JP7386395B2 - transplant machine - Google Patents

Description

The present invention relates to a transplanter, such as a vegetable seedling transplanter.

2. Description of the Related Art There are known transplanters, such as vegetable seedling transplanters, which plant transplants into ridges while traveling with a traveling device (for example, see Patent Document 1).

JP2014-79182A

However, the above-mentioned conventional transplanting machines do not necessarily achieve precise planting travel that minimizes the deviation of the vehicle body in the left-right direction.

SUMMARY OF THE INVENTION In view of the above-mentioned conventional problems, it is an object of the present invention to provide a transplanter that can perform precise planting travel with little deviation of the vehicle body with respect to the left-right direction of the vehicle body.

A first aspect of the present invention is a transplanting machine that plants a transplant (400) in a ridge (300) while traveling with a traveling device (120),
a clutch device (130) that switches the transmission state of the driving force transmitted to the traveling device (120);
a detection device (160) that detects the positional relationship between the vehicle body (110) and the ridge slope (310) of the ridge (300);
Equipped with
Based on the detection by the detection device (160), the clutch device (130) is operated so as to reduce the deviation of the vehicle body (110) with respect to the left-right direction of the vehicle body;
The traveling device (120) has left and right driving rear wheels (122),
The clutch device (130) has a side clutch mechanism (131) that turns on and off the transmission of the driving force to the left and right driven rear wheels (122),
The operation of the clutch device (130) includes a left clutch off operation of the side clutch mechanism (131) in which the transmission of the driving force to the left driving rear wheel (122) is turned off, and a right clutch off operation of the side clutch mechanism (131) in which the transmission of the driving force to the rear driving wheel (122) is turned off;
The detection device (160) includes:
a rotating arm (161) rotatably attached to the vehicle body (110);
a contact body (162) attached to the rotating arm (161) that contacts the ridge slope surface (310);
and is assembled to either the left or right side of the vehicle body (110),
The operation of the clutch device (130) is performed using a sensor (167) that detects the rotation state of the rotation arm (161),
The left clutch off operation of the side clutch mechanism (131) and The transplanting machine is characterized in that when the right clutch off operation is performed, an automatic following operation to the ridge slope surface (310) is realized.
A second aspect of the present invention is the transplanting machine according to the first aspect of the present invention, wherein the contact body (162) is configured using a roller member whose roller body side surface shape is approximately spherical. .
In a third aspect of the present invention, the traveling device (120) has left and right driven front wheels (121),
When the transplanter turns, the axle of the driven front wheel (121) on the inner side of the turning of the left and right driven front wheels (121) is movable with reference to at least one of the longitudinal direction and the vertical direction of the vehicle body. This is the first or second transplantation machine of the present invention, which is characterized by:
A first invention related to the present invention is a transplanting machine that plants a transplant (400) into a ridge (300) while traveling with a traveling device (120),
a clutch device (130) that switches the transmission state of the driving force transmitted to the traveling device (120);
a detection device (160) that detects the positional relationship between the vehicle body (110) and the ridge slope (310) of the ridge (300);
Equipped with
A transplanting machine characterized in that, based on detection by the detection device (160), the clutch device (130) is operated such that the deviation of the vehicle body (110) with respect to the left-right direction of the vehicle body is reduced. be.

A second invention related to the present invention is that the traveling device (120) has left and right driving rear wheels (122),
The clutch device (130) has a side clutch mechanism (131) that turns on and off the transmission of the driving force to the left and right driven rear wheels (122),
The operation of the clutch device (130) includes a left clutch off operation of the side clutch mechanism (131) in which the transmission of the driving force to the left driving rear wheel (122) is turned off, and A transplantation of the first invention related to the present invention, characterized in that the transmission of the driving force to the rear driving wheels (122) is turned off by a right clutch off operation of the side clutch mechanism (131). It is a machine.

A third invention related to the present invention is that the detection device (160) includes:
a rotating arm (161) rotatably attached to the vehicle body (110);
a contact body (162) attached to the rotating arm (161) that contacts the ridge slope surface (310);
It is a transplanting machine of the first or second invention related to the present invention, characterized in that it has the following.

A fourth invention related to the present invention is characterized in that the operation of the clutch device (130) is performed by a cable (165) that is pulled according to the rotation state of the rotation arm (161). This is a third invention related to the present invention .

In a fifth invention related to the present invention , the operation of the clutch device (130) is performed by a switch (166) that is turned on and off depending on the rotation state of the rotation arm (161), or a switch (166) that is turned on and off depending on the rotation state of the rotation arm (161), or This is a third invention related to the present invention, characterized in that clutch control is performed by a controller (170) using a sensor (167) that detects the rotational state of the (161).

