmission 51 is configured to be steplessly variable from the neutral position N to the forward side F and the reverse side B, and the speed change lever 61 provided on the left side L of the steering handle 43 (FIG. 1 etc.). See).

The passenger-type rice transplanter 100 includes a front wheel link mechanism LM that interlocks a pair of left and right front wheels 12 to swing (swing around an axis along the vertical direction). The front wheel link mechanism LM is operated by the steering handle 43. By operating the front wheel link mechanism LM, the pair of left and right front wheels 12 swing in conjunction with each other, and the traveling machine body 10 can turn. At this time, each of the pair of left and right front wheels 12 is interlocked so as to swing at different angles. For example, as shown in FIG. 6, when the traveling machine body 10 turns to the right side R, the front wheel 12 (hereinafter referred to as the inner front wheel 12i) of the right side R, which is inside the turning center of the pair of front wheels 12, is inside. It swings at the swing angle θi. Then, the front wheel 12 on the left side L (hereinafter referred to as the outer front wheel 12o), which is outside the turning center of the inner front wheel 12i, swings at the outer swing angle θo. The inner swing angle θi is set to be larger than the outer swing angle θo. When the traveling machine body 10 turns to the left side L, the front wheel 12 on the left side L becomes the inner front wheel 12i, and the front wheel 12 on the right side R becomes the outer front wheel 12o.

In the present embodiment, the front wheel link mechanism LM is attached to a steering member 56 connected to the steering handle 43, a pair of left and right tie rods 57 having one end connected to the steering member 56, and the other ends of the left and right tie rods 57. It includes a pair of swing link members 58 to be connected. Specifically, as shown in FIG. 4, a steering member 56 having a plan view table shape is swingably supported around the vertical axis core AX at the lower part of the mission case 16. The steering member 56 is configured to be swung by the steering handle 43. The left and right tie rods 57 are connected to the steering member 56 at one end thereof, and are connected to the left and right rocking link members 58 at the other ends. The front wheel 12 is configured to swing by applying a force by the swing link member 58. Therefore, the left and right front wheels 12 are configured to be steered by the steering handle 43 from the straight-ahead position A1 to the left and right steering limits A3. The ratio of the angle between the inner swing angle θi and the outer swing angle θo can be adjusted by the connection position and length (size) of each member constituting the front wheel link mechanism LM.

The side clutch 55 is urged to a transmission state by a spring. An operating shaft 59 that operates the side clutch 55 in a shut-off state against the urging force of the spring is supported downward by the rear wheel drive case 18. The left and right operating rods 60 are connected to the steering member 56 and the left and right operating shafts 59 through the lower side of the front wheel drive case 17. A long hole 60a as a flexibility is provided in the connection portion of the operation rod 60 with the operation shaft 59.

As shown in FIG. 4, when the front wheel 12 is steered within the range of the set angle A2 from the straight-ahead position A1, the side clutch 55 is operated in the transmission state by the accommodation of the long hole 60a of the operation rod 60. As a result, the traveling machine body 10 moves forward (or backward) while the power is transmitted to the front wheels 12 and the rear wheels 13.

As shown in FIG. 4, when the front wheel 12 is steered to the right steering limit A3 side beyond the right set angle A2, the right operating rod 60 is pulled beyond the range of the elongated hole 60a. , The right side clutch 55 is operated in the disengaged state by the right operation shaft 59. As a result, the right side clutch 55 is in the disengaged state, and the left side clutch 55 is in the transmission state. Therefore, power is transmitted to the left and right front wheels 12 and the left rear wheel 13 (outside the turn), and the traveling machine body 10 turns to the right while the right rear wheel 13 (turn center side) freely rotates.

As shown in FIG. 4, when the front wheel 12 is steered to the left steering limit A3 side beyond the left set angle A2, the left operating rod 60 is pulled beyond the range of the elongated hole 60a. , The left side clutch 55 is operated in the disengaged state by the left operation shaft 59. As a result, the left side clutch 55 is in the disengaged state, and the right side clutch 55 is in the transmission state. Therefore, power is transmitted to the left and right front wheels 12 and the right rear wheel 13 (outside the turn), and the traveling machine body 10 turns to the left with the left rear wheel 13 (turn center side) freely rotating.

[Detection of steering angle]
The passenger-type rice transplanter 100 includes a control device (not shown) that controls the operation of each part. The operating position of the shift lever 61 is input to the control device. As shown in FIG. 4, a bracket 62 is fixed to the right side R of the mission case 16. A potentiometer 63 corresponding to the turning detecting means and the steering angle detecting means is fixed to the bracket 62. The linking rod 64 is connected to both the steering member 56 and the detection arm (not shown) of the potentiometer 63. The potentiometer 63 is configured to be able to detect the steering angle (swing angle) of the front wheel 12 within the range from the straight traveling position A1 to the steering limit A3 via the steering member 56. The detected value detected by the potentiometer 63 is input to the control device.

