Transplanting machine

Abstract

The invention provides a transplanter which can monitor the height of a soil surface with high precision even if the height of the soil surface changes, so that seedlings can be planted in the soil at a specified planting depth. The transplanter comprises: a traveling machine body; a planting part which is provided with a seedling planting mechanism for planting seedlings in soil and is connected with the rear part of the traveling machine body in a freely lifting manner; and a multi-sheet guiding-out and laying mechanism for guiding out and laying the plurality of sheets on the soil surface before the seedlings are planted. The transplanter is further provided with a height monitoring mechanism for monitoring the height of the surface of the soil, which is a reference for setting the planting depth of the seedlings, before the plurality of sheets are laid on the surface of the soil.

Description

Technical Field

[0001] The present invention relates to a transplanter. Background Art

[0002] For example, Patent Document 1 discloses a multi-ridge transplanter. The above multi-ridge transplanter enables the transplanting operation machine to be connected to the traveling body so as to be lifted and lowered freely, and a sheet (also referred to as "multi-sheet") is exported in a manner of covering the field surface, and a multi-ridge planting operation is performed on the field surface covered with the sheet from above the sheet. The above multi-ridge transplanter is provided with a sensor roller for setting the planting depth at the time of the planting operation. The sensor roller is located above the sheet covering the field surface, and senses the height of the field surface from above the sheet.

[0003] Prior Art Documents

[0004] Patent Documents

[0005] Patent Document 1: Japanese Patent Laid-Open No. 2003-274708 Summary of the Invention

[0006] However, when the field is a paddy field, the surface of the leveled field (field surface) is uniform. On the other hand, when the field is a dry field, there are deviations in tillage or ridging in the dry field. Therefore, in most cases, the height of the soil surface, that is, the height of the ridge, is not constant. Therefore, regarding a structure that senses the height of the field surface (ridge height) from above the sheet as in Patent Document 1, if the ridge height changes, it is sometimes impossible to accurately monitor the ridge height due to the presence of the sheet. For example, if there are irregularities in the ridges in the traveling direction of the traveling body and the sheet laid on the ridges is horizontally tensioned between the convex portions of the ridges, it is impossible to accurately monitor the height of the surface of the concave portion between the convex portions of the ridges. Therefore, it is difficult to apply the multi-ridge transplanter of Patent Document 1 to dry field cultivation.

[0007] The present invention has been completed to solve the above problems, and an object thereof is to provide a transplanter configured to include a multi-sheet export and laying mechanism, which can accurately monitor the height of the soil surface even when the height of the soil surface (ridge height) changes, and thereby can plant seedlings in the soil at a specified planting depth.

[0008] A transplanter according to one aspect of the present invention includes: a traveling body; a planting unit having a seedling planting mechanism for planting seedlings in soil and connected to the rear of the traveling body in a vertically movable manner; and a multi-sheet material guiding and laying mechanism for guiding and laying a multi-sheet material on the surface of the soil before planting the seedlings. The transplanter includes a height monitoring mechanism that monitors the height of the surface of the soil that serves as a reference for setting the planting depth of the seedlings before the multi-sheet material is laid on the soil surface.

[0009] Advantages of the Invention

[0010] According to the above structure, even when the height of the soil surface changes, the height of the soil surface can be monitored with high precision, and thus the seedlings can be planted in the soil at a specified planting depth. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a side view showing a schematic structure of a transplanter according to an embodiment of the present invention.

[0012] Figure 2 It is a side view of the planting unit of the above transplanter.

[0013] Figure 3 It is a rear view of the seedling placement device of the above planting unit as viewed from the rear.

[0014] Figure 4 It is a side view of the seedling planting mechanism of the above planting unit.

[0015] Figure 5 It is a perspective view showing an enlarged planting unit of the above seedling planting mechanism.

[0016] Figure 6 It is a side view showing a part of the above planting unit.

[0017] Figure 7 It is a perspective view of the planting frame of the above planting unit as viewed from an obliquely rearward direction.

[0018] Figure 8 It is a perspective view of the roll holder of the multi-sheet material guiding and laying mechanism provided in the above transplanter as viewed from below.

[0019] Figure 9 It is a perspective view of the sheet guiding portion of the above multi-sheet material guiding and laying mechanism as viewed from the front.

[0020] Figure 10 It is a perspective view of the pressing mechanism provided in the above transplanter as viewed from an obliquely rearward direction.

[0021] Figure 11It is a perspective view of the sheet lower acting body provided in the above-mentioned transplanter when observed obliquely from the rear.

[0022] Figure 12 It is a perspective view showing an enlarged view of the rear side of the furrow opener of the above-mentioned sheet lower acting body.

[0023] Figure 13 It is a perspective view of the backfill member of the soil covering mechanism of the above-mentioned sheet lower acting body when observed from the rear.

[0024] Figure 14 It is a top view of the above-mentioned sheet lower acting body.

[0025] Figure 15 It is a cross-sectional view when the above-mentioned backfill member is sectioned along line A-A'.

[0026] Figure 16 It is a perspective view showing the structure of the height monitoring mechanism provided in the above-mentioned transplanter.

[0027] Figure 17A It is a side view of the above-mentioned height monitoring mechanism when the lifting sensor is in contact with the soil surface at a specified height and observed from the right side.

[0028] Figure 17B It is an enlarged view showing Figure 17A a side view of the height monitoring mechanism.

[0029] Figure 18A It is a side view of the above-mentioned height monitoring mechanism when the above-mentioned lifting sensor is in contact with the soil surface at different heights and observed from the right side.

[0030] Figure 18B It is an enlarged view showing Figure 18A a side view of the height monitoring mechanism.

[0031] Figure 19 It is an explanatory view schematically showing the structure of the lifting mechanism provided in the above-mentioned transplanter.

[0032] Figure 20 It is a perspective view showing the schematic structure of the equalizer part of the above-mentioned lifting mechanism.

[0033] Figure 21 It is a top view schematically showing the operation of the above-mentioned equalizer part when pulling the left and right lifting wires backward.

[0034] Figure 22 It is a top view schematically showing the operation of the above-mentioned equalizer part when pulling the left lifting wire backward and the right lifting wire is slackened and tightened.

[0035] Figure 23It is an explanatory diagram showing the structure in which the above height monitoring mechanism monitors the height of the soil surface after multiple sheets are laid on the soil surface.

[0036] Figure 24 It is an explanatory diagram showing the structure in which the above height monitoring mechanism monitors the height of the soil surface before multiple sheets are laid on the soil surface.

[0037] Figure 25 It is a side view schematically showing the situation where the above height monitoring mechanism is lifted and lowered by the rotation of the planting depth adjustment rod.

[0038] Figure 26 It is a perspective view when observing the above planting part from the front.

[0039] Figure 27 It is an excerpt showing Figure 26 A perspective view of the shown tipping mechanism.

[0040] Figure 28 It is a block diagram schematically showing the structure related to the tipping control of the above transplanter.

[0041] Figure 29 It is an explanatory diagram schematically showing an example of the above tipping control.

[0042] Explanation of reference numerals

[0043] 1... Transplanter; 2... Traveling body; 3... Planting part; 32... Seedling planting mechanism; 33... Planting frame; 35... Planting depth adjustment mechanism; 36... Multiple sheet export and laying mechanism; 39... Height monitoring mechanism; 60... Tipping mechanism (rotating mechanism); 61... Tipping rotation shaft; 80... Controller (gradient detection part); E... Seedling; H... Surface; S... Multiple sheets. Detailed implementation mode

[0044] The embodiments of the present invention will be described with reference to the accompanying drawings. In addition, in the following description, the directions are defined in advance in the following manner for convenience. First, the traveling direction of the traveling body 2 ( Figure 1 the left side) is set as the front (front direction), and the opposite direction is set as the rear (rear direction). In addition, the left side is called the left (left side) toward the traveling direction of the traveling body 2, and the right side is called the right (right side) toward the traveling direction. In addition, the direction of gravity is set as the vertical direction, the upstream side is set as the upper (upper side), and the downstream side is set as the lower (lower side). In the drawings, the front is represented by the symbol "F", the rear is represented by the symbol "B", the left side is represented by the symbol "L", the right side is represented by the symbol "R", the upper side is represented by the symbol "U", and the lower side is represented by the symbol "D" as needed.

[0045] <1. Overview of the transplanter>

[0046] Figure 1 This is a side view showing the schematic structure of the transplanter 1 according to an embodiment of the present invention. Figure 2 It is Figure 1 a side view of the planting part 3 of the transplanter 1. In addition, Figure 2 for convenience, the illustrations of the left soil discharge plate 34L, the left lower pressing roller 51L, and the left soil covering plate 52L shown in Figure 1 are omitted. The transplanter 1 of the present embodiment is a vegetable transplanter for transplanting (planting) seedlings of vegetables such as cabbages into the soil. The transplanter 1 includes a traveling body 2 and a planting part 3.

