Transplanter

Abstract

To provide a transplanter which can stop a planting rotary body at a predetermined target phase, and improve safety of a planting claw device supported by the planting rotary body in a configuration where the planting rotary body is rotationally driven by an electric motor.SOLUTION: A transplanter comprises: a traveling machine body 2; a planting section which is supported by the traveling machine body 2 and has a rotary case 82 that supports planting claws 92 and is rotatably provided; an electric motor 42 which rotationally drives the rotary case 82; a phase detection unit which detects a phase related to rotation of the rotary case 82; and a control unit which controls the electric motor 42 on the basis of the phase detected by the phase detection unit. When power of the transplanter is turned on, if the phase is not a predetermined target phase, the control unit drives the electric motor 42 to move the rotary case 82 to the target phase and then stop it.SELECTED DRAWING: Figure 10

Description

[Technical Field]

[0001] The present invention relates to a transplanter having a configuration in which a planting rotor is rotated by an electric motor. [Background technology]

[0002] In a conventional rice transplanter that continuously plants seedlings in a field using a planting device, a plate-shaped seedling mat placed on a seedling carrier that slopes downward at the rear is fed horizontally and vertically, and the planting claws of the planting device continuously scrape off the seedling mat one portion at a time to plant the seedlings. This type of rice transplanter is equipped with a rotary-type planting device as the planting device, which has a planting transmission case, a rotary case that is a planting rotor provided on both the left and right sides of the planting transmission case, and a planting claw device that includes planting claws supported by the rotary case.

[0003] Among such rice transplanters, there is one in which the rotary case is rotated using the driving force of an electric motor (see, for example, Patent Document 1). Patent Document 1 discloses a configuration in which a pair of left and right rotary cases are rotated by one electric motor, and a configuration in which one electric motor is provided for each rotary case. Patent Document 1 also describes, with regard to rotary case operation control, a control in which the rotary case is stopped at a phase where the planting tines are away from the field surface (the so-called upper stop position) by driving control of the electric motor. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 5335446 Summary of the Invention [Problem to be solved by the invention]

[0005] In a configuration in which the rotary case is driven to rotate by an electric motor, for example, when the rice transplanter is turned off, the drive control of the electric motor becomes ineffective, and the rotary case may not stop at the upper stop position, i.e., the rotary case may stop at a phase other than the upper stop position. Also, when the rice transplanter is turned off, the rotary case may move away from the upper stop position due to vibrations, for example, during transport of the machine.

[0006] If the rotary case is not positioned in the upper stop position, the planting claws may come into contact with the ground and be damaged when the planting device is lowered, or may interfere with the seedling carrier and be damaged when the seedling carrier is moved sideways.

[0007] The present invention has been made in consideration of the above-mentioned problems, and aims to provide a transplanter that has a configuration in which a planting rotor is driven to rotate by an electric motor, can stop the planting rotor at a predetermined target phase, and can improve the safety of the planting claw device supported on the planting rotor. [Means for solving the problem]

[0008] The transplanter of the present invention comprises a running body, a planting unit supported on the running body and having a planting rotor that supports planting claws and is rotatably arranged, an electric motor for driving the planting rotor to rotate, a phase detection unit that detects the phase of the rotation of the planting rotor, and a control unit that controls the electric motor based on the phase detected by the phase detection unit, and when the power to the transplanter is turned on and the phase is not a predetermined target phase, the control unit drives the electric motor to move the planting rotor to the target phase and stop it.

[0009] The transplanter of the present invention comprises a running body, a planting unit supported on the running body and having a planting rotor that supports planting claws and is rotatably arranged, an electric motor for driving the planting rotor to rotate, a phase detection unit that detects the phase of the rotation of the planting rotor, and a control unit that controls the electric motor based on the phase detected by the phase detection unit.When the power to the transplanter is turned on, and the phase is not a predetermined target phase, and at least one of the following conditions is met: the start of travel of the running body has been detected, and the planting unit has been raised or lowered, the control unit drives the electric motor to move the planting rotor to the target phase and stop it.

[0010] In the transplanter of the present invention, the control unit moves the planting rotor to the target phase by rotating the planting rotor in a forward direction, which is the rotation during planting work, or in a reverse direction, which is the rotation opposite to the forward rotation.

[0011] In the transplanter of the present invention, when the control unit rotates the planting rotor in the reverse direction, and at least one of the following conditions is met: the torque value of the electric motor is equal to or greater than a predetermined threshold value, and the time the rotation of the planting rotor has been stopped is equal to or greater than a predetermined time, the control unit moves the planting rotor to the target phase by rotating the planting rotor in the forward direction. [Effects of the Invention]

[0012] According to the present invention, in a configuration in which the planting rotor is driven to rotate by an electric motor, the planting rotor can be stopped at a predetermined target phase, thereby improving the safety of the planting claw device supported on the planting rotor. [Brief explanation of the drawings]

[0013] [Figure 1] FIG. 1 is a left side view of a rice transplanter according to an embodiment of the present invention. [Figure 2]FIG. 1 is a plan view of a rice transplanter according to an embodiment of the present invention. [Figure 3] FIG. 1 is a plan view showing a power transmission configuration provided in a rice transplanter according to one embodiment of the present invention. [Figure 4] FIG. 1 is a block diagram showing the power and power transmission configuration of a rice transplanter according to one embodiment of the present invention. [Figure 5] FIG. 2 is a block diagram showing a control configuration of the rice transplanter according to one embodiment of the present invention. [Figure 6] FIG. 1 is a left side view showing the configuration of a seedling planting device and its surroundings according to an embodiment of the present invention. [Figure 7] FIG. 2 is a right side view showing the arrangement of a phase detection sensor according to an embodiment of the present invention. [Figure 8] FIG. 2 is a rear perspective view showing the arrangement of a phase detection sensor according to an embodiment of the present invention. [Figure 9] 10A and 10B are explanatory diagrams of upper stop control according to an embodiment of the present invention. [Figure 10] 1 is a left side view showing an example of a rotary case according to an embodiment of the present invention in an upper stop position. FIG. [Figure 11] 10 is a left side view showing an example of a state in which the rotary case according to one embodiment of the present invention is in a position other than the upper stop position. FIG. [Figure 12] 10 is a left side view showing an example of a state in which the rotary case according to one embodiment of the present invention is in a position other than the upper stop position. FIG. [Figure 13] 4 is a flowchart showing an example of a control mode of startup control according to an embodiment of the present invention. [Figure 14] 10 is an explanatory diagram of another example of reverse / forward rotation control in the start-up control according to one embodiment of the present invention. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0014] The present invention aims to improve the safety of the planting claw device supported on the planting rotor and prevent damage to the planting claws by devising a control mode for the electric motor when the power of the machine is turned on in a configuration in which the planting rotor is rotated by an electric motor. The following describes an embodiment of the present invention.

[0015] The configuration of a rice transplanter 1 as a transplanter according to this embodiment will be described with reference to Figures 1 to 8. In the following description, the left side (left side in Figure 2) and the right side (right side in Figure 2) when facing the front of the rice transplanter 1 will be referred to as the left side and right side of the rice transplanter 1, respectively.

[0016] As shown in Figures 1 and 2, the rice transplanter 1 of this embodiment is a riding rice transplanter that performs planting work while traveling with an operator inside, and is used to plant seedlings sequentially in a field.

[0017] The rice transplanter 1 comprises a traveling body 2 that constitutes a self-propelled traveling section, and a planting device 3 that serves as a planting section that is provided behind the traveling body 2. The planting device 3 is connected to the rear of the traveling body 2 so that it can be raised and lowered via a lifting link mechanism 4 that includes multiple links. While traveling on the traveling body 2, the rice transplanter 1 plants seedlings in a paddy field 6 that serves as a farm scene in a field 5 using the planting device 3.

[0018] The traveling machine body 2 has a machine body frame 7, left and right front wheels 8, and left and right rear wheels 9. The machine body frame 7 is configured in a framework shape using multiple frame members, and has a front frame section 11 that forms a horizontal frame portion, and a rear frame section 12 that forms a stepped section that is one step higher behind the front frame section 11. The left and right front wheels 8 are provided below the front frame section 11, and the left and right rear wheels 9 are provided below and behind the rear frame section 12. The machine body frame 7 is supported on the field by the left and right front wheels 8 and the left and right rear wheels 9. For convenience, the rear wheels 9 are shown in FIG. 1 by virtual lines (chain double-dashed lines).

[0019] A horizontal floor 13 made of a vehicle body cover or the like is provided above the front frame 11 of the traveling body 2. A driver's unit 10 for driving and operating the traveling body 2 and the planting device 3 is provided on the floor 13. A driver's seat 15 is provided in the center of the left and right rear of the driver's unit 10. A fuel tank (not shown) is provided below the seat 15.

[0020] An operating unit 16 is provided in front of the driver's unit 10 and is operated by an operator seated in a seat 15. The operating unit 16 is provided with a dashboard 18 on which a steering wheel 17 and the like are arranged, various operation pedals such as an accelerator pedal 105 (see FIG. 5) and a brake pedal, and various operation levers such as a speed change lever including a main speed change lever, a planting clutch lever, and a lift operation lever 104 (see FIG. 5).

[0021] An engine 20 serving as a drive source is provided in the center of the left and right sides of the front of the machine frame 7. The engine 20 is covered by a hood 21. The engine 20 is mounted on the front of the front frame portion 11 via vibration-isolating rubber or the like. The engine 20 is, for example, a diesel engine. Note that a motor or the like may also be mounted as a drive source for the rice transplanter 1.

[0022] A transmission 22, which has a power transmission mechanism including gears, brakes, etc. built into a transmission case, is provided behind the engine 20 on the underside of the traveling body 2. The power of the engine 20 is transmitted to the transmission 22 and used to drive the front wheels 8 and rear wheels 9.

[0023] Front axle cases 25 are attached to both the left and right sides of the transmission 22. A front axle 26 is rotatably supported by the front axle case 25, and front wheels 8 are attached to the front axle 26. A power transmission mechanism provided within the front axle case 25 transmits the rotational power of the transmission 22 to the front axle 26, thereby driving the front wheels 8 to rotate.

