Seedling transplanter

Abstract

We provide a seedling transplanter that can directly supply chemicals to seedlings. [Solution] A seedling transplanter comprising a seedling planting device for planting seedlings, a tray supply device for supplying trays containing seedlings, and a removal device 200 for inserting a removal member 260 into the seedling pots of the trays of the tray supply device to remove the seedlings and supply them to a planting tool, wherein the removal member 260 has a pair of openable and closable removal claws 261L, 261R and an extrusion rod 281 positioned between the pair of removal claws 261L, 261R, and the discharge port of a chemical spraying hose 50 is positioned at the tip side between the pair of removal claws 261L, 261R, and the hose 50 is arranged between the pair of removal claws 261L, 261R so as not to interfere with the extrusion rod 281, and the chemical in the hose 50 is discharged toward the seedling pots in accordance with the operation of the pair of removal claws 261L, 261R inserting into the seedling pots of the tray.

Description

Technical Field

[0001] The present invention relates to a seedling transplanter for transplanting seedlings into a field.

Background Art

[0002] Conventionally, a toothless gear fixed to a feed drive shaft pivotally supported by a planting device drive case is meshed with a feed gear fixed to a feed driven shaft to intermittently rotate the feed driven shaft, and the rotation is transmitted from the feed driven shaft to a feed roll shaft pivotally supported by a supply portion of a powder fluid hopper, and a chemical agent in the powder fluid hopper is intermittently fed out. There is known a chemical agent spraying device for a transplanter characterized by this (Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in such a transplanter, since the discharge port of the chemical agent is outside the hopper, there is a problem that it cannot be directly supplied to the seedlings.

[0005] In consideration of such problems of conventional transplanters, an object of the present invention is to provide a seedling transplanter capable of directly supplying a chemical agent to seedlings.

Means for Solving the Problems

[0006] The first aspect of the present invention is, A seedling transplanter comprising a traveling vehicle body 15, a seedling planting device 300 positioned at the rear of the traveling vehicle body 15 which swings a planting tool 11 up and down to plant seedlings 22 in a field, a tray supply device 100 which supplies trays 20 containing the seedlings 22, and a removal device 200 which inserts a removal member 260 into the inside of the seedling pots 21 of the trays 20 of the tray supply device 100 to remove the seedlings 22 and supply them to the planting tool 11, The extraction member 260 has a pair of openable and closable extraction claws 261L, 261R and an extrusion rod 281 positioned between the pair of extraction claws 261L, 261R. The discharge port 50a of the chemical spraying hose 50 is positioned at the tip side between the pair of outlet claws 261L and 261R. The hose 50 is arranged between the pair of outlet claws 261L and 261R so as not to interfere with the extrusion rod 281. The seedling transplanter is characterized in that the chemical in the hose 50 is discharged toward the seedling pots 21 in response to the movement of the pair of dispensing claws 261L and 261R into the seedling pots 21 of the tray 20.

[0007] The second aspect of the present invention is: The extraction device 200 has a cam 270 that opens and closes the pair of extraction claws 261L and 261R and drives the extrusion rod 281. Another discharge cam member 51 is fixed to the side of the cam 270. In the first seedling transplanter of the present invention, the chemical in the hose 50 is discharged when a part of the hose body 50b is compressed by the discharge cam member 51, which rotates together with the rotation of the cam 270.

[0008] The third invention is, After discharge, as the hose moves toward the planting tool 11, the pressure is relieved by the rotation of the discharge cam member 51, and when the hose 50 becomes vertical, the chemical is replenished by gravity. The second seedling transplanter of the present invention is characterized in that the discharge port 50a of the hose 50 is narrower than the hose body 50b to the extent that the chemical does not fall out when the replenishment is performed.

[0009] The fourth aspect of the present invention is The extrusion rod 281 has an I-shaped tip portion 281a, which is bent at a right angle at its tip and has notches 281b formed on both sides to match the width of the tips of the pair of extraction claws 261L and 261R. The hose 50 is positioned to pass through a hole 281a2 formed in the central part 281a1 between the left and right notches 281b of the tip portion 281a, which is a third seedling transplanter of the present invention.

[0010] The fifth aspect of the present invention is: An air nozzle 52 is provided at the upper end 11a1 of the hopper 11a of the planting tool 11, and an air curtain can be formed around the outer circumference of the hopper 11a. The fourth seedling transplanter of the present invention is characterized in that the air curtain is formed only when the seedlings 22 are received.

[0011] The sixth aspect of the present invention is The hopper 11a of the planting tool 11 has a pair of left and right hopper sections 1011L and 1011R that can be opened and closed, and the sides of the pair of left and right hopper sections 1011L and 1011R are connected by an elastic guard film 53, so that seedlings 22 and chemicals do not spill out from the sides even when the pair of left and right hopper sections 1011L and 1011R are opened, in this fourth seedling transplanter of the present invention.

[0012] The seventh aspect of the present invention is Each row in a multi-row planting system is equipped with a compaction wheel frame 54. A chemical hopper 55 for supplying chemicals to the hose 50 is attached to each of the compaction wheel frames 54. This is a fifth or sixth seedling transplanter of the present invention, wherein the chemical hopper 55 is adjusted in conjunction with the movement of the compaction wheel frame 54 for adjusting the spacing between planting rows. [Effects of the Invention]

[0013] The first aspect of this invention allows for the direct supply of chemicals to seedlings, increasing reliability.

[0014] According to the second invention, the mechanism for discharging the drug is simple because it uses an existing cam, and no separate special members such as sensors and solenoids are required.

[0015] According to the third invention, replenishment of the drug to the hose is facilitated.

[0016] According to the fourth invention, the position of the hose is stabilized and interference with other members is eliminated.

[0017] According to the fifth invention, leakage and spillage of the drug and seedlings to the outside can be prevented.

[0018] According to the sixth invention, leakage and spillage of the drug and seedlings to the outside can be prevented.

[0019] According to the seventh invention, adjustment of the spaces between the strips of the drug hopper becomes easy.