A sixth invention related to the present invention is that the traveling device (120) has left and right driven front wheels (121),
When the transplanter turns, the axle of the driven front wheel (121) on the inner side of the turning of the left and right driven front wheels (121) is movable with reference to at least one of the longitudinal direction and the vertical direction of the vehicle body. It is a transplanting machine of the first invention related to the present invention, characterized by:

A seventh invention related to the present invention provides a controller (170) that controls the traveling of an implanted aircraft using an aircraft (200) that flies based on a predetermined traveling route of the implanted aircraft while receiving GNSS radio waves. It is a transplanting machine of the first invention related to the present invention, characterized in that it is equipped with the following features.

An eighth invention related to the present invention is that the controller (170) interrupts the transplant aircraft travel control at a predetermined point before the transplant machine turning point on the transplant machine travel route, and This is a seventh invention related to the present invention, characterized in that the transplanter rotation control is started using a predetermined transplanter rotation program without using (200).

According to the present invention, it is possible to carry out precise planting travel with little deviation of the vehicle body with respect to the left-right direction of the vehicle body. In addition to the above-described effects, the present invention makes it possible to carry out precise planting travel in which the deviation of the vehicle body with respect to the left-right direction of the vehicle body is smaller. Further, according to the present invention, in addition to the above-mentioned effects, it is possible to perform precise planting travel with a simple configuration.
According to the first invention related to the present invention , it is possible to perform precise planting travel in which the deviation of the vehicle body with respect to the left-right direction of the vehicle body is small.

According to the second invention related to the present invention , in addition to the effects of the first invention related to the present invention , it is possible to perform precise planting driving with less deviation of the vehicle body based on the left-right direction of the vehicle body. It is possible.

According to the third invention related to the present invention , in addition to the effects of the first or second invention related to the present invention , it is possible to perform precise planting travel with a simple configuration.

According to the fourth invention related to the present invention , in addition to the effects of the third invention related to the present invention , it is possible to perform precise planting travel with a simpler configuration.

According to the fifth invention related to the present invention , in addition to the effects of the third invention related to the present invention , it is possible to perform precise planting travel with a simpler configuration.

According to the sixth invention related to the present invention , in addition to the effects of the first invention related to the present invention , it is possible to perform precise rotation of the transplanter.

According to the seventh invention related to the present invention , in addition to the effects of the first invention related to the present invention , it is possible to perform precise transplant machine running control.

According to the eighth invention related to the present invention , in addition to the effects of the seventh invention related to the present invention , it is possible to perform precise rotation control of the transplanter.

Left side view (part 1) of a transplanter according to an embodiment of the present invention A plan view of a transplanter according to an embodiment of the present invention (part 1) A schematic partial perspective view of the vicinity of a detection device of a transplanter according to an embodiment of the present invention A schematic partial plan view of the vicinity of the detection device of the transplanter according to the embodiment of the present invention A schematic partial rear view of the vicinity of the detection device of the transplanter according to the embodiment of the present invention A schematic partial rear view of the vicinity of the detection device of the transplanter according to the embodiment of the first modification of the present invention A schematic partial rear view of the vicinity of the detection device of the transplanter according to the embodiment of the second modification of the present invention Left side view of the transplanter according to the embodiment of the present invention (Part 2) Plan view of the transplanting machine according to the embodiment of the present invention (Part 2) Left side view of the transplanter according to the embodiment of the present invention (Part 3) A schematic plan view (part 1) of a transplantation machine and a flying object according to an embodiment of the present invention A schematic plan view of a transplant machine and a flying object according to an embodiment of the present invention (Part 2) Partial left side view of the vicinity of the leveling plate of the transplanter according to the embodiment of the present invention A partial plan view of the vicinity of the leveling plate of the transplanter according to the embodiment of the present invention A partial perspective view of the vicinity of the leveling plate of the transplanter according to the embodiment of the present invention (a) Left side view (Part 1) of the transplanter according to the embodiment of the third modification of the present invention, (b) Left side view (Part 2) of the transplanter according to the embodiment of the third modification of the present invention. ) (a) A schematic partial left side view (part 1) of the vicinity of the suppressing wheel weight bar of the transplanter according to the embodiment of the third modification of the present invention, (b) Embodiment of the third modification of the present invention Schematic left side view of the area near the compression wheel weight bar of the transplanter (Part 2) (a) A schematic partial left side view (part 1) of the vicinity of the suppressing wheel weight bar of a transplanter according to an embodiment of a fourth modification of the present invention, (b) an embodiment of a fourth modification of the present invention Schematic left side view of the area near the compression wheel weight bar of the transplanter (Part 2)

Embodiments of the present invention will be described in detail with reference to the drawings.