[0024] A rear axle case 28 is provided behind the transmission 22. The rear axle case 28 is connected to the transmission 22 via a connecting frame 29 that extends in the front-to-rear direction. The rear axle case 28 receives power from the transmission 22 via a transmission shaft 31 that extends from the rear of the transmission 22 and is arranged parallel to the connecting frame 29.

[0025] The rear axle case 28 has protruding case sections 28a on both the left and right sides that protrude rearward relative to the case main body. A rear axle 32 is rotatably supported by the left and right case sections 28a, and a rear wheel 9 is attached to the rear axle 32. A power transmission mechanism provided within the rear axle case 28 transmits the rotational power of the transmission 22 to the rear axle 32, thereby driving the rear wheel 9 to rotate.

[0026] In the traveling body 2, multiple stages (three stages in the example shown in FIG. 1) of spare seedling trays 33 are provided at positions on the left and right outer sides of the hood 21. Supplementary seedling mats are placed on the spare seedling trays 33.

[0027] As shown in Figures 3 and 4, the rice transplanter 1 is configured as a hybrid rice transplanter, and includes, in addition to the engine 20, a motor generator 41 as a first rotating electric machine, an electric motor 42 as a second rotating electric machine, and a battery 43. In Figure 4, thick solid lines connecting elements indicate power lines, and thick dashed lines connecting elements indicate signal lines. Also, the outline arrows indicate the direction of power transmission.

[0028] The motor generator 41 is connected to the engine 20 via a power transmission unit so that power can be transmitted thereto. This power transmission unit is configured to directly or indirectly connect the rotating shaft of the motor generator 41 to the output shaft of the engine 20. A transmission, a clutch for switching between on and off of power, and the like are appropriately interposed between the motor generator 41 and the engine 20.

[0029] The motor generator 41 has both a function as a motor that provides power to the output of the engine 20 to assist the output of the engine 20, and a function as a generator that generates electricity by rotating with the output of the engine 20. The motor generator 41 functions as a three-phase AC motor when three-phase AC power is input, and rotates when power is input and functions as a three-phase AC generator. The motor generator 41 is controlled by a control device 50 (see FIG. 5) provided in the rice transplanter 1 via a first inverter 46.

[0030] The electric motor 42 supplies driving force to the planting device 3. In other words, the electric motor 42 is a power source provided separately from the engine 20 as a configuration for supplying power to drive the planting device 3. The electric motor 42 is a three-phase AC motor driven by three-phase AC power. The electric motor 42 is controlled by a control device 50 provided in the rice transplanter 1 via a second inverter 47. The configuration of the electric motor 42 (type of motor) is not particularly limited.

[0031] The battery 43 is supported at a predetermined location on the vehicle frame 7. The battery 43 is formed of a secondary battery such as a lead-acid battery or a lithium-ion battery. The battery 43 is formed, for example, by unitizing a plurality of battery modules each made of a secondary battery. The battery 43 is electrically connected to the motor generator 41 and the electric motor 42.

[0032] The battery 43 is electrically connected to the motor generator 41 via the first inverter 46 and supplies power to the motor generator 41 via the first inverter 46. The motor generator 41 can supply power to the battery 43 via the first inverter 46. In other words, the motor generator 41 can charge the battery 43. The first inverter 46 converts DC power output from the battery 43 into AC power and supplies it to the motor generator 41. The first inverter 46 also converts AC power output from the motor generator 41 into DC power and supplies it to the battery 43.

[0033] Furthermore, the battery 43 is electrically connected to the electric motor 42 via the second inverter 47, and supplies power to the electric motor 42 via the second inverter 47. The second inverter 47 converts DC power output from the battery 43 into AC power and supplies it to the electric motor 42. Note that, although the present embodiment employs a configuration in which an inverter is provided for each of the motor generator 41 and the electric motor 42, a configuration in which one inverter is shared by both may also be employed.

[0034] A junction box 48 is provided between the battery 43 and the first inverter 46 (motor generator 41) and the second inverter 47 (electric motor 42) (see FIG. 4). The junction box 48 has relays for switching the electrical connections between the battery 43 and each of the first inverter 46 and the second inverter 47 between a connected state and a disconnected state.

[0035] Junction box 48 also has a relay for switching between a connected state and a disconnected state the electrical connection between first inverter 46 and second inverter 47, in other words, the electrical connection between motor generator 41 and electric motor 42. When motor generator 41 and electric motor 42 are electrically connected to each other, it becomes possible to supply electric power generated by motor generator 41 to electric motor 42. Note that a configuration may be adopted in which each relay is provided individually, without providing junction box 48.

[0036] In the above configuration, the electric motor 42 is driven by power supplied from at least one of the battery 43 and the motor generator 41. The motor generator 41 can supply power to the electric motor 42 while charging the battery 43. The battery 43 can supply power to the motor generator 41 and the electric motor 42 simultaneously. The first inverter 46, the second inverter 47, and the junction box 48 are provided in predetermined locations in the traveling machine body 2.

[0037] The motor generator 41 is connected to the transmission 22 so as to be able to transmit power thereto. The motor generator 41 is disposed behind the transmission 22. However, the location of the motor generator 41 is not particularly limited.

[0038] When functioning as a motor, the motor generator 41 assists the output of the engine 20 via the transmission 22. When functioning as a generator, the motor generator 41 generates electricity by rotating using the driving force from the engine 20 transmitted via the transmission 22. Power is transmitted from the engine 20 to the motor generator 41, for example, so that the rotation speeds of both are the same. The electric power generated by the motor generator 41 is supplied to at least one of the battery 43 and the electric motor 42 via a first inverter 46 and a junction box 48.

[0039] The electric motor 42 is disposed above the rear axle case 28 at a position to the right of the center in the left-right direction, and is supported by the vehicle frame 7 or the like. However, the position where the electric motor 42 is disposed is not particularly limited.

[0040] The motor generator 41 and the electric motor 42 may be connected to each other so that power can be transmitted between them via a switching mechanism such as a clutch that switches between on and off of power. With this configuration, for example, if a problem occurs with the electric motor 42, the planting device 3 can be driven using the output of the engine 20 instead of the output of the electric motor 42. Furthermore, the driving force of the electric motor 42 can assist the output of the engine 20 in addition to the assistance of the engine 20 by the motor generator 41.

[0041] The planting device 3 will now be described. The planting device 3 is supported on the rear side of the traveling body 2 and functions as a ground working unit that plants seedlings in the paddy field surface 6 of the farm field 5. The planting device 3 is connected to the rear of the traveling body 2 via a lifting link mechanism 4 (see Figure 1) to the machine frame 7 so that it can be raised and lowered.

[0042] The lifting link mechanism 4 has a top link 61 extending in the front-rear direction and a pair of left and right lower links 62. The front side of each link is rotatably connected to a vertical link frame 63, and the rear side of each link is rotatably connected to a hitch bracket 64 provided on the front side of the planting device 3. The vertical link frame 63 is erected on the rear axle case 28 at the rear end of the traveling body 2 and is connected to the rear of the rear frame section 12.

[0043] The base end (front side) of a hydraulic lifting cylinder 65 is supported on the upper side of the connecting frame 29 so as to be able to rotate up and down (see Figure 1). The lifting cylinder 65, together with the lifting link mechanism 4, constitutes a lifting device that raises and lowers the planting device 3 relative to the traveling body 2. The tip end (rear side) of the lifting cylinder 65 is connected to the front end of the lower link 62. As the lifting cylinder 65 extends and retracts, each link of the lifting link mechanism 4 rotates up and down, raising and lowering the planting device 3. That is, as the lifting cylinder 65 extends, the planting device 3 descends, and as the lifting cylinder 65 retracts, the planting device 3 rises. The extension and retraction of the lifting cylinder 65 is controlled by controlling the hydraulic flow rate discharged from a hydraulic pump driven by power output from the engine 20.

[0044] The planting device 3 comprises a planting frame 71 connected to the rear side of the lifting link mechanism 4, a planting transmission case 72, a seedling carrier 73 supported by the planting frame 71, and a seedling planting device 80 driven by power transmitted from the planting transmission case 72.

[0045] The planting frame 71 is composed of multiple frame members, such as multiple vertical frames and horizontal frames, and is configured to have a roughly frame-like shape when viewed from the front. The planting frame 71 has a main frame 75 as a horizontal frame attached to its lower part. The main frame 75 is a linear frame member with a rectangular cylindrical outer shape with a roughly square cross section, and is installed horizontally so as to extend in the left-right direction. The main frame 75 is located below the seedling carrier 73 and is installed across almost the entire left-right range of the planting device 3.

[0046] The planting transmission case 72 is provided in the center of the left and right sides of the main frame 75. The planting transmission case 72 is provided in an overhanging shape so that its rear portion is positioned on the rear side of the main frame 75, and has an overhanging portion to the rear.

[0047] The planting transmission case 72 receives the driving force of the electric motor 42 via a transmission shaft 76. The planting transmission case 72 incorporates a power transmission mechanism composed of a gear train including gears such as bevel gears, and the input shaft 72a protrudes forward. The electric motor 42 has its output shaft 42a protrude toward the rear.

[0048] The front end of the transmission shaft 76 is connected to the output shaft 42a of the electric motor 42 via a universal joint 77. The rear end of the transmission shaft 76 is connected to the input shaft 72a of the planting transmission case 72 via a universal joint 78. A transmission device composed of speed increasing / decreasing gears, a speed change mechanism, etc. may be provided between the electric motor 42 and the planting transmission case 72.

[0049] The seedling carrier 73 is located above the planting transmission case 72 and behind the planting frame 71. The seedling carrier 73 has a surface on its front side (upper rear side) for receiving a seedling mat (not shown), and the surface is sloped downward toward the rear. The planting device 3 according to this embodiment has an eight-row planting configuration and has eight seedling carrier sections 79 lined up in the left-right direction (see Figure 2).

[0050] The seedling carrier 73 supplies seedling mats placed on each seedling carrier section 79 to each planting unit. The seedling carrier 73 is configured to be able to move back and forth in the left and right direction by a drive mechanism (lateral feed mechanism) not shown in the figure, so that the seedling mats are continuously fed back and forth in the left and right direction. A vertical feed mechanism is provided for the seedling carrier 73, which feeds the seedling mats on each seedling carrier section 79 vertically downward when the seedling carrier 73 reaches the left and right ends of its reciprocating movement. These horizontal feed mechanisms and vertical feed mechanisms are driven by power transmitted to the planting transmission case 72.

[0051] The seedling planting device 80 is a rotary-type planting device that has a planting transmission case 81, two rotary cases 82 as planting rotors supported on both the left and right sides of the planting transmission case 81, and a planting claw device 90 provided for each rotary case 82. The planting device 3 has eight rotary cases 82, corresponding to an eight-row planting configuration. On both the left and right sides of the planting transmission case 81, the rotary cases 82 and the two planting claw devices 90 form a planting unit.

[0052] The planting transmission case 81 has a cylindrical outer shape with the longitudinal direction being the front-to-rear direction, and its front end is fixed to the rear surface of the main frame 75, extending horizontally from the rear side of the main frame 75 toward the rear. A planting transmission case 81 is provided for every two rows, and there are four planting transmission cases 81 in the eight-row planting rice transplanter 1. The four planting transmission cases 81 are arranged at approximately equal intervals in the left-to-right direction.

[0053] The planting transmission case 81 receives power from the planting transmission case 72 via a planting transmission shaft 85 whose axial direction is in the left-right direction. In other words, the planting transmission shaft 85 interlocks and connects the power transmission mechanisms in each of the planting transmission cases 72 and 81. The planting transmission shaft 85 is rotatably supported relative to the planting transmission case 72 at a position behind the main frame 75, passing through the rear of the planting transmission case 72. The planting transmission shaft 85 is installed between the front parts of the four planting transmission cases 81, and is rotatably supported relative to the planting transmission cases 81, passing through each planting transmission case 81, extending in the left-right direction.

[0054] A pair of rotary cases 82 (two rows) are provided on both the left and right sides of the rear of the planting transmission case 81. The rotary cases 82 are rotatably attached to the planting transmission case 81 by a drive shaft 86 whose axial direction is in the left-right direction (see Figure 6). The drive shaft 86 protrudes to the left and right sides from the planting transmission case 81, and supports the left and right rotary cases 82 rotatably relative to the planting transmission case 81.

[0055] The rotary case 82 has a longitudinal outer shape, and its longitudinal center is axially supported by the planting transmission case 81. Two planting claw devices 90 are attached to the left and right outer sides of the rotary case 82. The two planting claw devices 90 are arranged on opposite sides of the rotary case 82 with respect to the position of the drive shaft 86, and are provided at both longitudinal ends of the rotary case 82.

[0056] The planting claw devices 90 are supported on both longitudinal ends of the rotary case 82 so as to be rotatable about a rotation axis 87 whose rotation axis is in the left-right direction (see Figure 6). The planting claw devices 90 are connected to the rotary case 82 so as to be linked to the rotation of the rotary case 82 relative to the planting transmission case 81. The planting claw devices 90 are configured to perform a predetermined planting operation in conjunction with the rotation of the rotary case 82. By performing the planting operation, the planting claw devices 90 sequentially scrape off the seedling mat placed on the seedling carrier 73 one by one and plant them in the field. With one rotation of the rotary case 82, the two planting claw devices 90 cut seedlings one by one from the seedling mat placed on the seedling carrier 73 and plant them in the paddy field 6.

[0057] As shown in FIG. 6, the planting claw device 90 has an arm 91, a planting claw 92 fixed to the arm 91, and a pusher member 93 movable relative to the arm 91. The planting claw device 90 has a base 90a as the connection portion to the rotary case 82, and an extension portion in which the arm 91, planting claw 92, etc. extend linearly from the base 90a in a predetermined direction, with the tip of the planting claw 92 being the tip of the extension portion. Hereinafter, the direction along the extension direction of the extension portion of the planting claw device 90 will be referred to as the "claw extension direction." In addition, in the planting claw device 90, the tip side of the planting claw 92 in the claw extension direction will be referred to as the front side, and the opposite side will be referred to as the rear side.

[0058] The arm portion 91 is a substantially cylindrical portion whose cylindrical axis direction is the claw extension direction of the planting claw device 90. The arm portion 91 is an integral part of the base portion 90a and extends from the base portion 90a in the claw extension direction.

[0059] The planting claw 92 has a roughly rectangular plate-shaped claw base 92a and a bifurcated claw body 92b extending forward from one longitudinal side of the claw base 92a along the claw extension direction. The planting claw 92 has a roughly constant width overall, with the width direction being the left-right direction and the length direction being aligned with the claw extension direction. The planting claw 92 has the claw base 92a fixed to the upper side of the arm 91 by two fixing parts 96. The fixing parts 96 are fastening fixing parts that protrude upward from the arm 91 and have male threads that penetrate the claw base 92a and have nuts threaded into them. The planting claw 92 has a sharpened tip 92c of the claw body 92b.

[0060] The pusher member 93 is provided on the front side of the arm portion 91 and is configured to move back and forth along the claw extension direction relative to the arm portion 91. The pusher member 93 is provided below the claw body portion 92b of the planting claw 92. The pusher member 93 has a push rod portion 93a and a pressing piece portion 93b provided on the tip side of the push rod portion 93a.

[0061] The push rod portion 93a is a rod portion that forms a cylinder mechanism together with the arm portion 91, with the arm portion 91 serving as the cylinder portion, and extends from the tip of the arm portion 91 in the claw extension direction. The push rod portion 93a moves back and forth relative to the arm portion 91 so as to change the amount of protrusion from the arm portion 91. The pressing piece portion 93b is a portion that moves integrally with the push rod portion 93a relative to the arm portion 91, and is the portion that applies pressure to the seedling blocks scraped from the seedling mat.

[0062] The pusher member 93 is arranged to move back and forth relative to the arm portion 91 between a holding position, which is the rear end position, and a pushing position, which is the front end position. The holding position of the pusher member 93 is the standby position of the pusher member 93 in the planting claw device 90, where it holds the picked seedlings. The pushing position of the pusher member 93 is the forward end position of the pusher member 93 relative to the arm portion 91, where the planting claw device 90 has pushed out (released) the seedling blocks. The pusher member 93 is arranged to move forward relative to the arm portion 91 with a biasing force, pushing out the seedling blocks in a manner that ejects them.

[0063] In the above configuration, the rotational power generated by the electric motor 42 is transmitted to the rotary case 82 via the transmission shaft 76, the planting transmission case 72, the planting transmission shaft 85, and the planting transmission case 81. That is, the planting device 3 receives driving force from the electric motor 42 via the transmission shaft 76 in the planting transmission case 72, and the driving force input to the planting transmission case 72 is transmitted to the planting transmission shaft 85 by a power transmission mechanism within the planting transmission case 72. The rotational driving force of the planting transmission shaft 85 is distributed to the four seedling planting devices 80 and transmitted to the drive shafts 86 of the rotary cases 82 on both the left and right sides of the planting transmission case 81 via multiple transmission shafts, gears, etc. provided within the planting transmission case 81. The rotational driving of the drive shafts 86 rotates the left and right rotary cases 82, allowing the planting claw devices 90 to continuously plant seedlings. In this embodiment, eight rotary cases 82 for eight rows rotate synchronously, and eight rows are planted simultaneously.

[0064] As shown by the dashed line in Figure 6, each planting claw device 90 rotates along a trajectory A1 at the tip 92c of the planting claw 92 as the rotary case 82 rotates, scraping the seedling mat and planting the seedling blocks in one cycle. The trajectory A1 is a closed (loop-shaped) trajectory with a vertically elongated, approximately elliptical shape. The trajectory A1 is the trajectory of the body of the rice transplanter 1, i.e., it does not take into account the movement of the planting claw 92 relative to the field as the body moves forward, and is a stationary trajectory based on the body.

[0065] In the left side view shown in Figure 6, the tip 92c of the planting claw 92 moves counterclockwise on trajectory A1 (see arrow B1). Trajectory A1 is a common trajectory for the two planting claw devices 90 supported on the rotary case 82. The rotary case 82 rotates as the machine body moves forward, planting seedlings continuously in a line with a predetermined spacing between plants (seedling planting intervals) using the two planting claw devices 90.

[0066] As shown in Figure 5, the rice transplanter 1 is equipped with a control device 50 as a control unit. The control device 50 controls each unit of the rice transplanter 1 based on input signals from various sensors and the like equipped in the rice transplanter 1. The control device 50 is configured by connecting, via a bus or the like, a CPU (Central Processing Unit) as an arithmetic processing device that constitutes an arithmetic unit that executes various arithmetic processes and controls, a storage device that constitutes a storage unit such as a RAM (Random Access Memory) or a ROM (Read Only Memory), an input / output device (input / output circuit) that constitutes an input / output unit such as an input / output interface for data input / output, and peripheral circuits such as a clock circuit. The CPU of the control device 50 performs arithmetic processes according to various programs stored in the ROM or the like.

[0067] The control device 50 is configured to include, for example, a plurality of microcomputer units connected to each other so that they can communicate with each other via a controller area network (CAN). However, the configuration of the control device 50 is not particularly limited. The control device 50 is provided in a predetermined location in the rice transplanter 1, such as the machine frame 7.

[0068] 5, the rice transplanter 1 has an operation device 101, a phase detection sensor 102 as a phase detection unit, a vehicle speed sensor 103, a lift operation lever 104, and an accelerator pedal 105, all of which are electrically connected to the input device (input circuit) of the control device 50. The control device 50 receives input signals from these devices and sensors, and generates control signals based on the signals.

[0069] The operation device 101 is a device operated by an operator, and includes, for example, operation tools such as levers, switches, dials, and pedals provided on the operation unit 16. When the operation device 101 receives a predetermined operation, it outputs a signal to the control device 50 according to the operation content.

[0070] The vehicle speed sensor 103 is a sensor for detecting the vehicle speed, which is the traveling speed of the traveling machine body 2. The vehicle speed sensor 103 detects the vehicle speed by detecting the rotation speed of a rotating body such as a shaft in a drive device related to the traveling of the machine body, for example.

[0071] The control device 50 receives an input of a detection signal from the vehicle speed sensor 103 and detects the vehicle speed. The control device 50 controls the vehicle speed based on the detection signal from the vehicle speed sensor 103. The control device 50 receives an input of a detection signal regarding the amount of operation of a gear shift operating member such as a gear shift lever or a gear shift pedal, generates control information based on the detection signal, and controls the vehicle speed based on the generated control information.

[0072] The lifting operation lever 104 is an operation unit for lifting and lowering the planting device 3. Based on an operation signal from the lifting operation lever 104, the control device 50 controls the operation of the lifting cylinder 65 (see FIG. 1) via a control valve or the like (not shown), thereby lifting and lowering the planting device 3. For example, by tilting the lifting operation lever 104 in one direction, the lifting cylinder 65 extends and the planting device 3 descends, and by tilting the lifting operation lever 104 in the other direction, the lifting cylinder 65 contracts and the planting device 3 ascends. Note that the operation unit for lifting and lowering the planting device 3 may be configured with an operation tool other than a lever, such as a configuration provided with switches (lift switch, lower switch) for performing each operation to lift and lower the planting device 3.

[0073] Accelerator pedal 105 is an example of an accelerator operation unit for adjusting the rotation speed of engine 20, and is provided on floor 13 in operation unit 16 (see FIG. 2).

[0074] The phase detection sensor 102 according to this embodiment will be described with reference to Figures 7 and 8. The phase detection sensor 102 is a sensor for detecting the phase of rotation of the rotary case 82. The phase detection sensor 102 detects the phase of rotation of the rotary case 82 (hereinafter simply referred to as "phase") based on the phase of a rotating body such as a shaft in the power transmission mechanism from the electric motor 42 to the rotary case 82.

[0075] The phase of the rotary case 82 detected by the phase detection sensor 102 is the angular position of the rotation around the axis of the drive shaft 86 of the rotary case 82 relative to the planting transmission case 81. The control device 50 detects the phase of the rotary case 82 by receiving the detection signal input from the phase detection sensor 102. The control device 50 can detect the phase of the rotary case 82 as an angular position (amount of rotation) relative to a predetermined reference position (rotation angle = 0°).

[0076] 7, the electric motor 42 has a motor body 141 and a motor gear box 142 provided on the rear side of the motor body 141, and is configured as an integrated motor unit including these components. The motor gear box 142 houses a speed reduction mechanism therein and is configured to reduce the rotational driving force of the motor body 141 and output it as rotational driving force for the output shaft 42a.

[0077] The rear surface of the motor gearbox 142 of the electric motor 42 is a rear end surface 143 that is perpendicular to the fore-and-aft direction of the body of the rice transplanter 1, and the output shaft 42a protrudes rearward from the rear end surface 143. The output shaft 42a is provided so that its axial direction is perpendicular to the rear end surface 143.

[0078] In the electric motor 42 having the above-described configuration, the phase detection sensor 102 is attached to the rear end face 143 via a sensor attachment plate 144. The sensor attachment plate 144 is a flat member, and is fixed to the rear end face 143 with bolts 145 or the like while overlapping the rear end face 143.

[0079] The phase detection sensor 102 has a substantially rectangular prism-like outer shape and is fixed to a sensor mounting plate 144 by bolts 146 or the like. The bolts 146 pass through holes 147 formed at one end of the phase detection sensor 102 in the longitudinal direction and are screwed into the sensor mounting plate 144 or the like.

[0080] The phase detection sensor 102 is a proximity sensor (magnetic sensor) that detects the presence or absence of metal, etc. The phase detection sensor 102 has a detection coil, and detects the presence or absence of metal, etc. based on a change in the impedance of the detection coil due to an induced current that occurs when a detection object (metal) approaches a magnetic field generated by the detection coil.

[0081] The phase detection sensor 102 has a cable 148 extending from one longitudinal end thereof for connection to the control device 50, and the surface on the other longitudinal end thereof serves as a detection surface. When viewed in the axial direction of the output shaft 42a, the phase detection sensor 102 is disposed so that the detection surface side faces the output shaft 42a and the longitudinal direction is aligned along the radial direction of a circle centered on the axis of the output shaft 42a.

[0082] The output shaft 42a is provided with a sensor plate 150 which is the target of detection by the phase detection sensor 102. The sensor plate 150 is a substantially circular plate-shaped member made of steel plate, and is provided with its plate surface aligned with the rear end surface 143 of the electric motor 42 and with the output shaft 42a passing through its center. The sensor plate 150 is fixed to the output shaft 42a via a mounting plate 151, a retaining ring 152, etc., and is provided to rotate integrally with the output shaft 42a.

[0083] The sensor plate 150 has a substantially circular disk-shaped outer shape, with a large-diameter portion 150a occupying approximately half of the circumference, and a small-diameter portion 150b having a smaller diameter than the large-diameter portion 150a. In this embodiment, the radius of the small-diameter portion 150b is approximately 5 / 7 of the radius of the large-diameter portion 150a. The sensor plate 150 has, as its outer peripheral side surfaces, a large-diameter-side outer peripheral surface 150c which is the outer peripheral surface of the large-diameter portion 150a, a small-diameter-side outer peripheral surface 150d which is the outer peripheral surface of the small-diameter portion 150b, and a step surface 150e which connects the ends of the large-diameter-side outer peripheral surface 150c and the small-diameter-side outer peripheral surface 150d.

[0084] Both the large-diameter side outer peripheral surface 150c and the small-diameter side outer peripheral surface 150d are surfaces that follow an arc centered on the output shaft 42a when viewed in the axial direction of the output shaft 42a. The step surface 150e is formed to form a straight line that follows approximately the radial direction of the arc centered on the output shaft 42a when viewed in the axial direction of the output shaft 42a.

[0085] The phase detection sensor 102 is provided with respect to the sensor plate 150 thus provided for the output shaft 42a such that its detection surface is close to the large-diameter outer peripheral surface 150c of the sensor plate 150. The phase detection sensor 102 is in an ON state when it detects the angular range of the portion of the sensor plate 150 in the circumferential direction, in relation to the phase of rotation of the output shaft 42a of the electric motor 42, where the large-diameter portion 150a is formed.

[0086] That is, the phase detection sensor 102 detects the phase of the output shaft 42a when the large diameter portion 150a of the sensor plate 150 is at the detection position. In this way, the phase of the output shaft 42a detected by the phase detection sensor 102 corresponds to a predetermined target phase that is to be detected for the phase of the rotary case 82.

[0087] The power transmission mechanism from the output shaft 42a to the drive shaft 86 of the rotary case 82 is configured to reduce the rotation of the output shaft 42a at a predetermined reduction ratio and transmit it to the drive shaft 86. In this embodiment, the rotation of the output shaft 42a is transmitted as rotation of the drive shaft 86 (rotary case 82) at a reduction ratio of 1 / 2. In other words, when the output shaft 42a rotates 180°, the rotary case 82 rotates 90°.

[0088] The mounting plate 151 is a substantially circular plate-shaped member that is located behind the sensor plate 150, is concentric with the output shaft 42a, and is fixed to the output shaft 42a. The mounting plate 151 has an outer diameter that is substantially the same as (slightly smaller than) the small diameter portion 150b of the sensor plate 150, and is positioned entirely within the outer shape of the sensor plate 150.

[0089] The sensor plate 150 is fixed to the mounting plate 151 at multiple locations with bolts 155. The bolts 155 pass through holes 151a formed in the mounting plate 151 and are screwed into threaded holes 150f formed in the sensor plate 150. The holes 151a of the mounting plate 151 are formed as elongated holes along the circumferential direction of the mounting plate 151, allowing for adjustment of the angle of the sensor plate 150 around the axis of the output shaft 42a relative to the mounting plate 151. In other words, the mounting plate 151 functions as a member for adjusting the angle of the sensor plate 150 around the output shaft 42a (the position around the axis of the output shaft 42a). In the example shown in FIG. 8, the mounting plate 151 has three holes 151a formed at equal intervals around the circumferential direction of the mounting plate 151, and the sensor plate 150 has threaded holes 150f formed at multiple locations in predetermined positions corresponding to the ranges in which the holes 151a are formed.

[0090] The arrangement of the phase detection sensor 102 is not limited to this embodiment. The phase detection sensor 102 may be mounted, for example, via a predetermined support member on the planting transmission case 81 near the rotary case 82. In this case, the detection target of the phase detection sensor 102 is an uneven portion such as a protrusion or groove on the rotating shaft inside the planting transmission case 81. The phase detection sensor 102 is mounted so as to detect any rotating body, such as a rotating shaft, in the transmission mechanism from the output shaft 42a of the electric motor 42 to the drive shaft 86 of the rotary case 82.

[0091] As shown in FIG. 5 , a first inverter 46 for controlling the motor generator 41 and a second inverter 47 for controlling the electric motor 42 are connected to the control device 50. The control device 50 controls the first inverter 46 and the second inverter 47. That is, the first inverter 46 controls the operation of the motor generator 41 under the control of the control device 50, and the second inverter 47 controls the operation of the electric motor 42 under the control of the control device 50. The control device 50 obtains information about the motor generator 41 via the first inverter 46 and obtains information about the electric motor 42 via the second inverter 47. The control device 50 controls the operation of various relays included in a junction box 48.

[0092] The control device 50 controls the electric motor 42, which serves as the drive source for the planting device 3, and basically controls the rotation speed of the electric motor 42 in accordance with the amount of operation of a speed change operating member such as a speed change lever. In other words, when the control device 50 controls the drive of the electric motor 42, the rotational power input from the electric motor 42 to the drive shaft 86 of the rotary case 82 in the power transmission system of the planting device 3 changes speed together with the vehicle speed in accordance with the amount of operation of the speed change operating member.

[0093] Therefore, the rotation speed of the rotary case 82, i.e., the planting speed of the planting device 3, changes depending on the vehicle speed. In detail, the faster the vehicle speed, the shorter the rotation period of the rotary case 82, and the slower the vehicle speed, the longer the rotation period of the rotary case 82. This maintains a constant spacing between plants regardless of the traveling speed of the traveling body 2.

[0094] In this way, the control device 50 issues a rotation instruction (rotation speed instruction) according to the vehicle speed to the electric motor 42. With regard to the spacing between rows, the rotation speed of the rotary case 82 can be changed by controlling the rotation speed of the electric motor 42 relative to the vehicle speed, thereby changing the spacing between rows.

[0095] The electric motor 42 is configured to be able to rotate in both the forward and reverse directions. That is, when the control device 50 controls the drive of the electric motor 42 via the second inverter 47, the output for forward motor rotation from the second inverter 47 is input to the electric motor 42, causing the electric motor 42 to rotate in the forward direction, and the output for reverse motor rotation from the second inverter 47 is input to the electric motor 42, causing the electric motor 42 to rotate in the reverse direction.

[0096] As described above, the rice transplanter 1 comprises a planting device 3 having a rotary case 82 that supports the planting claws 92 and is rotatably arranged, an electric motor 42 for driving the rotary case 82 to rotate, a phase detection sensor 102 for detecting the phase of the rotary case 82, and a control device 50.

[0097] The control device 50 controls the electric motor 42 based on the phase of the rotary case 82 detected by the phase detection sensor 102 in relation to the operation control of the rotary case 82 .

[0098] The control device 50 controls the rotary case 82 to stop rotation by controlling the drive of the electric motor 42, thereby stopping the rotation of the rotary case 82 at a predetermined phase where the planting claws 92 move away from the field surface (paddy field surface 6). Hereinafter, with regard to the control of stopping the rotary case 82 by the control device 50, the phase where the rotation of the rotary case 82 stops is referred to as the "upper stop position."

[0099] FIG. 6 shows the rotary case 82 in the upper stop position. When the rotary case 82 is in the upper stop position, its longitudinal direction is approximately horizontal. When the rotary case 82 is in the upper stop position, the front and rear planting claw devices 90 position the planting claws 92 in the vertically intermediate portion of their rotation range, which forms a loop-shaped trajectory. The upper stop position of the rotary case 82 is set to prevent the planting claws 92 from contacting the ground when the planting device 3 is lowered or from interfering with the seedling carrier 73 when the seedling carrier 73 is fed laterally when the planting device 3 is in a drive-stopped state (when all rows are stopped), which could result in damage to the planting claws 92 or the seedling carrier 73. Furthermore, by stopping the rotary case 82 in the upper stop position, the planting claws 92 can be prevented from dragging in the soil of the field 5 when the planting device 3 is in the operating position.

[0100] 6, the upper stop position of the rotary case 82 is the phase of the rotary case 82 when one of the two planting claw devices 90 (front and rear) has its tip 92c positioned within a predetermined phase range C1 at the front and middle of the upper and lower parts of the trajectory A1. In other words, one rotation of the rotary case 82 corresponds to one rotation of the planting claws 92 of the planting claw device 90 along the trajectory A1, and the upper stop position of the rotary case 82 is the phase when one of the two planting claw devices 90 has its tip 92c of the planting claw 92 positioned within the phase range C1.

[0101] As shown in FIG. 6, for example, with respect to the upper stop position, if the lowest point on the locus A1 is set to a reference point P1 where the phase of the rotary case 82 (hereinafter referred to as the "rotary phase") is 0°, the phase range C1 corresponding to the upper stop position is set to a range of 240° to 300°. That is, for the points on the locus A1 shown in FIG. 6, point Pa, which defines the position of the start point of the phase range C1, corresponds to a rotary phase of 240°, and point Pb, which defines the position of the end point of the phase range C1, corresponds to a rotary phase of 300°. Note that, for the points on the locus A1, points P2, P3, and P4 correspond to points where the rotary phase is 90°, 180°, and 270°, respectively. FIG. 6 shows a state where the rotary phase is 290°.

[0102] Therefore, when using the example of angles in the locus A1 shown in Figure 6, the rotary phase in which one of the two planting claw devices 90 positions the tip 92c of the planting claw 92 within the phase range C1 is set to the ranges of 60° to 120° and 240° to 300°. These two ranges of rotary phases become the upper stop positions of the rotary case 82.

[0103] The control device 50 controls the rotary case 82 to stop based on the operation of the operating device 101. That is, the control device 50 controls the rotary case 82 to stop when the operating device 101 performs a predetermined stop operation to stop the drive of the planting device 3. When the operating device 101 performs a predetermined operation to stop the drive of the planting device 3, a signal is output from the operating device 101 to the control device 50. The control device 50 starts to execute the control device 82 to stop when the signal input from the operating device 101 is used as a trigger.

[0104] The operation of the operating device 101 to control the stop of the rotary case 82, that is, the stop operation of the operating device 101, is functionally equivalent to the operation of turning off the planting clutch using a planting clutch lever in a configuration that has a planting clutch for switching the connection / disconnection of rotational power in the power transmission path for the rotary case 82. Therefore, the stop operation of the operating device 101 can be assigned to the "off" operation of an existing planting clutch lever, for example.

[0105] The control device 50 performs stop control (hereinafter referred to as "planting section stop control") to stop the rotation of the rotary case 82 by moving the rotary case 82 to an upper stop position, which is a predetermined target phase set as the stop position of the rotary case 82 for the phase of the rotary case 82, and then performing upper stop control to stop the rotation of the rotary case 82.

[0106] As shown in graph G1 in Figure 9, in this embodiment, the control device 50 performs planting unit stop control by decelerating the motor rotation speed at a predetermined deceleration rate from a state in which the motor rotation speed is maintained at a constant value, and stopping the rotation of the rotary case 82. Graph G1 shows the change in the rotation speed command from the control device 50 to the electric motor 42.

[0107] In graph G1 shown in FIG. 9, the vertical axis represents the motor rotation speed [min^-1] (rpm). In graph G1, the horizontal axis represents the passage of time. In the upper stop control, the target phase value is a phase value corresponding to the upper stop position, and is set and stored in advance in a storage device or the like in the control device 50. The target phase value is set as a predetermined value within the range of, for example, 60° to 120°, or 240° to 300°. In graph G1, the intersection of the vertical axis and the horizontal axis represents a state where the motor rotation speed is 0, and the electric motor 42 is stopped, i.e., the rotary case 82 is stopped from rotating.

[0108] As shown in Figure 9, the planting unit stop control is initiated, for example, during planting work by the planting device 3, while the motor rotation speed is maintained at a constant rotation speed r1 corresponding to the vehicle speed (see section S0). That is, in section S0, the electric motor 42 rotates at a constant rotation speed r1 based on a rotation command corresponding to the vehicle speed from the control device 50. The end point of section S0, i.e., the control start time t1 of the planting unit stop control, is the timing when the stop operation of the operating device 101 is performed as a trigger to start the control.

[0109] When a stop operation is performed on the operating device 101, the control device 50 decelerates the motor rotation speed at a predetermined deceleration rate from the control start time t1 so that the rotation of the rotary case 82 stops at a preset target position, thereby stopping the rotation of the rotary case 82. In other words, the control device 50 decelerates the rotation of the rotary case 82 at a predetermined deceleration rate from the control start time t1 so that the rotation of the rotary case 82 stops when the actual difference, which is the difference between the target phase value and the phase value actually detected by the phase detection sensor 102, becomes zero.

[0110] (First control mode of startup control) In the configuration in which the planting unit stop control is performed to stop the rotary case 82 at the upper stop position as described above, for example, when the power to the rice transplanter 1 is turned off, a state in which the rotary case 82 does not stop at the upper stop position, that is, a state in which the rotary case 82 stops at a phase other than the upper stop position, may occur. Therefore, the control device 50 is configured to perform start-up control, which is control to position the rotary case 82 at the upper stop position, when the power to the machine is turned on.

[0111] As a start-up control, when the power supply of the rice transplanter 1 body is turned on and the rotary phase is not at the predetermined target phase, i.e., not at the upper stop position, the control device 50 drives the electric motor 42 to move the rotary case 82 to the upper stop position and stop it.

[0112] 5, the control device 50 is connected to the battery 43 via a key switch 160 that starts or stops the engine 20. The key switch 160 is a switch for applying power that is provided in a connection path between the battery 43 and an engine controller that controls the engine 20. The key switch 160 is, for example, a push-button switch or a rotary switch that can be rotated by inserting a predetermined key into a keyhole, and is provided in a predetermined location in the driver unit 10, for example, near the steering wheel 17.

[0113] Normally, when the key switch 160 is turned on, current from the battery 43 flows into the coil of the starter relay connected to the starter, causing the switch of the starter relay to become conductive. This causes current from the battery 43 to operate the starter, starting the engine 20. After the engine 20 starts, the engine 20 remains in a driven state, and power is supplied from the battery 43 to each component. When the key switch 160 is turned off, power supply from the battery 43 stops, and the engine 20 stops operating.

[0114] In this configuration, the control device 50 detects that the power supply to the rice transplanter 1 is turned on when the key switch 160 is turned on.

[0115] During startup control, when the power supply to the rice transplanter 1 body is turned on and the rotary case 82 is not positioned at the upper stop position (see, for example, Figures 11 and 12), the control device 50 drives the electric motor 42 to move (rotate) the rotary case 82 to the upper stop position (see Figure 10).

[0116] The control device 50 detects whether the rotary case 82 is located at the upper stop position by the phase detection sensor 102 being in a detection-on state where it detects the large diameter portion 150a of the sensor plate 150, and a detection-off state where it is not detecting the large diameter portion 150a, i.e., where the small diameter portion 150b is located at the detection position of the phase detection sensor 102. The control device 50 detects the detection-on state of the large diameter portion 150a as a state where the rotary case 82 is located at the upper stop position.

[0117] Therefore, the range (angle range) of the large diameter portion 150a in the circumferential direction of the sensor plate 150 corresponds to the rotary phase corresponding to the phase range C1 on the locus A1 in a configuration in which the rotation of the output shaft 42a is transmitted to the drive shaft 86 of the rotary case 82 at a reduction ratio of 1 / 2. Two rotations of the output shaft 42a correspond to one rotation of the rotary case 82, and the detection-on state of the phase detection sensor 102 during one rotation of the output shaft 42a corresponds to a state in which one of the two planting claw devices 90 positions the tip 92c of the planting claw 92 in the phase range C1. As a result, as described above, the rotary phase ranges of 60° to 120° and 240° to 300° are detected as the detection-on state of the phase detection sensor 102, i.e., the rotary case 82 is in the upper stop position.