[0047] The traveling body 2 is supported by the left and right front wheels 1a and the left and right rear wheels 1b. An engine 1c as a driving source is mounted on the traveling body 2. The power output from the engine 1c is transmitted to the driven parts via a transmission part 1d. In addition to the front wheels 1a and the rear wheels 1b, the driven parts also include the planting part 3 described later. Therefore, the above-mentioned transmission part 1d includes a PTO (Power Take Off) shaft 1d1 for driving the planting part 3 (refer to Figure 2 ).

[0048] The traveling body 2 includes: a seat 2a for the operator to sit on; an operation part 2b operated by the operator; and a preliminary placement part 2c for placing the preliminary seedling mats. The operation part 2b includes: a steering wheel for operating the traveling direction; a gear lever for operating the traveling speed; and a working lever for operating the planting part 3.

[0049] The planting part 3 is connected to the rear of the traveling body 2 in a vertically movable manner via a lifting mechanism 4. The lifting mechanism 4 includes an upper link 41, a lower link 42, and a lifting cylinder 43. The upper link 41 and the lower link 42 connect the traveling body 2 and the planting part 3. The lifting cylinder 43 is connected to the lower link 42 via a connecting part 44. For example, by operating the operation part 2b (working lever), the lifting cylinder 43 expands and contracts, and the lower link 42 rotates and the upper link 41 rotates via the connecting part 44. Thereby, the planting part 3 can be lifted and lowered relative to the traveling body 2.

[0050] The planting part 3 has a seedling placement device 31 and a seedling planting mechanism 32 (refer to Figure 2 ). The seedling planting mechanism 32 rakes one seedling from the seedling mat MT placed on the seedling placement device 31 (refer to Figure 3 ) and plants the raked seedling into the soil (ridge) from above the multi-sheets S described later.

[0051] Figure 3 This is a rear view of the seedling placement device 31 as viewed from the rear. The seedling placement device 31 is driven by a longitudinal conveyor belt 312 (refer to Figure 2) is driven to convey the seedling-raising mat MT placed on the seedling stage 311 downward. The transplanting machine 1 of the present embodiment is configured such that six seedling stages 311 for one row, each capable of placing one row of the seedling-raising mat MT, are arranged side by side in the left-right direction, so that the planting of seedlings up to six rows can be performed. In addition, an example of the structure for planting one row of seedlings is shown here for simplicity of explanation.

[0052] The longitudinal conveyor belt 312 is driven for longitudinal conveyance by a longitudinal conveyance mechanism 313 (refer to Figure 2 ). The longitudinal conveyance mechanism 313 drives the longitudinal conveyor belt 312 in units of one plant (one row) at the timing when the raking of the seedlings in one row in the left-right direction from the seedling-raising mat MT is completed. Thus, the seedling planting mechanism 32 can rake the seedlings in the next row from the seedling-raising mat MT. In addition, the seedling stage 311 is driven for lateral conveyance by a lateral conveyance mechanism 314 (refer to Figure 2 ). The lateral conveyance mechanism 314 laterally conveys the seedling stage 311 in either the left or right direction after the longitudinal conveyor belt 312 longitudinally conveys the seedling-raising mat MT. In particular, whenever the longitudinal conveyor belt 312 longitudinally conveys the seedling-raising mat MT (whenever the raking of the seedlings in one row from the seedling-raising mat MT is completed), the lateral conveyance mechanism 314 reverses the lateral conveyance direction of the seedling stage 311. Thus, the seedling planting mechanism 32 can continuously rake the seedlings in the next row after the raking of the seedlings in one row from the seedling-raising mat MT is completed.

[0053] The lateral conveyance mechanism 314 has a drive shaft (lateral conveyance shaft) for laterally conveying the seedling stage 311. The lateral conveyance shaft is driven by the power transmitted from the engine 1c via the PTO shaft 1d1. A drive cam 314a is mounted on the lateral conveyance shaft. The drive cam 314a rotates together with the rotation of the lateral conveyance shaft.

[0054] The longitudinal conveyance mechanism 313 has: a drive shaft (longitudinal conveyance shaft) for driving the longitudinal conveyor belt 312 for longitudinal conveyance; and a rotating shaft for rotating the longitudinal conveyance shaft. A driven cam 313a is mounted on the rotating shaft. The driven cam 313a contacts the drive cam 314a of the lateral conveyance mechanism 314 at a prescribed timing. Here, the above-mentioned prescribed timing refers to the timing when the raking of the seedlings in one row from the seedling-raising mat MT is completed.

[0055] By the rotation of the lateral transfer shaft, the drive cam 314a contacts the driven cam 313a at the above-mentioned specified timing. If the rotating shaft and the driven cam 313a are rotated by a specified angle together, the power generated by the rotation of the rotating shaft is transmitted to the longitudinal transfer shaft via a power transmission mechanism (not shown). Thus, the longitudinal conveyor belt 312 is longitudinally driven at the above-mentioned specified timing. When the contact between the drive cam 314a and the driven cam 313a is released, the driven cam 313a rotates in the opposite direction by the action of a biasing member (not shown) and returns to the initial position before rotation. In addition, the above-mentioned power transmission mechanism is configured to include, for example, gears, belts, chains, etc., but it can be provided as needed. That is, it can also be configured to directly transmit the power of the rotating shaft on which the driven cam 313a is mounted (without setting a power transmission mechanism) to the longitudinal transfer shaft.

[0056] Figure 4 It is a side view of the seedling planting mechanism 32. The seedling planting mechanism 32 has a rotating box 321 and a planting unit 322. The seedling planting mechanism 32 is driven by the power taken out from the PTO shaft 1d1.

[0057] The rotating box 321 is rotatably supported by the planting box 33a of the planting part 3. The planting box 33a is fixed to the planting frame 33 (especially the rear surface of the post-planting frame 332 (refer to Figure 7 ). The rotation axis 321a of the rotating box 321 extends in the left-right direction.

[0058] The planting unit 322 has planting claws 322a. Two planting units 322 are supported on the rotating box 321. The two planting units 322 are pivotally supported on the rotating box 321 at positions that are point-symmetrical with respect to the rotation axis 321a of the rotating box 321 in a side view. When the rotating box 321 rotates, the planting claws 322a of each planting unit 322 rake seedlings one by one from the seedling-raising mat MT (refer to Figure 3 ) and plant the raked seedlings in the ridges in sequence. In addition, the number of planting units 322 supported on the rotating box 321 can also be one.

[0059] Figure 5FIG. is an enlarged perspective view showing one planting unit 322. The planting unit 322 also has a pushing member 322b and a holding member 322c. The pushing member 322b is provided to push out the seedlings raked by the planting claws 322a from the seedling-raising mat MT. The pushing member 322b slides in the opposite direction to the pushing direction at a prescribed timing before raking. Thereby, the seedlings can be raked from the seedling-raising mat MT by the planting claws 322a. The raked seedlings are held by the planting claws 322a and the holding member 322c. Further, the pushing member 322b slides in the pushing direction at a prescribed timing before planting. Thereby, the seedlings held by the planting claws 322a and the holding member 322c are pushed out and planted in the furrow.

[0060] The planting unit 322 also has a cutter 322d. The cutter 322d is located on the downstream side in the rotation direction of the rotary box 321 with respect to the planting claws 322a. That is, the cutter 322d is in a positional relationship such that it reaches the front position with respect to the planting claws 322a when the rotary box 321 rotates. Due to the rotation of the rotary box 321, the cutter 322d makes a hole in the multi-sheet S (refer to Figure 1 , Figure 2 ) which is rectangular in plan view before the seedlings are planted by the planting claws 322a. Thereby, the seedlings held by the planting claws 322a and the holding member 322c can be planted in the furrow through the above-mentioned hole in the multi-sheet S. In addition, the sheet piece that closes the above-mentioned hole in the multi-sheet S is not completely separated from the multi-sheet S and is connected to the surrounding sheets by a part of the outer shape of the above-mentioned hole (one side of the rectangle).