Brief Description of the Drawings

[0020] [Figure 1] Left side view of the seedling transplanter according to the embodiment of the present invention [Figure 2] Plan view of the seedling transplanter according to the embodiment of the present invention [Figure 3] A diagram showing the operation timings of the taking-out member, the planting tool, and the lateral feeding operation of the seedling placing table of the tray supply device in this embodiment, and also showing the operation timings of the taking-out member, the planting tool, and the vertical feeding operation of the tray feeding rod of the tray supply device [Figure 4] (a), (b): Perspective view of the tray supply device according to Embodiment 1 of the present invention [Figure 5] Schematic side view showing the configuration of the tray vertical feeding device in this embodiment [Figure 6] (A) Schematic perspective view of the taking-out device in this embodiment, (B) Front view of the tip of the extrusion rod [Figure 7] Schematic side view of the taking-out device as viewed from the upper left back side to the lower right front side of the drawing sheet of FIG. 6 [Figure 8]A schematic diagram showing the approximate correspondence between the rotational position of the seedling drive arm and the position of the tip of the pair of extraction claws on the trajectory in the extraction device of this embodiment 1. [Figure 9] (A) A schematic perspective view of the extraction device in Figure 6, with some parts omitted. (B) A side view of the cam. [Figure 10] Side view of a hopper according to an embodiment of the present invention [Figure 11] Side view of a hopper according to an embodiment of the present invention [Figure 12] Perspective view of a seedling transplanter according to an embodiment of the present invention. [Figure 13] Plan view of the seedling transplanter [Figure 14] Side view of the seedling transplanter. [Figure 15] Perspective view of a planting tool for a seedling transplanter according to an embodiment of the present invention. [Figure 16] Partially enlarged view of Figure 15 [Figure 17] Partial enlarged view of Figure 16 [Figure 18] Perspective view of the hopper of a seedling transplanter according to an embodiment of the present invention. [Figure 19] Side view of the compaction wheel of a seedling transplanter according to an embodiment of the present invention. [Figure 20] Partial perspective view from above of a seedling transplanter according to an embodiment of the present invention. [Figure 21] Side view of the lifting link of a seedling transplanter according to an embodiment of the present invention. [Figure 22] Perspective view of a seedling transplanter according to an embodiment of the present invention, focusing on the multiple rotating cups. [Figure 23] (A) Perspective view of the power source output control (servo motor) of a seedling transplanter according to an embodiment of the present invention, (B) Perspective view of the accelerator lever, etc. [Figure 24] (A) Plan view of the operator and work status monitoring sensor (camera) of the seedling transplanter according to an embodiment of the present invention, (B) Perspective view of the camera, etc. [Figure 25] A plan view showing the rotation of multiple cups in a seedling transplanter according to an embodiment of the present invention. [Figure 26] A flowchart illustrating the overall control of the accelerator automation in a seedling transplanter according to an embodiment of the present invention. [Figure 27] Flowchart showing the automated accelerator standby process in Figure 26 [Figure 28] Figure 26 is a flowchart showing the initial process for automating the accelerator. [Figure 29] Flowchart showing the seedling filling rate determination process in Figure 26 [Figure 30] Figure 26 is a flowchart showing the intermediate processing of seedling filling rates. [Figure 31] Flowchart showing the minimum seedling filling rate process in Figure 26 [Figure 32] Flowchart showing the processing at maximum seedling filling rate in Figure 26 [Modes for carrying out the invention]

[0021] The embodiments of the present invention will be described in detail below with reference to the drawings.

[0022] Figure 1 shows a schematic left side view of the seedling transplanter 1 of this embodiment, and Figure 2 shows a schematic top view thereof. Hereafter, the front and back and left and right will be defined with respect to the direction of travel of the seedling transplanter.

[0023] As shown in Figures 1 and 2, the seedling transplanter 1 for transplanting vegetable seedlings comprises a vehicle body 15 equipped with a pair of left and right front wheels 2 and rear wheels 3 as driving wheels, an engine 12 and a transmission case (also called the main transmission case) 4 located at the front of the vehicle body 15, a seedling planting device 300 located at the rear of the vehicle body 15 that swings a planting tool 11 up and down to plant seedlings 22 (see Figure 4) in the field, a tray supply device 100 that supplies trays 20 (see Figure 4) containing the seedlings 22, a removal device 200 that inserts a removal member 260 into the seedling pots 21 (see Figure 4) of the trays 20 of the tray supply device 100 to remove the seedlings 22 and supply them to the planting tool 11, a planting depth adjustment mechanism including a sensor plate 710 for maintaining a constant planting depth of the seedlings 22, a compaction wheel 13, a steering handle 8, and an operating unit 600 located in the center of the steering handle 8, etc.

[0024] Furthermore, as shown in Figure 2, the tray supply device 100 is equipped with a tray detection device 1100 for detecting when a tray 20 is not placed on the tray transport path 111.

[0025] The feeding operation of the tray supply device 100 of the seedling transplanter 1 in this embodiment includes (1) a lateral feeding operation in which the seedling stand 110 is intermittently moved left and right so that seedlings in one horizontal row of seedling pots 21 on the tray 20 are sequentially removed by the removal member 260, and (2) a vertical feeding operation in which, after the removal of seedlings from all seedling pots 21 in one horizontal row is completed, the tray 20 on the seedling stand 110 is moved downward by the tray feeding rod 121 in order of one horizontal row of seedling pots 21.

[0026] Vertical feeding by the tray feeding rod 121 is performed when the tip of the tray feeding rod 121 engages with the groove between adjacent seedling pots 21 on the underside of the tray 20, and in this state the tray feeding rod 121 rotates in a roughly rectangular trajectory A (see Figure 5) when viewed from the side, thereby intermittently feeding the tray 20 diagonally downward along the tray transport path 111.

[0027] The detailed configurations of the tray supply device 100, the tray detection device 1100, and the retrieval device 200 will be described later with reference to Figures 4 to 8.

[0028] Furthermore, as shown in Figures 1 and 2, the rotational power output from the engine 12 is branched by the transmission case 4 and transmitted to the left and right pair of rear wheels 3 via the left and right pair of drive transmission cases 9, as well as to the planting transmission device 18 provided on the rear side of the transmission case 4.

[0029] In other words, in the seedling transplanter 1 of this embodiment, in order to take out seedlings 22 from seedling pots 21 and plant them in the ridges of the field, power from the transmission case 4 is transmitted to the planting transmission device 18, and then transmitted to the extraction device 200 via the chain belt 202, and then to the planting tool 11 via the seedling planting device drive mechanism 400 and seedling planting device 300 attached to the planting transmission device 18.

[0030] Furthermore, the planting operation of the seedling transplanter 1 in this embodiment is configured to be performed intermittently by the seedling planting device drive mechanism 400.

[0031] Furthermore, a main frame 17 is provided at the rear of the left and right frames 16, which are positioned horizontally at the rear end of the transmission case 4, and extends to the right. A steering handle 8 is provided at the rear end of the main frame 17, extending rearward from the left and right ends, and this steering handle 8 is supported by the transmission case 4 via the main frame 17 and the left and right frames 16.

[0032] This allows the operator to steer the vehicle 15 using the steering handle 8 while walking behind the vehicle 15.

[0033] In other words, the seedling transplanter 1 of this embodiment is configured to automatically plant seedlings 22 contained in trays 20 onto the upper surface of ridges U while the vehicle body 15 moves forward with the vehicle straddling the ridges U using a pair of left and right front wheels 2, 2 and a pair of left and right rear wheels 3, 3.

[0034] Next, referring primarily to Figure 3, the operating timing of the aforementioned extraction member 260, planting tool 11, tray supply device 100, and tray feeding rod 121 will be explained.

[0035] Figure 3 shows the timing of the operation of the extraction member 260, the planting tool 11, and the lateral movement of the seedling stand 110 of the tray supply device 100, as well as the timing of the operation of the extraction member 260, the planting tool 11, and the vertical movement of the tray feed rod 121 of the tray supply device 100.

[0036] The vertical feeding motion is performed when the seedling tray 110 moves to the furthest end in the left-right direction and the seedling 22 in the last seedling pot 21 is removed.

[0037] The horizontal axis in Figure 3 is based on the rotation angle of each drive arm from the horizontal direction. For example, in the case of the extraction member 260, the rotation angle of the drive arm 220 (see Figure 6) is used as the reference; in the case of the planting tool 11, the rotation angle of the vertical movement arm is used; and in the case of vertical feeding by the tray supply device 100, the rotation angle of the vertical feed drive arm 150 (see Figure 5) is used as the reference.

[0038] As shown in Figure 3, according to the timing 1210 of the removal claw operation, the seedling transplanter 1 of this embodiment is configured such that at timing P2, the removal member 260 pulls out of the seedling pot 21 while still gripping the seedling 22, starts releasing the seedling 22 to the planting tool 11 just before timing P3, finishes releasing the seedling 22 at timing P3, and then at timing P4, plunges into the adjacent seedling pot 21, grips the seedling 22, and then pulls out of the seedling pot 21 (see timing P2 in Figure 3).

[0039] Furthermore, as shown in Figure 3, according to the planting tool's operating timing 1220, the seedling transplanter 1 of this embodiment is configured such that the planting tool 11 stops its downward movement at timing P3, which is slightly below the top dead center, and then reaches the bottom dead center at timing P4.

[0040] Here, at timing P3 when the planting tool 11 stops its downward movement, the planting operations, including the operation of the removal member 260, the lateral movement of the tray supply device 100 (i.e., the operation of the seedling stand 110), and the vertical movement (i.e., the operation of the tray feed rod 121), are stopped simultaneously. This configuration allows for intermittent planting and enables adjustment of the spacing between planted plants.

[0041] Furthermore, as shown in Figure 3, according to the operating timing 1230 of the lateral feeding operation on the seedling tray 110 of the tray supply device 100, in this embodiment, the seedling transplanter 1 stops the lateral feeding operation for one seedling pot 21 while the removal member 260 is entering the inside of the seedling pot 21, that is, from timing P4 to P2, and at timing P3, when the planting operation of the planting tool 11 is stopped, the lateral feeding operation also stops simultaneously in the middle of the lateral feeding operation for one seedling pot 21.

[0042] Furthermore, as shown in Figure 3, according to the operation timing 1240 of the vertical feeding operation of the tray feeding rod 121 of the tray supply device 100, in the operation in which the tray feeding rod 121 rotates in a roughly rectangular trajectory A (see Figure 5) when viewed from the side, the return operation in which the tip of the tray feeding rod 121 comes out of the gap 21a (see Figure 5) between adjacent seedling pots 21 on the back side of the tray 20 (see arrow 121a1 in Figure 5), moves upward (see arrow 121a2 in Figure 5), and enters the next gap 21b (see Figure 5) between seedling pots 21 (see arrow 121a3 in Figure 5) starts after the removal member 260 has entered the inside of the seedling pot 21, and is completed just before the removal member 260 comes out of the inside of the seedling pot 21 (see timing P2 in Figure 3), so that the vertical feeding operation starts at timing P2 and is completed at timing P3.

[0043] Furthermore, in Figure 3, for the purpose of facilitating understanding, the same operation timing 1240 of the vertical feeding operation of the tray feeding rod 121 of the tray supply device 100 described above is shown at operation timing 1250, from the perspective of whether the tray feeding rod 121 is in or out of the groove between the seedling pots 21.

[0044] With the above configuration, during the return movement of the tray feed rod 121 (see timings P1 to P2 in Figure 3), the removal member 260 enters the interior of the seedling pot 21, so the tray 20 is held down by the removal member 260, preventing the tray 20 from shifting downward along the tray transport path 111.

[0045] Furthermore, with the above configuration, when the planting operation of the planting tool 11 stops due to intermittent planting, the vertical feeding operation of the tray 20 by the tray feed rod 121 is completed (see timing P3 in Figure 3). Therefore, the tray feed rod 121 can reliably hold the tray 20 in the stopped state during intermittent planting, and the tray 20 can be prevented from sliding downward along the tray transport path 111.

[0046] In other words, as described above, when intermittent planting is stopped, the components related to the planting operation stop simultaneously, so the tray 20 is prone to shifting due to vibrations caused by the machine's movement. However, in this embodiment, the vertical feeding operation of the tray 20 by the tray feed rod 121 is completed, and the tray feed rod 121 stops while remaining in the gap 21a (see Figure 5) between adjacent seedling pots 21, so that the tray feed rod 121 can reliably hold the tray 20.

[0047] Furthermore, with the above configuration, while the removal member 260 is inside the seedling pot 21, the tray transport path moving device 170 does not perform the lateral movement of the seedling stand 110 of the tray supply device 100. Also, when the planting operation of the planting tool 11 stops due to the intermittent planting operation (see timing P3 in Figure 3), the tray transport path moving device 170 is in the middle of moving the seedling stand 110 of the tray supply device 100 by one seedling pot 21. Therefore, the lateral movement of the tray 20 by one seedling pot 21 can be performed slowly and with ample margin at a timing that does not interfere with the seedling removal operation, thereby improving the accuracy of the lateral movement.

[0048] Next, the tray supply device 100 described above will be further explained, mainly using Figures 4(a), 4(b), and 5.

[0049] Figure 4(a) is a perspective view of the tray supply device 100, and Figure 4(b) is an enlarged perspective view of section X in Figure 4(a). Figure 5 is a schematic side view showing the configuration of the tray vertical feed device 120 of the tray supply device 100.

[0050] The tray 20 consists of multiple seedling pots 21 arranged vertically and horizontally, and is made of plastic to maintain flexibility. Each seedling pot 21 is connected on the front side, while the back side is independent.

[0051] The tray supply device 100 includes a seedling stand 110 having a tray transport path 111 that slopes downwards to support the bottom of the trays 20, a tray vertical feed device 120 that intermittently feeds the trays 20 vertically along the tray transport path 111, and a tray transport path moving device 170 (see Figure 2) that moves the seedling stand 110 having the tray transport path 111 in the left-right direction.

[0052] The extraction device 200 is positioned opposite the lower end of the seedling tray 110, and the tip of the extraction member 260 operates to trace a trajectory K, sequentially extracting seedlings 22 from the seedling pots 21 that are moving laterally and supplying them to the planting device 7.

[0053] Next, we will mainly use Figures 6 and 7 to explain the configuration of the seedling transplanter 1 of this embodiment, focusing on the components of the removal device 200.

[0054] Figure 6 is a schematic perspective view of the extraction device 200, and Figure 7 is a schematic side view of the extraction device 200, viewed from the upper left rear to the lower right front of the page in Figure 6.

[0055] As shown in Figures 6 and 7, the extraction device 200 includes a drive arm 220 that is rotatably held by an extraction device fixing member 201 fixed to the main body of the seedling transplanter 1 and rotates in the direction of arrow B by a drive shaft 203 that rotates in the direction of arrow B via a chain belt 202 powered by a drive source on the main body side, a connecting arm 230 whose one end 230a is rotatably connected to the tip side portion 220a of the drive arm 220, and a guide portion 240 that is held by fixing pins 201a and 201b on the extraction device fixing member 201, and is a plate-shaped member whose outer shape is roughly in the shape of the letter J, and which has a guide groove 241 that is straight on the side closer to the tray supply device 100 and rises in a roughly R shape on the side further away.

[0056] Furthermore, the removal device 200 includes a base plate 250 having a bent portion 251 that protrudes from one end of the side surface where the guided members are connected and is bent at approximately a right angle, and a pair of left and right removal claw holding pins 252L, 252R that protrude perpendicularly from the bent portion 251 of the base plate 250 and are held rotatably, and a pair of removal claws 261L, 261R for removing seedlings 22 from seedling pots 21, with their bases attached to the left and right pair of removal claw holding pins 252L, 252R respectively, and the width of the tip being narrowed in the shape of tweezers, and a removal member 260 having a tension spring 263 whose ends are attached to the base side of the opposing inner surfaces of the pair of removal claws 261L, 261R.

[0057] Furthermore, the extraction device 200 has a cam 270 having a cam shaft 271 that is rotatably penetrating the substrate 250 and is integrated with the first guided member 254, and with respect to the thickness of the outer circumference of the cam 270, the outer circumference 272 has a thickness that changes depending on the location on the outer circumference when it comes into contact with the tip surfaces of the left and right pair of claw tip width restricting protrusions 262L and 262R provided on the inner surfaces of the pair of extraction claws 261L and 261R, and the outermost edge of the cam 270 The device includes a cam 270 having an outermost edge portion 273 whose outer diameter changes depending on the location of its outermost edge, with respect to the distance from the axis center of the cam shaft 271 (also called the outer diameter), and an extrusion mechanism 280 which is rotatably connected to the base plate 250 and pushes out the seedlings 22 that have been removed from the seedling pot 21 and held by the pair of extrusion claws 261L and 261R along the pair of extrusion claws 261L and 261R by the change in the outer diameter of the outermost edge portion 273 of the cam 270.

[0058] Furthermore, the edge 245a near the tip of the first guided member 245, which is integrated with the camshaft 271, is rotatably connected to the other end 230b of the connecting arm 230. The first guided member 245, which is integrated with the camshaft 271, is rotated by the rotational force of the drive arm 220 via a transmission mechanism 290 consisting of a first gear 291, a second gear 292, and a third gear 293, and is configured to transmit driving force to the camshaft 271 in accordance with the driving cycle of the drive arm 220.

[0059] Furthermore, when the outer circumference 272 of the cam 270 contacts the tip surfaces of the left and right pair of claw tip width regulating protrusions 262L and 262R provided on the inner surfaces of the pair of extraction claws 261L and 261R, the interaction between the change in the thickness of the outer circumference 272 of the cam 270 and the restoring force of the tension spring 263 causes the pair of extraction claws 261L and 261R to open and close.

[0060] Next, the transmission mechanism 290 described above will be explained further.

[0061] Specifically, the first gear 291 is fixed to the tip side portion 220a of the drive arm 220 and is rotatably mounted to the connecting arm 230 via the first pivot shaft 291a. The third gear 293 is fixed to the tip portion 245b of the first guided member 245, which is integrated with the camshaft 271, and the edge portion 245a near the tip of the first guided member 245 is rotatably connected to the other end portion 230b of the connecting arm 230, so the third gear 293 is rotatably held relative to the connecting arm 230. Therefore, the third gear 293 rotates together with the first guided member 245. The second gear 292 is rotatably mounted at the central position of the connecting arm 230 and is sandwiched between both the first gear 291 and the third gear 293, and is engaged with both gears.

[0062] Next, the extrusion mechanism 280 described above will be explained further, mainly with reference to Figure 7.

[0063] The extrusion mechanism 280 includes an extrusion rod 281 whose tip 281a is bent at a right angle and has a notch 281b formed to match the width of the tips The assembly comprises: 82, an extrusion arm 283 to which the other end 282b of the connecting rod 282 is fixed to the upper end 283a, the lower end 283b is rotatably attached to the base plate 250 by an extrusion arm connecting shaft 283d, and an extrusion arm tension spring 284 to which one end is hooked onto the first tension spring holding projection 283c and the other end is hooked onto a second tension spring holding projection 250a fixed to the base plate 250.

[0064] When the cam 270 rotates in the direction of arrow B, the protruding portion 273b of the outermost edge 273, which has a larger outer diameter than the other portion 273a, contacts the outer peripheral edge of the base of the first projection 283c for holding the tension spring, thereby stretching the extrusion arm tension spring 284. The extrusion arm 283 rotates counterclockwise in Figure 7, causing the extrusion rod 281 connected by the connecting rod 282 to retract (see arrow C). Also, when the cam 270 rotates in the direction of arrow B, the other portion 273a of the outermost edge 273, which has a smaller outer diameter than the protruding portion 273b, contacts the outer peripheral edge of the base of the first projection 283c for holding the tension spring, causing the extrusion arm tension spring 284 to contract. The extrusion arm 283 rotates clockwise in Figure 7, causing the extrusion rod 281 connected by the connecting rod 282 to protrude (see arrow D). Each time the extrusion rod 281 extends, the tips of the pair of removal claws 261L and 261R pass through the notch 281b provided at the tip 281a of the extrusion rod 281, thereby removing any soil or other debris adhering to the tips.

[0065] Here, the extrusion rod 281 has a flat upper surface, which prevents the leaves of the seedlings 22 from becoming entangled in the pair of extraction claws 261L and 261R.

[0066] With the above configuration, the operation of the extraction device 200 will now be explained with reference to Figures 6 to 8.

[0067] As described above, the guide section 240 is firmly fixed to the removal device fixing member 201 which is fixed to the main body of the seedling transplanter 1, and therefore does not move.

[0068] As the drive arm 220 rotates, the connecting arm 230 swings, but this movement is restricted by the first guided member 245, which is connected to the base plate 250 by passing through a guide groove 241 formed in the guide portion 240.

[0069] On the other hand, as the connecting arm 230 moves, the substrate 250 also swings, but because the substrate 250 has a second guided member 247 that penetrates the guide groove 241 in addition to the first guided member 245 (however, the second guided member 247 is not connected to the connecting arm 230), its movement is a reciprocating motion along the guide groove 241. Since the extraction member 260 is attached to the substrate 250, the extraction member 260 moves in the same way as the substrate 250, and the tips 261Lp and 261Rp of the pair of extraction claws 261L and 261R trace the trajectory K shown in Figures 7 and 8.

[0070] Here, Figure 8 is a schematic diagram showing the approximate correspondence between the rotational position of the drive arm 220 and the positions of the tips 261Lp and 261Rp of the pair of extraction claws 261L and 261R on the trajectory K. In Figure 8, the rotational positions P1 to P6 of the drive arm 220 correspond to the positions K1 to K6 of the tips 261Lp and 261Rp of the pair of extraction claws 261L and 261R on the trajectory K. The arrows drawn on the dashed line showing the trajectory K indicate the direction of movement.

[0071] As shown in Figure 8, the movement of the tips 261Lp and 261Rp of the pair of extraction claws 261L and 261R from position K1 to position K2 corresponds to the action of removing seedlings 22 from the seedling pot 21. Since the trajectory K from position K1 to position K2 is straight, the tips 261Lp and 261Rp of the pair of extraction claws 261L and 261R move straight back from the seedling pot 21. At this time, the restoring force of the tension spring 263 acts on the tips 261Lp and 261Rp of the pair of extraction claws 261L and 261R, drawing them closer together, and allowing them to hold the seedlings 22 removed from the seedling pot 21. The opening and closing operation of the tips 261Lp and 261Rp of the pair of extraction claws 261L and 261R will be described further later in conjunction with the operation of the extrusion rod 281.

[0072] Furthermore, the movement of the tips 261Lp and 261Rp of the pair of extraction claws 261L and 261R from position K6 to position K1 corresponds to the movement of inserting the pair of extraction claws 261L and 261R into the seedlings 22 in the seedling pots 21 of the tray 20 at the seedling extraction position. Since they move in the reverse direction along almost the same path K as when moving from position K1 to position K2, the tips 261Lp and 261Rp of the pair of extraction claws 261L and 261R are inserted into the seedling pots 21 almost straight. At this time, a force acting in the direction away from each other is acting on the tips 261Lp and 261Rp of the pair of extraction claws 261L and 261Rp, counteracting the restoring force of the tension spring 263, allowing both tips to enter the seedling pots 21 with their ends open.