[Detection of running speed]
As shown in FIG. 5, the side clutch 55 is configured as a friction multi-plate type. The transmission system of each of the left and right rear wheels 13 has the same structure, and in FIG. 5, a part of the transmission system of the left rear wheel 13 is shown in a cross section.

The side clutch 55 includes a clutch housing 55a formed in a cylindrical shape, and a plurality of friction plates 55b protruding inward from the inner peripheral surface of the clutch housing 55a. The side clutch 55 is connected to the rear wheel 13 via a gear mechanism.

An end portion 54b of the output shaft 54 is arranged on the inner peripheral side of the side clutch 55. The end portion 54b of the output shaft 54 is provided with a plurality of friction plates 54c protruding outward from the outer peripheral surface thereof. When the friction plate 55b of the side clutch 55 and the friction plate 54c of the output shaft 54 are in contact with each other and engaged with each other, the side clutch 55 is in a transmission state, and the power transmitted to the output shaft 54 is transmitted to the side clutch 55. It is transmitted to the rear wheel 13 via.

Here, at the end of the clutch housing 55a (in the illustrated example, the end of the right side R), a detected portion 55c having notches appearing alternately along the circumferential direction is provided over the entire circumference in the circumferential direction. Has been done. In other words, the detected portion 55c extends the tooth portion protruding along the axial direction (axial direction with respect to the tubular clutch housing 55a) at the end of the clutch housing 55a over the entire circumference in the circumferential direction. I have more than one. Then, the proximity sensor type rotation sensor 65 that detects the rotation speed of the clutch housing 55a so as to face the detected portion 55c from the outside in the radial direction (the radial direction with respect to the tubular clutch housing 55a). Is provided. The rotation sensor 65 transmits a pulse corresponding to the notch (tooth portion) of the detected portion 55c. By this pulse, the rotation speed of the clutch housing 55a and the rotation speed of the rear wheels 13 are detected, and by extension, the traveling speed of the traveling machine body 10 is detected. The detected value detected by the rotation sensor 65 is input to the control device. It should be noted that the rotation speed of the rear wheel 13 can be detected by the rotation sensor 65 regardless of whether or not the side clutch 55 is in the transmission state, that is, even when the side clutch 55 is in the cutoff state.

[Turning by traveling aircraft]
When rice planting work is performed in a field by a passenger-type rice transplanter 100, there is usually a region in the field in which a plurality of routes along the same direction are set in parallel. The passenger-type rice transplanter 100 passes through a plurality of routes and performs rice planting work along the routes. When the passenger-type rice transplanter 100 finishes rice planting work on one route and moves to another route adjacent to this route, a turn is performed at the ridge. At this time, it is desirable that the turning range is as small as possible, and the passenger-type rice transplanter 100 (traveling machine 10) turns at the maximum turning angle. Then, the passenger-type rice transplanter 100 that has moved to another route performs the rice planting work while traveling in the direction opposite to the direction in which the rice transplanter 100 was traveling in the immediately preceding route.

FIG. 6 schematically shows how the traveling machine body 10 turns at the maximum turning angle. As shown in FIG. 6, of the pair of front wheels 12 when the traveling machine body 10 is turned, the inner front wheel 12i is defined as the inside of the turning center of the traveling machine body 10, and the outer front wheel 12o is defined as the outer side of the turning center. do. Further, in a plan view, the virtual line extending along the axis of rotation of the inner front wheel 12i and extending toward the center of rotation is defined as the inner virtual line Li, and along the axis of rotation of the outer front wheel 12o and toward the center of rotation. The extending virtual line is referred to as an outer virtual line Lo, and the extending virtual line along each of the rotation axis of the pair of rear wheels 13 is referred to as a rear virtual line Lb.

In the passenger-type rice transplanter 100, when the traveling machine 10 turns at the maximum turning angle, the first intersection P1 which is the intersection of the inner virtual line Li and the outer virtual line Lo in the plan view is from the rear virtual line Lb. Is also set to be located on the rear side. As a result, the swing angle of the pair of front wheels 12 can be increased, and the turning range of the traveling machine body 10 can be reduced.

In the present embodiment, when the pair of front wheels 12 are operated to the steering limit A3 (see FIG. 4) by the steering handle 43 (see FIG. 1 and the like), the inner front wheels 12i and the traveling machine body 10 travel in a straight direction in a plan view. The angle formed by the line along the line (inner swing angle θi) is the maximum inner swing angle θimax, and the angle formed by the outer front wheel 12o and the line along the straight direction of the traveling machine 10 (outer swing angle θo) is the maximum outer side. The pair of front wheels 12 swing so as to have a swing angle θomax. The maximum inner swing angle θimax is set to an angle larger than the maximum outer swing angle θomax. The maximum inner swing angle θimax is set in the range of 60 ° to 80 °, and is preferably set to, for example, 70 °. The maximum outer swing angle θomax is set in the range of 40 ° to 50 °, and is preferably set to, for example, 45 °. As described above, the ratio of the angle between the inner swing angle θi and the outer swing angle θo can be adjusted by the connection position and length (size) of each member constituting the front wheel link mechanism LM.

