Transplanter

Abstract

To allow a planting attitude of a planting device to be normal to a field surface in a transplanting device which transplants seedlings to the field with a planting device installed in a traveling vehicle body by automatically recovering horizontal attitude even when the travelling vehicle body tends to incline due to unevenness or inclination of the field.SOLUTION: In a transplanting device in which a planting device 42 for seedlings is arranged on a travelling vehicle body 40 being supported by left / right front wheels 45 / 45 pivotally supported on left / right front wheel supporting legs 17L / 17R and left / right rear wheels 44 / 44 pivotally supported on left / right transmission cases 38L / 38R, the left / right front wheel supporting legs 17L / 17R are made expandable and contractable and an angle of the left / right transmission cases 38L / 38R are made changeable. The travelling vehicle body 40 is maintained in horizontal in the front / rear direction by controlling the expansion / contraction of the left / right front wheel supporting legs 17L / 17R and the tilt of the left / right transmission cases 38L / 38R with a front / rear tilt angle of a tilt sensor 6 for detecting the angle of the travelling vehicle body 40.SELECTED DRAWING: Figure 9

Description

[Technical field]

[0001] The present invention relates to a transplanter for transplanting vegetable seedlings such as onions, lettuce, seed potatoes, etc. into a farm field. [Background technology]

[0002] As described in JP 2016-116529 A (Patent Document 1), the transplanter has a seedling supplying device and a seedling transplanting device mounted on a traveling body supported by four wheels at the front and rear, and the seedlings are automatically transplanted into the furrows using the seedling transplanting device as the machine travels through the field on the four wheels. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2016-116529 A Summary of the Invention [Problem to be solved by the invention]

[0004] The transplanter shown in prior patent document 1 has front wheels that are ground rollers that rotate freely due to ground resistance, and rear wheels that are driving running wheels that rotate by receiving driving force from the running transmission case.By simultaneously rotating the left and right running transmission cases up and down, the height of the running body from the field can be changed, and the planting depth of the seedlings can be altered.

[0005] In addition, by extending and retracting the rolling cylinder, which rotates only the traveling transmission case on one side, the left or right tilt of the traveling body can be adjusted to the left or right, eliminating tilt due to unevenness in the field and making the planting posture of the planting device perpendicular to the field surface. This stabilizes the planting depth and planting posture of the seedlings, and also stabilizes the growth of the seedlings after planting.

[0006] However, the vertical position of the front wheels must be manually adjusted by the operator, and if there is an imperfection in this adjustment, the traveling vehicle body will tilt forward and backward even if the height of the rear wheels is adjusted, causing the seedling planting position of the seedling transplanter to tilt forward and backward, and the planting depth to become unstable. Also, even if there is no imperfection in the vertical position adjustment of the front wheels, if the front wheels float or sink due to the soil quality or unevenness of the field, the traveling vehicle body will tilt and the planting position will be disturbed.

[0007] Furthermore, when the vehicle body tilts left or right, even if you try to level the position by extending or retracting the rolling cylinder, it is difficult to level the vehicle body because the height of the front wheels is constant, and there is a problem that the planting position of the seedlings tilts left or right.

[0008] To provide a transplanter for transplanting seedlings into a field with a planting device mounted on a traveling vehicle body, which aims to automatically return the traveling vehicle body to a horizontal position even if the traveling vehicle body tends to tilt due to unevenness or inclination of the field, and make the planting posture of the planting device perpendicular to the field surface. [Means for solving the problem]

[0009] The above object of the present invention can be achieved by the following technical means.