[0118] Furthermore, during startup control, the control device 50 controls the rotary case 82, which is not positioned at the upper stop position, to move to the upper stop position by rotating it in the forward or reverse direction. That is, the control device 50 moves the rotary case 82 to the upper stop position by rotating it in the forward direction, which is the rotation during planting work, or in the reverse direction, which is the rotation opposite to the forward rotation. Note that during startup control, the upper stop position at which the rotary case 82 is stopped is set and stored in advance in a storage device or the like in the control device 50 as a target phase for the rotary phase, as a predetermined phase (angular position) or angle range with a width within the range of the upper stop position (phase range C1).

[0119] In the startup control, the rotary case 82 that is not in the upper stop position is moved (rotated) in the forward rotation direction to stop it at the upper stop position. Here, the forward rotation direction of the rotary case 82 is the rotation direction during planting work by the planting device 3 (see arrows X1 and B1 in Figure 10).

[0120] However, if there is a predetermined planting phase between the rotary phase when the rice transplanter 1 is powered on (started up) and the upper stop position for the forward rotation of the rotary case 82, the planting claw device 90 will perform the planting operation when the rotary case 82 reaches the planting phase during its rotation. Here, the predetermined planting phase is the rotary phase at which the planting claw device 90 releases the seedling blocks using the push-out member 93. In the example shown in Figure 6, the planting phase is the rotary phase corresponding to the reference point P1, which is the bottom dead center of the trajectory A1 for the claw base 92a of the planting claw 92.

[0121] During startup control, for example, if the planting claw device 90 performs a planting operation while the planting device 3 is elevated, there is a risk that the seedlings scraped from the seedling mat by the planting claw device 90 with the planting claws 92 will be released into the air, resulting in so-called seedling discarding (empty planting). In other words, when the planting device 3 is elevated and the rotary case 82 rotates from the non-upper stop position to the upper stop position, the planting claw device 90 performs a predetermined planting operation to release the scraped seedlings, resulting in seedling discarding.

[0122] Therefore, for example, as shown in Figure 11, if the rotary phase at startup is downstream of the upper stop position in the rotation direction (forward rotation direction) of the rotary case 82 and upstream of the reference point P1, which is the planting phase, in the forward rotation direction, the control device 50 controls the rotary case 82 to move to the upper stop position by rotating it in the reverse rotation direction (see arrow X2).

[0123] That is, when the tip 92c of the planting claw 92 of one of the planting claw devices 90 has passed the phase range C1 in the forward rotation direction on the trajectory A1 and is positioned just before the planting phase (reference point P1), the control device 50 rotates the rotary case 82 in the reverse direction to move it to the upper stop position. In this case, the rotary case 82 is rotated in the reverse rotation direction, in which the tip 92c of the planting claw 92 moves clockwise (see arrow B2) on the trajectory A1 as viewed from the left side in FIG. 11. The rotary case 82 rotated in the reverse rotation direction stops at the upper stop position, which positions the tip 92c of the planting claw 92 in the phase range C1, as shown in FIG. 10. The reverse rotation of the rotary case 82 is achieved by rotating the electric motor 42 in the reverse direction.

[0124] By driving the rotary case 82 in the reverse direction in this manner, the planting operation of the planting claw device 90 can be prevented from being performed during startup control, and seedlings can be prevented from being discarded.

[0125] On the other hand, for example, as shown in Figure 12, when the rotary phase at startup is a phase downstream of the reference point P1, which is the planting phase, in the forward rotation direction, the control device 50 controls the rotary case 82 to move to the upper stop position by rotating the rotary case 82 in the forward rotation direction (see arrow X1).

[0126] That is, when the tip 92c of the planting claw 92 of one planting claw device 90 is located after (immediately after) the planting phase (reference point P1) in the forward rotation direction on the trajectory A1, the control device 50 rotates the rotary case 82 forward to move it to the upper stop position. In this case, the rotary case 82 is rotated in the forward rotation direction so that the tip 92c of the planting claw 92 moves counterclockwise (see arrow B1) on the trajectory A1 as viewed from the left side in FIG. 12. The rotary case 82 rotated in the forward rotation direction stops at the upper stop position, which positions the tip 92c of the planting claw 92 in the phase range C1, as shown in FIG.

[0127] If the rotary phase at startup has passed the planting phase (reference point P1) as shown in Figure 12, planting of seedlings (planting operation) is complete, so there is no problem in rotating the rotary case 82 forward and moving it to the upper stop position (seedlings will not be discarded).

[0128] 10, 11, and 12 show the lower end of the seedling mat 170 being scraped by the planting claw device 90. The seedling mat 170 is supported from below by guide rails 171 provided on the underside of the seedling carrier 73 and is scraped by the planting claws 92 of the planting claw device 90. The guide rails 171 extend in the left-right direction along the lower edge of the seedling carrier 73 and have notched openings that position the scraped portion of the seedling mat at positions corresponding to each planting claw device 90 in the left-right direction and ensure a movement path for the planting claw device 90.

[0129] Furthermore, during startup control, the control device 50 determines whether the rotation direction of the rotary case 82 when moving it to the upper stop position should be forward or reverse, based on the behavior of the rotary case 82 resulting from the structure of the drive mechanism of the push-out member 93 in the planting claw device 90, which is a well-known configuration. The drive mechanism of the push-out member 93 is outlined below.

[0130] A push spring is provided inside the casing of the planting claw device 90 to push out the pusher member 93 in a popping manner. The push rod portion 93a of the pusher member 93 is connected at its base end to one end of a push arm provided inside the planting claw device 90. The other end of the push arm is supported rotatably relative to the casing of the planting claw device 90, with the left-right direction as the rotation axis direction. Furthermore, the push rod portion 93a is subjected to the biasing force (pressing action) of the push spring at its base end via a spring receiver or the like.

[0131] Inside the casing of the planting claw device 90, a discontinuous cam with a discontinuous shape is provided on the rotation shaft 87 of the planting claw device 90 relative to the rotary case 82. The discontinuous cam engages with the push arm, and the discontinuous shape causes the cam to momentarily disengage from the push arm at a predetermined timing as the planting claw device 90 rotates relative to the rotary case 82, allowing the push arm to rotate due to the biasing force of the push spring. As a result, the push rod portion 93a is pushed forward by the biasing force of the push spring, performing a planting operation to eject the seedling block.

[0132] In the planting claw device 90 having the drive mechanism for the pusher member 93 described above, and the rotary case 82 supporting a pair of planting claw devices 90, the discontinuous portion of the discontinuous cam of the planting claw device 90 restricts reverse rotation of the rotary case 82 within a predetermined phase range after the planting claw device 90 has performed a planting operation. In other words, while the rotary case 82 is rotating in the forward direction, the discontinuous portion of the discontinuous cam mechanically locks the reverse rotation of the rotary case 82 after (immediately after) the planting claw device 90 has performed a planting operation in the planting phase (reference point P1). Therefore, if the electric motor 42 is rotated in the reverse direction to rotate the rotary case 82 in the reverse direction immediately after the planting claw device 90 has performed a planting operation in the planting phase, the rotary case 82 will come to a stop at or near the planting phase (reference point P1).

[0133] Therefore, during startup control, the control device 50 first controls the drive of the electric motor 42 to rotate the rotary case 82 in the reverse direction, and when the torque (driving torque) of the electric motor 42 reaches or exceeds a predetermined value, rotates the rotary case 82 in the forward direction to the upper stop position.

[0134] When the control device 50 drives the electric motor 42 to rotate the rotary case 82 in the reverse direction, the rotary case 82 stops in the planting phase, causing the torque of the electric motor 42 to increase, and when this torque exceeds a certain level, the control device 50 detects that the rotary case 82 is locked. When the control device 50 detects that the rotary case 82 is locked, the control device 50 stops the reverse rotation of the rotary case 82 and drives the electric motor 42 to rotate the rotary case 82 in the forward direction.

[0135] In this way, during startup control, when the rotary case 82 is rotated in reverse, the control device 50 performs control (reverse / forward rotation control) to move the rotary case 82 to the upper stop position by rotating the rotary case 82 in the forward direction, using the condition (first forward rotation condition) that the torque value of the electric motor 42 is equal to or greater than a predetermined threshold value as the condition, and when the first forward rotation condition is satisfied.

[0136] Furthermore, the condition for rotating the rotary case 82 forward is a condition regarding the stop time of the rotary case 82, i.e., the stop time of the electric motor 42. That is, in the startup control, the control device 50 first controls the drive of the electric motor 42 so as to rotate the rotary case 82 in the reverse direction, and when the stop time of the rotary case 82 (the electric motor 42) reaches or exceeds a predetermined time, rotates the rotary case 82 forward to the upper stop position.

[0137] When the control device 50 drives the electric motor 42 to rotate the rotary case 82 in the reverse direction, the rotary case 82 stops in the planting phase, and when the stop time exceeds a certain value, the control device 50 detects the locked state of the rotary case 82. When the control device 50 detects the locked state of the rotary case 82, it stops the reverse rotation of the rotary case 82 and drives the electric motor 42 to rotate the rotary case 82 in the forward direction.

[0138] In this way, as a reverse / forward rotation control, when the rotary case 82 is rotated in reverse, the control device 50 controls the rotary case 82 to move to the upper stop position by rotating the rotary case 82 in the forward direction, when the second forward rotation condition is met, on the condition that the rotation of the rotary case 82 has stopped for a predetermined time or longer (second forward rotation condition).

[0139] In the reverse / forward rotation control, at least one of a first forward rotation condition related to torque and a second forward rotation condition related to stop time is used as a condition for determining the rotation direction of the rotary case 82. In the reverse / forward rotation control, a predetermined threshold value for the torque value of the electric motor 42 and a predetermined time for the stop time of the rotary case 82 are set and stored in advance in a storage device or the like in the control device 50.

[0140] The control device 50 also calculates the torque of the electric motor 42 based on the output current to the electric motor 42 via the second inverter 47. Note that the torque of the electric motor 42 may be detected using a torque sensor or an indicated torque from an ECU (engine control unit). The stop time of the rotary case 82 (electric motor 42) is measured by a timer function of the control device 50.