The same applies to the following, but some components may not be shown in the drawings, or may be shown in perspective or omitted.

(A) First, the configuration and operation of the transplanter 100 of this embodiment will be specifically described with reference to FIGS. 1 to 4.

Here, FIG. 1 is a left side view (part 1) of a transplanter 100 according to an embodiment of the present invention, and FIG. 2 is a top view (part 1) of the transplanter 100 according to an embodiment of the present invention, FIG. 3 is a schematic partial perspective view of the vicinity of the detection device 160 of the transplanter 100 according to the embodiment of the present invention, and FIG. 4 is a schematic partial perspective view of the vicinity of the detection device 160 of the transplanter 100 of the embodiment of the present invention. FIG.

The transplanting machine 100 is a transplanting machine that plants a transplant 400 in the ridge 300 while traveling with a traveling device 120.

While explaining the operation of the transplanter 100, a method for controlling the operation of the transplanter according to an invention related to the present invention will also be explained.

The transplanter 100 plants the transplant 400 using the planting device 140 while traveling on a traveling device 120 having a pair of left and right driven front wheels 121 and a driving rear wheel 122 in accordance with a manual control operation or an automatic control operation. This is a transplanting machine, such as a vegetable seedling transplanting machine, which suppresses the ridges 300 using a suppression device 150.

The clutch device 130 is a clutch device that switches the transmission state of the driving force transmitted to the traveling device 120.

The detection device 160 is a detection device that detects the positional relationship between the vehicle body 110 and the ridge slope 310 of the ridge 300.

Of course, a configuration may be adopted in which the detection device 160 can not only be easily attached to the vehicle body 110 but also easily removed.

Based on the detection by the detection device 160, the clutch device 130 is operated so that the deviation of the vehicle body 110 with respect to the left-right direction of the vehicle body is reduced.

The detection device 160 is attached to the left side of the vehicle body 110.

The traveling device 120 has left and right driven front wheels 121 and left and right driven rear wheels 122.

The clutch device 130 includes a side clutch mechanism 131 that turns on and off the transmission of driving force to the left and right driven rear wheels 122.

The operation of the clutch device 130 includes a left clutch off operation of the side clutch mechanism 131 in which the transmission of the driving force to the left rear driving wheel 122 is turned off, and a left clutch off operation of the side clutch mechanism 131, and a turning off of the transmission of the driving force to the right rear driving wheel 122. This is a right clutch off operation of the side clutch mechanism 131.

Detection device 160 includes a rotating arm 161 and a contact body 162.

By using the side clutch mechanism 131 based on the amount of inclination of the rotating arm 161, the vehicle body 110 is operated to follow the ridge slope surface 310, which is the side surface of the ridge 300.

The rotating arm 161 is a rotating arm rotatably attached to the vehicle body 110.

The contact body 162 is a contact body that is attached to the rotating arm 161 and comes into contact with the ridge slope surface 310 .

The detection device 160 fixed to a so-called drive case of the vehicle body 110 further utilizes, for example, a detection unit 160u including a sensor, a spring, etc., a detection unit stay, a slide stay, and an L-shaped plate. It is configured.

It is desirable that the contact body 162 is configured using a member such as a roller that rolls along the ridge slope surface 310 so that the ridge slope surface 310 does not collapse.

For example, the side surface shape of the roller body of the contact body 162 is configured using an L-shaped frame plate 162f, bolts, washers, an L-shaped mounting plate 162a, a roller body 162b, a roller rod 162r, etc. It has an approximately spherical shape such as an egg shape that rolls without being affected by the contact angle with the slope 310 and the inclination angle of the rotating arm 161. The direction of the roller shaft for rolling the contact body 162 may be the longitudinal direction of the vehicle body, in which the contact body 162 is easy to roll with respect to the left-right direction and the vertical direction of the vehicle body, or the direction in which the contact body 162 is easy to roll with respect to the longitudinal direction of the vehicle body. It may be in the left and right direction of the vehicle body.

The left clutch off operation and the right clutch off operation of the side clutch mechanism 131 are performed based on the increase or decrease in the arm angle of the rotating arm 161 from the position where the contact body 162 contacts the ridge slope surface 310, so that the ridge slope surface 310 is realized.

The detection device 160 may be installed on the right side of the vehicle body 110, or may be installed on the left side and the right side of the vehicle body 110 by using two similarly configured units.