[0010] The first aspect of the present invention is In a transplanter having a seedling planting device (42) mounted on a traveling body (40) supported by left and right front wheels (45, 45) journaled on left and right front wheel support legs (17L, 17R) and left and right rear wheels (44, 44) journaled on left and right traveling transmission cases (38L, 38R), The left and right front wheel support legs (17L, 17R) are made extendable and retractable, and the inclination of the left and right traveling transmission cases (38L, 38R) is made changeable, and the extension and retraction of the left and right front wheel support legs (17L, 17R) and the inclination of the left and right traveling transmission cases (38L, 38R) are controlled by the fore-and-aft inclination angle of the inclination sensor (6) that detects the inclination of the traveling body (40), thereby maintaining the traveling body (40) horizontal in the fore-and-aft direction; When the tilt sensor (6) detects the left / right tilt of the traveling body (40), the extension / contraction of the left / right front wheel support legs (17L, 17R) and the tilt of the left / right traveling transmission cases (38L, 38R) are controlled to keep the traveling body (40) horizontal in the left / right direction. This transplanter is characterized in that it is provided with a course detection means (9) for detecting the traveling direction of the traveling body (40), and when the course detection means (9) detects a deviation from a straight traveling direction, it extends and retracts the left and right front wheel support legs (17L, 17R) to tilt the traveling body (40) and correct the traveling direction to a straight line. The second aspect of the present invention is This is a first transplanter of the present invention, characterized in that the expandable parts of the left and right front wheel support legs (17L, 17R) are covered with boots (8). The third aspect of the present invention is This is a first transplanter of the present invention, characterized in that the seedling supply device (43) that transports seedlings to the planting device (42) is composed of an endlessly wound seedling conveying belt (32), and seedling holders (33, 34) that hold seedlings and end clamping plates (35) that clamp or receive the ends of the seedlings are provided at predetermined intervals on this seedling conveying belt (32) to hold the seedlings. The first invention related to the present inventionThe present invention relates to a transplanter having a seedling planting device (42) mounted on a traveling body (40) supported by left and right front wheels (45, 45) journaled on left and right front wheel support legs (17L, 17R) and left and right rear wheels (44, 44) journaled on left and right traveling transmission cases (38L, 38R), the left and right front wheel support legs (17L, 17R) are extendable and retractable, and the inclination of the left and right traveling transmission cases (38L, 38R) is changeable, and the extension and contraction of the left and right front wheel support legs (17L, 17R) and the inclination of the left and right traveling transmission cases (38L, 38R) are controlled by the fore-and-aft inclination angle of an inclination sensor (6) that detects the inclination of the traveling body (40), thereby maintaining the traveling body (40) horizontal in the fore-and-aft direction.

[0011] The second invention related to the present invention When the tilt sensor (6) detects the left / right tilt of the traveling body (40), the extension / contraction of the left / right front wheel support legs (17L, 17R) and the tilt of the left / right traveling transmission cases (38L, 38R) are controlled to maintain the traveling body (40) horizontal in the left / right direction. The first invention related to the present invention This will be used as a transplant machine.

[0012] The third invention related to the present invention The vehicle is provided with a course detection means (9) for detecting the traveling direction of the traveling vehicle body (40), and when the course detection means (9) detects a deviation from a straight traveling direction, the left and right front wheel support legs (17L, 17R) are extended or retracted to tilt the traveling vehicle body (40) and correct the traveling direction to a straight traveling direction. Either the first or second invention related to the present invention This will be used as a transplant machine.

[0013] The fourth invention related to the present invention The left and right front wheel support legs (17L, 17R) are covered with boots (8) at their telescopic portions. Any of the first to third inventions related to the present invention This will be used as a transplant machine.

[0014] Fifth Invention Related to the Present Invention The present invention is characterized in that the seedling supply device (43) for transporting seedlings to the planting device (42) is composed of an endlessly wound seedling transport belt (32), and the seedling transport belt (32) is provided with seedling holders (33, 34) for holding seedlings and end clamping plates (35) for clamping or receiving the ends of the seedlings at predetermined intervals to hold the seedlings. Any of the first to fourth inventions related to the present invention This will be used as a transplant machine. Effect of the Invention

[0015] The present invention improves the planting posture and improves the growth of transplanted seedlings. Furthermore, the seedling planting posture of the seedling transplanting device is stabilized. Furthermore, the direction of travel is corrected to a straight line without steering the left and right front wheels, so the transplanting row is not disturbed. The first invention related to the present invention When the tilt sensor (6) detects the longitudinal tilt of the traveling body (40) due to the inclination or unevenness of the field, the left and right front wheel support legs (17L, 17R) are extended and retracted, and the inclination of the left and right traveling transmission cases (38L, 38R) is changed to prevent the traveling body (40) from tilting forward or backward, thereby preventing the seedlings planted by the seedling planting device (42) from tilting forward or backward, improving the planting posture and resulting in good growth of the transplanted seedlings.