[0061] The cutter 322d has a main body portion 322d1 having a shape in which a flat plate is bent; and protruding claws (locking claws) 322d2. The protruding claws 322d2 are provided at the left and right corner portions on the end side (the side in contact with the multi-sheet S) of the main body portion 322d1 and protrude toward the downstream side in the rotation direction of the rotary box 321 with respect to the main body portion 322d1. That is, the protruding claws 322d2 are in a positional relationship such that they reach the front position with respect to the main body portion 322d1 when the rotary box 321 rotates. Regarding the structure of such a cutter 322d, the sharp claws such as the protruding claws 322d2 contact the multi-sheet S at an angle (from a direction close to perpendicular to the multi-sheet S). Therefore, the situation where the cutter 322d slides above the multi-sheet S is reduced. That is, the protruding claws 322d2 reliably catch on the multi-sheet S and penetrate the multi-sheet S. Thereby, a hole can be reliably made in the multi-sheet S, and the hole can be made in the multi-sheet S with an accurate size and position. In addition, the multi-sheet S is cut by the two protruding claws 322d2 on the left and right sides to make a hole through which the seedlings can pass at the minimum size in the multi-sheet S.

[0062] As Figure 2As shown, the soil discharging plate 34 is supported by the planting frame 33 of the planting unit 3. The soil discharging plate 34 includes a right soil discharging plate 34R and a left soil discharging plate 34L (refer to Figure 1 ). The right soil discharging plate 34R and the left soil discharging plate 34L cut the soil due to the traveling of the traveling machine body 2, thereby forming ridges for planting seedlings. The mounting positions of the right soil discharging plate 34R and the left soil discharging plate 34L in the left-right direction and the up-down direction with respect to the planting frame 33 can be adjusted according to the width and height of the formed ridges.

[0063] The planting depth adjusting mechanism 35, the multi-sheet discharging and laying mechanism 36, the pressing mechanism 37, and the sheet lower acting body 38 are supported by the planting frame 33 of the planting unit 3. And, the height monitoring mechanism 39 is supported by the planting depth adjusting mechanism 35. In addition, the planting depth adjusting mechanism 35, the multi-sheet discharging and laying mechanism 36, the pressing mechanism 37, the sheet lower acting body 38, and the height monitoring mechanism 39 will be described in detail later.

[0064] At the planting frame 33, a lower end pressing roller 51, a soil covering plate 52, and a soil covering wheel 53 are supported by means of an auxiliary frame (not shown). The lower end pressing roller 51 includes a right lower end pressing roller 51R and a left lower end pressing roller 51L (refer to Figure 1 ). The right lower end pressing roller 51R and the left lower end pressing roller 51L press both ends (the parts exposed to the outside of the ridge) of the multi-sheet S discharged from the multi-sheet discharging and laying mechanism 36 and covering the ridge.

[0065] The soil covering plate 52 includes a right soil covering plate 52R and a left soil covering plate 52L (refer to Figure 1 ). The right soil covering plate 52R and the left soil covering plate 52L cover the both ends of the multi-sheet S pressed by the right lower end pressing roller 51R and the left lower end pressing roller 51L so as not to let the multi-sheet S fly up. The soil covering wheel 53 includes a right soil covering wheel (not shown) and a left soil covering wheel 53L. The right soil covering wheel and the left soil covering wheel 53L press the soil on the right side and the left side of the seedlings planted in the ridge across the multi-sheet S. Thereby, the periphery of the planted seedlings is reinforced with soil. As a result, the lodging of the seedlings is suppressed.

[0066] <2. Details of the multi-sheet discharging and laying mechanism>

[0067] Figure 6It is a side view showing a part of the planting unit 3. As shown in this figure, the multi-sheet export and laying mechanism 36 has a roll-shaped object holding part 361 and a sheet export guiding part 362. The roll-shaped object holding part 361 holds a roll-shaped object S0 in which a plurality of sheets S are wound into a roll, and exports the outermost multi-sheet S of the roll-shaped object S0. The multi-sheet S is composed of, for example, a plastic sheet. The sheet export guiding part 362 guides the multi-sheet S exported from the roll-shaped object holding part 361 toward the surface H of the soil (ridge) in front of the planting position of the seedlings by the seedling planting mechanism 32 and lays it on the surface H of the soil. That is, the transplanter 1 of the present embodiment is provided with a multi-sheet export and laying mechanism 36 that exports and lays the multi-sheet S on the surface H of the soil before planting the seedlings. The roll-shaped object holding part 361 and the sheet export guiding part 362 of the multi-sheet export and laying mechanism 36 are supported by the planting frame 33. That is, the multi-sheet export and laying mechanism 36 is provided in the planting unit 3.

[0068] Here, the details of the planting frame 33 will be described in advance. Figure 7 It is a perspective view when observing the planting frame 33 from the obliquely rear side. The planting frame 33 has a pre-planting frame 331, a post-planting frame 332, and side pipes 333. The pre-planting frame 331 extends in the left-right direction and is located on the front side of the planting frame 33. The post-planting frame 332 extends in the left-right direction and is located at a position more rearward than the pre-planting frame 331. The post-planting frame 332 is longer than the pre-planting frame 331 in the left-right direction.

[0069] The side pipes 333 include a right pipe 333R and a left pipe 333L. The right pipe 333R is arranged to extend in the front-rear direction and connects the right end of the pre-planting frame 331 and the post-planting frame 332. The left pipe 333L is arranged to extend in the front-rear direction and connects the left end of the pre-planting frame 331 and the post-planting frame 332.

[0070] A right frame 334R is erected at the right end of the post-planting frame 332. A left frame 334L is erected at the left end of the post-planting frame 332. The right frame 334R and the left frame 334L have a shape that extends upward from the connecting side with the post-planting frame 332 and bends obliquely forward midway. The right frame 334R and the left frame 334L are connected by an upper frame 335 and a cross frame 336. The upper frame 335 extends in the left-right direction and connects the upper parts of the right frame 334R and the left frame 334L to each other. The cross frame 336 is located at a position more rearward and more obliquely downward than the upper frame 335 and extends in the left-right direction, and connects the right frame 334R and the left frame 334L. While maintaining the forward inclination posture along the upper frame 335 and the cross frame 336, the above-mentioned seedling placement device 31 (refer to Figure 1 etc.) is driven for lateral transfer.

[0071] Figure 8 Figure 8 is a perspective view of observing the above-mentioned roll holding part 361 from below. As shown in this figure, the roll holding part 361 has a shaft holding frame 361a. The shaft holding frame 361a extends in the left-right direction and holds the axial end parts of the roll body S0. The shaft holding frame 361a is mounted on the pre-planting frame 331 by means of frame support braces 361b. The frame support braces 361b are connected to approximately the central part in the left-right direction of the rear surface of the pre-planting frame 331 by, for example, bolt fastening.

[0072] Figure 9 Figure 9 is a perspective view of observing the above-mentioned sheet discharging guide part 362 from the front. As shown in this figure, the sheet discharging guide part 362 has a first guide roller 362a, a second guide roller 362b, and a roller holding frame 362c. The first guide roller 362a is located at a position more forward than the second guide roller 362b and guides the multiple sheets S discharged from the shaft holding frame 361a toward the second guide roller 362b. The second guide roller 362b presses the multiple sheets S guided by the first guide roller 362a downward and guides them in a manner close to the surface H of the soil.

[0073] The roller holding frame 362c includes a right holding frame 362cR and a left holding frame 362cL. The right holding frame 362cR and the left holding frame 362cL have a shape that extends from above downward and buckles obliquely backward midway.

[0074] The right holding frame 362cR is respectively disposed on the right sides of the first guide roller 362a and the second guide roller 362b and supports the right ends of the respective rotating shafts of the first guide roller 362a and the second guide roller 362b so as to be rotatable. The left holding frame 362cL is respectively disposed on the left sides of the first guide roller 362a and the second guide roller 362b and supports the left ends of the respective rotating shafts of the first guide roller 362a and the second guide roller 362b so as to be rotatable. The first guide roller 362a is supported in a rotatable manner near the buckling part of the right holding frame 362cR and the left holding frame 362cL. The second guide roller 362b is supported in a rotatable manner at the lower end part (rear end part) of the right holding frame 362cR and the left holding frame 362cL.

[0075] The right holding frame 362cR is mounted on the post-planting frame 332 by means of a right support brace 363R at a position above the first guide roller 362a. The right support brace 363R is connected to the front surface of the post-planting frame 332 by, for example, bolt fastening. Similarly, the left holding frame 362cL is mounted on the post-planting frame 332 by means of a left support brace 363L. The left support brace 363L is connected to the front surface of the post-planting frame 332 by, for example, bolt fastening.

[0076] <Details of the pressing mechanism>

[0077] Figure 10 This is a perspective view of the above-mentioned pressing mechanism 37 when viewed obliquely from the rear. The pressing mechanism 37 is provided to press the multi-sheet S guided by the sheet guiding portion 362 of the sheet laying mechanism 36 onto the surface H of the soil. Such a pressing mechanism 37 includes a pressing roller 371 and a roller holding mechanism 372.