When the detection device 160 is installed on the left and right sides of the vehicle body 110, it is possible to detect whether the traveling vehicle body 110 is leaning to the left or right due to riding on the ridge 300 or the like. The state of the vehicle body 110 is determined with high accuracy based on the increase/decrease in the left and right side arm angles, so by performing a clutch off operation on the side opposite to the side where the vehicle body 110 is lowered, the state of the vehicle body 110 is leveled. An ideal follow-up operation to the ridge slope surface 310 that approaches the state is realized.

As shown in FIG. 5, which is a schematic partial rear view of the vicinity of the detection device 160 of the transplanter 100 according to the embodiment of the present invention, the operation of the clutch device 130 causes the rotation arm 161 to be in the rotation state. This is done by a cable 165 that is pulled accordingly.

For example, a cable 165 assembled via a buffer spring and a cable connection plate is utilized.

Note that, as shown in FIGS. 6 and 7, which are schematic partial rear views of the vicinity of the detection device 160 of the transplanter 100 according to the first and second modified embodiments of the present invention, the clutch device 130 is The operation may be performed by a controller 170 that performs clutch control using a switch 166 that is turned on and off depending on the rotation state of the rotation arm 161, or a sensor 167 that detects the rotation state of the rotation arm 161. .

For example, a sensor 167 such as a position and angle sensor assembled via a wiring plate is utilized. When the switch 166 is used and the detection device 160 is installed on the left and right sides of the vehicle body 110, the switch 166 is installed at the base of the rotating arm 161, and the rotating arm 161 is attached to a predetermined position. When the threshold value is exceeded, the clutch-off operation of the side clutch mechanism 131 is performed, so that the above-described ideal following operation to the ridge slope surface 310 is realized with a simple configuration that utilizes the on/off of the switch 166.

(B) Next, the configuration and operation of the transplanter 100 of this embodiment will be described in more detail with reference mainly to FIGS. 8 to 12.

Here, FIG. 8 is a left side view (Part 2) of the transplanter 100 according to the embodiment of the present invention, and FIG. 9 is a top view (Part 2) of the transplanter 100 according to the embodiment of the present invention. FIG. 10 is a left side view (Part 3) of the transplanter 100 according to the embodiment of the present invention, and FIGS. 11 and 12 are schematic plan views of the transplanter 100 and the aircraft 200 according to the embodiment of the present invention ( Parts 1 and 2).

(B1) The rotation of the transplanter will be specifically explained with reference mainly to FIGS. 8 to 10.

When the transplanter turns, the axle of the driven front wheel 121 on the inner side of the turning of the left and right driven front wheels 121 is movable with reference to at least one of the longitudinal direction and the vertical direction of the vehicle body.

Movement based on the longitudinal direction or the vertical direction of the vehicle body is indicated using a dashed line or a dashed double dotted line.

Movement of the axles of the left and right driven front wheels 121 in two axes with respect to the longitudinal direction and the vertical direction of the vehicle body is realized by using mechanisms such as universal joints and return springs provided respectively corresponding to the two axes. be done. Such movement of the axle of the driven front wheels 121 does not affect the locus of the left and right driving rear wheels 122, and therefore the passage area of the vehicle body 110, so that collapse of the ridges 300 due to contact between the driving rear wheels 122 does not occur. Not done.

For example, by using an actuator or the like, the column supporting the axle of the driven front wheel 121 can be moved laterally around the rotation axis at the upper end of the column so that the vehicle body can be moved both in the longitudinal direction and in the vertical direction. It may be rotated like a pendulum in view.

When the transplanter turns by automatic running, for example, when the inner side of the turn is the left side, the axle of the left driven front wheel 121 is shifted rearward. Even if the axle of the driven front wheel 121 is shifted backward or forward, the collapse of the adjacent ridges 300 due to the contact of the driven front wheel 121 can be suppressed without lifting the vehicle body 110. By shifting the axle of the driven front wheel 121 rearward, an increase in the turning radius is suppressed, and the transplanter can easily turn in a small radius at the end of the ridge 300.

When the transplanter turns by automatic running operation, not only is the occurrence of collapse of adjacent ridges 300 due to contact of the driven front wheels 121 suppressed without lifting the vehicle body 110, but also an increase in the turning radius is suppressed. The axles of the left and right driven front wheels 121 may both be shifted rearward so that the left and right driven front wheels 121 are shifted rearward.

Similarly, for example, when the inside of the turn is the left side, the axle of the left driven front wheel 121 is shifted upward. Since the driven front wheel 121 passes above the ridge 300, collapse of the adjacent ridge 300 due to the contact of the driven front wheel 121 is suppressed without lifting the vehicle body 110.