[0073] As a result, the tips 261Lp and 261Rp of the pair of removal claws 261L and 261R do not damage the tray 20, the seedling pot 21, or the seedlings themselves.

[0074] Furthermore, the reason why the trajectory K from position K1 to position K2, and the trajectory K from position K6 to position K1 are roughly straight is because the side of the guide groove 241 closest to the tray supply device 100 is formed in a straight line.

[0075] Next, as the pair of dispensing claws 261L and 261R move from position K2 to position K3, the tips 261Lp and 261Rp of the pair of dispensing claws 261L and 261R change their orientation sharply downwards from the position facing the seedling pot 21 until then, and when they reach position K4, the tips 261Lp and 261Rp are pointing almost directly downwards.

[0076] Furthermore, the reason why the orientation changes so abruptly, almost downward, is that the side of the guide groove 241 furthest from the tray supply device 100 is formed in a roughly R-shaped upward curve.

[0077] At that exact moment, below the tip portions 261Lp and 261Rp, the seedling input port (not shown) of the planting device 7, which is in the upward process along the trajectory T1 (see Figure 1) toward the top dead center, is facing upward. Between positions K4 and K5, the seedlings 22 pushed out from the tip portions 261Lp and 261Rp of the pair of extraction claws 261L and 261R by the extrusion rod 281 fall into the seedling input port of the planting device 7 and are supplied to the planting tool 11. The operation of the extrusion rod 281 will be described further later.

[0078] Next, as the pair of dispensing claws 261L and 261R move from position K5 to position K6, the tips 261Lp and 261Rp of the pair rapidly change their orientation from being pointed approximately downward to facing the next seedling pot 21, and when they reach position K1, the tips 261Lp and 261Rp are inserted into the new seedling pot 21.

[0079] As can be seen from the approximate correspondence between the rotational position of the drive arm 220 and the positions of the tips 261Lp and 261Rp of the pair of extraction claws 261L and 261R on the trajectory K shown in Figure 8, the movement from position K4 to position K5 is performed more slowly than the movement from position K1 to position K2 described above. Therefore, the seedlings 22 can be quickly extracted from the seedling pots 21 and the seedlings 22 can be reliably released into the planting device 7.

[0080] This operation is performed because the connecting arm 230 is located in front of the drive arm 220 (towards the tray supply device 100's removal position). Also, because the drive arm 220 is further from the tray supply device 100's removal position than the connecting arm 230, it does not come into contact with the seedlings 22 when they are removed, and therefore does not get in the way.

[0081] Next, we will explain the operation of the transmission mechanism 290 and the extrusion mechanism 280, mainly referring to Figures 6, 7, and 8.

[0082] As shown in Figure 6, the rotation of the drive arm 220 in direction B causes the first gear 291, fixed to the tip side portion 220a of the drive arm 220, to revolve in direction B around the pivot point 220b of the drive arm 220. The first gear 291 is rotatably mounted to the connecting arm 230 via the first pivot shaft 291a, and rotates the third gear 293 in direction B via the second gear 292. The third gear 293 is fixed to the tip portion 245b of the first guided member 245, which is integrated with the camshaft 271, and the edge portion 245a near the tip of the first guided member 245 is rotatably connected to the other end portion 230b of the connecting arm 230. Therefore, the rotation of the third gear 293 causes the cam 270 to rotate in direction B via the camshaft 271. In other words, the cam 270 rotates in accordance with the drive cycle of the drive arm 220.

[0083] The cam 270 has an outer circumference 272 whose thickness varies depending on the location, and an outermost edge 273 whose distance (outer diameter) from the axis center of the camshaft 271 varies depending on the location. As shown in Figure 7, the protruding portion 273b within the outermost edge 273 has a larger outer diameter than the other portion 273a, and the thickness of the first range 272a within the outer circumference 272, which is at the same distance from the axis center of the camshaft 271, is set to be thinner than the thickness of the remaining thick portion, the second range 272b.

[0084] Under the above configuration, when the cam 270 rotates in synchronization with the drive cycle of the drive arm 220, the opening and closing operation of the tips 261Lp and 261Rp of the pair of extraction claws 261L and 261R, and the operation of the extrusion rod 281 when the tips 261Lp and 261Rp of the pair of extraction claws 261L and 261R move from position K6 to position K1 are as follows.

[0085] Specifically, the second range 272b, which is the thicker portion of the outer circumference 272 of the cam 270, comes into contact with the tip surfaces of the left and right pair of claw tip width restricting protrusions 262L and 262R. As a result, the tip portions 261Lp and 261Rp of the pair of extraction claws 261L and 261R are subjected to a force acting in a direction that moves them away from each other, in opposition to the restoring force of the tension spring 263, and both tip portions are in an open state.

[0086] Meanwhile, at this time, the protruding portion 273b of the outermost edge 273 of the cam 270 is in contact with the outer peripheral edge of the base of the first projection 283c for holding the tension spring, which stretches the extrusion arm tension spring 284, causing the extrusion arm 283 to rotate counterclockwise in Figure 7 (see arrow C), maintaining the retracted state of the extrusion rod 281 connected by the connecting rod 282.

[0087] Therefore, the tips 261Lp and 261Rp of the pair of extraction claws 261L and 261R can enter the seedling pot 21 and extract the seedlings.

[0088] Next, the opening and closing operation of the tips 261Lp and 261Rp of the pair of extraction claws 261L and 261R, and the operation of the extrusion rod 281, when the tips 261Lp and 261Rp of the pair of extraction claws 261L and 261R move from position K1 to position K2 are as follows.

[0089] That is, as soon as the movement from position K1 to position K2 begins, the first range 272a, which is a thin portion of the outer circumference 272 of the cam 270, comes into contact with the tip surfaces of the left and right pair of claw tip width restricting protrusions 262L and 262R. As a result, the tip portions 261Lp and 261Rp of the pair of extraction claws 261L and 261R move toward each other due to the restoring force of the tension spring 263, so that both tip portions are closed.

[0090] Meanwhile, at this time, the protruding portion 273b of the outermost edge 273 of the cam 270 is still in contact with the outer peripheral edge of the base of the first projection 283c for holding the tension spring, causing the extrusion arm tension spring 284 to be stretched, and the extrusion arm 283 maintains a counterclockwise rotational state in Figure 7 (see arrow C), while the extrusion rod 281 connected by the connecting rod 282 maintains a retracted state.

[0091] Therefore, the tips 261Lp and 261Rp of the pair of extraction claws 261L and 261R can firmly hold the extracted seedling 22 at their tips, and move toward the planting device 7.

[0092] Next, the opening and closing operation of the tips 261Lp and 261Rp of the pair of extraction claws 261L and 261R, and the operation of the extrusion rod 281, when the tips 261Lp and 261Rp of the pair of extraction claws 261L and 261R move from position K4 to position K5 are as follows.

[0093] That is, as soon as the movement from position K4 to position K5 begins, the other part 273a of the outermost edge 273 of the cam 270 replaces the protruding part 273b and comes into contact with the outer peripheral edge of the base of the first projection 283c for holding the tension spring. As a result, the restoring force of the extrusion arm tension spring 284 causes the extrusion arm 283 to instantly rotate clockwise in Figure 7 (see arrow D), and the extrusion rod 281 connected by the connecting rod 282 is pushed out. At the same time, the notch 281b of the tip 281a of the extrusion rod 281 moves while pushing open the tips of the pair of extraction claws 261L and 261R.

[0094] As a result, the seedlings 22 pushed out by the tip 281a of the extrusion rod 281 from the tips 261Lp and 261Rp of the pair of extraction claws 261L and 261R fall into the seedling input port of the planting device 7 and are supplied to the planting tool 11. At this time, the notch 281b of the tip 281a of the extrusion rod 281 moves while pushing open the tips of the pair of extraction claws 261L and 261R, so that any soil or other material attached to the tips is removed at the same time.

[0095] Next, the opening and closing operation of the tips 261Lp and 261Rp of the pair of extraction claws 261L and 261R, and the operation of the extrusion rod 281, when the tips 261Lp and 261Rp of the pair of extraction claws 261L and 261R move from position K5 to position K6 are as follows.

[0096] Specifically, within the outer circumference 272 of the cam 270, the second range 272b, which is the thicker portion, replaces the first range 272a, which is the thinner portion, and comes into contact with the tip surfaces of the pair of left and right claw tip width restricting protrusions 262L and 262R. As a result, the tips 261Lp and 261Rp of the pair of take-out claws 261L and 261R are subjected to a force moving away from each other in opposition to the restoring force of the tension spring 263, causing both tips to open.

[0097] On the other hand, when approaching position K6, the projection 273b of the outermost edge 273 of the cam 270 comes into contact with the outer peripheral edge of the base of the first projection 283c for holding the tension spring, instead of the other portion 273a. This stretches the extrusion arm tension spring 284, causing the extrusion arm 283 to rotate counterclockwise in Figure 7 (see arrow C), and the extrusion rod 281 connected by the connecting rod 282 retracts.

[0098] Furthermore, the extrusion rod 281 is configured to cover the top of the tips 261Lp and 261Rp of the pair of dispensing claws 261L and 261R until those tips move near position K6. This prevents the leaves of the seedlings 22 on the tray 20 from getting caught on the tips 261Lp and 261Rp of the pair of dispensing claws 261L and 261R when moving from position K5 to position K6.

[0099] Furthermore, the extrusion rod 281 is configured such that the tips 261Lp and 261Rp of the pair of extraction claws 261L and 261R are retracted in accordance with the insertion speed when the rod is inserted into the seedling pot 21, thereby preventing the leaves of the seedlings 22 from becoming entangled in the tips 261Lp and 261Rp.

[0100] Next, I will explain the mechanism for spraying pesticides.

[0101] As shown in Figure 6, a hose 50 for spraying pesticides is positioned. Specifically, the discharge port 50a of the pesticide spraying hose 50 is positioned at the tip between the pair of outlet claws 261L and 261R, and the hose 50 is positioned between the pair of outlet claws 261L and 261R so as not to interfere with the extrusion rod 281, the pair of left and right claw tip width regulating protrusions 262L and 262R, and the cam 270. For example, it is positioned below the extrusion rod 281 and further towards the left outlet claw 261L. Although the discharge port 50a is positioned at the tip between the pair of outlet claws 261L and 261R, it is positioned far enough back so that it does not collide with the root ball or other parts when the pair of outlet claws 261L and 261R enter the seedling pot 21.

[0102] Furthermore, the chemical in the hose 50 is discharged toward the seedling pots 21 in the tray 20 in response to the action of the pair of dispensing claws 261L and 261R entering the seedling pots 21.

[0103] The specific structure is explained below.

[0104] As described above, the extrusion rod 281 has an I-shaped tip 281a with its tip bent at a right angle and notches 281b formed on both sides to match the width of the tips of the pair of extraction claws 261L and 261R.

[0105] As shown in Figures 6(A) and (B), a hole 281a2 is formed in the central part 281a1 between the left and right notches 281b of the tip portion 281a, and the hose 50 is positioned to pass through (loosely fit) this hole 281a2. Therefore, the position of the hose 50 remains stable even if the extraction device 200 moves significantly.

[0106] The hole 281a2 is located below the vertical center of the central portion 281a1 and passes below the pair of left and right claw tip width regulating protrusions 262L and 262R provided on the inner surfaces of the pair of outlet claws 261L and 261R, thus avoiding interference. Furthermore, the hole 281a2 is formed slightly towards the left outlet claw 261L side and positioned so as not to interfere with the cam 270. Consequently, the hose 50 is located below the extrusion rod 281 and is positioned slightly towards the left outlet claw 261L side.

[0107] Furthermore, another discharge cam member 51 is fixed to the left side of the cam 270, which opens and closes a pair of extraction claws 261L and 261R and drives the extrusion rod 281 (see Figures 9(A) and (B)).

[0108] The chemical inside the hose 50 is discharged from the discharge port 50a toward the seedling pot 21 by the discharge cam member 51, which rotates in conjunction with the rotation of the cam 270, as a portion of the hose body 50b is compressed. To assist this compression from behind, a pressure receiving protrusion 56 is positioned to the left of a portion of the hose body 50b, and this pressure receiving protrusion 56 is fixedly attached to the inner surface of the left outlet claw 261L.

[0109] As described above, the chemical in the hose 50 is discharged toward the seedling pots 21 in the tray 20 in response to the movement of the pair of dispensing claws 261L and 261R into the seedling pots 21. To achieve this, the position and shape of the discharge cam member 51 fixed to the left side of the cam 270 are designed so that, as the thickness of the cam 270 changes, the discharge cam member 51 compresses a part of the hose body 50b just before the pair of dispensing claws 261L and 261R open and penetrate the seedling pots 21. For example, the discharge cam member 51 is formed slightly before the phase in which the thicker region ends.

[0110] Furthermore, by compressing and dispensing the chemical at the moment of closing (when grasping the seedling), it is effective for viscous chemicals and can be efficiently applied to the root ball. The dispensing cam member 51 is formed in a short shape so that the compression of the dispensing cam member 51 is released soon after the dispensing operation is completed.

[0111] Furthermore, the discharge cam member 51 is provided with a slope at its leading edge to ensure smooth contact when it rotates and begins to come into contact with a portion of the hose 50.

[0112] Furthermore, when the pair of dispensing claws 261L and 261R are closed, changing the orientation downwards and positioning the hose 50 above the hopper 11a of the planting tool 11, the hose 50 is in an upright position, and the chemical is replenished from the chemical hopper 55 (described later) by its own weight. At that time, the discharge port 50a is narrower than the hose body 50b to prevent the chemical from leaking out of the hose 50.

[0113] The mechanism for compressing the hose 50 is not limited to this; for example, the movement of a part of the drive system of the cam 270 may be detected by a sensor, and based on this, a predetermined position of the hose 50 may be compressed using two rollers driven by a solenoid.

[0114] By doing so, the pesticide can be sprayed in a location where its effectiveness can be optimized.

[0115] Figure 10 shows another embodiment in which the left hopper section 1011L and the right hopper section 1011R of the planting tool 11 are connected by an elastic guard film 53. This prevents seedlings 22 and chemicals from spilling out from the sides when the left hopper section 1011L and the right hopper section 1011R are opened. It is desirable that the elastic guard film 53 has an inner surface that allows the chemicals to slide easily.