[0141] Specifically, with regard to the reverse / forward rotation control, for example, as shown in FIG. 12, if the rotary case 82 rotates in the reverse direction (see arrow B2) after the rotary phase has slightly passed the planting phase (reference point P1), the rotary case 82 is locked and its rotation is restricted in the planting phase. In this state, the control device 50 uses at least one of the first forward rotation condition and the second forward rotation condition described above, and if that condition is met, rotates the rotary case 82 in the forward direction (see arrow B1), moving the rotary case 82 to the upper stop position and stopping it. In the example shown in FIG. 12, the rotary case 82 reaches the upper stop position by rotating approximately 90° in the forward rotation direction.

[0142] Furthermore, in the startup control, the control device 50 is configured to notify the operator if the rotary phase is not in the upper stop position when the rice transplanter 1 is started. Specifically, as shown in FIG. 5, the rice transplanter 1 has a monitor 175, which is a display device such as a liquid crystal monitor, and a buzzer 176 that generates an alarm sound, which are electrically connected to the output device (output circuit) of the control device 50. The control device 50 controls the monitor 175 and the buzzer 176 based on the generated control signal. The control device 50 has, as functional parts, a monitor control unit that controls the monitor 175 and a buzzer control unit that controls the buzzer 176.

[0143] In this configuration, at startup, the control device 50 determines whether the rotary phase is at the upper stop position based on the detection value of the phase detection sensor 102. If the control device 50 determines that the rotary phase is not at the upper stop position, it notifies the operator via the monitor 175 and the buzzer 176.

[0144] Specifically, the control device 50 notifies the operator by displaying a warning message such as "Warning" or "The rotary case is not in the upper stop position" on the monitor 175, or by generating an alarm sound using the buzzer 176. This makes it possible to draw the operator's attention to the fact that the rotary case 82 is not in the upper stop position.

[0145] Furthermore, if the control device 50 determines that the rotary phase is not at the upper stop position, it may perform control to prohibit the lowering operation of the planting device 3. Specifically, for example, if the control device 50 determines that the rotary phase is not at the upper stop position, it performs control to disable the lowering operation of the planting device 3 using the lifting operation lever 104, thereby prohibiting the lowering operation of the planting device 3. This prohibited state of the lowering operation of the planting device 3 is released when the rotary phase reaches the upper stop position. This control is based on the viewpoint of preventing damage to the planting claws 92 and the seedling carrier 73 caused by the planting device 3 being lowered when the rotary case 82 is not at the upper stop position.

[0146] (Second control mode of startup control) The second control mode of the start-up control will be described. The second control mode of the start-up control differs from the first control mode in that, when the power supply of the rice transplanter 1 is turned on, the condition for automatically moving the rotary case 82 to the upper stop position requires that the rotary phase is not at the upper stop position and that certain conditions be met. That is, in the second control mode, the control device 50 performs the start-up control by driving the electric motor 42 to move the rotary case 82 to the upper stop position and stop it when the power supply of the rice transplanter 1 is turned on and the rotary phase is not at the upper stop position and certain conditions are met.

[0147] The predetermined condition for the second control mode is at least one of detecting the start of travel of the traveling body 2 (first condition) and performing a lifting / lowering operation of the planting device 3 (second condition). That is, when the rice transplanter 1 is started, if the rotary phase is not at the upper stop position and if at least one of the first condition and the second condition is satisfied, the control device 50 moves the rotary case 82 to the upper stop position and stops it.

[0148] Regarding the first condition, the control device 50 detects the start of traveling of the traveling machine body 2, for example, by detecting accelerator operation using the accelerator pedal 105, the main shift lever, etc. Regarding the first condition, the control device 50 can also detect the start of traveling of the traveling machine body 2 by detecting that a vehicle speed has been generated based on the detection value of the vehicle speed sensor 103.

[0149] Furthermore, the start of travel of the traveling machine body 2 may be detected as the start of travel when the detection value of the vehicle speed sensor 103 exceeds a threshold value related to the vehicle speed. In this case, the threshold value related to the vehicle speed is set and stored in advance in a storage device or the like in the control device 50, and is set to a value within a range of 0.2 to 0.5 [m / s], for example.

[0150] Regarding the second condition, the control device 50 detects that the planting device 3 has been lifted or lowered by detecting the lifting or lowering operation of the planting device 3 using the lifting operation lever 104. Note that only the lowering operation of the planting device 3 using the lifting operation lever 104 may be used as the second condition.

[0151] The first and second conditions are conditions that are defined from the perspective of detecting a state in which driving of the rotary case 82 can be started safely, in relation to automatically driving the rotary case 82 to position the rotary case 82 at the upper stop position when the rice transplanter 1 is started. In the second control mode, in addition to the first and second conditions, conditions that are used when the rice transplanter 1 is started in addition to the rotary phase not being at the upper stop position include, for example, providing a detection device such as sonar, radar, or camera on the body of the rice transplanter 1, and using the detection device to detect that there is no nearby object behind the body.

[0152] In the second control mode of the startup control, the control of moving the rotary case 82 to the upper stop position by rotating it forward or backward as described above, the control of reverse / forward rotation using predetermined forward rotation conditions, and the notification to the operator when the rotary phase is not at the upper stop position are applied in the same manner as in the first control mode.

[0153] (Example of startup control) An example of the startup control will be described with reference to the flowchart shown in Fig. 13. Fig. 13 is a flowchart showing an example of the startup control and the reverse / forward rotation control executed within the control.

[0154] The control described below is performed by the CPU of the control device 50 reading and executing a predetermined control program stored in a storage device such as a RAM. In this example, a case will be described in which the first condition related to the start of running is used in the control of the second control mode described above as the start-up control, and the first forward rotation condition related to torque is used in the reverse / forward rotation control.

[0155] 13, when the rice transplanter 1 is powered off, the key switch 160 is turned on (key ON) (S10). When the key is turned on, the control device 50 determines whether the phase of the rotary case 82 (rotary phase) is at the upper stop position based on the detection value of the phase detection sensor 102 (S20).

[0156] In step S20, if the control device 50 determines that the phase of the rotary case 82 is in the upper stop position (S20, Yes), the startup control ends. On the other hand, in step S20, if the control device 50 determines that the phase of the rotary case 82 is not in the upper stop position (S20, No), it determines whether the vehicle speed is equal to or greater than a threshold value (S30).

[0157] That is, in step S30, it is determined whether or not the traveling machine body 2 has started traveling. Note that, if it is determined in step S20 that the phase of the rotary case 82 is not at the upper stop position (S20, No), a notification may be given to the operator using the monitor 175 or buzzer 176 as described above.

[0158] In step S30, the control device 50 does not drive the rotary case 82 unless it determines that the vehicle speed is equal to or greater than the threshold value (S30, No). In step S30, if the control device 50 determines that the vehicle speed is equal to or greater than the threshold value (S30, Yes), it starts reverse driving of the rotary case 82 by driving the electric motor 42 in the reverse direction (S40).

[0159] Thereafter, the control device 50 determines whether the phase of the rotary case 82 is in the upper stop position (S50), and if it is determined in step S50 that the phase of the rotary case 82 is in the upper stop position (S50, Yes), it stops driving the electric motor 42 and ends the startup control (S90). On the other hand, if it is determined in step S50 that the phase of the rotary case 82 is not in the upper stop position (S50, No), it determines whether the drive torque of the electric motor 42 is equal to or greater than a threshold (S60). That is, in step S60, it is determined based on the torque of the electric motor 42 whether the rotary case 82, which is attempting to rotate in reverse, is locked in the planting phase.

[0160] In step S60, the control device 50 performs the determination in step S50 unless it determines that the drive torque of the electric motor 42 is equal to or greater than the threshold value (S60, No). In step S60, if the control device 50 determines that the drive torque of the electric motor 42 is equal to or greater than the threshold value (S60, Yes), it starts driving the electric motor 42 to rotate the rotary case 82 in the forward direction (S70). In other words, the control device 50 switches the rotation direction of the rotary case 82 from the reverse direction to the forward direction.

[0161] Thereafter, the control device 50 determines whether the phase of the rotary case 82 is at the upper stop position (S80), and if it is determined in step S80 that the phase of the rotary case 82 is at the upper stop position (S80, Yes), it stops driving the electric motor 42 and ends the startup control (S90). In other words, the control device 50 drives the electric motor 42 in the forward rotation direction until the rotary case 82, whose rotation direction has been switched to forward rotation, reaches the upper stop phase (S80, No).

[0162] In the startup control, when the second condition is used instead of the first condition, it is determined in step S30 of the flowchart shown in Fig. 13 whether or not the planting device 3 has been raised or lowered. Then, in step S30, if the control device 50 determines that the planting device 3 has been raised or lowered using the lifting operation lever 104 (S30, Yes), it starts reverse driving of the rotary case 82 (S40).

[0163] Note that both the first and second conditions may be used in step S30. In this case, when both conditions used in step S30 are satisfied, the rotary case 82 starts to be driven in the reverse direction.

[0164] Furthermore, when the second forward rotation condition is used as the forward rotation condition instead of the first forward rotation condition during startup control, it is determined in step S60 of the flowchart shown in Fig. 13 whether the rotation of the rotary case 82 (of the electric motor 42) has been stopped for a predetermined time or longer. If the control device 50 determines in step S60 that the rotation of the rotary case 82 has been stopped for a predetermined time or longer (S60, Yes), it starts driving the rotary case 82 in the forward direction (S70).

[0165] In step S60, both the first forward rotation condition and the second forward rotation condition may be used. In this case, if both conditions are satisfied in step S60, forward rotation of the rotary case 82 is started.

[0166] (Another example of startup control configuration) In the startup control, a sensor capable of detecting the absolute angle of the electric motor 42, such as an absolute encoder, can be used as the phase detection unit (phase detection sensor 102). In the case of such a configuration, in the reverse / forward rotation control, if the phase of the rotary case 82 is within a predetermined range, the control device 50 controls the rotary case 82 to rotate in the reverse direction, thereby moving the rotary case 82 to an upper stop position and stopping it.