When the transplanter turns by automatic running, the axle of the driven front wheel 121 on the inner side of the turning among the left and right driven front wheels 121 may be freely movable with respect to the vertical direction. The left and right driven front wheels 121 supported by a suspension spring mechanism or the like that does not affect straight running are free to rise along the ridge 300 on the inner side of the turn, so that the adjacent front wheels 121 due to contact between the driven front wheels 121 The occurrence of collapse of the ridge 300 is not only suppressed without lifting the vehicle body 110, but also when the transplanter turns in a so-called three-point contact with the driven front wheels 121 on the outside of the turning and the left and right driving rear wheels 122. A rotation of the transplanter in which the balance of the vehicle body 110 is stable is realized.

(B2) The transplanter running control and the transplanter turning control will be specifically described with reference mainly to FIGS. 11 and 12.

The controller 170 controls the traveling of the implanted aircraft using the flying object 200 that flies based on a predetermined implanted aircraft travel route while receiving GNSS radio waves.

The transplanter travel path and the transplanter turning path, which will be described later, are shown using dashed lines and arrows.

When the transplanted machine travels by automatic driving, GPS information as GNSS information is recorded in advance about the transplanted machine travel route, and the flying object 200 such as a drone flies along the transplanted machine travel route.

The flying object 200 stops on the ground after passing a point Pa corresponding to the turning point of the transplanted aircraft, and the transplanted aircraft 100 runs aiming at the stopped flying object 200. Wait until you arrive at Pa. When the transplanter 100 arrives at point Pa, the flying object 200 flies toward point Pb corresponding to the next turning point of the transplanter, and after passing point Pb, the flying object 200 stops on the ground, etc. The aircraft 200 travels toward the stopped aircraft 200, and waits until the transplantation aircraft 100 arrives at the point Pb. By repeating such operations, the transplanter travels along the transplanter travel route by automatic running operation.

Since the traveling speed of the transplanted device 100 is relatively low, it is often difficult for the transplanted device 100 to automatically travel independently while using GPS information. By causing the body 200 to fly through the transplantation machine turning point before the transplantation machine 100, the transplantation machine can travel accurately using GPS information using the automatic flying vehicle following type. be exposed.

The transplantation aircraft 100 may run so as to follow the flying object 200.

An implanter communication terminal, which is a short-range wireless communication device such as a Bluetooth (registered trademark) device, is assembled to the front or upper part of the fuel tank in front of the vehicle body 110, and is flown before the implanter 100. By measuring the distance between the implanted aircraft 100 and the aircraft 200 as the distance between the two communication terminals using a similar aircraft communication terminal assembled to the aircraft 200, An automatic following operation is realized in which the aircraft 100 accurately travels toward the flying object 200.

The camera installed at the front or upper part of the fuel tank in front of the vehicle body 110 is used to not only measure the distance between the transplanted aircraft 100 and the aircraft 200, but also to recognize the image of the aircraft 200. By doing so, an automatic following operation may be realized in which the transplant device 100 accurately travels toward the flying object 200. For example, when the image of the flying object 200 located at the center of the camera screen moves with respect to the left-right direction of the vehicle body, the above-described clutch-off operation of the side clutch mechanism 131 is performed according to the moving direction, so that the flying object 200 A tracking operation is performed so that the image is always located at the center of the camera screen. Of course, the flying object 200 stops on the ground after passing the point Pa, waits until the transplanted aircraft 100 arrives at the point Pa, and when the transplanted aircraft 100 arrives at the point Pa, it flies toward the point Pb. do.

The controller 170 interrupts the transplant machine running control at a predetermined point before the transplant machine turning point on the transplant machine running route, and performs the transplant using a predetermined transplant machine turning program without using the aircraft 200. Start aircraft turning control.

Such a transplant aircraft rotation program itself may be stored in the recording medium of the flying object 200. For example, when the transplanted aircraft 100 that was traveling to follow the aircraft 200 arrives at a point where the distance to the transplanted aircraft turning point is approximately 3 meters, the turning direction information etc. are transferred from the aircraft communication terminal of the aircraft 200. The information is transmitted to the transplanter communication terminal of the machine 100, and the transplanter turns along the transplanter turning path between the point Pb and the point Pc indicated by the turning direction information. By turning along such a turning path of the transplanter, instead of moving straight through the follow-up operation, the occurrence of collapse of the adjacent ridge 300 due to the contact of the driven front wheel 121 can be suppressed without lifting the vehicle body 110. Ru. When the ridge height of the ridge 300 is small and contact with the driven front wheel 121 etc. is difficult to occur, a U-shaped transplanter turning path pattern is used. In cases where this is likely to occur, it is often desirable to use an Ω-shaped transplanter turning path pattern. Ru.