[0078] Two pressing rollers 371 are arranged side by side in the left-right direction (refer to Figure 11 ). The rotation axes of the respective pressing rollers 371 extend in the left-right direction. Each pressing roller 371 is arranged above the ridge processing portion 381b of the furrow opener 381 of the sheet lower acting body 38 described later, and is arranged on the left and right sides of the ridge processing portion 381b in a plan view.

[0079] The roller holding mechanism 372 holds the two pressing rollers 371 so as to be rotatable. Such a roller holding mechanism 372 is configured to include an arm portion 372a, an arm support body 372b, and a biasing member 372c.

[0080] Two arm portions 372a are provided corresponding to the respective pressing rollers 371. Each arm portion 372a supports the rotation axis of the pressing roller 371 so as to be rotatable. The arm support body 372b supports the two arm portions 372a so as to be rotatable. The biasing member 372c is formed of a spring, for example. Two biasing members 372c are provided corresponding to the respective arm portions 372a. One end portion of the biasing member 372c is fixed to the arm support body 372b. The other end portion of the biasing member 372c is connected to the end portion on the side opposite to the support side of the pressing roller 371 with the rotation axis of the arm portion 372a interposed therebetween. Such a roller holding mechanism 372 is fixed to the left side surface of the planting box 33a by bolt fastening connection, for example.

[0081] If the arm portion 372a is rotated by the acting force of the biasing member 372c, each pressing roller 371 is pressed downward. Then, the multi-sheet S is pressed onto the surface H of the soil by each pressing roller 371. Thereby, tension is applied to the multi-sheet S. Therefore, when the multi-sheet S is perforated by the cutter 322d (refer to Figure 5 etc.) of the seedling planting mechanism 32, the cutter 322d easily penetrates the multi-sheet S, and thus it is easy to perforate with a specified size.

[0082] <Details of the sheet lower acting body>

[0083] Figure 11This is a perspective view of the sheet lower working body 38 as viewed obliquely from the rear. Before transplanting the seedlings, the sheet lower working body 38 forms a ridge groove G for transplanting seedlings in the soil below the multiple sheets S led out by the multiple-sheet leading-out laying mechanism 36 as the traveling machine body 2 travels forward (refer to Figure 14 ). Such a sheet lower working body 38 has a furrow opener 381 and a soil banking mechanism 382.

[0084] Before transplanting the seedlings, the furrow opener 381 digs a part of the soil (ridge) as the traveling machine body 2 travels to form a ridge groove G for transplanting seedlings. The furrow opener 381 is mounted on the pre-planting frame 331 by means of a working body support portion 300. The working body support portion 300 is connected to the right side of the frame support brace 361b (refer to Figure 8 ) on the rear surface of the pre-planting frame 331, for example, by bolt fastening. Thus, the transplanter 1 of the present embodiment has a working body support portion 300 for supporting the sheet lower working body 38 (especially the furrow opener 381). In addition, since the furrow opener 381 is mounted on the pre-planting frame 331 by means of the working body support portion 300, it can be said that the sheet lower working body 38 having the furrow opener 381 is provided in the planting portion 3.

[0085] The furrow opener 381 has a main body portion 381a and a ridge groove processing portion 381b. The main body portion 381a extends obliquely downward as it moves from the support side of the working body support portion 300 toward the rear, bends at the bending portion 381a1, and further extends rearward. When transplanting seedlings using the seedling transplanting mechanism 32, the rear side of the furrow opener 381 behind the bending portion 381a1 is located below the surface H of the soil (ridge) (refer to Figure 6 ).

[0086] The ridge groove processing portion 381b is joined to the rear end of the main body portion 381a by welding, for example. Therefore, when transplanting seedlings using the seedling transplanting mechanism 32, like a part of the main body portion 381a, the ridge groove processing portion 381b is also located below the surface H of the soil (ridge) (refer to Figure 6 ).

[0087] Figure 12 This is a perspective view showing an enlarged view of the rear side of the furrow opener 381. The ridge groove processing portion 381b of the furrow opener 381 has a V shape and is joined to the main body portion 381a at the root of the V. That is, the width of the ridge groove processing portion 381b in the left-right direction increases as it moves from the joining side joined to the main body portion 381a toward the rear. The maximum width of the ridge groove processing portion 381b in the left-right direction (equivalent to Figure 14The width W) is greater than the width of the main body 381a in the left-right direction. Thus, the width of the soil excavation by the furrow processing part 381b is greater than the width of the soil excavation by the main body 381a, so that it is possible to form a furrow G of an appropriate width for planting seedlings in the soil.

[0088] Figure 11 The soil covering mechanism 382 shown in FIG. covers the furrow G formed in the soil by the furrow opener 381 as the traveling body 2 travels forward. Such a soil covering mechanism 382 has a backfilling member 383. The backfilling member 383 is a member for backfilling the furrow G with soil from the soil. The backfilling member 383 is attached to the main body 381a of the furrow opener 381 by means of a mounting bracket 382a.

[0089] Figure 13 is a perspective view of the backfilling member 383 when viewed from the rear. The backfilling member 383 has a pair of rod-shaped portions 3831, a connecting portion 3832, and a pair of clamping portions 3833.

[0090] As Figure 11 shown, the pair of rod-shaped portions 3831 are respectively located on the left and right sides of the furrow opener 381. That is, the pair of rod-shaped portions 3831 are located on one side and the other side in the width direction perpendicular to the front-rear direction of the traveling body 2. Moreover, the pair of rod-shaped portions 3831 are arranged to extend in the front-rear direction of the traveling body 2 in the soil.

[0091] The connecting portion 3832 is formed by bending a rod-shaped body into a U shape. Both end portions of the connecting portion 3832 are connected to the front end portions 3831a of the pair of rod-shaped portions 3831. In addition, a part of the connecting portion 3832 is located above the soil (see Figure 6 ).

[0092] The pair of clamping portions 3833 are respectively connected to the rear end portions 3831b of the pair of rod-shaped portions 3831, and the interval in the width direction decreases as it goes toward the rear. In order to improve the soil covering efficiency (in order to cover as much soil as possible), a flat plate 3833a is installed at the rear ends of the pair of clamping portions 3833 (the ends on the side opposite to the connecting side connected to the pair of rod-shaped portions 3831).

[0093] Figure 14 is a top view of the sheet lower acting body 38. Figure 14 The furrow G formed in the soil by the furrow opener 381 and the situation of covering the furrow G with the soil covering mechanism 382 (backfilling member 383) are shown together in FIG. In addition, Figure 14 the illustration of the multiple sheets S covering the soil surface is omitted for convenience in FIG.

[0094] With a part of the furrow opener 381 (particularly the furrow processing part 381b) and a part of the soil covering mechanism 382 (particularly a pair of rod-shaped parts 3831 and a pair of clamping parts 3833) located in the soil, when the traveling machine body 2 travels (advances), the furrow processing part 381b of the furrow opener 381 excavates the soil with a specified width W. As a result, a furrow G with a width W is formed in the soil below the multiple sheets S. Then, the seedling planting mechanism 32 (refer to Figure 4 etc.) plants the seedlings E in the furrow G. In addition, when the seedling planting mechanism 32 plants the seedlings E, the same as described above, holes are formed in the multiple sheets S before planting, and the seedlings E are planted through the holes from above the multiple sheets S.

[0095] Regarding the transplanter 1 of the present embodiment, the sheet-under acting body 38 (particularly the furrow opener 381) forms the furrow G in the soil before planting the seedlings E. Therefore, even in paddy fields with hard soil, it is possible to easily plant the seedlings E in the soil (furrow G). In particular, regarding the planting of vegetable seedlings E, from the viewpoints of heat preservation and the like, the multiple sheets S made of plastic film are covered on the soil. The transplanter 1 of the present embodiment further includes a multiple-sheet guiding and laying mechanism 36. Therefore, it is possible to perform the laying of the multiple sheets S and the formation of the furrow G in the soil by the sheet-under acting body 38 in parallel, and at the same time, plant the vegetable seedlings E. Therefore, it is possible to realize the transplanter 1 suitable for planting the vegetable seedlings E in soil with hard soil that requires the laying of the multiple sheets S.

[0096] The sheet-under acting body 38 has a furrow opener 381. Since the furrow opener 381 excavates a part of the soil as the traveling machine body 2 travels, the furrow G for planting the seedlings E is reliably formed in the soil.

[0097] The sheet-under acting body 38 has a soil covering mechanism 382. Regarding this structure, after the seedlings E are planted in the furrow G formed in the soil by the furrow opener 381, or almost simultaneously with the planting of the seedlings E, the soil covering mechanism 382 (particularly a pair of clamping parts 3833) backfills the furrow G with soil from the side. Therefore, the soil covers the roots of the seedlings E planted in the furrow G, thereby stably maintaining the good transplanting posture (planting posture) of the seedlings E.