[0167] In other words, when the rotary phase at the time of starting the rice transplanter 1 (when the key is turned ON) is a phase that positions the tip 92c of the planting claw 92 of either planting claw device 90 downstream in the forward rotation direction of the rotary case 82 from the upper stop position and upstream in the forward rotation direction from the planting phase (reference point P1), the control device 50 controls the rotary case 82 to move to the upper stop position by rotating it in the reverse direction.

[0168] Specifically, as shown in Figure 14, when the rotary phase at the time of startup of the rice transplanter 1 is a phase corresponding to the reverse phase range C2, which is a phase that positions the tip 92c of the planting claw 92 of one of the planting claw devices 90 downstream in the forward rotation direction from the phase range C1 corresponding to the upper stop position and upstream (toward the user) in the forward rotation direction from the planting phase (reference point P1), the control device 50 controls the rotary case 82 to move to the phase corresponding to the phase range C1 by rotating the rotary case 82 in the reverse rotation direction (see arrow X2).

[0169] In the example shown in FIG. 14, the start point of the reverse phase range C2 is point Pb, which defines the end position of the phase range C1, and the end point of the reverse phase range C2 is reference point P1. In the example shown in FIG. 14, the reverse phase range C2, which is set for the rotation angle of the rotary case 82, is an angle range of 60° from point Pb (300°) to reference point P1 (0° (360°)). Therefore, when the rotary phase of one planting claw device 90 is in a phase that positions the tip end 92c of the planting claw 92 within an angle range of 120 to 180°, which positions the tip end 92c of the planting claw 92 within the reverse phase range C2, and when the rotary phase of the other planting claw device 90 is in a phase that positions the tip end 92c of the planting claw 92 within an angle range of 300 to 360°, which positions the tip end 92c of the planting claw 92 within the reverse phase range C2, the control device 50 moves the rotary case 82 to the upper stop position by reverse rotation.

[0170] In this way, when the rotary phase at the time of starting the rice transplanter 1 is such that one of the two planting claw devices 90 positions the tip 92c of the planting claw 92 within the reverse phase range C2, the control device 50 controls the rotary case 82 to rotate in the reverse rotation direction and move the rotary case 82 to a phase corresponding to the phase range C1 on the trajectory A1.

[0171] Furthermore, when the rice transplanter 1 is started, if the tip 92c of each of the two planting claw devices 90 is positioned at a position (phase) other than the reverse phase range C2 on the trajectory A1 (for example, the state shown in Figure 12), the rotary case 82 is rotated in the forward rotation direction, and the rotary case 82 is controlled to move to the upper stop position and stop.

[0172] In another example of the startup control described above, the following control can be performed. The difference (angular difference) between the rotary phase at the time of startup of the rice transplanter 1 and the upper stop position, calculated based on the detection value of the phase detection sensor 102, is used. If the angular difference is equal to or less than a predetermined threshold value, the rotary case 82 is rotated in the reverse direction to move to the upper stop position, and if the angular difference exceeds the predetermined threshold value, the rotary case 82 is rotated in the forward direction to move to the upper stop position.

[0173] That is, based on the magnitude of the above-mentioned angle difference, if the magnitude of the angle difference corresponds to a state in which the tip 92c of the planting claw 92 of one planting claw device 90 is located in the reverse phase range C2 (for example, the state shown in FIG. 11), the rotary case 82 is rotated in the reverse direction and moved to the upper stop position. On the other hand, if the magnitude of the angle difference corresponds to a state in which the tip 92c of the planting claw 92 of neither planting claw device 90 is located in the reverse phase range C2 (for example, the state shown in FIG. 12), the rotary case 82 is rotated in the forward direction and moved to the upper stop position.

[0174] According to the rice transplanter 1 of this embodiment having the above-described configuration, in a configuration in which the rotary case 82 is driven to rotate by the electric motor 42, the rotary case 82 can be stopped at the upper stop position, which is the target phase, thereby improving the safety of the planting claw device 90 supported by the rotary case 82.

[0175] In a configuration in which the rotary case 82 is driven to rotate by the electric motor 42, for example, when the power to the rice transplanter 1 is turned off, the drive control of the electric motor 42 may become ineffective, causing the rotary case 82 to stop at a phase other than the upper stop position. This condition may cause the planting claws 92 to come into contact with the ground and be damaged when the planting device 3 is lowered, or may cause the planting claws 92 to interfere with the seedling carrier 73 or the guide rail 171 and be damaged when the seedling carrier 73 is fed laterally.

[0176] Therefore, according to the startup control performed by the control device 50 as described above, when the rice transplanter 1 is powered on, the rotary case 82 that is not in the upper stop position can be automatically moved to the upper stop position and stopped. As a result, when the planting device 3 is lowered after power is turned on, the planting claw device 90 can be prevented from contacting the ground or interfering with other device components, thereby improving the safety of the planting claw device 90.

[0177] In the start-up control, as in the second control mode described above, the condition for automatically moving the rotary case 82 to the upper stop position is that the rotary phase is not at the upper stop position, and at least one of the first and second conditions is used. With this configuration, the safety of the planting claw device 90 supported by the rotary case 82 can be effectively improved.

[0178] When the traveling machine body 2 starts traveling (first condition) or when the planting device 3 is raised or lowered (second condition), there is generally no one around the planting device 3. Therefore, by using the first and second conditions, it is possible to avoid dangers such as people getting caught in the planting device 3 when the rotary case 82 automatically rotates to move to the upper stop position when there is a person around the planting device 3. In other words, by setting these conditions, it is possible to obtain the effect of confirming safety when the rotary case 82 automatically rotates when the machine starts. Furthermore, by setting these conditions, it is possible to prevent the planting claw device 90 from contacting the ground or interfering with other device components when the operator lowers the planting device 3 without realizing that the rotary case 82 is not in the appropriate position (upper stop position).

[0179] Furthermore, during startup control, the control device 50 is configured to move the rotary case 82 to the upper stop position by rotating it forward or backward. With this configuration, during startup control, the amount of rotation (rotation angle) of the rotary case 82 can be reduced, making it possible to move the rotary case 82 to the upper stop position efficiently in a short amount of time.

[0180] Furthermore, in the start-up control, the control device 50 is configured to perform reverse / forward rotation control using at least one of a first forward rotation condition related to the torque of the electric motor 42 and a second forward rotation condition related to the rotation stop time of the rotary case 82. With this configuration, in the start-up control, the rotary case 82 can be efficiently moved to the upper stop position, and seedling discarding can be avoided in the process of moving the rotary case 82 to the upper stop position.

[0181] Furthermore, in the reverse / forward rotation control, according to a configuration that uses a first forward rotation condition related to torque, as a condition for rotating the rotary case 82 forward, the existing structure of the planting claw device 90, in which reverse rotation is locked within a predetermined phase range after the rotary case 82 has passed the planting phase, can be utilized to detect that the rotary case 82 has passed the planting phase, that is, that the planting claw device 90 is no longer holding the seedlings that have been scraped from the seedling mat.

[0182] The rice transplanter 1 also includes a phase detection sensor 102 that detects a sensor plate 150 provided on the output shaft 42a of the electric motor 42 as a phase detection unit used for start-up control. This configuration makes it possible to detect the phase of the electric motor 42 with an inexpensive configuration, which is advantageous in terms of cost, compared to using a sensor that can detect the absolute angle of the electric motor 42, such as an absolute encoder, as the phase detection unit.

[0183] On the other hand, if the phase detector is configured to use a sensor capable of detecting absolute angles, such as an absolute encoder, there is no need to provide a sensor plate 150 or the like on the output shaft 42a of the electric motor 42, simplifying the configuration of the phase detector. Furthermore, in the reverse / forward rotation control, whether the rotary case 82 is rotated forward or backward is directly determined by the rotary phase at the start of the rice transplanter 1, eliminating the need to first rotate the rotary case 82 in reverse to check whether the rotary phase has passed the planting phase. This shortens the operating time required to move the rotary case 82 to the upper stop position during the start-up control, allowing the rice transplanter 1 to smoothly transition from start-up to operation.

[0184] The above-described embodiment is an example of the present invention, and the present invention is not limited to the above-described embodiment. Therefore, even if it is not the above-described embodiment, various modifications are possible depending on the design, etc., as long as they do not deviate from the technical idea of ​​the present invention. Furthermore, the effects described in this disclosure are merely examples and are not limited, and other effects may also be obtained. [Explanation of symbols]

[0185] 1. Rice transplanter (transplanter) 2 Running body 3 Planting device (planting section) 42 Electric motor 50 Control device (control unit) 82 Rotary case (planting rotor) 92 Planting Claw 102 Phase detection sensor (phase detection section) 103 Vehicle speed sensor 104 Lifting control lever 105 Accelerator pedal 160 key switches

Claims

1. A running body and A planting unit supported by the traveling machine body, supporting the planting claws and having a rotatably provided planting rotor; An electric motor for rotating the planting rotor; A phase detection unit that detects the phase of the rotation of the planting rotor; a control unit that controls the electric motor based on the phase detected by the phase detection unit, When the power supply of the transplanter is turned on, if the phase is not a predetermined target phase, the control unit drives the electric motor to move the planting rotor to the target phase and stop it. transplant machine.

2. A running body and A planting unit supported by the traveling machine body, supporting the planting claws and having a rotatably provided planting rotor; An electric motor for rotating the planting rotor; A phase detection unit that detects the phase of the rotation of the planting rotor; a control unit that controls the electric motor based on the phase detected by the phase detection unit, When the power supply of the transplanter is turned on, if the phase is not a predetermined target phase and at least one of the following conditions is satisfied: the start of travel of the traveling machine body has been detected; and an operation to raise or lower the planting unit has been performed, the control unit drives the electric motor to move the planting rotor to the target phase and stop it. transplant machine.

3. The control unit moves the planting rotor to the target phase by rotating the planting rotor in a forward direction, which is the rotation during planting work, or in a reverse direction, which is the rotation opposite to the forward rotation. A transplanter according to claim 1 or claim 2.

4. When the planting rotor is rotated in the reverse direction, if at least one of the following conditions is satisfied: the torque value of the electric motor is equal to or greater than a predetermined threshold value; and the rotation of the planting rotor is stopped for a predetermined time or longer, the control unit rotates the planting rotor in the forward direction to move the planting rotor to the target phase.

4. The transplanter of claim 3.

Images