(C) Next, referring mainly to FIGS. 13 to 16, the configuration and operation of the transplanter 100 of this embodiment will be described in more detail.

Here, FIG. 13 is a partial left side view of the vicinity of the leveling plate 531 of the transplanting machine 100 according to the embodiment of the present invention, and FIG. 14 is a partial plan view of the vicinity of the leveling plate 531 of the transplanting machine 100 of the embodiment of the present invention. FIG. 15 is a partial perspective view of the vicinity of the leveling plate 531 of the transplanter 100 according to the embodiment of the present invention, and FIGS. 16(a) and 16(b) are the embodiments of the third modified example of the present invention. FIG. 2 is a left side view (parts 1 and 2) of the transplanter 100 of FIG.

(C1) The ground leveling plate 531 will be specifically described with reference mainly to FIGS. 13 to 15.

The basic shape of the arm section 510 is similar to the basic shape of the arm section of the leveling plate option model, but a push bolt 514 is welded to the opening of a hole drilled in a predetermined portion of the first pipe 511. Insert into nut. For this reason, in the arm portion 510, the first pipe 511 and the second pipe 512, which functions as a support pipe to be fixed to, are fixed not only by the first pin 513 but also by the push bolt 514. Shaking of the first pin 513 inserted into the pin through hole is suppressed.

The shape of the ground leveling plate 531 of the actuator 530 is symmetrical to the shape of the sensor plate 520 with respect to the left-right direction of the vehicle body. Therefore, by using the two first nuts 534, the left and right positions of the actuator 530 can be adjusted with an adjustment stroke that substantially matches the adjustment stroke of the sensor plate 520.

By using the second nut 541 and the second pin 542, the first plate 521 and the second plate 532 are connected to each other. Similar to the configuration of the ground leveling plate option model, the first spring 522 is attached to the first plate 521, and the second spring 533 is attached to the second plate 532. Therefore, since the first spring 522 and the second spring 533, which are two springs having the same configuration, are assembled, the suspension force of the sensor plate 520 and the suspension force of the leveling plate 531 are almost equal to each other. Therefore, these hanging forces can be easily changed by changing the position of the spring locking hole in the rake-shaped portion of the arm portion 510.

The sensor plate 520 and the ground leveling plate 531 are provided at a predetermined interval on the lower side of the transplanter 100, so that when the structure is such that a plurality of planting devices 140 are arranged at left and right intervals, the position of seedling planting can be adjusted. Since the front ridge surface can be evenly leveled, the planting depth of seedlings can be stabilized.

Note that it is desirable for balance to arrange the sensor plate 520 and the ground leveling plate 531 at substantially the same distance from the center line in the left-right direction of the transplanting machine 100 on both the left and right sides of the machine. , these distances may be different on the left and right sides.

In addition, by providing the sensor plate 520 and the ground leveling plate 531, when the sensor plate 520, which is biased to one side of the left and right sides of the aircraft, moves up and down in accordance with the change in the height of the ridge, the reaction force is generated. Even if a force is applied to tilt the transplanter 100, the leveling plate 531 is in contact with the ground, which prevents the transplanter 100 from tilting in the left-right direction, thereby stabilizing the planting posture of the seedlings. .

The hole drilled in the first plate 521 to lock the upper end of the first spring 522 is a long hole, and the hole drilled in the second plate 532 to lock the upper end of the second spring 533 is also long. It is a hole. Therefore, even if the actuator 530 is pushed up by ridge pushing or the like, the length of the first spring 522 and the length of the second plate 532 almost match each other, so the spring fatigue of two similarly configured springs almost matches each other. do.

The first plate 521 has a tapered shape so that the upper side of the plate becomes thinner. Therefore, interference contact of the first plate 521 with other peripheral members such as an L-shaped plate is avoided.

The threaded portion 551 of the cable assembly 550 inserted into the hole of the L-shaped bending plate 555 is tightened so as to be sandwiched between two third nuts 552. Therefore, fine adjustment of the height of the actuator 530 is achieved by adjusting the tightening of the third nut 552.

The bent plate 555 is assembled to the first plate 521 so that the L-shaped bent portion faces inside the vehicle body. Therefore, interference contact of the bending plate 555 with other peripheral members such as the main shift lever is avoided.