[0116] Furthermore, Figure 11 shows another embodiment in which an air nozzle 52 is provided at the upper end 11a1 of the hopper 11a of the planting tool 11, so that an air curtain can be formed around the outer circumference of the hopper 11a. This air curtain is formed only when receiving seedlings 22 to avoid wasting power.

[0117] By forming an air curtain, the airflow prevents the chemical from spilling and efficiently carries it downwards, and also helps the received seedlings 22 move downwards.

[0118] Figures 12 to 14 show another embodiment, in which a seedling transplanter is equipped with a chemical hopper 55 independently positioned on a compaction wheel frame 54 of each independent planting row unit.

[0119] In other words, each row in a multi-row planting system is equipped with a compaction wheel frame 54, and a chemical hopper 55 for supplying chemicals to a hose 50 is attached to each compaction wheel frame 54. This allows the amount of chemicals to be controlled on a row-by-row basis.

[0120] Furthermore, the pesticide hopper 55 is adjusted in conjunction with the movement of the compaction wheel frame 54, which is used to adjust the spacing between planting rows. This allows for efficient adjustment of the pesticide hopper position when adjusting the spacing between rows.

[0121] As shown in Figure 14, the chemical is loaded into the chemical hopper 55 from the rear of the aircraft. This makes the chemical loading operation easier from the rear of the aircraft.

[0122] Furthermore, the lid 55a of the chemical hopper 55 opens towards the rear. The open lid 55a can be used as a place to put the replenishment chemical tank 58.

[0123] Furthermore, the extraction of the chemical hose 50 from the chemical hopper 55 is located on the extraction device 200 side. This allows for efficient placement of the chemical hose 50. In addition, the power source for spraying by compressing the chemical is taken from the extraction claw drive unit.

[0124] A compressor 57 for the air curtain is installed below the chemical hopper 55. This allows for effective use of the space below the chemical hopper 55.

[0125] A drug quantity sensor may be installed in the drug hopper 55 to notify the operator of the remaining amount. This would enable a drug depletion notification function.

[0126] Furthermore, the agents described above in the present invention include not only chemicals but also fertilizers.

[0127] Figures 15 to 17 show another embodiment, which is a technology that allows for fine adjustment of the opening timing of the opening / closing cam that opens and closes the hopper in a ride-on type shallot transplanting machine.

[0128] When planting, we wanted to slightly widen the drilled hole backward to leave a planting mark, which required delaying the opening and closing of the hopper 11a. However, with a welded fixed cam, this couldn't be changed without modifying the part. Furthermore, the timing varied depending on the size of the seed bulb. We solved this problem as described below.

[0129] In the opening and closing cam, the boss portion 60 assembled to the pivot shaft 65 of the top link 66 and the cam portion 63 that presses the bearing of the arm portion that opens and closes the hopper 11a are separate structures. The mounting portion of the cam portion 63 has an elongated hole 63a, which allows for fine adjustment. The position of the cam portion 63 can be adjusted by the elongated hole 63a formed in an arc shape relative to the pivot shaft 65, and only the timing can be changed while the opening amount remains the same.

[0130] In other words, a shaft 62 connected to a plate 67, which is connected to a wire that opens and closes the hopper 11a, is inserted into an elongated hole 63a formed in the cam portion 63, and the cam portion 63 can be pressed against the plate 67 by a bolt 64. The wire may also be connected to the shaft 62.

[0131] Therefore, the contact position of the cam portion 63 can be changed, and the timing can be finely adjusted. Furthermore, as described above, since the elongated hole 63a is formed on an arc centered on the pivot axis 65 of the top link 66, the opening amount can be kept the same while only the timing can be changed.

[0132] These cam sections 63 can be accessed from the outside of the machine and easily adjusted.

[0133] Figure 18 shows another embodiment relating to the hopper 11a. In the vegetable transplanter, an insulator 70 is placed in the hopper 11a to reduce the closing noise of the hopper 11a.

[0134] The insulator 70 of the hopper 11a is attached to the end where the beak-shaped parts of the hopper 11a come into contact. The elasticity of this insulator 70 reduces the noise when the hopper is closed.

[0135] The insulator 70 is attached near the center of the hopper 11a in the vertical direction, and not to the front of the hopper 11a, in order to minimize the impact on planting accuracy. 71 is an opening and closing wire for opening and closing the hopper 11a.

[0136] Figure 19 shows another embodiment, in which a seedling detection sensor 81 is provided on the compaction wheel 80 of an electric vegetable transplanter. The seedling detection sensor 81 is a distance sensor that detects the planted seedlings 22 when compacting them. This distance sensor operates only when the planting state is activated (planting "on").

[0137] The seedling detection sensor 81 is mounted on the shaft portion of the stay 80a of the compaction wheel 80, and emits a sensor beam horizontally in the direction of the seedlings 22 to be planted between the compaction wheels.

[0138] The seedling detection sensor 81's distance sensor detects the midpoint between the compaction wheels, but does not detect the opposite compaction wheel 80. Since the distance to the opposite compaction wheel 80 is known, no confusion occurs. Also, because the compaction wheel 80 is angled, reflected signals are less likely to return. The number of planted seedlings is counted using the information detected by the seedling detection sensor 81 and displayed and stored on the handle panel.

[0139] If the seedling detection sensor 81 does not detect any plants for a certain period of time while the plants are planted, it is determined that there are missing plants and an alarm is issued on the handle panel, or a buzzer is sounded. Alternatively, if the sensor does not detect any plants at a predetermined time by comparing it with the calculated values ​​from the plant spacing and vehicle speed set in the controller, an alert for missing plants or misaligned plant spacing is displayed.

[0140] Figures 20, 21, and 22 show another embodiment, a transplanter that plants seedlings while rotating multiple cups 86, and is a technique that makes it easy to confirm whether seedlings, such as potatoes, have been placed in the cups 86.

[0141] In other words, since the potatoes are buried underground, it is impossible to check if any were forgotten to be placed in cup 86. Therefore, an acceleration sensor 84 is installed on the drive arm 87 of the hopper 11a, and a contact sensor 83 is installed inside the hopper 11a. If the contact sensor 83 does not react when the hopper 11a stops and moves downward, a solenoid 82 moves to stop the clutch, stopping the rotation of cup 85 and the movement of the vehicle.

[0142] In the case of a transplanting machine that stops at the top dead center of the hopper 11a each time, the machine stops at the top dead center, and when a potato hits the contact sensor 83, the solenoid 82 moves and the machine moves. This is a countermeasure to address the fact that the timing of the handover differs depending on the shape of the potato.

[0143] If you forget to put in a potato, you can simply add one from the side, making it easy to restart. Also, since hopper 11a is stopped until a potato is added, it is easy to adjust the handover process depending on the type of potato.

[0144] Alternatively, the engine could be replaced with a motor, and the motor could be stopped until the potato touches the contact sensor 83. This has the advantage of eliminating clutch wear, as there is no clutch, and the motor makes acceleration and deceleration easy.

[0145] Alternatively, the speed adjustment unit and the contact sensor 83 can be connected so that the speed is made as slow as possible at the top dead center, and the motor starts moving at a specified speed when a potato hits the contact sensor 83. This has the advantage of reducing the load and power consumption because the hopper 11a is not stopped.

[0146] Figures 23 to 32 show a mechanism and its control flow for a transplanting machine that rotates a cup 86 to supply seedlings such as potatoes and transplant them into ridges, in which the accelerator is controlled in accordance with the supply status of potatoes.

[0147] Figure 23(A) shows the transplanting machine and the servo motor for controlling its power source output, and Figure 23(B) shows the accelerator lever.

[0148] Figure 24 shows a plan view illustrating how an operator supplies potatoes next to a rotating cup 86, and also shows a camera capturing the work in progress.

[0149] Figure 25 is a plan view of a rotating cup 86, where W indicates the position where the potatoes in the cup 86 fall into the hopper 11a. In a counterclockwise rotation state, the zone closest to the fall position W is designated as A, the zone furthest as C, and the zone in between as B.

[0150] Figure 26 is an overall process flow chart of the accelerator automation in this embodiment. Each step will be explained below.

[0151] Figure 27 shows the waiting process (the process of waiting until a processing command for accelerator automation is issued).

[0152] Until the accelerator automation switch 89 is pressed, the operator controls the accelerator. The on / off process of accelerator automation can be identified.

[0153] Figure 28 shows the initial processing for automated acceleration (preliminary processing to determine the seedling filling rate). To ensure safety when starting automatic control, the engine speed is temporarily reduced to idling.

[0154] Once the planting clutch and main clutch are engaged, gradually increase the engine speed to neutral to prepare for judging the operator's seedling supply speed (work progress).

[0155] The seedling filling rate can be determined at the start of the automated accelerator processing, allowing for a smooth transition to automatic control.

[0156] Figure 29 shows the flow chart for determining the seedling filling rate. The progress of seedling supply by the operator at medium engine speed, i.e., the machine's seedling replenishment rate, is determined using data from various sensors. For example, camera 88 mentioned above. Zone A is determined to be the minimum filling rate, Zone B is in the middle, and Zone C is the maximum.

[0157] Figure 30 shows the intermediate processing of seedling filling rate (processing for optimal seedling supply by the operator → speed maintenance). This is for Zone B. This is the main processing for automatic acceleration.

[0158] If the seedling filling rate increases, increase the engine speed. If the seedling filling rate decreases, decrease the engine speed. If there is no change in the seedling filling rate, keep the engine speed the same. This allows the operator to maintain the optimal speed for seedling supply.

[0159] Figure 31 shows the processing at the minimum seedling filling rate (processing when the operator is short on seedling supply → speed reduction). When the seedling filling rate is at its minimum, if the engine speed is not idling, the engine speed is reduced. This is the speed reduction when the operator is short on seedling supply.

[0160] Figure 32 shows the processing at maximum seedling filling rate (processing when the operator has surplus seedling supply capacity ⇒ speed increase). When the seedling filling rate is at its maximum, if there is surplus engine speed, the engine speed is increased. This is the speed increase when the operator has surplus seedling supply capacity.

[0161] The system can improve detection by having the system analyze the surrounding images to determine if reflections of hands are present and treating them as disturbances.

[0162] Alternatively, the assessment can be improved by calculating the progress of the work based on the position of the hand in the image.

[0163] A hybrid calculation of work progress based on the area ratio of leaf color and the position of the hand in the reflection is also possible. Alternatively, the distribution state can be identified instead of area. This allows for calculations independent of seedling size.

[0164] By monitoring the distribution, the system automatically stops if there are missing plants before the drop point. This automatic stopping prevents missing plants.

[0165] Furthermore, although the above embodiment describes a configuration in which the planting tool 11 performs planting operations intermittently, the configuration is not limited to this, and for example, it may also be a configuration in which seedlings are planted at regular intervals.

[0166] Furthermore, although the above embodiment described seedlings of vegetables as the transplanted material, it is not limited to vegetables; any type of transplanted material that can be removed with the removal device and planted in the field with the planting tool is acceptable. [Industrial applicability]

[0167] The seedling transplanter according to the present invention can effectively deliver chemicals to seedlings and is useful as a seedling transplanter for removing seedlings from the pot portion of the tray and planting them in the field. [Explanation of Symbols]

[0168] 1 transplanter 2 Front wheels 3 Rear wheels 4. Transmission case 5. Tray feeding device 6 Removal device 7 Planting equipment 8. Control Steering Wheel 9. Drive transmission case 10 Hydraulic lifting cylinder 11 Planting tools 11a Hoppers 11a1 Upper end 20 trays 21 seedling pots 22 seedlings 25 Retainer frame 50. Hose for spraying pesticides 50a outlet 50b Hose body 51 Another discharge cam member 52 Air Nozzles 53 Guard film 54. Compression wheel frame 55. Drug hopper 55a Lid 56 Pressure-receiving protrusion 57 Compressor 58 Refill tank 100 Tray Feeding Device 110 Seedling stand 111 Tray transport path 155 Guide Rail 200 Retrieval device 270 Cam 281 Extrusion Rod 281 281a Tip 281a1 central part 281a2 hole 281b Notch 300 Seedling planting device 400 Seedling planting device drive mechanism

Claims

1. A seedling transplanter comprising a traveling vehicle body, a seedling planting device positioned at the rear of the traveling vehicle body which swings a planting tool up and down to plant seedlings in a field, a tray supply device which supplies trays containing the seedlings, and a removal device which inserts a removal member into the inside of the seedling pots in the trays of the tray supply device to remove the seedlings and supply them to the planting tool, The extraction member has a pair of extraction claws that can be opened and closed, and an extraction rod positioned between the pair of extraction claws. The discharge port of the chemical spraying hose is located at the tip side between the pair of dispensing claws. The hose is arranged between the pair of outlet claws so as not to interfere with the extrusion rod. A seedling transplanter characterized in that the chemical in the hose is discharged toward the seedling pot in response to the action of the pair of dispensing claws entering the seedling pot in the tray.

2. The extraction device has a cam that opens and closes the pair of extraction claws and drives the extrusion rod, Another discharge cam member is fixed to the side of the aforementioned cam. The seedling transplanter according to claim 1, wherein the chemical inside the hose is discharged when a part of the hose body is compressed by the discharge cam member, which rotates together with the rotation of the cam.

3. After discharge, as the hose moves toward the planting tool, the pressure is relieved by the rotation of the discharge cam member, and when the hose becomes vertical, gravity replenishes the chemical. The seedling transplanter according to claim 2, wherein the outlet of the hose is narrower than the hose body to prevent the chemical from falling out during the aforementioned replenishment.

4. The extrusion rod has an I-shaped tip, which is bent at a right angle and has notches formed on both sides to match the width of the tips of the pair of extraction claws. The seedling transplanter according to claim 3, wherein the hose is arranged to pass through a hole formed in the center between the left and right notches at the tip.

5. An air nozzle is provided at the upper end of the hopper of the planting device, and an air curtain can be formed around the outer circumference of the hopper. The seedling transplanter according to claim 4, wherein the formation of the air curtain is performed only when receiving the seedlings.

6. The seedling transplanter according to claim 4, wherein the hopper of the planting device has a left and right hopper section and a right hopper section that can be opened and closed, and the sides of the left and right hopper sections are connected to each other by an elastic guard film, so that seedlings and chemicals do not spill out from the sides even when the left and right hopper sections are opened.

7. Each row in a multi-row planting system is equipped with a compaction wheel frame. A chemical hopper for supplying chemicals to the aforementioned hose is attached to each compaction wheel frame. The seedling transplanter according to claim 5 or 6, wherein the chemical hopper is adjusted in conjunction with the movement of the compaction wheel frame for adjusting the spacing between planting rows.

Images