JPH08196125A - Seedling transplanter - Google Patents

Abstract

PURPOSE: To provide a seedling transplanter designed to automatically feed seedlings onto a seedling table without any shortage. CONSTITUTION: This seedling transplanter is equipped with an automatic seedling feeder C having a single seedling extraction mechanism Ca to extract one by one the seedlings W housed in a preliminary seedling housing section B, a 1st residual seedling sensor to detect that residual seedlings have been decreased to such a level as to be capable of putting a sheet of seedling W on a seedling table 7, and a 2nd residual seedling sensor to detect that residual seedlings have been further decreased from the above level, and a control means to actuate the automatic seedling feeder C so as to preferentially feed seedlings W onto the table 7 for the rows provided with the 2nd sensor in case the 2nd sensor for the rows other than those provided with the 1st sensor is 'on' even if the 1st sensor is 'on'.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is provided with a planting mechanism for planting seedlings from a seedling placed on a seedling mounting table for a plurality of plants in a field, The present invention relates to a seedling transplanter equipped with an automatic seedling feeding device for feeding seedlings to a seedling placing table on a traveling machine body, and more specifically, to a technique for automatically feeding seedlings to the seedling placing table.

[0002]

2. Description of the Related Art As described above, there is a seedling transplanting machine provided with a device for automatically supplying seedlings from a spare seedling storage section to a seedling placing table, which is disclosed in JP-A-6-125616.
In this conventional example, a spare seedling storage section for holding the seedling-containing carrier in a shelf shape in a state of being locked by the claws of the chain with claws is provided with a number of rows equal to the number of rows of the seedling mounting table, and at the time of supplying the seedlings. After moving the seedling-containing carriers in the row corresponding to the row that requires seedling supply by driving the chain with claws,
By pushing backwards and tilting the carrier,
It is configured to send the seedlings in the carrier to the seedling mounting table of the row.

[0003]

In the conventional device, since the seedlings held in a shelf shape corresponding to each row of the seedling placing table are taken out and supplied, the consumption of seedlings of a particular row on the seedling placing table is reduced. If it is done quickly, even if the seedling consumption rate for other rows is low, the remaining amount of seedlings for that particular row will drop significantly. Even if a sufficient amount of seedlings remain for other rows, the spare seedling storage section Will require seedling replenishment for For the purpose of eliminating this inconvenience, for example, a single take-out mechanism capable of taking out all the seedlings stored in the spare seedling storage section and sending the taken-out seedlings to the respective rows of the seedling mounting bases, etc. It is also desired to construct an automatic seedling supply device equipped with. However, in the case where a single take-out mechanism is provided, when a plurality of rows of the seedling placing table require the seedling supply at the same time, the seedling supply may not be performed promptly, which may lead to the interruption of the work.

An object of the present invention is to construct a seedling transplanting machine which uses waste seedlings in a spare seedling storage portion by rational modification without waste, and which is unlikely to cause shortage of seedlings in each row of the seedling mounting table during work. In point.

[0005]

The features of the present invention are, as described at the beginning, provided with a planting mechanism for planting seedlings planted from a seedling platform in a field, and planting seedlings from a spare seedling storage section. In a seedling transplanting machine equipped with an automatic seedling feeding device for feeding to a stand in a traveling body, the seedling automatic feeding device is configured to take out the seedlings stored in the spare seedling storage section one by one and send them to a seedling placing table. The seedling take-out mechanism is provided, and the measuring means for measuring the seedling remaining amount of each row of the seedling placing table is set so that the seedling remaining amount reaches a level at which the seedling placing table of the row can be placed. A first seedling remaining amount sensor for detecting that the seedling remaining amount has decreased, and a second seedling remaining amount sensor for detecting that the seedling remaining amount has further decreased from this level, and a first seedling remaining amount sensor, When any of the second seedling remaining amount sensor reaches the detection state, the seedling is supplied to the row and the first seedling remaining amount sensor is supplied. Even if is in the detection state, if the second seedling remaining amount sensor of the row other than the row provided with the first seedling remaining amount sensor is in the detecting state, the seedling platform of the row equipped with the second seedling remaining amount sensor Is provided with a control means for controlling the automatic seedling supply device so as to preferentially supply seedlings, and the operation and effect are as follows.

[0006]

According to the above feature, when the seedlings are supplied to the seedling placing table, the seedlings in the spare seedling storage section are taken out by the mechanism for taking out seedlings. Only by increasing the number of times of supplying the seedlings, it becomes possible to perform work until the seedlings remaining in the spare seedling storage section require seedling supply. Further, since the seedling supply is performed when the decrease of the seedling remaining amount is detected by the first seedling remaining amount sensor, the seedling placing table always has a sufficient amount of seedlings. Since the second seedling remaining amount sensor detects the seedling supply in preference to the seedling supply based on the detection, the seedling shortage is less likely to occur.

That is, in the present invention, the seedlings in the spare seedling storage section are distributed and supplied to the respective rows of the seedling mounting table, so that the spare seedling storage section can be supplied without being affected by the consumption of the specific row of the seedling mounting table. In addition to being able to use seedlings effectively, seedlings are supplied even when the seedlings are not significantly reduced when they reach a state where they can be placed on the seedling mounting base, so seedlings are supplied by a single take-out mechanism.
It is possible to solve the problem that the number of seedlings on multiple rows of the seedling mounting table is reduced at the same time, though the speed is not so high.

[0008]

Therefore, the seedlings in the spare seedling storage section can be used without waste by rational modification of the automatic seedling supply device, and
Even when the seedlings were supplied by a low-speed actuator at the time of work, the seedling transplanter was constructed so that it was difficult to cause seedling shortage in each row of the seedling mounting table.

[0009]

Embodiments of the present invention will be described below with reference to the drawings. As shown in FIG. 1, an engine 4 is mounted in the front part of a traveling machine body 3 having a drive-type front wheel 1 and a drive-type rear wheel 2 which are freely steerable, and an engine 4 is installed in the center part.
The transmission case 5 to which the power from the machine is transmitted is arranged, the seedling planting device A is connected to the rear end portion of the drive mechanism through a link mechanism 6 which can be freely moved up and down, and a preliminary seedling storage is provided on the central upper surface of the traveling machine body 3. The section B is arranged, the seedling automatic supply device C is arranged at the rear position, and the seedling supply section D is arranged at the front position thereof to form a rice transplanter as a seedling transplanter capable of automatic or radio control.

The seedling planting device A is equipped with a seedling stand 7 on which a mat-shaped seedling W is placed, and is rotated by power transmitted from a transmission case 8 to which power from the traveling machine body 3 is transmitted via a chain case 9. The rotary case 10 is provided with a pair of planting arms 11 and 11 as a planting mechanism, and is also provided with a plurality of ground leveling floats 12 for 6-row planting. When reciprocating in the lateral direction with a stroke equal to the width of the mat row seedling W, the planting arms 11 and 11 cut the seedlings one by one from the lower end of the mat row seedling W and perform the operation of planting in the field. ing.

In this rice transplanter, as shown in FIG. 8, a mat-shaped seedling W is placed in a carrier E having a tray-shaped outer frame 13 and a plate-shaped inner frame 14 fitted in a spare seedling storage section B. The seedling automatic supply device C is configured to store the stored seeds, and is configured to supply only the seedlings W from the seedling-containing carrier E taken out from the preliminary seedling storage portion B in a form of sliding into the seedling placing table 7. .

As shown in FIGS. 1 and 2, the spare seedling storage section B includes a pair of front and rear lower frames 15 in a sideways posture.
And a plurality of vertical frames 17 are arranged between the pair of front and rear top frames 16 in a horizontal posture.
Rail-shaped support member 1 for supporting the carrier E with respect to 7
8 and further, as shown in FIG.
By providing the rod member 19 in which the stopper portion 19A is formed at the end portion thereof, the left and right side portions sandwiching the empty space F at the central position are in the form of a plurality of shelves at intervals in which the seedlings are close to each other in the vertical direction, and It is configured to have seedling storage spaces for storing seedlings W in a plurality of rows in the lateral direction. Further, a contact-type first sensor S1 for detecting the presence of the carrier E is provided on the upper surface of the support member 18, and the proximity sensor S for determining the presence or absence of seedlings on the vertical frame 17.
2 is provided. The stopper portion 19A at the tip of the rod member 19 contacts with the carrier E to set the position of the carrier E. Switch 21
The proximity sensor S2 is a capacitance type sensor or the like that can determine the presence or absence of the seedling W in a non-contact state.

The automatic seedling feeder C is movable up and down along a pair of left and right moving frames 23 which are movable left and right along the horizontal rails 22 on the rear faces of the rear top frame 16 and the lower frame 15, respectively. Na take-out mechanism Ca
Is configured. Further, the pinion 25, which is engaged with the rack gear 24 provided along the rear top frame 16 and is supported by the moving frame 23 side, is driven by the first electric motor M1 to move the take-out mechanism Ca in the left-right direction. The nut 28, which is moved and is screwed to the screw shaft 27 arranged along the pair of left and right vertical rails 26 formed on the moving frame 23, is supported on the extraction mechanism Ca side.
There is provided an operating system that moves the take-out mechanism Ca in the vertical direction by driving the second electric motor M2 that rotationally drives 7.

As shown in FIGS. 3 to 5, the take-out mechanism Ca is movable up and down along a pair of left and right vertical rails 26 and is in a front-back direction in a horizontal position with respect to a shift member 29 provided with the nut 28. Further, a slide member 31 which is movable in the front-rear direction in a horizontal posture is further provided via a movable intermediate member 30.
A take-out table 33 is provided so as to be movable back and forth via an intermediate frame 32 that is swingable around an axis P. A claw body 34 that can engage with the outer frame 13 of the carrier E is provided at the front end of the take-out table 33 so as to be retractable, and the rear end is inserted into the hole 13A of the outer frame 13 of the carrier E. A lifting member 35 that contacts the inner frame 14 is provided, and a contact portion 33A that contacts the rear end of the carrier E is integrally formed at the rear end thereof.

A third electric motor M3 for driving a pinion gear 36 that meshes with a rack gear 30A formed on the lower surface of the intermediate member 30 in a front-rear direction. As shown in FIG. The first cylinder C1, which is driven by the intermediate frame 3 around the lateral axis P
Second cylinder C2 for tilting 2 and take-out table 33
Cylinder C for moving the claw 34 provided at the front end of the
3 and a fourth cylinder C4 for sliding the take-out table 33 with respect to the intermediate frame 32.
Note that these cylinders are configured as air cylinders, and are provided with sensors (not shown) such as rotary encoders for detecting the horizontal position and the vertical position of the take-out mechanism Ca, so that the take-out amount of the take-out table 33 can be controlled. A sensor (not shown) such as a rotary encoder for measuring is provided.

As shown in FIGS. 10 and 11, on the upper end of the seedling placing stand 7, an auxiliary stand 37 that can freely move upward and downward, and from both side ends of the auxiliary stand 37 is expanded in a left-right direction in a fan shape and guided. And a guide member 38 having a vertical wall 38A for driving, and air cylinders C5 and C6 for driving the guide members 38, and further, on the upper surface of the seedling placing table 7, as means for measuring the remaining amount of seedlings, A first remaining seedling sensor T1 that detects that the remaining seedling has decreased to a level where one seedling W can be placed, and a second remaining sensor that detects that the seedling W has further decreased from this level. 2 and. In addition, these seedling remaining amount sensors T1,
T2 is a contact piece 39 that is pressed by the back surface of the seedling W.
And the limit switch 40 are linked, and the contact piece 39 is biased in the protruding direction.

As shown in FIG. 1, the seedling replenishing section D transfers the seedlings from the upper conveyor 42A of the conveyor mechanism 42 of the seedling replenishing device (not shown) to the frame 41 on the side of the preliminary seedling storage section B. It is provided with a carry-in conveyor 43 for sending, and a carry-out conveyor 44 for sending the empty carrier E to the lower conveyor 42B of the conveyor mechanism 42.

In this rice transplanter, a control device 4 having a microprocessor as control means for controlling the electric motor and the cylinder on the basis of signals from the sensors.
5, the control operation of supplying the seedling W from the spare seedling storage section B to the seedling placing table 7 will be described below.

As shown in the flow chart of FIG. 12, when the first seedling remaining amount sensor T1 detects the first seedling remaining amount sensor T1 when the remaining amount of seedlings on the seedling placing table 7 decreases with the progress of the work, the controller 45 detects the line that is detected earliest. It is stored in a memory (not shown) prepared for
At the same time, the row is set as a supply target row and the seedling W is taken out from the preliminary seedling storage section B (steps # 101 to # 104).

Operation for taking out this seedling (# 104 step)
Is preset in the form of a subroutine, and its operation is the seedling W in a predetermined row of the storage space of the spare seedling storage section B.
The presence or absence of, based on the signal from the second sensor S2,
When the seedlings W are present in that row, the lowest level carrier E is set as an extraction target to determine the extraction level, and further, the extraction table 33 is moved to the position of the set row by driving the first electric motor M1, and , The second electric motor M2 is driven to move the ejection table 33 to a level at which the carrier E to be ejected can be placed, and the ejection table 33 is shown in FIG. 4 by driving the third motor M3 and the first cylinder C1. The carrier E to be taken out,
After the claw 34 is projected by driving the cylinder C3, the third electric motor M3 and the first cylinder C1 are driven in the opposite directions to complete the removal of the carrier E.

Next, it is determined whether or not the second seedling remaining amount sensor T2 has been detected, and if it is not detected, the seedling W is supplied to the target supply line and the empty carrier E is supplied. The operation to return to the original spare seedling storage section B is performed (# 105 to # 1
(09 step), and if the second seedling remaining amount sensor T2 is detecting and operating, the row detected and operated earliest is held in the memory, and that row is changed to the supply target article (first seedling remaining amount). In the case where the sensor T1 is the same article as the article detected and operated earliest, the supply target article is maintained, and the seedling supply operation is performed on this supply target article, and the empty carrier E is used as the original spare seedling. The operation of returning to the storage section B (steps # 105 to # 109) is performed until reset (step # 110).

This seedling supply operation (# 108 step)
It is preset in the form of a subroutine, and its operation is
By driving the air cylinders C5, C5 of the supply target line, the projecting operation of the auxiliary base 37 and the expanding operation of the guide member 38 are performed,
Further, by driving the first electric motor M1 and the second electric motor M2, the take-out table 33 is moved to the position of the row, and the driving of the first electric motor M1 synchronizes with the lateral movement of the seedling placing table 7. By moving the take-out table 33 laterally (control operation is not described in detail), the front portion of the take-out table 33 is lifted by the operation of the second cylinder C2, and the fourth cylinder C4 is moved within a short time. By reciprocating, as shown in FIGS. 5 and 6, the rear end of the inner frame 14 of the carrier E is lifted to the upper edge of the outer frame 13 by contact with the lifting member 35, and the take-out table 33 is placed on the mounting surface. As a result of vibrating in the direction along the direction, the mat-shaped seedling W is sent out along the upper surface of the inner frame 14 and is slid into the seedling placing table 7 without stopping the seedling planting work.

The returning operation of the empty carrier E (step # 109) is preset in the form of a subroutine,
The operation is a control operation for returning the empty carrier E to the original storage space of the spare seedling storage unit B by performing the operation in the opposite direction to the seedling supply operation.