The number of holes into which the third pin 553 for assembling the bending plate 555 to the first plate 521 is inserted may be one or two. This is because, similar to the adjustment of the height of the sensor plate 520, the adjustment of the height of the actuator 530 is realized in two stages.

The cable stay 557 is assembled using an assembly hole provided in the transmission case 560. The fourth pin 554 of the cable stay 557 is inserted through the joint portion of the cable assembly 550 and fixed with a collar 556, a washer, a cotter pin, or the like. Similar to the configuration of the optional ground plate model, the joint part of the cable assembly 550 assembled with the fourth pin 554 slides with reference to the left-right direction of the vehicle body, and the fourth pin 554 of the cable stay 557 and the fourth pin of the ground plate 531 Since the collar 556, washer, cotter pin, etc. are assembled so that the distance relationship between them and the pin of the second plate 532 is constant, even if the actuator 530 moves with the vertical direction as a reference, it can be used with the vehicle body horizontal direction as a reference. The rattling of the cable assembly 550 is suppressed.

(C2) The compression wheel weight 610 will be specifically described with reference mainly to FIG. 16.

The suppressing wheel weight bar 620 is a bar that is inserted into a suppressing wheel frame through hole bored in the suppressing wheel frame 600 and is used to attach the suppressing wheel weight 610 to the suppressing wheel frame 600.

FIGS. 17(a) and 17(b) are schematic partial left side views (parts 1 and 2) of the vicinity of the compression wheel weight bar 620 of the transplanter 100 according to the embodiment of the third modification of the present invention. As shown in FIG. 2, there is a threaded portion of the pressure wheel weight bar 620 that screws into the first pressure wheel weight bar nut 621 and the second pressure wheel weight bar nut 622 on almost the entire area between both ends of the outer surface of the pressure wheel weight bar 620. A configuration is adopted in which the suppressing wheel weight bar 620 is a so-called fully threaded bar.

The suppressing wheel weight bar 620 is not fixedly connected to the suppressing wheel weight bar 620, and by changing the tightening position of the first suppressing wheel weight bar nut 621 and the second suppressing wheel weight bar nut 622, The position of the suppressing wheel weight bar 620 is adjustable.

The pressure wheel weight 610 is mounted so as to be placed on the upper side of the pressure wheel frame 600 during planting work, etc., and is mounted so as to be stored in the lower position of the pressure wheel frame 600 during maintenance work, etc. be done.

In order to prevent the attached suppressing wheel weight 610 from coming off the suppressing wheel weight bar 620, the suppressing wheel weight bar snap pin 623 is drilled in the suppressing wheel weight bar 620, taking into consideration the position where the suppressing wheel weight 610 is attached. The weight bar is inserted into one of the two weight bar snap pin insertion holes.

During planting work, etc., the pressure wheel weight bar position is adjusted so that the pressure wheel weight bar 620 protrudes upward, and the pressure wheel weight bar snap pin 623 is inserted into the upper pressure wheel weight bar snap pin insertion hole. Ru.

During maintenance work, etc., the pressure wheel weight bar position is adjusted so that the pressure wheel weight bar 620 protrudes downward, and the pressure wheel weight bar snap pin 623 is inserted into the lower pressure wheel weight bar snap pin insertion hole. Therefore, workers in the surrounding area are not disturbed, and contact with the bar with the eyes and arms of workers is less likely to occur.

FIGS. 18(a) and 18(b) are schematic partial left side views (parts 1 and 2) of the vicinity of the compression wheel weight bar 620 of the transplanter 100 according to the embodiment of the fourth modification of the present invention. As shown in FIG. 2, in a part of the outer surface of the suppressing wheel weight bar 620 near one end, there is a threaded portion of the suppressing wheel weight bar that is screwed into the first suppressing wheel weight bar nut 621 and the second suppressing wheel weight bar nut 622. A configuration may be adopted in which the pressure wheel weight bar 620 is a so-called one-sided threaded bar.

When such a configuration is adopted, the first compression wheel weight bar nut 621 may be a welded nut assembled to the compression wheel weight bar threaded portion, or the first compression wheel weight bar nut 621 may be a welded nut assembled to the threaded portion of the compression wheel weight bar nut 621. Alternate stepped compression wheel weight bars 620 may be utilized. Considering the position where the suppressing wheel weight 610 is installed, one end where the suppressing wheel weight bar threaded portion is formed is inserted into the suppressing wheel frame through hole according to the orientation of the suppressing wheel weight bar 620 with respect to the vertical direction. Then, the second compression wheel weight bar nut 622 is tightened and fixed.