[0016] The second invention related to the present invention, and the first invention related to the present invention In addition to the above effects, when the tilt sensor (6) detects left or right tilt, the left and right front wheel support legs (17L, 17R) expand and contract and the left and right traveling transmission cases (38L, 38R) change their inclination, thereby preventing the traveling body (40) from tilting left or right, thereby stabilizing the seedling planting posture of the seedling transplanting device 42.

[0017] The third invention related to the present invention, and the first or second invention related to the present invention In addition to the above effects, when the course detection means (9) detects a deviation from the straight-ahead direction, the left and right front wheel support legs (17L, 17R) are extended or retracted to tilt the traveling body (40) and correct the traveling direction, so that the traveling direction is corrected to a straight line without steering the left and right front wheels (45, 45), and the transplant line is not disturbed.

[0018] The fourth invention related to the present invention, which is any one of the first to third inventions related to the present invention. In addition to the above effect, the boots (8) prevent foreign matter from entering the sliding portions of the left and right front wheel support legs (17L, 17R), thereby ensuring the lifting and lowering movement of the front wheels (45, 45).

[0019] The fifth invention related to the present invention, which is any one of the first to fourth inventions related to the present invention. In addition to the above effect, the seedling holders (33, 34) that hold the seedlings and the end clamping plate (35) that clamps or receives the ends of the seedlings prevent the position of the seedlings from changing during transportation, thereby preventing the planting device (42) from failing to pick up the seedlings. [Brief description of the drawings]

[0020] [Figure 1] FIG. 2 is a right side view of the onion seedling transplanter as the transplanter of the present invention. [Diagram 2]FIG. [Diagram 3] FIG. 2 is a perspective view of a seedling planting device of the onion seedling transplanter. [Figure 4] FIG. [Diagram 5] FIG. 2 is an enlarged side view of a front wheel support leg of the onion seedling transplanter. [Figure 6] FIG. 11 is a partial side view of another embodiment of the front wheel support leg. [Figure 7] FIG. 11 is a partial side view of another embodiment of the front wheel support leg. [Figure 8] FIG. 2 is an automatic control block diagram of the onion seedling transplanter. [Figure 9] FIG. 2 is a control flowchart of the onion seedling transplanter. [Figure 10] FIG. 2 is a control flowchart of the onion seedling transplanter. [Figure 11] FIG. 11 is a partially enlarged side view of another embodiment of the seedling supplying device of the onion seedling transplanter. [Figure 12] FIG. 4 is a partially enlarged side view of another embodiment of the seedling supplying device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0021] Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

[0022] FIG. 1 is a side view showing an onion seedling transplanter 10 for transplanting onion seedlings as an embodiment of the present invention, and FIG. 2 is a plan view of the onion seedling transplanter 10.

[0023] In the following description, the side where the control handle 47 is located will be referred to as the rear, and the opposite side, i.e., the side where the engine 41 is located, will be referred to as the front. Furthermore, the right hand side facing the front of the aircraft will be referred to as the right, and the left hand side will be referred to as the left.

[0024] The onion seedling transplanter 10 is equipped with a traveling body 40 that enables the machine to travel forward, a steering handle 47 for pedestrian operation provided at the rear of the traveling body 40, a planting device 42 that plants seedlings in the field, and a seedling supplying device 43 that supplies seedlings to the planting device 42.

[0025] The vehicle body 40 is equipped with an engine 41, a pair of left and right rear wheels 44 which are driven and rotated by the power of the engine 41, and a pair of left and right front wheels 45 which are supported in front of the rear wheels 44 so as to be freely rotatable.

[0026] A transmission case 39 is disposed behind the engine 41. The transmission case 39 has a case portion extending from its left side toward the left side of the engine 41, and this case portion is connected to the left side of the engine 41. An output shaft of the engine 41 fits into this case portion to transmit power to a transmission mechanism inside the transmission case 39.

[0027] The front part of the traveling transmission case 38, which is long in the front-rear direction, is rotatably attached to the left and right sides of the transmission case 39. Specifically, an axle case 11 that rotates integrally with the traveling transmission case 38 is provided on the inside of the machine body at the front part of the traveling transmission case 38, and this axle case 11 is rotatably attached to the left and right sides of the mission case 39, and the left and right traveling transmission cases 38L, 38R are rotatably attached correspondingly to the left and right sides of the mission case 39. A pair of left and right rear wheels 44, 44 are mounted on the rear wheel axles 12 that protrude laterally to the rear parts of the left and right traveling transmission cases 38L, 38R.

[0028] The ends of the wheel drive shafts extending outwardly to the left and right from the transmission case 39 are inserted into the rotation axis position of the front of the left and right running transmission cases 38L, 38R, and the running power passing through the running system speed change transmission part in the transmission case 39 is transmitted to the transmission mechanism in the left and right running transmission cases 38L, 38R. The running power is then transmitted to the rear end axle 12 of the left and right running transmission cases 38L, 38R via the transmission mechanism in the left and right running transmission cases 38L, 38R, and the rear wheels 44, 44 are driven to rotate.

[0029] The left and right rear wheels 44, 44 can be disconnected from drive by left and right side clutches (not shown) provided in the transmission case 39. Therefore, when turning the vehicle, the left or right rear wheel 44 on the inside of the turn is put into a non-driven state by the side clutch, enabling the vehicle to turn smoothly.

[0030] Further, the left and right traveling transmission cases 38L, 38R are connected to a driving means that rotates up and down and moves the rear wheels 44, 44 up and down with the front side of the left and right traveling transmission cases 38L, 38R as a rotation fulcrum. Specifically, an arm 13 extending upward is integrally attached to the attachment portion of the left and right traveling transmission cases 38L, 38R to the transmission case 39, and the arm 13 is connected to both left and right sides of a connector attached to the tip of a piston rod of a lifting hydraulic cylinder fixed to the transmission case 39. One of the left and right sides (the right side) is connected by a connecting rod, and the other side (the left side) is connected by a left and right horizontal control hydraulic cylinder that can expand and contract in response to the inclination of the vehicle body.

[0031] When the lifting hydraulic cylinder is actuated and its piston rod projects rearward, the left and right arms 13 rotate rearward, causing the traveling transmission case 38 to rotate downward and the machine to rise. Conversely, when the piston rod of the lifting hydraulic cylinder moves to the front of the machine and retracts into the cylinder, the left and right arms 13 rotate forward, causing the traveling transmission case 38 to rotate upward and the machine to descend.

[0032] This lifting hydraulic cylinder is operated by a vehicle height sensor 14 that is in contact with the ridge surface and operates in accordance with changes in the vertical distance between the machine body and the ridge surface. The vehicle height sensor 14 operates to detect the height of the ridge top surface based on the machine body position, and the lifting hydraulic cylinder is operated so that the machine body is brought to a set height corresponding to the ridge top surface height based on the sensor output.

[0033] Furthermore, when the left-right horizontal control hydraulic cylinder expands and contracts, the left arm 13 connected to the left-right horizontal control hydraulic cylinder rotates, moving only the left rear wheel 44 up and down and tilting the machine body to the left or right. This left-right horizontal control hydraulic cylinder operates based on the detection results of the sensor 6, which detects the left-right inclination of the machine body with respect to the left-right horizontal, to make the machine body level to the left or right.

[0034] Left and right front wheel support legs 17L, 17R that are long in the vertical direction are attached to the left and right sides of a horizontal frame 16 that is attached to a transmission case 39 below the engine 41, and the left and right front wheels 45, 45 are rotatably attached to a front wheel axle 18 whose lower ends are movable up and down by left and right lift cylinders 7L, 7R. The telescopic part (rod) of this lift cylinder 7 is covered with a bellows-shaped boot 8 to prevent mud and the like from adhering to the rod (see FIG. 5).

[0035] Therefore, the left and right front wheels 45 are arranged so as to be vertically adjustable relative to the traveling vehicle body 40, so that the height of the front wheels 45 can be adjusted.

[0036] 6 and 7 show another configuration of the left and right front wheel support legs 17L, 17R, and on the left side, the front wheel 45 is supported by the front wheel axle 18 at the tip of the rod tip of the left lift cylinder 7L, which is connected to the left and right ends of the horizontal frame 16 provided on the left and right sides of the transmission case 39 via a first link 52 and a second link 53. The front wheel axle 18 is elastically supported by a damper spring 54. With this configuration, the extension and contraction range of the left and right front wheel support legs 17L, 17R is large.

[0037] Furthermore, if a support pillar is attached to the rear of the traveling body 40 and the left and right lifting cylinders 7L, 7R provided on the left and right front wheel support legs 17L, 17R are extended, the rear wheels 44 attached to the traveling transmission case 38 will be lifted, making it easier to change the tread of the left and right rear wheels 44, 44.

[0038] The steering handle 47 is provided at the rear of the vehicle, and is located rearward of the rear wheel axle 12 of the rear wheels 44. More specifically, it is attached to the rear end of the vehicle frame 19, the front end of which is fixed to the transmission case 39.

[0039] The aircraft frame 19 extends rearward from the left-right center of the aircraft, and extends diagonally upward and rearward from the front-rear middle portion.

[0040] The steering handle 47 extends rearward on both sides from the rear end of the aircraft frame 19, with each rear end serving as a grip portion of the steering handle 47.

[0041] In addition, in FIG. 2, the grip portion is configured to be separated into left and right portions, but the left and right rear end portions of the steering handle 47 may be connected to each other, and the connected portion may serve as the grip portion.

[0042] The planting device 42 comprises a number of beak-shaped planting tools with tips pointing downward, an up-and-down movement mechanism 21 which moves the planting tools up and down between a position where the lower end of the planting tool is above the field level and a position where the lower end of the planting tool is below the field level, and an opening / closing mechanism which opens and closes the planting tools 20 between a closed state where the lower end of the beak-shaped planting tool is closed to receive seedlings from above and store the seedlings inside, and an open state where the lower end of the planting tool opens to the left and right and the seedlings stored inside can be released downward.

[0043] The planting device 42 of the first embodiment has a multiple row planting configuration in which multiple planting tools 20 are arranged side by side. Four planting tools 20 are arranged side by side at set intervals for a four row planting configuration, and these planting tools 20 are referred to as the first planting tool 20a, the second planting tool 20b, the third planting tool 20c, and the fourth planting tool 20d from the left side of the machine body.

[0044] Four planting tools: a first planting tool 20a, a second planting tool 20b, a third planting tool 20c, and a fourth planting tool 20d. are attached to the up-down movement mechanisms 21 provided on both the left and right sides of the transmission case 26 to which power is transmitted from the transmission case 39. The transmission case 26 is fixed to the upper part of a mounting member whose lower part is fixed to the vehicle frame 19.

[0045] The vertical movement mechanism 21 is equipped with a lifting link with the front part mounted so as to be freely rotatable up and down with respect to the transmission case 26, and the planting tools 20 connected to the left and right sides of the rear part. A separately provided drive mechanism moves the lifting link up and down with power from inside the transmission case 26, and the first planting tool 20a and the second planting tool 20b, or the third planting tool 20c and the fourth planting tool 20d, connected to the left and right sides of the lifting link, move up and down.

[0046] In the raised position of this vertical movement, the lower end of each planting tool 20a to 20d is located above the field surface, and in the lowered position, the lower end of each planting tool 20a to 20d is located below the field surface.

[0047] The opening and closing mechanisms of each planting tool 20a-20d are operated by power from within the transmission case 26, and are linked to the operation of the up-and-down movement mechanism 21, so that when each planting tool 20a-20d descends and reaches its lower end position, the lower side of that planting tool 20a-20d opens to the left and right to be in an open state downward, and when each planting tool 20a-20d rises and reaches its upper end position, the lower side of that planting tool 20a-20d closes to be in a closed state.

[0048] Of the four planting tools, the second planting tool 20b and the third planting tool 20c arranged on the left and right inner side are located behind the first planting tool 20a and the fourth planting tool 20d arranged on the left and right outer side. The left and right up-down movement mechanisms 21 are configured to operate with a phase difference of 180 degrees, so that the first planting tool 20a or the fourth planting tool 20d on the outer side of one of the left and right sides and the third planting tool 20c or the second planting tool 20b on the inner side of the other left and right sides plant seedlings at the same front-rear position in the field.

[0049] The seedling supplying device 43 comprises a plurality of seedling containers 22 which receive seedlings from above and store the seedlings inside, a moving mechanism 23 which moves the seedling containers 22 in a circular motion, passing above the first planting tool 20a, the second planting tool 20b, the third planting tool 20c and the fourth planting tool 20d, and a seedling dropping mechanism which opens the bottom of the seedling containers 22 above the first planting tool 20a, the second planting tool 20b, the third planting tool 20c and the fourth planting tool 20d to drop the seedlings stored inside and supply the seedlings to any of the first planting tool 20a, the second planting tool 20b, the third planting tool 20c and the fourth planting tool 20d.

[0050] Each seedling container 22 has a cylindrical body that opens at the top and bottom, and a bottom lid that opens and closes the lower opening of the cylindrical body, and the containers are connected to each other in a loop shape.

[0051] The moving mechanism 23 moves the connected seedling containers 22 in a counterclockwise direction in a loop-like trajectory that is elongated from side to side when viewed from above the body, while each connected seedling container 22 passes near the upper part of each planting tool 20a to 20d.

[0052] The seedling dropping mechanism opens the bottom lid of the seedling container 22 at a position above any one of the first planting tool 20a, the second planting tool 20b, the third planting tool 20c, and the fourth planting tool 20d that corresponds to that seedling container 22.

[0053] A cylindrical outer periphery is formed on the outer periphery of the seedling container 22, and an engaging portion (round hole) that is rotatably connected from the outside is provided on the cylindrical outer periphery to form a plurality of connecting bodies that connect two seedling containers 22. The engaging portion of the connecting body is rotatably connected to the cylindrical outer periphery of the seedling container 22, and the adjacent seedling container 22 is rotatably connected to the cylindrical outer periphery as a rotation axis, thereby connecting the plurality of seedling containers 22 to each other. In other words, the seedling containers 22 and the connecting body are connected like an endless chain.

[0054] As a result, the distance between adjacent seedling containers 22 does not change whether in the linear portion 28 moving linearly or in the arcuate portion 29 moving in an arc, so that at the points where seedlings are supplied from the seedling containers 22 to the planting tools 20a-20d, positional deviation of the seedling containers 22 based on the planting tools 20a-20d is unlikely to occur, and seedlings can be supplied properly and accurately planted.

[0055] The moving mechanism 23 of the seedling supply device 43 is configured so that the seedling containers 22, which are connected to each other like an endless chain, are wound around the arc-shaped notches on the outer periphery of sprockets on the left and right sides, and these left and right sprockets are driven and rotated by power extracted from inside the transmission case 26, thereby moving each seedling container 22 in a circular motion.

[0056] The circular movement path along which the seedling container 22 rotates is elliptical in shape, having a straight portion 28 extending in the left-right direction when viewed in a plane, and an arc-shaped portion 29 that bends in an arc from the straight portion 28 to the front or rear by a sprocket, and is located inside the body of the machine than the left and right rear wheels 44.

[0057] Further, each of the planting tools 20a to 20d is disposed rearward of the position of the rear wheel axle 12.

[0058] The seedling supplying device 43 is configured so that the seedling container 22 moves around in one revolution in accordance with the four planting tools, the first planting tool 20a, the second planting tool 20b, the third planting tool 20c and the fourth planting tool 20d, to supply the seedlings.

[0059] As shown in Figure 2, the first planting tool 20a, the second planting tool 20b, the third planting tool 20c and the fourth planting tool 20d drop-supply seedlings from the seedling container 22 at the first drop-supply position 31a, the second drop-supply position 31b, the third drop-supply position 31c and the fourth drop-supply position 31d, respectively.

[0060] A seedling container 22 for containing seedlings to be dropped and supplied to each planting tool 20a-20d is provided separately, and the bottom lid opens only when the seedling container 22 is above the corresponding planting tool 20a-20d, and the bottom lid does not open above the non-corresponding planting tool 20a-20d.

[0061] In other words, the bottom lids of the seedling container 22 corresponding to the first planting tool 20a only open when it reaches the first drop supply position 31a, the seedling container 22 corresponding to the second planting tool 20b only open when it reaches the second drop supply position 31b, the seedling container 22 corresponding to the third planting tool 20c only open when it reaches the third drop supply position 31c, and the seedling container 22 corresponding to the fourth planting tool 20d only open when it reaches the fourth drop supply position 31d, and seedlings are supplied only to the corresponding planting tools 20a to 20d.

[0062] The operating cycle of the moving mechanism 23 is set to be synchronized with the operating cycle of the up-down movement mechanism 21, and the seedling containers 22 corresponding to each planting tool 20a-20d are combined into one seedling container unit, and multiple seedling container units are connected together.This allows the seedling containers 22 to pass through the four drop-supply positions 31a-31d in series, supplying seedlings to the four planting tools 20a-20d without any missed seedlings, and prevents any seedling containers 22 from not being supplied with seedlings after passing through the four drop-supply positions 31a-31d, so that seedlings can be supplied to all four planting tools 20a-20d without any leftovers.

[0063] 11 and 12, unlike the seedling container 22, is configured with seedling holders 33, 34 consisting of clamping rubber and clamping brushes and end clamping plates 35 on a rotating seedling conveyor belt 32, and the seedling holders 33, 34 clamp the stems of string-like seedlings such as sweet potato seedlings, and the end clamping plates 35 clamp the ends of the string-like seedlings such as sweet potato seedlings and receive them with the end clamping brushes 36 for transport. The seedling holders 33, 34 and the end clamping plates 35 release and drop the string-like seedlings at the first drop-feed position 31a, the second drop-feed position 31b, the third drop-feed position 31c, and the fourth drop-feed position 31d of each planting tool 20a to 20d.

[0064] The onion seedling transplanter 10 of this embodiment 1 is provided with soil covering compression wheels 37, which are used to compress the soil according to the seedlings planted by each planting tool 20a to 20d, located near both the left and right sides of the rear of the seedling planting area of ​​each planting tool 20a to 20d.

[0065] Also, an operator's seat 46 is provided so that an operator can sit on the seedling supplying device 43 to perform seedling supplying work. Specifically, the operator's seat 46 is disposed facing backwards at the center of the left and right sides of the machine body, which is the front side of the seedling supplying device 43. The operator sitting on the operator's seat 46 sits facing backwards toward the front part of the seedling supplying device 43 and performs seedling supplying work by corresponding to the front part of the seedling supplying device 43, particularly the front straight portion 28 of the circular movement path of the seedling container 22.

[0066] A seedling carrier 50 capable of accommodating seedlings to be supplied to the seedling supplying device 43 is provided above the rear wheel axle 12 of the rear wheel 44 on both the left and right sides of the operator's seat 46 when viewed from the side of the machine.

[0067] Next, the configuration and operation of the vertical movement mechanism 21 of the onion seedling transplanter 10 will be described.

[0068] Fig. 3 shows a perspective view of the up-down movement mechanism 21 when supplying seedlings to the first planting tool 20a and the second planting tool 20b, and Fig. 4 shows a perspective view of the up-down movement mechanism 21 when planting seedlings in the first planting tool 20a and the second planting tool 20b. Figs. 3 and 4 show perspective views seen diagonally from the left rear of the machine body.

[0069] The first planting tool 20a and the second planting tool 20b are attached to the vertical movement mechanism 21 provided on the left side of the transmission case 26. Similarly, the third planting tool 20c and the fourth planting tool 20d are attached to the vertical movement mechanism 21 provided on the right side of the transmission case 26.

[0070] Here, the vertical movement mechanism 21 disposed on the left side of the machine body will be described. The vertical movement mechanism 21 disposed on the right side of the machine body for moving the third planting tool 20c and the fourth planting tool 20d up and down has a similar configuration.