[0098] The soil covering mechanism 382 has a backfilling member 383. Regarding this structure, the soil backfilled into the furrow G by the backfilling member 383 supports the seedlings E planted in the furrow G. Therefore, the seedlings E can be held in a stable posture in the soil.

[0099] The above-mentioned backfilling member 383 has a pair of rod-shaped portions 3831, a connecting portion 3832, and a pair of clamping portions 3833. The pair of rod-shaped portions 3831 extend in the front-rear direction of the traveling body 2 in the soil and do not cross in the width direction (left-right direction). Here, Figure 15 is a cross-sectional view when the backfilling member 383 in Figure 13 is cut along the line A-A'. As shown in this figure, regarding the structure in which each rod-shaped portion 3831 extends in the front-rear direction in the soil, the projected area of each rod-shaped portion 3831 in the front-rear direction is equal to the cross-sectional area (the area of the shaded portion) of each rod-shaped portion 3831, and is reliably reduced compared to the configuration in which each rod-shaped portion 3831 crosses in the width direction. Thus, the backfilling member 383 forms a furrow far larger than the furrow G formed by the furrow opener 381 as the traveling body 2 travels, thereby reducing the concern that the posture of the planted seedling E becomes unstable. Therefore, even when the height of the planted seedling E is low, the seedling E can grow through the holes formed in the multi-sheet S, thereby reducing the concern that the seedling E does not pass through the above-mentioned holes and drills under the multi-sheet S. That is, since the backfilling member 383 does not cross in the width direction of the traveling body 2 in the field and does not form a furrow with a large width in the soil, even when planting a seedling E with a low planting height, the planting posture of the seedling E can be stabilized to achieve good planting.

[0100] As Figure 14 shown, regarding the soil banking mechanism 382, the rear ends of the pair of clamping portions 3833 are located at positions further rearward than the planting position of the seedling E. Regarding this structure, after planting the seedling E in the furrow G, the furrow G is reliably backfilled with soil by the pair of clamping portions 3833. Therefore, the planted seedling E can be held in a stable posture.

[0101] The soil banking mechanism 382 banks the furrow G from below the multi-sheet S. Regarding this structure, even when the multi-sheet S is laid on the surface H of the soil and the seedling E is planted, the soil banking mechanism 382 can bank the soil from below the multi-sheet S to keep the planting posture of the seedling E good and stable.

[0102] In the present embodiment, as described above, the actuator support portion 300 supports the sheet-under actuator 38. As Figure 11 shown, the actuator support portion 300 is supported on the planting frame 33 (specifically, the pre-planting frame 331) of the planting portion 3. Moreover, as Figure 6 shown, the actuator support portion 300 extends downward from the support side with respect to the planting frame 33 (pre-planting frame 331) toward the lower side of the multi-sheet lead-out laying mechanism 36. As a result, the actuator support portion 300 is disposed below the multi-sheet S led out by the multi-sheet lead-out laying mechanism 36.

[0103] With respect to this structure, the actuator support portion 300 is supported by the planting frame 33 in such a manner as not to interfere with the discharging of the multi-sheet S by the multi-sheet discharging and laying mechanism 36. Further, the sheet-under actuator 38 supported by the actuator support portion 300 is inserted into the soil below the multi-sheet S. Thereby, the furrow opener 381 of the sheet-under actuator 38 can reliably form a furrow G in the soil. In addition, the soil can be reliably backfilled into the furrow G by the soil banking mechanism 382 of the sheet-under actuator 38.

[0104] In the present embodiment, the multi-sheet discharging and laying mechanism 36 and the sheet-under actuator 38 are provided in the planting unit 3. With respect to this structure, the multi-sheet discharging and laying mechanism 36 and the sheet-under actuator 38 can be lifted and lowered while being lifted and lowered relative to the traveling machine body 2 by the lifting mechanism 4 in the planting unit 3. Therefore, it is not necessary to separately provide a dedicated lifting mechanism for lifting and lowering the multi-sheet discharging and laying mechanism 36 and the sheet-under actuator 38 different from the lifting mechanism 4, and different lifting control from the planting unit 3 can be performed. As a result, the structure of the transplanter 1 is simplified.

[0105] In addition, since the sheet-under actuator 38 is provided in the planting unit 3, it can be said that the soil banking mechanism 382 provided in the sheet-under actuator 38 is also provided in the planting unit 3. With respect to this structure, even when the height of the planting unit 3 is adjusted by the lifting mechanism 4 according to the height of the ridge of the soil, the position (height) of the soil banking mechanism 382 can follow the change of the planting unit 3, so that the position of the soil banking mechanism 382 relative to the ridge surface (particularly the position in the height direction) can be kept constant. Thereby, even if the height of the planting unit 3 changes according to the height of the ridge, the soil can be properly banked by the soil banking mechanism 382 at a constant position relative to the ridge surface.

[0106] <5. Details of the height monitoring mechanism>

[0107] Next, the details of the height monitoring mechanism 39 will be described. Figure 16 is a perspective view showing the structure of the height monitoring mechanism 39. As Figure 6 and Figure 16 shown, the height monitoring mechanism 39 monitors the height (vertical position) of the soil surface H before the multi-sheet S is laid on the soil surface H by the above-described multi-sheet discharging and laying mechanism 36. The planting depth of the seedlings planted in the soil by the seedling planting mechanism 32 (see Figure 2 etc.) is set to a prescribed depth with respect to the soil surface H. Therefore, the height of the soil surface H monitored by the height monitoring mechanism 39 becomes a reference for setting the planting depth of the seedlings. Two such height monitoring mechanisms 39 are provided in the left-right direction. Each height monitoring mechanism 39 includes a lifting sensor 391 and a sensor support 392.

[0108] The lift sensor 391 is supported by a sensor support body 392 so as to be rotatable about a sensor rotation axis 391a. The sensor rotation axis 391a extends in the left-right direction. The sensor support body 392 is supported by a rod support body 352 of a planting depth adjustment mechanism 35, which will be described later, via a plurality of connecting members 393 so as to be vertically liftable. The rod support body 352 is fixed to a pre-planting frame 331 of the planting part 3 by bolt fastening connection. Therefore, it can be said that the height monitoring mechanism 39 having the sensor support body 392 is provided in the planting part 3 via the planting depth adjustment mechanism 35.

[0109] A locking piece 392a is provided at the upper front part of the sensor support body 392. Further, a support shaft 391b extending in the left-right direction is provided at a position of the lift sensor 391 more forward than the sensor rotation axis 391a. One end of a biasing spring 394 is connected to the locking piece 392a. The other end of the biasing spring 394 is fixed to the support shaft 391b. The lift sensor 391 rotates about the sensor rotation axis 391a in the direction in which the front end rises by the acting force in the contracting direction of the biasing spring 394. Thereby, the rear end side of the lift sensor 391 presses against the surface H of the soil and always contacts the surface H of the soil. Therefore, if the height of the surface H of the soil changes, the lift sensor 391 rotates about the sensor rotation axis 391a following the change, so that the height position of the rear end portion of the lift sensor 391 changes.

[0110] The height monitoring mechanism 39 further includes a potentiometer 395 and a rotation brace 396. The potentiometer 395 monitors the rotation angle of the rotation brace 396. The rotation brace 396 is connected to the end portion of the lift sensor 391 by a rod 397.

[0111] Figure 17A It is a side view when observing the height monitoring mechanism 39 when the lift sensor 391 contacts the soil surface at a height H1 from the right side. Figure 17B It is an enlarged view showing Figure 17A the height monitoring mechanism 39. Further, Figure 18A It is a side view when observing the height monitoring mechanism 39 when the lift sensor 391 contacts the soil surface at a height H2 (>H1) from the right side. Figure 18B It is an enlarged view showing Figure 18A the height monitoring mechanism 39.

[0112] The height of the soil surface may change due to deviations in tillage or ridging. For example, if the height of the soil surface changes from H1 to H2, the lift sensor 391 in contact with the soil surface rotates about the sensor rotation axis 391a. As a result, the rotating stay 396 connected to the lift sensor 391 via the rod 397 rotates about the central axis of the potentiometer 395. Figure 18B The state after the rotating stay 396 rotates clockwise from Figure 17B is shown.