Note that the program of the invention related to the present invention causes a computer to execute all or some of the steps (or processes, operations, actions, etc.) of the above-mentioned transplant machine operation control method of the invention related to the present invention. This is a program that operates in cooperation with a computer.

Further, the recording medium of the invention related to the present invention can perform all or some of the steps (or processes, operations, actions, etc.) of the above-mentioned transplant machine operation control method of the invention related to the present invention. A computer-readable recording medium that stores a program for causing a computer to perform operations, and is a computer-readable recording medium in which the read program is used in cooperation with the computer.

Note that the above-mentioned "some steps (or steps, operations, effects, etc.)" means one or some steps among the plurality of steps.

Moreover, the above-mentioned "operation of a step (or process, operation, action, etc.)" means the operation of all or part of the above-mentioned steps.

Further, one usage form of the program of the invention related to the present invention is a form in which it is transmitted in a transmission medium such as the Internet, light, radio waves, or sound waves, read by a computer, and operated in cooperation with the computer. It may be.

Further, the recording medium includes a ROM (Read Only Memory) and the like.

Further, a computer is not limited to pure hardware such as a CPU (Central Processing Unit), but may also include firmware, an OS (Operating System), and further peripheral devices.

Note that, as described above, the configuration of the present invention may be realized in software or hardware.

The transplanter according to the present invention can perform precise planting travel with little deviation of the vehicle body in the left-right direction of the vehicle body, and is useful for use in a transplanter such as a vegetable seedling transplanter.

100 Transplanting machine 110 Vehicle body 120 Traveling device 121 Front driven wheel 122 Rear driving wheel 130 Clutch device 131 Side clutch mechanism 140 Planting device 150 Suppression device 160 Detection device 160u Detection unit 161 Rotating arm 162 Contact body 162f Frame plate 162a Mounting plate 162b Roller Main body 162r Roller rod 165 Cable 166 Switch 167 Sensor 170 Controller 200 Flying object 300 Ridge 310 Ridge slope 400 Implant 510 Arm portion 511 First pipe 512 Second pipe 513 First pin 514 Push bolt 520 Sensor plate 521 First plate 522 First spring 530 Actuator 531 Leveling plate 532 Second plate 533 Second spring 534 First nut 541 Second nut 542 Second pin 550 Cable assembly 551 Threaded portion 552 Third nut 553 Third pin 554 Fourth pin 555 Bending plate 556 Collar 557 Cable stay 560 Transmission case 600 Suppression wheel frame 610 Suppression wheel weight 620 Suppression wheel weight bar 621 First suppression wheel weight bar nut 622 Second suppression wheel weight bar nut 623 Suppression wheel weight bar snap pin Pa, Pb, Pc points

Claims (3)

A transplanting machine that plants a transplant (400) in a ridge (300) while traveling with a traveling device (120),
a clutch device (130) that switches the transmission state of the driving force transmitted to the traveling device (120);
a detection device (160) that detects the positional relationship between the vehicle body (110) and the ridge slope (310) of the ridge (300);
Equipped with
Based on the detection by the detection device (160), the clutch device (130) is operated so as to reduce the deviation of the vehicle body (110) with respect to the left-right direction of the vehicle body;
The traveling device (120) has left and right driving rear wheels (122),
The clutch device (130) has a side clutch mechanism (131) that turns on and off the transmission of the driving force to the left and right driven rear wheels (122),
The operation of the clutch device (130) includes a left clutch off operation of the side clutch mechanism (131) in which the transmission of the driving force to the left driving rear wheel (122) is turned off, and a right clutch off operation of the side clutch mechanism (131) in which the transmission of the driving force to the rear driving wheel (122) is turned off;
The detection device (160) includes:
a rotating arm (161) rotatably attached to the vehicle body (110);
a contact body (162) attached to the rotating arm (161) that contacts the ridge slope surface (310);
and is assembled to either the left or right side of the vehicle body (110),
The operation of the clutch device (130) is performed using a sensor (167) that detects the rotation state of the rotation arm (161),
The left clutch off operation of the side clutch mechanism (131) and A transplanting machine characterized in that an automatic following operation to the ridge slope surface (310) is realized by performing the right clutch off operation. The transplanter according to claim 1, wherein the contact body (162) is configured using a roller member whose side surface shape of the roller body is approximately spherical. The traveling device (120) has left and right driven front wheels (121),
When the transplanter turns, the axle of the driven front wheel (121) on the inner side of the turning of the left and right driven front wheels (121) is movable with reference to at least one of the longitudinal direction and the vertical direction of the vehicle body. The transplanting machine according to claim 1 or 2, characterized in that: