rice transplanter

Abstract

The present invention provides a labor-saving rice transplanter capable of replenishing seedling pads to a seedling platform. The rice transplanter of the present invention includes: a seedling planting device (W) located at the rear of the machine body and having a seedling platform (22); and a seedling transport device (30) located at a position forward of the seedling platform (22) and transporting seedling pads to the seedling platform (22). The seedling transport device (30) is configured to transport seedling pads in a driven state and not to transport seedling pads in a stopped state. The rice transplanter includes: a switching unit that switches the state of the seedling transport device (30) between a driven state and a stopped state; and a sensing unit that senses the amount of seedlings, i.e., the seedling balance, placed on the seedling pads of the seedling platform (22). When the sensing unit senses that the seedling balance is less than or equal to a predetermined first balance, the switching unit switches the state of the seedling transport device (30) from a stopped state to a driven state.

Description

Technical Field

[0001] This invention relates to a rice transplanter equipped with a seedling transplanting device, which has a seedling platform. Background Technology

[0002] As described above, a rice transplanter is known, for example, as described in Patent Document 1. This rice transplanter has a pre-seedling loading platform at the front of its body. The operator can place the prepared seedlings onto this pre-seedling loading platform.

[0003] When using the rice transplanter described in Patent Document 1 to perform seedling transplanting, the operator first places the seedling pad on the seedling platform (referred to as "seedling platform" in Patent Document 1) of the seedling transplanting device (referred to as "seedling transplanting device" in Patent Document 1). Then, the operator places the seedling pad, supported by the seedling pad support, on the prepared seedling platform.

[0004] It should be noted that the seedling support body refers to the tool used to support the seedling pad, such as a shovel.

[0005] Then, the workers began planting the rice seedlings using a rice transplanter. As the seedlings were planted, the number of seedlings on the seedbed gradually decreased.

[0006] When the number of seedlings on the seedling tray decreases to a certain level, the operator stops planting the seedlings and stops the rice transplanter. Next, the operator holds the seedling pads on the prepared seedling tray by hand, with the pads supported by a seedling pad support. Then, the operator detaches the seedling pads from the seedling pad support and replenishes them to the seedling tray.

[0007] Therefore, when the number of seedlings placed on the seedling tray decreases to a certain level, the operator needs to replenish the seedling tray with seedling pads. Moreover, replenishing the seedling tray with seedling pads requires a lot of labor.

[0008] Existing technical documents

[0009] Patent documents

[0010] Patent Document 1: Japanese Patent Application Publication No. 2006-168512 Summary of the Invention

[0011] The problem that the invention aims to solve

[0012] The purpose of this invention is to provide a labor-saving rice transplanter that can replenish seedling pads to the seedling tray.

[0013] Solution for solving the problem

[0014] The present invention is characterized by comprising: a seedling transplanting device located at the rear of the machine body and having a seedling platform; and a seedling transport device located at a position forward of the seedling platform and transporting a seedling pad to the seedling platform, the seedling transport device being configured to: transport the seedling pad in a driving state and not transport the seedling pad in a stopped state, comprising: a switching unit that switches the state of the seedling transport device between the driving state and the stopped state; and a sensing unit that senses the amount of seedlings, i.e., the remaining seedling quantity, placed on the seedling pad on the seedling platform, and when the sensing unit senses that the remaining seedling quantity is less than or equal to a predetermined first quantity, the switching unit switches the state of the seedling transport device from the stopped state to the driving state.

[0015] When this invention is used, the seedling transport device switches to drive mode when the remaining seedling quantity is below a predetermined first allowable quantity. As a result, the seedling mat is transported to the seedling loading platform by the seedling transport device. Therefore, a rice transplanter can be made to automatically replenish the seedling mat to the seedling loading platform via the seedling transport device when the number of seedlings placed on the loading platform decreases to a certain level.

[0016] Therefore, when the present invention is used, a labor-saving rice transplanter can be realized to replenish seedling pads to the seedling platform.

[0017] Furthermore, in this invention, it is preferred that the seedling transplanting device is configured to move the seedling carrier platform back and forth to the left and right while performing the seedling transplanting action. When the sensing unit detects that the remaining amount of seedlings is below the first remaining amount and the seedling carrier platform has moved back and forth to the left and right a predetermined number of times, the switching unit switches the state of the seedling transport device from the stopped state to the driven state.

[0018] Based on this structure, it is easy to realize a structure that allows the seedling transport device to switch from a stopped state to a driven state when the seedling balance becomes a predetermined balance less than the first balance.

[0019] For example, when the remaining seedling quantity is below the first remaining quantity, and the seedling carrier has moved left and right four times, the remaining seedling quantity is approximately zero. When the "prescribed number of times" in the above structure is set to four times, the seedling transport device switches from a stopped state to a driven state when the remaining seedling quantity is approximately zero. As a result, the timing of replenishing the seedling pad to the seedling carrier is appropriate.

[0020] Thus, based on the above structure, it is easy to realize a rice transplanter that can supply seedling pads to the seedling platform at appropriate times.

[0021] Furthermore, in this invention, it is preferred that the seedling transplanting device is configured to swing left and right via lateral movement, the seedling transport device has multiple transport mechanisms arranged in the left-right direction of the machine body, each transport mechanism being configured to transport one row of seedling pads to the seedling carrier platform, the seedling carrier platform having multiple partitions arranged in the left-right direction of the machine body, each partition being configured to hold one row of seedling pads, the sensing unit being configured to sense the remaining seedling quantity for each partition, and the switching unit being configured to: control each transport mechanism separately, enabling the switching of the remaining seedling quantity for each transport mechanism in the... The state of the seedling transport device is switched between the drive state and the stop state. During the period when the seedling carrier platform reciprocates left and right a predetermined number of times after the sensing unit detects that the seedling balance in a partition is less than the first balance, if the sensing unit detects that the seedling balance in a partition different from that partition is less than the first balance, the switching unit performs posture misalignment suppression control. The posture misalignment suppression control is a control that drives each transport mechanism to suppress the increase in posture misalignment between the seedling carrier platform and the seedling transport device caused by replenishing the seedling pad to the seedling carrier platform.

[0022] According to this structure, the situation where the seedling planting device sways horizontally due to the weight of the seedling pads when replenishing seedling pads to multiple sections of the seedling carrier is suppressed, thus preventing an increase in the postural misalignment between the seedling carrier and the seedling transport device. Therefore, it is easy to avoid situations where the replenishment of seedling pads cannot be carried out normally due to postural misalignment between the seedling carrier and the seedling transport device.

[0023] In detail, there are usually errors in the clutches and seedling loading of each row in rice transplanters, and the consumption of seedling pads in each row is sometimes uneven.

[0024] Here, when the above structure is adopted, after the remaining seedlings are below the first remaining amount, by repeating the process a predetermined number of times, for example, if seedlings are exhausted in one row of the seedling platform, and seedlings are also exhausted in other rows during the predetermined number of repetitions, it can be determined, taking into account the left-right weight balance of the seedling platform, which row should be prioritized for replenishing the seedling pads. That is, for example, seedling replenishment can be started from the row on the central side, where the left-right balance is less likely to be affected, without mechanically starting from the row where seedlings are first detected to be exhausted.

[0025] Furthermore, in this invention, it is preferred that the switching unit drives each of the transport mechanisms in the posture misalignment suppression control, such that the partition to which the seedling pad is first replenished is the partition located at the most central side in the left-right direction of the machine body among the partitions where the seedling balance is less than or equal to the first balance.

[0026] According to this structure, when replenishing seedling pads to multiple sections of the seedling carrier, the seedling pads are first replenished to the section located at the very center in the left-right direction of the machine body. Therefore, compared to a structure that first replenishes seedling pads to sections located on the outer sides in the left-right direction of the machine body, the seedling planting device is less prone to swaying due to the weight of the seedling pads. As a result, it is easy to reliably suppress the increase in kinetic misalignment between the seedling carrier and the seedling transport device.

[0027] Furthermore, in this invention, it is preferred that the seedling transplanting device is configured to move the seedling carrier platform back and forth to the left and right while performing the seedling transplanting action. When the seedling carrier platform reaches a predetermined position in the left and right direction after the sensing unit detects that the remaining amount of seedlings is below the first remaining amount, the switching unit switches the state of the seedling transport device from the stopped state to the driven state.

[0028] According to this structure, the positional relationship between the seedling carrier and the seedling transport device is always the same when the seedling transport device switches from a stopped state to a driven state. Therefore, it is easy to realize a rice transplanter in which the positional relationship between the seedling carrier and the seedling transport device is always appropriate when replenishing seedling pads to the seedling carrier. For example, it is easy to simplify the structure that fixes the seedling transport device in the left and right directions and only allows the seedling carrier to move in the left and right directions.

[0029] Furthermore, in this invention, it is preferred that when the sensing unit senses that the remaining amount of seedlings is greater than the first remaining amount after the state of the seedling transport device is switched from the stopped state to the driven state, the switching unit switches the state of the seedling transport device from the driven state to the stopped state.

[0030] This structure facilitates the switching of the seedling transport device from a driven state to a stopped state when the seedling pads are fully replenished to the seedling carrier platform via the seedling transport device. In other words, it provides a rice transplanter with appropriate timing that allows for easy switching of the transport device from a driven state to a stopped state.

[0031] Furthermore, in this invention, it is preferred that the sensing unit includes: a first sensor for sensing whether the remaining amount of seedlings is less than or equal to the first remaining amount; and a second sensor for sensing whether the remaining amount of seedlings is less than or equal to the second remaining amount, which is less than or equal to the first remaining amount.

[0032] According to this structure, when the remaining seedling quantity is less than or equal to a second margin (which is less than the first margin), this situation can be detected by a second sensor. Therefore, for example, the following structure can be implemented: when seedling planting is performed even if the seedling transport device does not contain a seedling pad and the remaining seedling quantity is less than the first margin, and no seedling pad is replenished to the seedling carrier, and when very few seedlings remain on the seedling carrier, the operator is notified, based on the sensing result of the second sensor, that very few seedlings remain on the seedling carrier.

[0033] Furthermore, in this invention, it is preferred that both the first sensor and the second sensor are switches disposed on the seedling carrier platform and abutting against the seedling pad placed on the seedling carrier platform, with the first sensor disposed at a higher position than the second sensor.

[0034] Based on this structure, a rice transplanter equipped with a first sensor and a second sensor can be realized through a relatively simple structure. Attached Figure Description

[0035] Figure 1 This is a left view of a rice transplanter.

[0036] Figure 2 This is a top view of a rice transplanter.

[0037] Figure 3 This is a diagram showing the structure of the longitudinal feed mechanism and the transverse feed mechanism.

[0038] Figure 4 This is a rear view showing the structure of the sensing unit, etc.

[0039] Figure 5 This is a longitudinal sectional left view showing the structure of the first sensor, etc.

[0040] Figure 6 It is a block diagram representing the structure related to the control unit.

[0041] Figure 7 This is a flowchart of the transport control routine.

[0042] Explanation of reference numerals in the attached figures

[0043] 22: Seedling platform; 22a: Zone; 30: Seedling transport device (seedling transport device); 40: Transport mechanism; 50: Sensing unit; 51: First sensor; 52: Second sensor; 60: Switching unit; A: Rice transplanter; M: Seedling mat; W: Seedling transplanting device. Detailed Implementation

[0044] The specific embodiment will be described with reference to the accompanying drawings. It should be noted that in the following description, [the following will be used to describe the specific implementation]. Figure 1 , Figure 2 , Figure 5 The direction of arrow F is set to "forward", and the direction of arrow B is set to "backward". Figures 2 to 4 The direction of arrow L is set to "left", and the direction of arrow R is set to "right". Furthermore, [the following is also shown:] Figure 1 , Figure 4 , Figure 5 The direction of arrow U is set to "up", and the direction of arrow D is set to "down".

[0045] [Overall structure of the rice transplanter]

[0046] like Figure 1 As shown, the ride-on rice transplanter A has a traveling body C capable of moving through farmland. This traveling body C has a pair of left and right steering wheels 10, 10 and a pair of left and right rear wheels 11, 11. Figure 1 and Figure 2 As shown, the central part of the vehicle body C has a passenger compartment 23 for performing various driving operations. The passenger compartment 23 is provided on the vehicle body C in a manner that spans the lateral width of the vehicle body C.

[0047] The seedling transplanting device W is supported and connected to the rear of the traveling machine body C in a height-adjustable manner. The seedling transplanting device W is configured to transplant seedlings into the field. A pair of left and right steering wheels 10 are located at the front of the traveling machine body C, configured to freely change the orientation of the traveling machine body C. A pair of left and right rear wheels 11 are located at the rear of the traveling machine body C. The seedling transplanting device W is connected to the rear of the traveling machine body C via a transplanting linkage mechanism 17 in a height-adjustable manner. Thus, the seedling transplanting device W is located at the rear of the rice transplanter A. The transplanting linkage mechanism 17 is raised and lowered by the extension and retraction of the lifting hydraulic cylinder 16.

[0048] It should be noted that, in Figure 1 In the diagram, the seedling planting device W, representing the upward position, is indicated by a solid line. Additionally, the seedling planting device W, representing the downward position, is indicated by an imaginary line. Through the extension and retraction of the lifting hydraulic cylinder 16, the position of the seedling planting device W changes between the upward and downward positions.

[0049] Furthermore, the seedling planting device W is configured to be able to swing laterally relative to the traveling body C. That is, the seedling planting device W is configured to be able to swing left and right by lateral movement.

[0050] The front of the vehicle body C includes an engine 13 capable of driving the vehicle body C and an openable hood 12. The hood 12 is configured with a rearwardly upward inclined surface and is capable of accommodating the engine 13. Although not described in detail, the steering wheels 10 and / or the rear wheels 11 are equipped with a known HST (hydrostatic continuously variable transmission, not shown) and a transmission TM (see reference). Figure 3 The transmission mechanism of the engine 13 is used to transmit power to the steering wheel 10 and the rear wheel 11. The power of the engine 13 is transmitted to the steering wheel 10 and the rear wheel 11 via the transmission mechanism of the machine body. The power after transmission is transmitted to the seedling planting device W via the electric motor driven planting clutch (not shown).

[0051] like Figure 1 and Figure 2As shown, the seedling transplanting device W includes multiple (e.g., four) transmission boxes 18, multiple (e.g., eight) rotating boxes 19, land-leveling floats 21, and seedling platforms 22. The rotating boxes 19 are rotatably supported on the left and right sides of the rear of each transmission box 18. A pair of rotating transplanting arms 20 are provided at both ends of each rotating box 19. The land-leveling floats 21 level the surface of the farmland, and the seedling transplanting device W includes multiple land-leveling floats 21. The seedling platform 22 holds seedling mats M (see reference) for transplanting. Figure 5 ).

[0052] Thus, the rice transplanter A has a seedling transplanting device W located at the rear of the machine body and having a seedling platform 22.

[0053] The seedling transplanting device W drives the seedling carrier 22 to move laterally back and forth, while simultaneously driving the rotating boxes 19 to rotate via power transmitted from the transmission box 18. The transplanting arms 20 alternately remove seedlings from the lower part of the seedling carrier 22 and transplant them onto the field surface. In other words, the seedling transplanting device W is configured to transplant seedlings using the transplanting arms 20 of multiple rotating boxes 19.

[0054] [Structure of longitudinal feed mechanism and transverse feed mechanism]

[0055] like Figure 3 As shown, the seedling transplanting device W has a longitudinal feeding mechanism 82 and a transverse feeding mechanism 83.

[0056] The lateral feed mechanism 83 has a lateral feed shaft 83a and a lateral feed member 83b. The lateral feed shaft 83a is rotated by power from the transmission TM.

[0057] The lateral feed member 83b is mounted on the lateral feed axis 83a in a state that allows it to rotate relative to the lateral feed axis 83a and to slide relative to the lateral feed axis 83a. Furthermore, the lateral feed member 83b is connected to the seedling carrier 22.

[0058] Furthermore, when the transverse feed shaft 83a rotates, the transverse feed member 83b is reciprocated in the extending direction of the transverse feed shaft 83a via the helical feed groove formed on the transverse feed shaft 83a. As a result, the seedling carrier 22 is reciprocated left and right. According to this structure, the seedling transplanting device W performs seedling transplanting operations via the transplanting arm 20 while simultaneously reciprocating left and right movement of the seedling carrier 22.

[0059] That is, the seedling transplanting device W is configured to move the seedling carrier platform 22 back and forth while performing the seedling transplanting action. The seedling carrier platform 22 is moved back and forth to the left and right, thereby changing the position of the seedling carrier platform 22 relative to the traveling body C in the left and right direction.

[0060] In addition, such as Figure 3 As shown, the longitudinal feed mechanism 82 includes a longitudinal feed shaft 82a, a first drive arm 82b, a second drive arm 82c, a driven arm 82d, a one-way clutch 82e, a drive shaft 82f, and a longitudinal feed belt 82g.

[0061] In this embodiment, the rice transplanter A is an eight-row transplanter. That is, the seedbed 22 can hold eight rows of seedling pads M. Therefore, in this embodiment, it has eight longitudinal feed belts 82g. However, the present invention is not limited to this, and the number of longitudinal feed belts 82g may be seven or less, or even nine or more.

[0062] The longitudinal feed shaft 82a is rotated by power from the transmission TM. Furthermore, the first drive arm 82b and the second drive arm 82c are fixed to the longitudinal feed shaft 82a in a state where they cannot rotate relative to it. The first drive arm 82b is located to the left of the second drive arm 82c.

[0063] The boom 82d is connected to the drive shaft 82f via a one-way clutch 82e. Furthermore, the longitudinal feed belt 82g is configured to rotate by rotating the drive shaft 82f.

[0064] When the seedling carrier 22 reaches the end of its stroke on the left (corresponding to the "prescribed position in the left-right direction" of the present invention), the driven arm 82d enters the rotational domain of the first drive arm 82b. Thus, the first drive arm 82b comes into contact with the driven arm 82d. Then, the power of the longitudinal feed shaft 82a is transmitted to the drive shaft 82f via the first drive arm 82b, the driven arm 82d, and the one-way clutch 82e.

[0065] As a result, the drive shaft 82f rotates by a set rotation angle, and the longitudinal feed belt 82g rotates. The amount of rotation of the longitudinal feed belt 82g at this time is equivalent to the amount of rotation of a specified feed distance.

[0066] Furthermore, when the seedling carrier 22 reaches the end of its stroke on the right side, the driven arm 82d enters the rotational domain of the second drive arm 82c. Thus, the second drive arm 82c comes into contact with the driven arm 82d. Then, the power of the longitudinal feed shaft 82a is transmitted to the drive shaft 82f via the second drive arm 82c, the driven arm 82d, and the one-way clutch 82e.

[0067] As a result, the drive shaft 82f rotates by a set rotation angle, and the longitudinal feed belt 82g rotates. The amount of rotation of the longitudinal feed belt 82g at this time is equivalent to the amount of rotation of a specified feed distance.

[0068] Here, the longitudinal feed belt 82g is configured to be placed on the seedling pad M on the seedling platform 22 (refer to...). Figure 5 ) Abutment. Therefore, by rotating the longitudinal feed belt 82g, the seedling pad M placed on the seedling platform 22 moves downward.

[0069] According to the structure described above, whenever the seedling platform 22 reaches the end of its left or right stroke, the seedling pad M placed on the seedling platform 22 moves downward a predetermined feed distance.

[0070] It should be noted that, in Figure 2 In the image, the solid line represents the seedling tray 22 at the end of its stroke on the left. Furthermore, the imaginary line represents the right end of the seedling tray 22 at the end of its stroke on the right.

[0071] like Figure 2 As shown, when the seedling carrier 22 is at the end of its stroke on the left side, the seedling carrier 22 is positioned in the left-right direction of the machine body in a position corresponding to the prepared seedling transport device 30 described later. In other words, when the seedling carrier 22 is at the end of its stroke on the left side, the position of the seedling carrier 22 in the left-right direction of the machine body is consistent with the position of the prepared seedling transport device 30.

[0072] [Regarding the seedling transport device]

[0073] like Figure 1 and Figure 2 As shown, a seedling transport device 30 (equivalent to the "seedling transport device" of the present invention) is provided above the mounting section 23. The seedling transport device 30 is configured to transport seedling pads M (see reference) to the seedling platform 22. Figure 5 The following is a description of the pre-planted seedling transport device 30.

[0074] When viewed from above, the pre-planted seedling transport device 30 overlaps with the seating seat 23A of the seating unit 23. Furthermore, the pre-planted seedling transport device 30 is located further forward than the seedling loading platform 22.

[0075] Thus, the rice transplanter A has a pre-seedling transport device 30 located in front of the seedling platform 22 and transporting the seedling pad M to the seedling platform 22.

[0076] The seedling transport device 30 has an ascending section 31 and a descending section 32. The ascending section 31 is located at the front of the seedling transport device 30. Furthermore, the ascending section 31 is inclined in a manner that it is positioned higher towards the rear. That is, the ascending section 31 is provided in a rearward and upward inclined state. In addition, the ascending section 31 is configured to be able to swing up and down about the transverse axis X1 of the rear end of the device.

[0077] That is, the rising part 31 is located at the front of the seedling transport device 30 and is set in a state of tilting backward and upward.

[0078] The descending portion 32 extends rearward from the rear end of the rising portion 31. Furthermore, the descending portion 32 is inclined in a manner that it becomes increasingly lower towards the rear. That is, the descending portion 32 is positioned in a state of downward and rearward inclination.

[0079] Thus, the descending part 32 extends rearward from the rear end of the rising part 31 and is set in a state of tilting downward and backward.

[0080] The rising section 31 includes multiple transport mechanisms 40. These multiple transport mechanisms 40 are arranged in a left-right direction. That is, the seedling transport device 30 has multiple transport mechanisms 40 arranged in the left-right direction of the machine body. Here, as described above, the rice transplanter A in this embodiment is an eight-row transplanter. That is, the seedling platform 22 can hold eight rows of seedling mats M. Furthermore, in this embodiment, the number of transport mechanisms 40 is the same as the number of rows of seedling mats M that can be placed on the seedling platform 22. That is, in this embodiment, the number of transport mechanisms 40 is eight.

[0081] like Figure 1 and Figure 2 As shown, each conveying mechanism 40 has an annular drive belt 41 and a belt conveyor motor 42. The belt conveyor motor 42 is configured to drive the annular drive belt 41 to rotate. It should be noted that the belt conveyor motor 42 is driven by power supplied from a battery (not shown) mounted on the rice transplanter A. When the annular drive belt 41 is driven to rotate, the annular drive belt 41 rotates such that the upper side of the annular drive belt 41 moves rearward and the lower side of the annular drive belt 41 moves forward.

[0082] With the seedling mat M placed on the upper side of the annular conveyor belt 41, when the belt conveyor motor 42 is driven, the seedling mat M is transported rearward by the annular conveyor belt 41. As a result, the ascending part 31 transports the seedling mat M rearward and transfers it to the descending part 32.

[0083] The seedling pad M, which is transferred from the rising section 31 to the descending section 32, is guided downward toward the seedling carrier 22 while sliding on the descending section 32. That is, the seedling pad M is supplied to the seedling carrier 22 by sliding down from the descending section 32.

[0084] Thus, the pre-planted seedling transport device 30 is configured to supply the seedling pads M, which are transported rearward from the rising part 31, to the seedling loading platform 22 by sliding them down from the descending part 32. In addition, each transport mechanism 40 is configured to transport one row of seedling pads M to the seedling loading platform 22.

[0085] It should be noted that, according to the structure described above, the ascending part 31 is capable of transporting eight rows of seedling pads M to the rear. Furthermore, the descending part 32 has a lateral width sufficient to guide eight rows of seedling pads M onto the seedling tray 22. Therefore, the pre-seedling transport device 30 in this embodiment is capable of transporting eight rows of seedling pads M onto the seedling tray 22.

[0086] Furthermore, according to the structure described above, the pre-planted seedling transport device 30 transports the seedling pad M when it is in the driven state. It should be noted that the driven state refers to the state in which the pre-planted seedling transport device 30 is in motion. More specifically, the driven state refers to the state in which the annular transmission belt 41 is in motion.

[0087] Furthermore, according to the structure described above, the pre-planted seedling transport device 30 does not transport the seedling pad M when it is in a stopped state. It should be noted that the stopped state refers to the state in which the pre-planted seedling transport device 30 is not driven. More specifically, the stopped state refers to the state in which the annular transmission belt 41 is stopped.

[0088] That is, the pre-planted seedling transport device 30 is configured to transport the seedling pad M when in the driving state and not to transport the seedling pad M when in the stopped state.

[0089] like Figure 1 As shown, the vehicle body C has left and right side frames 24, 24, which are erected on the left and right sides of the passenger seat 23A. A rear support frame 25 is connected to the side frames 24, 24. The upper end of the rear support frame 25 extends along the transverse axis X1 of the vehicle body.

[0090] The lower ends of the left and right ends of the rear support frame 25 are respectively connected to the side frames 24, 24. Furthermore, the upper end of the rear support frame 25 is connected to the rear end of the rising part 31 in a swingable manner. The front end of the descending part 32 is supported by the rear support frame 25.

[0091] Front support frame portions 26, 26 are provided on the left and right sides of the housing 12. Each of the front support frame portions 26, 26 is connected to an electro-hydraulic cylinder 28 and a linkage mechanism 33. The linkage mechanism 33 is pivotally supported on the front support frame portion 26 and the support receiving portion 34 at the front of the lifting portion 31, respectively. Furthermore, the electro-hydraulic cylinder 28 is pivotally supported on the front support frame portion 26 and the linkage mechanism 33, respectively. Through the extension and retraction of the electro-hydraulic cylinder 28, the linkage mechanism 33 swings up and down, and the support receiving portion 34 performs lifting and lowering operations. Thus, the lifting portion 31 is configured to swing up and down around the transverse axis X1 of the machine body.

[0092] [Regarding the sensing unit]

[0093] like Figure 4 As shown, the rice transplanter A includes a sensing unit 50. The sensing unit 50 is configured to sense the remaining amount of seedlings. It should be noted that the remaining amount of seedlings refers to the quantity of seedlings placed on the seedling pad M on the seedling platform 22.

[0094] That is, the rice transplanter A has a sensing unit 50, which senses the amount of seedlings, i.e. the remaining amount of seedlings, on the seedling pad M placed on the seedling platform 22.

[0095] The sensing unit 50 will be described below.

[0096] like Figure 4 As shown, the sensing unit 50 has a plurality of first sensors 51 and a plurality of second sensors 52. Each first sensor 51 and each second sensor 52 is disposed on the seedling carrier 22.

[0097] It should be noted that, as Figure 2 and Figure 4 As shown, the seedling carrier 22 is configured with eight sections 22a arranged in the left-right direction. That is, the seedling carrier 22 has multiple sections 22a arranged in the left-right direction of the machine body. The left-right width of each section 22a corresponds to the left-right width of the seedling pad M. Thus, each section 22a is configured to hold one row of seedling pads M. Moreover, each section 22a is equipped with a first sensor 51 and a second sensor 52.

[0098] like Figure 4 As shown, each first sensor 51 is located on the upper part of the seedling carrier 22 in the vertical direction of the machine body. Furthermore, each second sensor 52 is located on the lower part of the seedling carrier 22 in the vertical direction of the machine body. That is, the first sensors 51 are located at a higher position than the second sensors 52.

[0099] like Figure 5 As shown, the first sensor 51 is a switch that abuts against the seedling pad M placed on the seedling tray 22. The first sensor 51 has a triangular portion when viewed from the side. Moreover, the first sensor 51 is subjected to force by the force-applying member, causing the triangular portion to protrude upward from the side of the seedling tray 22 on which the seedling pad M is placed.

[0100] like Figure 5 As shown by the imaginary line, when the seedling mat M steps on the first sensor 51, the first sensor 51 shifts downwards. Therefore, the first sensor 51 is in an "on" state. Furthermore, as... Figure 5 As shown by the solid line, when the seedling mat M does not step on the first sensor 51, the first sensor 51 returns to its original position by the force applied by the force-applying member. Thus, the first sensor 51 is in an open state.

[0101] It should be noted that the structure of the first sensor 51 has been described in detail above, while the second sensor 52 has the same structure as the first sensor 51. Therefore, the description of the structure of the second sensor 52 is omitted.

[0102] Thus, both the first sensor 51 and the second sensor 52 are switches located on the seedling platform 22 and in contact with the seedling pad M placed on the seedling platform 22.

[0103] Here, Figure 4The diagram shows the first height position H1. When the upper end of the seedling in section 22a is higher than the first height position H1, the first sensor 51 located in section 22a is turned on. It should be noted that the upper end of the seedling refers to the position at the top of the uppermost seedling pad M placed in section 22a.

[0104] Furthermore, when the upper position of the seedlings in partition 22a is below the first height position H1, the first sensor 51 located in partition 22a is in an off state. That is, when the remaining seedling quantity is greater than the quantity of seedlings corresponding to the first height position H1, the first sensor 51 is in an on state. Conversely, when the remaining seedling quantity is less than the quantity of seedlings corresponding to the first height position H1, the first sensor 51 is in an off state.

[0105] Here, the amount of seedlings corresponding to the first height position H1 corresponds to the "first margin" of the present invention. That is, when the seedling margin is greater than the first margin, the first sensor 51 is in an on state. Furthermore, when the seedling margin is less than the first margin, the first sensor 51 is in an off state.

[0106] According to this structure, the first sensor 51 senses whether the remaining amount of seedlings is below the first remaining amount.

[0107] In addition Figure 4 The second height position H2 is shown. When the upper part of the seedlings in section 22a is higher than the second height position H2, the second sensor 52 located in section 22a is turned on. Furthermore, when the upper part of the seedlings in section 22a is below the second height position H2, the second sensor 52 located in section 22a is turned off. That is, when the remaining seedling quantity is greater than the quantity of seedlings corresponding to the second height position H2, the second sensor 52 is turned on. Furthermore, when the remaining seedling quantity is less than the quantity of seedlings corresponding to the second height position H2, the second sensor 52 is turned off.

[0108] Here, the amount of seedlings corresponding to the second height position H2 corresponds to the "second margin" of the present invention. That is, when the seedling margin is greater than the second margin, the second sensor 52 is in an on state. Furthermore, when the seedling margin is less than the second margin, the second sensor 52 is in an off state.

[0109] According to this structure, the second sensor 52 senses whether the remaining seedling height is below the second margin. It should be noted that the second height position H2 is lower than the first height position H1. That is, the second margin is a value less than the first margin.

[0110] Thus, the sensing unit 50 includes: a first sensor 51 for sensing whether the remaining amount of seedlings is less than or equal to a first margin; and a second sensor 52 for sensing whether the remaining amount of seedlings is less than or equal to a second margin that is less than or equal to the first margin.

[0111] Furthermore, according to this structure, the sensing unit 50 is configured to sense the remaining seedling quantity for each partition 22a.

[0112] [Regarding the switching section]

[0113] like Figure 6 As shown, the rice transplanter A has a control unit 53. The control unit 53 has a switching unit 60.

[0114] The switching unit 60 is configured to control the drive state of each belt conveyor motor 42. Specifically, the switching unit 60 can start driving each belt conveyor motor 42. In addition, the switching unit 60 can stop driving each belt conveyor motor 42.

[0115] According to this structure, the switching unit 60 can switch the state of the seedling transport device 30 between a driving state and a stopped state.

[0116] Thus, the rice transplanter A has a switching unit 60 that switches the state of the pre-seedling transport device 30 between the driving state and the stopped state.

[0117] Furthermore, the control unit 53 includes a device control unit 62. The device control unit 62 is configured to control the drive state of the seedling transplanting device W. Additionally, the device control unit 62 is configured to control the extension and retraction of the lifting hydraulic cylinder 16. Thus, the device control unit 62 is configured to control the lifting and lowering of the seedling transplanting device W.

[0118] It should be noted that the control unit 53 and the switching unit 60 included in the control unit 53 can be physical devices such as microcomputers or functional software units.

[0119] like Figure 6 As shown, the control unit 53 is configured to acquire information from each of the first sensors 51 indicating which state (on or off) each of the first sensors 51 is in. It should be noted that the control unit 53 may also be configured to acquire information indicating which state (on or off) each of the second sensors 52 is in.

[0120] Furthermore, the rice transplanter A is equipped with a left-right position sensor 61. As described above, the seedling carrier 22 is moved back and forth to the left and right, thereby changing the position of the seedling carrier 22 relative to the traveling machine body C in the left-right direction. The left-right position sensor 61 is configured to sense the position of the seedling carrier 22 relative to the traveling machine body C in the left-right direction.

[0121] The left and right position sensor 61 is not particularly limited; for example, it can be a contact sensor that senses the position of the lateral feed member 83b in the left and right direction.

[0122] The sensing results from the left and right position sensors 61 are sent to the control unit 53.

[0123] The control unit 53 is configured to: based on the information obtained from each of the first sensors 51 and the sensing results from the left and right position sensors 61, through... Figure 7 The transport control routine shown switches the state of the seedling transport device 30 between a drive state and a stop state. This transport control routine is stored in the control unit 53. The control unit 53 repeatedly executes the transport control routine at fixed time intervals.

[0124] The following is for reference Figure 7 The material handling control routine is described.

[0125] When the transport control routine starts, the processing in step S01 is executed first. In step S01, it is determined whether at least one of the first sensors 51 is in an off state.

[0126] If all first sensors 51 are in the ON state, the process is temporarily terminated in step S01 if the result is "No". Conversely, if at least one first sensor 51 is in the OFF state, the process is transferred to step S02 if the result is "Yes".

[0127] According to this structure, if the seedling balance is detected by the first sensor 51 in the sensing unit 50 to be below a predetermined first balance, it is determined to be "yes" in step S01.

[0128] In step S02, the number of times the seedling carrier 22 moves left and right is counted. This counting is performed by the control unit 53 based on the sensing results of the left and right position sensors 61. Then, the process proceeds to step S03.

[0129] In step S03, it is determined whether the count started in step S02 has reached the predetermined number of times. If the count has not reached the predetermined number of times, the result is "No" in step S03, and the process returns to step S03. That is, step S03 is repeated from the initial transfer to step S03 until the count reaches the predetermined number of times.

[0130] Then, when the count reaches the specified number, it is determined to be "yes" in step S03, and the process is transferred to step S04.

[0131] It should be noted that, specifically, the specified number of times can be four times or any number other than four times.

[0132] According to this structure, if the seedling platform 22 moves left and right a specified number of times after being determined to be "yes" in step S01, it will be determined to be "yes" in step S03.

[0133] In step S04, when the seedling carrier 22 reaches the end of its left-side travel, the seedling transplanting device W is stopped under the control of the device control unit 62. This stops the left-right reciprocating movement of the seedling carrier 22. Alternatively, the rice transplanter A can also be automatically stopped at this time. Then, the process proceeds to step S05.

[0134] In step S05, the seedling transplanting device W is raised under the control of the device control unit 62. Then, the process is transferred to step S06.

[0135] In step S06, each belt conveyor motor 42 is started to drive under the control of the switching unit 60. As a result, the state of the seedling transport device 30 is switched from the stopped state to the driven state.

[0136] As can be seen from the above description, when the sensing unit 50 senses that the remaining amount of seedlings is below the predetermined first allowance ("Yes" in step S01), the switching unit 60 switches the state of the pre-seedling transport device 30 from the stop state to the drive state (step S06).

[0137] More specifically, when the sensing unit 50 detects that the remaining seedling amount is below the first margin ("Yes" in step S01), and the seedling carrier 22 has moved left and right a predetermined number of times ("Yes" in step S03), the switching unit 60 switches the state of the pre-seedling transport device 30 from the stopped state to the driven state (step S06). Furthermore, when the sensing unit 50 detects that the remaining seedling amount is below the first margin ("Yes" in step S01), and the seedling carrier 22 has reached the end of its left-side stroke (step S04), the switching unit 60 switches the state of the pre-seedling transport device 30 from the stopped state to the driven state (step S06).

[0138] After step S06, the process proceeds to step S07. In step S07, it is determined whether all the first sensors 51 are in the on state.

[0139] If at least one of the first sensors 51 is in the off state, the result in step S07 is "No", and the process returns to step S07. That is, step S07 is repeated from the initial transition to step S07 until all the first sensors 51 are in the on state.

[0140] Then, when all the first sensors 51 are in the ON state, the result is "Yes" in step S07, and the process is transferred to step S08.

[0141] According to this structure, if the first sensor 51 in the sensing unit 50 senses that the remaining amount of seedlings is greater than the first remaining amount after the processing in step S06, it is determined to be "yes" in step S07.

[0142] In step S08, each belt conveyor motor 42 stops driving under the control of the switching unit 60. As a result, the state of the seedling transport device 30 changes from the driving state to the stopped state. It should be noted that during the period from the processing in step S06 to the processing in step S08, the state of the seedling transport device 30 remains unchanged as the driving state.

[0143] As can be seen from the above description, after the state of the pre-seedling transport device 30 is switched from the stop state to the drive state (step S06), if the sensing unit 50 senses that the remaining amount of seedlings is more than the first remaining amount (in step S07, it is "yes"), the switching unit 60 switches the state of the pre-seedling transport device 30 from the drive state to the stop state (step S08).

[0144] After step S08, the process proceeds to step S09. In step S09, the seedling transplanting device W is lowered under the control of the device control unit 62. Then, the process temporarily ends.

[0145] Based on the structure described above, when the remaining seedling quantity is below a predetermined first allowance, the pre-planted seedling transport device 30 switches to drive mode. Consequently, the seedling mat M is transported to the seedling loading platform 22 by the pre-planted seedling transport device 30. Therefore, the rice transplanter A can automatically replenish the seedling mat M to the seedling loading platform 22 via the pre-planted seedling transport device 30 when the number of seedlings placed on the seedling loading platform 22 decreases to a certain extent.

[0146] Therefore, when the structure described above is adopted, a rice transplanter A can be realized, which can achieve labor-saving operation of supplying seedling pads M to the seedling platform 22.

[0147] [Other Implementation Methods]

[0148] (1) Rice transplanter A can be configured to drive automatically or not. Alternatively, if rice transplanter A can drive automatically, the operator can not ride in the riding unit 23.

[0149] (2) The number of planting rows of the seedling transplanting device W can be seven or less, or nine or more. In addition, the number of seedling pads M that can be placed on the seedling platform 22 can be seven or less, or nine or more. In addition, the number of seedling pads M that the pre-seedling transport device 30 can transport can be seven or less, or nine or more.

[0150] (3) The switching unit 60 can be configured to control each belt conveyor motor 42 in a manner that the driving states of each belt conveyor motor 42 are consistent, or it can be configured to control each belt conveyor motor 42 individually.

[0151] Alternatively, in a configuration where the switching unit 60 individually controls each belt conveyor motor 42, the switching unit 60 is configured such that, when a first sensor 51 detects that the remaining seedling quantity is below a predetermined first margin, only the belt conveyor motor 42 corresponding to the position of the first sensor 51 is driven. Thus, when a first sensor 51 detects that the remaining seedling quantity is below a predetermined first margin, only the portion of the pre-seedling transport device 30 corresponding to the position of the first sensor 51 is switched from a stopped state to a driven state.

[0152] That is, in this structure, the switching unit 60 is configured to switch the state of the seedling transport device 30 between a driving state and a stopped state by controlling each transport mechanism 40 separately.

[0153] Furthermore, in this structure, if the sensing unit 50 senses that the remaining seedling quantity in a different partition 22a is below the first remaining quantity during a predetermined number of reciprocating cycles of the seedling carrier 22, and the sensing unit 50 senses that the remaining seedling quantity in that partition 22a is below the first remaining quantity, the switching unit 60 performs posture misalignment suppression control. Posture misalignment suppression control refers to the control that drives each transport mechanism 40 to suppress the increase in posture misalignment between the seedling carrier 22 and the pre-planted seedling transport device 30 caused by the replenishment of seedling pads M to the seedling carrier 22.

[0154] That is, in this structure, when the sensing unit 50 senses that the remaining amount of seedlings in a partition 22a is less than or equal to the first remaining amount, and the seedling carrier 22 moves left and right repeatedly a predetermined number of times, the switching unit 60 performs posture misalignment suppression control. This posture misalignment suppression control is a control that drives each transport mechanism 40 to suppress the increase in posture misalignment between the seedling carrier 22 and the prepared seedling transport device 30 caused by the replenishment of seedling pads M to the seedling carrier 22.

[0155] It should be noted that, ideally, in this structure, with the rice seedling platform 22 reciprocating multiple times, the configuration of the first sensor 51 is relatively redundant.

[0156] Alternatively, in this structure, for example, the switching unit 60 may be configured to drive each transport mechanism 40 in the posture misalignment suppression control such that the section 22a to which the seedling pad M is first supplied is the section 22a located at the center side in the left-right direction of the machine body among the sections 22a where the seedling balance is less than or equal to a first margin. In this case, for example, if the seedling balance in the section 22a located at the far left of the machine body and the fourth section 22a from the left side of the machine body is less than or equal to a first margin, the switching unit 60 drives each transport mechanism 40 such that, in the posture misalignment suppression control, the seedling pad M is first supplied to the fourth section 22a from the left side of the machine body, and then the seedling pad M is supplied to the section 22a located at the far left of the machine body.

[0157] However, it is also foreseeable that if the partition 22a to which the seedling pad M is first replenished in the posture misalignment suppression control is a partition 22a other than the partition 22a located at the center side in the left-right direction of the machine body, among the partitions 22a where the seedling balance is less than or equal to the first balance, the aforementioned increase in posture misalignment can be suppressed even more effectively. For example, the switching unit 60 can be configured such that, in this case, each transport mechanism 40 is driven to replenish the seedling pad M first to the partition 22a other than the partition 22a located at the center side in the left-right direction of the machine body among the partitions 22a where the seedling balance is less than or equal to the first balance.

[0158] For example, if the remaining seedling quantity in the leftmost partition 22a, the second partition 22a from the left side of the body, and the fourth partition 22a from the right side of the body is less than the first remaining quantity, the switching unit 60 drives each transport mechanism 40 so that in the posture misalignment suppression control, seedling pads M are first supplied to the second partition 22a from the left side of the body, then to the fourth partition 22a from the right side of the body, and finally to the partition 22a from the leftmost side of the body.

[0159] Alternatively, a tilt sensing unit may be included to sense the tilt of the seedling carrier 22 relative to the traveling machine body C. Furthermore, the switching unit 60 may drive each conveying mechanism 40 to eliminate the tilt of the seedling carrier 22 relative to the traveling machine body C based on the sensing results of the tilt sensing unit during posture misalignment suppression control.

[0160] (4) Alternatively, the second sensor 52 may not be set.

[0161] (5) Alternatively, the switching unit 60 may be configured to switch the state of the pre-seedling transport device 30 from a stopped state to a driven state when the sensing unit 50 senses that the seedlings are in a state of depletion. In this case, being in a state of depletion of seedlings is equivalent to "the remaining seedling quantity is less than or equal to a predetermined first remaining quantity" in the present invention.

[0162] (6) Alternatively, the sensing unit 50 may be a high-precision seedling depletion sensor located at the lower end of the seedling carrier 22. Alternatively, the seedling depletion sensor may be configured to sense, for example, whether the seedlings are in a depletion state by sensing the longitudinal feed width of the longitudinal feed belt 82g to the seedling pad M.

[0163] (7) Alternatively, the sensing unit 50 may be composed of a magnetic switch.

[0164] (8) Alternatively, the sensing unit 50 may be configured to include a camera capable of taking pictures of the seedling pad M placed on the seedling carrier 22, and to sense whether the seedlings are exhausted based on the images captured by the camera.

[0165] (9) Alternatively, the sensing unit 50 may be composed of a pressure sensor that senses the pressure generated by the seedling pad M placed on the seedling carrier 22.

[0166] (10) Alternatively, the sensing unit 50 may be composed of a photosensitive sensor disposed on the surface of the seedling carrier 22 on which the seedling pad M is placed.

[0167] (11) It can also be that, in Figure 7 The transport control routine shown does not include one or more steps.

[0168] For example, the transport control routine may not include step S04. That is, the switching unit 60 may be configured to switch the state of the pre-seedling transport device 30 from the stop state to the drive state when the sensing unit 50 senses that the seedling balance is below the first balance and the seedling carrier 22 has moved left and right a predetermined number of times, and before the seedling carrier 22 reaches the end of the stroke on the left side.

[0169] Alternatively, for example, the transport control routine may not include steps S02 and S03. That is, the switching unit 60 may be configured to switch the state of the pre-planted seedling transport device 30 from the stop state to the drive state when the sensing unit 50 senses that the seedling balance is below the first balance.

[0170] Alternatively, for example, the transport control routine may not include steps S02, S03, S04, and S05. That is, the switching unit 60 may be configured to immediately switch the state of the pre-planted seedling transport device 30 from the stop state to the drive state when the sensing unit 50 senses that the remaining seedling quantity is below a predetermined first allowance.

[0171] (12) Alternatively, the switching unit 60 may be configured such that when the sensing unit 50 senses that the seedling balance is below the first balance and the seedling carrier 22 has reached the end of the right-side travel, the state of the pre-seedling transport device 30 is switched from the stop state to the drive state.

[0172] (13) Alternatively, the switching unit 60 may be configured such that when the sensing unit 50 senses that the seedling balance is below the first balance, and the seedling carrier 22 has reached a predetermined position between the end of the left stroke and the end of the right stroke, the state of the pre-seedling transport device 30 is switched from the stop state to the drive state.

[0173] (14) Alternatively, the sensing unit 50 may sense the amount of seedlings on all the seedling pads M placed on the seedling tray 22. In other words, the sensing unit 50 may sense the amount of seedlings on all the seedling pads M placed on all the sections 22a of the seedling tray 22. In this case, the amount of seedlings on all the seedling pads M placed on the seedling tray 22 and the amount of seedlings on all the seedling pads M placed on all the sections 22a of the seedling tray 22 are both equivalent to the "seedling surplus" of the present invention.

[0174] (15) Alternatively, the sensing unit 50 may sense the amount of seedlings placed on the seedling pad M in a partition 22a. In this case, the amount of seedlings placed on the seedling pad M in a partition 22a is equivalent to the "seedling surplus" of the present invention.

[0175] It should be noted that the structures disclosed in the above-described embodiments (including other embodiments, the same below) can be used in combination with structures disclosed in other embodiments, provided that no conflict occurs. Furthermore, the embodiments disclosed in this specification are examples, and the embodiments of the present invention are not limited thereto, and can be appropriately modified without departing from the purpose of the present invention.

[0176] Industrial availability

[0177] This invention can be used in rice transplanters equipped with a seedling transplanting device, which has a seedling carrier platform.

Claims

1. A rice transplanter, characterized in that, have: The seedling transplanting device is located at the rear of the machine and has a seedling platform; and The seedling transport device is located further forward than the seedling carrier and transports seedling pads towards the seedling carrier. The seedling transport device is configured to transport the seedling mat when in a driven state, and not to transport the seedling mat when in a stopped state. The rice transplanter has the following features: The switching unit switches the state of the seedling transport device between the driving state and the stopped state; and The sensing unit senses the amount of seedlings, i.e., the remaining seedling quantity, placed on the seedling pad on the seedling carrier platform. The seedling transplanting device is configured to move the seedling carrier platform back and forth from side to side while simultaneously performing the seedling transplanting action. When the seedling carrier reaches a predetermined position in the left-right direction after the sensing unit detects that the remaining seedling amount is below a predetermined first margin, the switching unit switches the state of the seedling transport device from the stopped state to the driven state. The specified position is the end of the left or right side of the reciprocating movement of the seedling carrier.

2. The rice transplanter according to claim 1, characterized in that, When the sensing unit detects that the remaining amount of seedlings is greater than the first remaining amount after the seedling transport device is switched from the stopped state to the driven state, the switching unit switches the state of the seedling transport device from the driven state to the stopped state.

3. The rice transplanter according to claim 1, characterized in that, The sensing unit includes: a first sensor for sensing whether the remaining amount of seedlings is less than or equal to a first remaining amount; and a second sensor for sensing whether the remaining amount of seedlings is less than or equal to a second remaining amount that is less than or equal to the first remaining amount.

4. The rice transplanter according to claim 3, characterized in that, Both the first sensor and the second sensor are switches installed on the seedling carrier platform and in contact with the seedling pad placed on the platform. The first sensor is positioned higher than the second sensor.

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