[0113] The rotation angle of the rotating stay 396 corresponds to the rotation angle of the lift sensor 391. Therefore, by monitoring the rotation angle of the rotating stay 396 by the potentiometer 395, the rotation angle of the lift sensor 391 can be monitored, and the height position of the lift sensor 391 (especially the height position of the rear end portion of the lift sensor 391 in contact with the soil surface) can be monitored. That is, the height position of the soil surface in contact with the lift sensor 391 can be monitored. The potentiometer 395 outputs an electrical signal corresponding to the monitored rotation angle of the rotating stay 396 (the rotation angle of the lift sensor 391) to the controller 80 described later (refer to Figure 28 ). As a result, the controller 80 can perform flip control corresponding to the above electrical signal. In addition, the flip control will be described in detail later.

[0114] As shown in Figure 16 etc., the height monitoring mechanism 39 also has a wire connection portion 398. One end of the lift wire 400 (refer to Figure 19 ) is fixed to the wire connection portion 398. The wire connection portion 398 penetrates through the locking piece 392a of the sensor support 392 and is fixed to the locking piece 392a.

[0115] The lift wire 400 has a structure in which the inner wire passes through the inside of the outer wire. The above outer wire is connected to the wire connection portion 398, and the above inner wire penetrates through the wire connection portion 398 and is connected to the connecting spring 399. On the other hand, a locking portion 391c is provided at a position of the lift sensor 391 more forward than the support shaft 391b. The other end of the connecting spring 399, that is, the end of the connecting spring 399 on the opposite side of the connection portion connected to the lift wire 400, is hooked on the locking portion 391c. Therefore, the lift wire 400 is connected to the lift sensor 391 via the connecting spring 399. Therefore, if the lift sensor 391 rotates according to the change in the height of the soil surface, the lift wire 400 (especially the inner wire) is pulled by the connecting spring 399.

[0116] In the present embodiment, the lifting mechanism 4 (refer to Figure 1)Lifting control of the planting unit 3. The lifting control will be described below.

[0117] Figure 19 It is an explanatory diagram schematically showing the structure of the lifting mechanism 4. Here, for the sake of convenience of explanation, among the lifting sensors 391 of the two height monitoring mechanisms 39 arranged in the left - right direction, the lifting sensor 391 on the right side is designated as the right lifting sensor 391R, and the lifting sensor 391 on the left side is designated as the left lifting sensor 391L. In addition, the lifting wire 400 connected to the right lifting sensor 391R by the connecting spring 399 is designated as the right lifting wire 400R, and the lifting wire 400 connected to the left lifting sensor 391L by the connecting spring 399 is designated as the left lifting wire 400L.

[0118] The lifting mechanism 4 includes an equalizer section 45. The right lifting sensor 391R is connected to the equalizer section 45 by the right lifting wire 400R. The left lifting sensor 391L is connected to the equalizer section 45 by the left lifting wire 400L. The equalizer section 45 is fixed to the support frame 2d of the traveling body 2 (refer to Figure 1 ) by the connecting member 45a. The equalizer section 45 is a component that averages two inputs and outputs the result. A more detailed description of the equalizer section 45 is as follows.

[0119] Figure 20 It is a perspective view showing the schematic structure of the equalizer section 45. In addition, Figure 20 for the sake of convenience, the illustration of the cover 450 of the equalizer section 45 (refer to Figure 19 ) is omitted. The equalizer section 45 has left - right braces 451 and a lifting brace 452. The left - right braces 451 and the lifting brace 452 are each composed of a flat plate extending in the left - right direction. The left - right braces 451 are located above the lifting brace 452.

[0120] The left - right braces 451 are rotatably connected to the lifting brace 452 by the first shaft portion 451a extending in the up - down direction. That is, the left - right braces 451 can rotate relative to the lifting brace 452 with the first shaft portion 451a as the central axis. The first shaft portion 451a passes through the center of the left - right braces 451 in the left - right direction and passes through a position on the lifting brace 452 that is more to the left than the second shaft portion 452a which is the rotation axis of the lifting brace 452. The second shaft portion 452a extends in the up - down direction and is rotatably supported by the connecting member 45a (refer to Figure 19 ). The above - mentioned right lifting wire 400R is connected to the right - hand end of the left - right braces 451. The above - mentioned left lifting wire 400L is connected to the left - hand end of the left - right braces 451. The lifting brace 452 is connected to the lifting valve 47 (refer to Figure 19 ) by the connecting rod 46.

[0121] Regarding the above structure, for example, if the height of the soil surface changes from H1 to H2 (>H1), and both of the left and right lifting sensors 391 rotate correspondingly to this change (both rear ends of the left and right lifting sensors 391 rise), then both of the left and right lifting wire rods 400 (inner wire rods) are pulled rearward by the left and right lifting sensors 391 relative to the equalizer section 45, for example.

[0122] Figure 21 It is a top view schematically showing the operation of the equalizer section 45 when pulling the left and right lifting wire rods 400 rearward. If both of the left and right lifting wire rods 400 are pulled rearward, force (tensile force) is evenly applied to the left end and the right end of the left and right support bars 451 of the equalizer section 45. Therefore, the left and right support bars 451 pull the first shaft portion 451a rearward with a force that equalizes the left and right tensile forces. As a result, the left end of the lifting support bar 452 rotates rearward about the second shaft portion 452a. Therefore, the connecting rod 46 connected to the lifting support bar 452 is pulled rearward, thereby adjusting the lifting valve 47 and changing the supply amount and supply direction of the working oil from a hydraulic pump (not shown) to the lifting cylinder 43. As a result, the lifting cylinder 43 extends, and the planting section 3 rises.

[0123] Conversely, when the height of the soil surface changes from H2 to H1, a lifting operation opposite to the above operation is performed. That is, if both rear ends of the left and right lifting sensors 391 descend, the tension of the left and right lifting wire rods 400 is relaxed, and the pulling of the left and right support bars 451 of the equalizer section 45 rearward is evenly relaxed in the left - right direction. Thereby, the pulling of the left and right support bars 451 on the first shaft portion 451a rearward is weakened. Therefore, the left end of the lifting support bar 452 rotates forward about the second shaft portion 452a (compared with the state in the lower figure of Figure 21 ). Moreover, the connecting rod 46 acts on the lifting valve 47 to change the supply amount and supply direction of the working oil from the hydraulic pump to the lifting cylinder 43. As a result, the lifting cylinder 43 contracts, and the planting section 3 descends.

[0124] By lifting and lowering the planting section 3 according to the change in the height of the soil surface like this, even if the height of the soil surface changes, the planting section 3 can be positioned at a position where the planting depth relative to the soil surface reaches a specified value, and the seedlings can be planted in the soil.

[0125] On the other hand, if the height of the soil surface is different in the left-right direction, it may cause different rotation amounts of the left and right lift sensors 391. For example, when the left lift sensor 391L rises and the right lift sensor 391R descends, the rotation amounts of the left and right lift sensors 391 are different. In this case, the left lift wire 400L is pulled backward, and the tension of the right lift wire 400R becomes slack.

[0126] Figure 22 It is a top view schematically showing the operation of the equalizer unit 45 when the left lift wire 400L is pulled backward and the tension of the right lift wire 400R becomes slack. The left end of the left and right support bars 451 of the equalizer unit 45 is pulled backward by the left lift wire 400L. In contrast, the right lift wire 400R pulls the right end of the left and right support bars 451 backward less than the left end. Therefore, the left end of the left and right support bars 451 rotates backward around the first shaft portion 451a. Due to this rotation, the force acting on the first shaft portion 451a from the left and right support bars 451 almost becomes zero. Therefore, the lift support bar 452 hardly rotates, and hardly any pulling of the link rod 46 backward occurs. As a result, the lift cylinder 43 hardly expands and contracts, and substantially no lifting operation of the planting unit 3 is performed. Instead, in the present embodiment, the flip control described later is performed.

[0127] In the present embodiment, the height monitoring mechanism 39 monitors the height of the soil surface (for example, ridged fields) before the multi-sheet S is laid on the soil (refer to Figure 6 etc.). Therefore, even when the surface H of the ridged fields of the soil (for example, dry fields) is uneven and the height of the ridged fields changes in the traveling direction (front-rear direction) of the traveling machine body 2, the height monitoring mechanism 39 can accurately monitor the height of the ridged fields following the change in the height of the ridged fields. Therefore, the lifting mechanism 4 can perform lifting control of the planting unit 3 in the above-described manner based on the monitored height of the ridged fields, so that the seedlings can be planted in the ridged fields at a specified planting depth. A more detailed description is as follows.

[0128] For example Figure 23 It shows a structure in which the height monitoring mechanism 39 monitors the height of the soil surface H after the multi-sheet S is laid on the soil surface H. As shown in this figure, if there are irregularities on the soil surface H in the front-rear direction in which the traveling machine body 2 travels, the multi-sheet S is tensioned above the concave portion HR. Therefore, the height monitoring mechanism 39 monitors the height of the multi-sheet S covering the concave portion HR, and sometimes mis-monitors it as the height of the soil surface H.

[0129] In the present embodiment, as Figure 24As shown, the height monitoring mechanism 39 monitors the height of the surface H of the soil before the multi-sheet S is laid on the surface H of the soil. Therefore, even if there are irregularities on the surface H of the soil, the height monitoring mechanism 39 can monitor the height (bottom) of the concave portion HR and accurately monitor it as the height of the surface H of the soil. As a result, the seedlings can be planted at a specified planting depth based on the monitored height of the surface H of the soil.

[0130] In addition, regarding the structure in which the height monitoring mechanism 39 monitors the height of the surface H of the soil before the multi-sheet S is laid, the height monitoring mechanism 39 can be arranged on the opposite side (front side in the traveling direction) of the seedling planting mechanism 32 with respect to the multi-sheet guiding and laying mechanism 36. Thereby, the space in the front-rear direction between the multi-sheet guiding and laying mechanism 36 and the seedling planting mechanism 32 can be reduced. In other words, the seedling planting mechanism 32 can be arranged as close as possible to the multi-sheet guiding and laying mechanism 36 in front of it. As a result, the overall length of the transplanter 1 is shortened, and it is easy to miniaturize the transplanter 1 in the front-rear direction.

[0131] In addition, for example, if the height monitoring mechanism 39 is provided on the traveling body 2 side, when the traveling body 2 travels and shifts in the vertical direction due to the irregularities of the traveling surface (the grounding surfaces of the front wheels 1a and the rear wheels 1b), the height monitoring mechanism 39 also follows this shift and shifts in the vertical direction. Therefore, even if there are irregularities on the ridge surface, it is difficult for the height monitoring mechanism 39 to accurately monitor the irregularities of the ridge surface (because the vertical shift of the traveling body 2 affects the monitoring result of the height monitoring mechanism 39).

[0132] In the present embodiment, since the height monitoring mechanism 39 is provided in the planting part 3 that is connected to the traveling body 2 in a vertically movable manner, even when the traveling body 2 shifts in the vertical direction, the height monitoring mechanism 39 can be lifted and lowered together with the planting part 3, so that the height monitoring mechanism 39 can monitor the irregularities of the soil surface. Therefore, it is possible to suppress the influence of the vertical shift of the traveling body 2 on the monitoring result of the height monitoring mechanism 39. That is, it is possible to suppress the decrease in the monitoring accuracy of the height of the soil surface by the height monitoring mechanism 39 due to the vertical shift of the traveling body 2.

[0133] <Details of the planting depth adjustment mechanism>

[0134] Next, Figure 16 Details of the planting depth adjustment mechanism 35 shown are described. The planting depth adjustment mechanism 35 is a mechanism for adjusting the planting depth of the seedlings by adjusting the installation height of the height monitoring mechanism 39 relative to the planting part 3. Such a planting depth adjustment mechanism 35 has a planting depth adjustment rod 351 and a rod support 352.

[0135] The planting depth adjusting lever 351 is rotatably supported in a plane perpendicular to the left - right direction by a lever support 352. The lever support 352 is fixed to the upper surface of the pre - planting frame 331 of the planting part 3 by means of bolt fastening or the like. A multi - stepped groove part 352a for supporting the planting depth adjusting lever 351 is formed in the lever support 352. By inserting the planting depth adjusting lever 351 into any position of the groove part 352a, the planting depth adjusting lever 351 can be held at a specified rotational position. In addition, the planting depth adjusting lever 351 is connected to the sensor support 392 of the height monitoring mechanism 39 by means of a support member 353. The support member 353 is rotatably supported by the sensor support 392.

[0136] Figure 25 FIG. is a side view schematically showing the situation where the height monitoring mechanism 39 (particularly the lifting sensor 391) is lifted and lowered by the rotation of the planting depth adjusting lever 351. As Figure 25 shown in the right figure of, if the planting depth adjusting lever 351 is rotated upward, the sensor support 392 is moved upward by means of the support member 353. Therefore, the lifting sensor 391 supported by the sensor support 392 is moved upward. In this case, the position of the seedling planting mechanism 32 (refer to Figure 2 etc.) relative to the lifting sensor 391, that is, the position of the seedling planting mechanism 32 relative to the soil surface contacted by the lifting sensor 391 is relatively lowered. Therefore, the seedling planting mechanism 32 plants the seedlings at a deep planting depth. That is, the planting position of the seedlings is relatively deep with respect to the soil surface.

[0137] On the contrary, as Figure 25 shown in the left figure of, if the planting depth adjusting lever 351 is rotated downward, the sensor support 392 is moved downward by means of the support member 353. Therefore, the lifting sensor 391 supported by the sensor support 392 is moved downward. In this case, the position of the seedling planting mechanism 32 relative to the lifting sensor 391 is relatively raised, and therefore, the seedling planting mechanism 32 plants the seedlings at a shallow planting depth. That is, the planting position of the seedlings is relatively shallow with respect to the soil surface.

[0138] In this way, the transplanter 1 is provided with a planting depth adjusting mechanism 35, so that the planting depth adjusting lever 351 can be rotated to adjust the vertical position of the lifting sensor 391. That is, the adjustment of the planting depth can be achieved with a simple structure for adjusting the installation height of the height monitoring mechanism 39.

[0139] <7. Regarding the tilting control of the planting part>

[0140] Figure 26 FIG. is a perspective view of the planting part 3 of the transplanter 1 of the present embodiment as viewed from the front. Figure 27is an extracted view showing Figure 26 a perspective view of the tilting mechanism 60 shown. Regarding the transplanter 1 of the present embodiment, as described above, two height monitoring mechanisms 39 are arranged in the left-right direction. That is, a plurality of height monitoring mechanisms 39 are provided in the width direction of the traveling body 2.

[0141] In addition, the transplanter 1 includes a tilting mechanism 60. The tilting mechanism 60 is a rotating mechanism for rotating the planting part 3 relative to the traveling body 2. The tilting rotation shaft 61 serving as the rotation shaft of the planting part 3 extends in the front-rear direction of the traveling body 2. The tilting rotation shaft 61 is accommodated in the shaft accommodating part 62 of the tilting mechanism 60. The shaft accommodating part 62 is supported by the traveling body 2. In addition, the tilting rotation shaft 61 is connected to the frame connecting part 64 by the rotation shaft connecting part 63. The frame connecting part 64 connects the upper frame 335 and the horizontal frame 336 of the planting frame 33, and connects the horizontal frame 336 and the rotation shaft connecting part 63.

[0142] The tilting mechanism 60 has a tilting cylinder 65. The tilting cylinder 65 is a hydraulic cylinder that expands and contracts in the left-right direction. The cylinder main body 65a of the tilting cylinder 65 is held by the above-mentioned shaft accommodating part 62. The end part of the rod 65b that expands and contracts in the left-right direction with respect to the cylinder main body 65a is connected to the frame connecting part 64.

[0143] In Figure 27 , if the rod 65b is moved (extended) to the left side L1 with respect to the cylinder main body 65a of the tilting cylinder 65, the frame connecting part 64 and the planting frame 33 rotate in the D1 direction with respect to the traveling body 2 around the tilting rotation shaft 61. That is, the planting part 3 having the planting frame 33 rotates in the D1 direction. On the contrary, if the rod 65b is moved (contracted) to the right side R1 with respect to the cylinder main body 65a, the frame connecting part 64 and the planting frame 33 rotate in the D2 direction with respect to the traveling body 2 around the tilting rotation shaft 61. That is, the planting part 3 rotates in the D2 direction. In this way, the planting part 3 is supported by the traveling body 2 so as to be able to rotate around the tilting rotation shaft 61 extending in the front-rear direction. Hereinafter, the rotation directions (D1 direction, D2 direction) of the planting part 3 around the tilting rotation shaft 61 extending in the front-rear direction will also be referred to as the tilting directions.

[0144] Figure 28FIG. 0 is a block diagram schematically showing a structure related to the tilting control of the transplanter 1 of the present embodiment. The transplanter 1 is provided with a controller 80. The controller 80 is constituted by an electronic control unit also called an ECU (Electronic Control Unit), for example, and performs electric control of each part of the transplanter 1. In particular, the controller 80 functions as an inclination detection unit that detects the relative inclination of the planting unit 3 in the tilting direction with respect to the soil surface, that is, the relative inclination around the tilting rotation axis 61, based on the difference in the output values of the two height monitoring mechanisms 39 provided in the width direction of the traveling body 2.

[0145] Here, the potentiometer 395 of the left height monitoring mechanism 39 is designated as the left potentiometer 395L, and the potentiometer 395 of the right height monitoring mechanism 39 is designated as the right potentiometer 395R. As described above, the left potentiometer 395L and the right potentiometer 395R output electric signals corresponding to the rotation angle of the rotation brace 396, that is, the rotation angle of the lifting sensor 391, to the controller 80. The controller 80 detects the difference in the rotation angles of the respective lifting sensors 391 based on the electric signals output from the left potentiometer 395L and the right potentiometer 395R. The above rotation angle difference is the relative inclination (angle) of the planting unit 3 in the tilting direction with respect to the soil surface. Figure 16 When the above inclination in the tilting direction of the planting unit 3 is detected, the controller 80 controls the tilting mechanism 60 to rotate the planting unit 3 in the direction in which the inclination of the planting unit 3 with respect to the soil surface is reduced. Specifically, the controller 80 outputs an electric signal to the tilting control valve 66 and changes the supply amount and supply direction of the working oil from a hydraulic pump (not shown) to the tilting cylinder 65. Thereby, the tilting cylinder 65 expands and contracts in the left-right direction, and the planting unit 3 can be rotated in the tilting direction as shown in FIG. The above tilting control valve 66 is constituted by a solenoid valve, for example, and is electrically connected to the controller 80.

[0146] Figure 27

[0147] Figure 29 Figure 29

[0148] Figure 29 FIG. schematically shows an example of the tilting control of the controller 80 based on the result of inclination detection. In addition, the magnitudes of the rotation angles of the lifting sensors 391 of the left and right height monitoring mechanisms 39 are shown corresponding to the vertical interval of the lifting sensors 391. That is, it shows the case where the larger the vertical interval of the lifting sensors 391, the larger the rotation angle of the lifting sensors 391. In addition, the ground contact surfaces (traveling surfaces outside the width direction of the ridges) of the front wheels 1a and the rear wheels 1b of the transplanter 1 are kept horizontal in the left-right direction.

[0148] As shown in Figure 29As shown in the upper diagram, if the height of the soil surface H is constant in the left-right direction (if the surface H is horizontal in the left-right direction), the rotation angles of the left lift sensor 391L and the right lift sensor R are the same. As Figure 29 As shown in the middle diagram, if the soil surface H descends toward the right, the rotation angle of the right lift sensor 391R is greater than the rotation angle of the left lift sensor 391L. In this state, if seedlings are planted using the planting unit 3, the planting depth with respect to the soil surface H varies depending on the position in the left-right direction. Therefore, for example, when planting two rows of seedlings in one ridge, the planting depth of the seedlings on the right side is shallower than the planting depth of the seedlings on the left side. Therefore, in the present embodiment, the tilting mechanism 60 rotates the planting unit 3 in a direction that reduces the difference in the rotation angles between the left lift sensor 391L and the right lift sensor R.

[0149] That is, as Figure 29 As shown in the lower diagram, the tilting mechanism 60 rotates the planting unit 3 in the tilting direction in such a way that the rotation angle of the right lift sensor 391R approaches the rotation angle of the left lift sensor 391L. Thereby, the planting unit 3 is parallel to the soil surface H, and even when planting two rows of seedlings in one ridge, the planting depths of the two rows of seedlings on the left and right can be made the same.

[0150] As described above, the transplanter 1 is provided with the controller 80 as a slope detection unit. Thus, even when the soil surface H is inclined in the tilting direction with respect to the traveling direction of the traveling body 2, the tilting control for keeping the ground angle of the planting unit 3 constant (positioning the planting unit 3 parallel to the soil surface H) can be performed based on the relative slope detection of the planting unit 3 by the controller 80.

[0151] In particular, the tilting mechanism 60 rotates the planting unit 3 in a direction that reduces the difference in the output values of the respective height monitoring mechanisms 39 (corresponding to the difference in the rotation angles between the left lift sensor 391L and the right lift sensor R) based on the slope of the planting unit 3 in the tilting direction detected by the controller 80. Thereby, even when the soil surface H is inclined in the tilting direction, multi-row seedlings can be planted at the same planting depth for each row.

[0152] In addition, the tilting control described above can also be applied to the case of planting seedlings in a flat ridge or a field without ridges. Further, the structure and control for rotating the planting unit 3 in the tilting direction around a specific rotation axis such as the tilting rotation axis 61 have been described above, but the tilting control of the present embodiment can also be applied to other structures. For example, the tilting control described in the present embodiment can also be applied to a structure that supports the planting unit 3 so as to be able to lift and lower in a three-point link manner and supports the planting unit 3 so as to be able to rotate in the tilting direction.

[0153] <9. Supplementary Notes>

[0154] The transplanter described in this embodiment can also be expressed as the transplanter shown in the following supplementary notes.

[0155] The transplanter in Supplementary Note (1) includes:

[0156] A traveling body;

[0157] A planting unit having a seedling planting mechanism for planting seedlings in the soil and connected to the rear of the traveling body in a vertically movable manner; and

[0158] A multi-sheet exporting and laying mechanism for exporting and laying multiple sheets on the surface of the soil before planting the seedlings,

[0159] wherein,

[0160] The transplanter is equipped with a height monitoring mechanism that monitors the height of the surface of the soil, which serves as a reference for setting the planting depth of the seedlings, before the multiple sheets are laid on the soil surface.

[0161] The transplanter in Supplementary Note (2) is based on the transplanter described in Supplementary Note (1), wherein,

[0162] The height monitoring mechanism is provided on the planting unit.

[0163] The transplanter in Supplementary Note (3) is based on the transplanter described in Supplementary Note (1) or (2), wherein,

[0164] The transplanter is further equipped with a planting depth adjustment mechanism that adjusts the planting depth of the seedlings by adjusting the installation height of the height monitoring mechanism relative to the planting unit.

[0165] The transplanter in Supplementary Note (4) is based on the transplanter described in any one of Supplementary Notes (1) to (3), wherein,

[0166] A plurality of the height monitoring mechanisms are provided in the width direction of the traveling body,

[0167] The planting unit is supported by the traveling body in a manner that can rotate in the flipping direction,

[0168] The transplanter is further equipped with an inclination detection unit that detects the relative inclination of the planting unit with respect to the soil surface in the flipping direction based on the difference in the output values of each height monitoring mechanism.

[0169] The transplanter in Supplementary Note (5) is based on the transplanter described in Supplementary Note (4), wherein,

[0170] The transplanter further includes a rotation mechanism that rotates the planting part in a direction that reduces the difference in output values of the respective height monitoring mechanisms based on the inclination of the planting part detected by the inclination detection unit.

[0171] The embodiments of the present invention have been described above, but the scope of the present invention is not limited thereto, and it can be implemented by expanding or changing within the scope not departing from the gist of the invention.

[0172] Industrial Applicability

[0173] The transplanter of the present invention can be used, for example, as a transplanter for planting vegetable seedlings in soil (ridge).

Claims

1. A transplanter comprising: Traveling body; a planting section having a seedling planting mechanism for planting the seedlings in the soil and connected to the rear of the traveling body in a manner that allows for free lifting and lowering; and A multi-sheet material leading out and laying mechanism is used to lead out and lay the multi-sheet material on the surface of the soil before planting the seedlings. in, The transplanter includes a height monitoring mechanism that monitors the height of the surface of the soil, which serves as a reference for setting a planting depth of the seedling, before the plurality of sheets are laid on the surface of the soil.

2. The transplanter according to claim 1, wherein: The height monitoring mechanism is arranged in the planting part.

3. The transplanter according to claim 1, wherein: The transplanter further includes a planting depth adjustment mechanism that adjusts the planting depth of the rice seedling by adjusting the installation height of the height monitoring mechanism relative to the planting part.

4. The transplanter according to any one of claims 1 to 3, wherein: The height monitoring mechanism is provided with a plurality of height monitoring mechanisms in the width direction of the traveling body. The planting part is supported by the traveling body in a manner that allows rotation in a flipping direction. The transplanter further includes a slope detection unit configured to detect a relative slope of the planting unit with respect to a surface of the soil in the turning direction based on a difference between output values ​​of the height monitoring mechanisms.

5. The transplanter according to claim 4, wherein: The transplanter further includes a rotation mechanism that rotates the planting section in a direction that reduces a difference between output values ​​of the height monitoring mechanisms based on the inclination of the planting section detected by the inclination detection section.

6. The transplanter according to claim 1, wherein: The height monitoring mechanism includes a lifting sensor in contact with the surface of the soil.

7. The transplanter according to claim 6, wherein: The height monitoring mechanism includes a biasing spring that biases the lifting sensor to press the lifting sensor against soil.

8. The transplanter according to claim 7, wherein: The height monitoring mechanism includes a potentiometer that monitors the displacement of the height of the lifting sensor.

Images