Further, in the present embodiment, when the traveling machine body 10 turns at the maximum turning angle, the second intersection P2, which is the intersection of the outer virtual line Lo and the rear virtual line Lb, becomes the inner virtual line Li in a plan view. It is located on the side of the machine center 10C of the traveling machine 10 in the left-right direction from the third intersection P3 which is the intersection with the rear virtual line Lb, and is located on the side of the most turning center among the plurality of planting arms 22a. The planting arm 22a is set to be located closer to the center of the machine 10C than the end of the arm 22a on the side of the center of turning. This makes it easier to set the inner swing angle θi larger than the outer swing angle θo. In the illustrated example, the second intersection P2 is located closer to the center 10C of the machine body than the connecting portion with the planting claw 22b in the planting arm 22a located closest to the center of turning.

Further, in the present embodiment, the distance X from the machine center 10C to the second intersection P2 on the rear virtual line Lb is the inter-row distance Y and half the inter-row distance Y (Y × 0.5). The position of the second intersection P2 is set so as to be equal to or less than the added distance (Y + 0.5Y). Here, as described above, the passenger-type rice transplanter 100 according to the present embodiment is a rice transplanter for four-row planting, and as shown in FIG. 6, four-row seedlings can be planted at the same time. Here, the "distance between rows Y" means the distance between a pair of adjacent rows. The inter-row distance Y is determined by the model of the working machine (passenger type rice transplanter 100) and is set to, for example, 300 mm (millimeters). In the present embodiment, the position of the second intersection P2 is set so that the above-mentioned distance X is equal to or less than the distance (1.5Y: for example, 450 mm) obtained by multiplying the inter-row distance Y by 1.5.

According to the configuration described above, it is possible to reduce the turning range of the passenger-type rice transplanter 100 as a working machine.

The present invention is applicable to a working machine that works in a field.

100: Passenger type rice transplanter 10: Traveling machine 10C: Machine center 12: Front wheel 12i: Inner front wheel 12o: Outer front wheel 13: Rear wheel 20: Seedling planting device 22a: Planting arm L: Left side R: Right side Lb: Rear side Virtual line Li: Inner virtual line Lo: Outer virtual line P1: First intersection P2: Second intersection P3: Third intersection X: Distance from the center of the machine to the second intersection Y: Intersection distance

Claims (3)

A traveling aircraft that can turn left and right,
A pair of left and right front wheels that are supported by the front portion of the traveling aircraft and function as steering wheels,
A pair of left and right rear wheels supported by the rear portion of the traveling machine ,
A seedling planting device supported by the traveling machine on the rear side of the traveling machine is provided.
Of the pair of front wheels when the traveling machine turns, the one that is inside the turning center of the traveling machine is called the inner front wheel, and the one that is outside the turning center is called the outer front wheel.
In a plan view, a virtual line extending along the rotation axis of the inner front wheel and extending toward the turning center is defined as an inner virtual line, and extending along the rotation axis of the outer front wheel and toward the turning center. The virtual line is defined as the outer virtual line, and the virtual line extending along each of the rotation axis of the pair of rear wheels is defined as the rear virtual line.
When the traveling machine turns at the maximum turning angle, the first intersection, which is the intersection of the inner virtual line and the outer virtual line, is located behind the rear virtual line in a plan view. Set ,
A plurality of the seedling planting devices are provided so as to be arranged along the left-right direction on the rear side of the seedling stand and the seedling stand on which the seedlings are placed, and the seedlings placed on the seedling stand are taken out. Equipped with a planting arm to plant this in the field,
When the traveling machine turns at the maximum turning angle, the second intersection, which is the intersection of the outer virtual line and the rear virtual line, is the intersection of the inner virtual line and the rear virtual line in a plan view. The side of the center of rotation of the traveling machine in the left-right direction from the third intersection, and the side of the center of rotation of the planting arm located closest to the center of rotation among the plurality of planting arms. A work machine set to be located closer to the center of the machine than the end of the machine. The seedling planting device is configured so that seedlings can be planted simultaneously over a plurality of rows.
The position of the second intersection is set so that the distance from the center of the aircraft to the second intersection on the rear virtual line is equal to or less than the sum of the inter-row distance and half the inter-row distance. The working machine according to claim 1 . It is configured as a passenger-type rice transplanter that plants four rows.
The working machine according to claim 1 or 2 , wherein four planting arms are provided so as to be arranged along the left-right direction.

Images