When the remaining amount of the seedlings W in the spare seedling storage section B decreased with the progress of the work, the traveling machine body 3 was brought close to the seedling supply device (not shown) by a predetermined steering control. rear,
The conveyor mechanism 42 of the seedling supplying device is connected to the seedling supplying part D, the empty carrier E is taken out by the same control as the above-mentioned taking out of the carrier E, and an empty space F formed in the center of the spare seedling storing part B. Control to carry out the empty carrier E while being placed on the carry-out conveyor 44 of the seedling replenishing section D via the, and place the seedling-containing carrier E from the carry-in conveyor 43 on the take-out table 33 and send it to the spare seedling storage section B. The action is taken.

In this way, in this rice transplanter, when the remaining amount of seedlings on the seedling placing table 7 decreases, the seedlings in the spare seedling storage section B are fed by the automatic seedling feeding device C to any row of the placing table. The seedling W can be supplied automatically, and the seedling W is supplied to the seedling mounting table 7 when the decrease of the seedling W is detected by the first seedling remaining amount sensor T1. The seedling W can be put on and work can be performed.
If the second seedling remaining amount sensor T2 detects a decrease in the seedling W even after the decrease in the seedling W is detected and the seedling W is taken out from the spare seedling storage section B, the seedling W is preferentially supplied to this section. As a result, the work can be continued without causing stock shortages.

[Other Embodiments] In addition to the above embodiments, the present invention is
For example, it is also possible to apply it to the thing in which an operator boards and operates an aircraft.

In the claims, reference numerals are provided for convenience of comparison with the drawings, but the present invention is not limited to the configuration shown in the attached drawings.

[Brief description of drawings]

[Figure 1] Overall side view of rice transplanter

[Figure 2] Rear view of the spare seedling storage section

[Fig. 3] Vertical side view of the seedling take-out mechanism in the seedling take-out posture.

FIG. 4 is a vertical sectional side view of the seedling take-out mechanism with the take-out table advanced.

FIG. 5 is a vertical cross-sectional side view of the seedling take-out mechanism with the take-out table tilted.

FIG. 6 is a vertical sectional side view of the seedling take-out mechanism in a state where the take-out table is vibrated.

FIG. 7 is a plan view of the seedling storage space of the spare seedling storage unit.

FIG. 8 is an exploded perspective view of a carrier.

FIG. 9 is a perspective view of a seedling take-out mechanism in which the pick-up table is tilted.

[Figure 10] Rear view of the upper part of the seedling stand

[Fig. 11] Side view of a vertical section of a seedling stand

FIG. 12 is a flowchart of control operation.

[Explanation of symbols]

 7 Seedling platform 3 Traveling machine 45 Control means B Spare seedling storage unit C Automatic seedling supply device Ca Seedling removal mechanism T1 1st seedling remaining amount sensor T2 2nd seedling remaining amount sensor W Seedling

Claims (1)

[Claims] 1. A multi-row planting mechanism for planting seedlings planted from a seedling (W) placed on a multi-row seedling placing table (7) in a field, and a spare seedling storage section (B). ) Seedlings (W)
A seedling transplanter equipped with an automatic seedling supply device (C) for feeding the seedlings to a seedling mounting table (7) in a traveling machine body (3), wherein the automatic seedling supply device (C) is provided in the preliminary seedling storage section ( B)
A single seedling take-out mechanism (Ca) is provided so as to take out the seedlings (W) stored in the seedlings one by one and send them to the seedling placing base (7). A first seedling remaining amount sensor for detecting that the remaining amount of the seedlings has decreased to a level at which the seedlings (W) can be placed on the seedling placing table (7) of the row. (T1) and a second seedling remaining amount sensor (T2) for detecting that the remaining amount of seedlings has further decreased from this level, and the first seedling remaining amount sensor (T1) and the second seedling remaining sensor When any of the remaining amount sensors (T2) reaches the detection state, the seedlings (W) are supplied to the row, and even when the first seedling remaining amount sensor (T1) is in the detection state, this first seedling remaining amount When the second seedling remaining amount sensor (T2) of a row other than the row having the sensor (T1) is in the detection state, the seedling of the row having the second seedling remaining amount sensor (T2) It was preferentially seedlings (W) seedling transplantation machine includes a control means (45) for controlling seedling automatic feeding device (C) to supply relative to the base (7).