[0071] Seedling guides 65 are provided above the first planting tool 20a and the second planting tool 20b. The seedling guides 65 guide the seedlings supplied from the seedling supply device 43 into the first planting tool 20a and the second planting tool 20b. The seedling guide 65 is a cylindrical body with a wide seedling supply port (upper side) and a narrow seedling guide port (lower side), and can receive the seedlings dropped from the seedling supply device 43 and accurately guide and supply the seedlings into the first planting tool 20a and the second planting tool 20b.

[0072] The up and down movement mechanism 21 on the left side of the body is equipped with an upper link 61 and a lower link 62, the front of which are respectively attached to a pivot shaft 63 and a driven pivot shaft 69 protruding to the left side of the transmission case 26 so as to be freely rotatable up and down, and the rear of which is connected to the second planting tool 20b.

[0073] The rotating tips (rear ends) of the upper link 61 and the lower link 62 are connected to a right planting tool support plate 66 by an upper connecting shaft 67 and a lower connecting shaft 68, respectively. The second planting tool 20b is attached to the right planting tool support plate 66.

[0074] Also, although not shown in Figures 3 and 4, a left planting tool support plate is attached to the left side of the upper connecting shaft 67 and the lower connecting shaft 68, and the first planting tool 20a is attached to the left planting tool support plate.

[0075] That is, the second planting tool 20b is attached to the right side of the upper link 61 and the lower link 62, and the first planting tool 20a is attached to the left side.

[0076] The other end of a connecting arm, which is rotatably connected to the lower link 62, is rotatably connected to the outer circumferential end of a driving arm 64 attached so as to rotate integrally with the driving shaft protruding to the side of the transmission case 26. When the driving arm 64 is driven to rotate, the upper link 61 and the lower link 62 move up and down, and the first planting tool 20a and the second planting tool 20b attached to the left and right move up and down.

[0077] In addition, the pivot shaft 63 to which the front end of the upper link 61 is connected is provided at a position eccentric to the central axis of the planting output shaft at the tip of the planting output shaft that protrudes from the transmission case 26 and is driven to rotate. The pivot shaft 63 moves while rotating around the axis of the planting output shaft with a radius equal to the eccentric amount (the distance between the pivot shaft 63 and the axis of the planting output shaft) as the planting output shaft rotates. Therefore, the pivot shaft 63 moves back and forth while the upper link 61 and the lower link 62 move up and down, so that the first planting tool 20a and the second planting tool 20b are tilted back and forth during their upward and downward movements, and the tips of the first planting tool 20a and the second planting tool 20b are moved up and down along the first operating locus 15a and the second operating locus 15b that are shaped like a figure eight when viewed from the side.

[0078] The first operating trajectory 15a and the second operating trajectory 15b, which are shaped like an 8 when viewed from the side, shown in Figure 3 indicate the static trajectories of the tips of the first planting tool 20a and the second planting tool 20b when the onion seedling transplanter 10 is stopped and not moving.

[0079] 3, the first and second actuation trajectories 15a and 15b are eight-shaped trajectories that intersect at their upper portions in the vertical direction. That is, the first and second actuation trajectories 15a and 15b intersect at a position above the midpoint between the highest and lowest points of the respective trajectories.

[0080] When the tip of each of the first planting tool 20a and the second planting tool 20b is above the intersection of the first operating locus 15a and the second operating locus 15b, the seedlings are dropped and supplied from the seedling container 22.

[0081] Since the intersections of the first and second operating loci 15a and 15b, which are shaped like a figure of eight, are located above each other, the distance traveled forward and backward above the intersections is small. In other words, the distance traveled forward and backward by the first and second planting tools 20a and 20b when seedlings are supplied from the seedling container 22 is reduced, and the timing range for dropping and supplying seedlings from the seedling container 22 is expanded, so that seedlings can be reliably supplied from the seedling container 22 to the first and second planting tools 20a and 20b.

[0082] In this way, by operating the tips of the first planting tool 20a and the second planting tool 20b in a configuration that traces an eight-shaped trajectory that intersects at the top when viewed from the side, the operation of the first planting tool 20a and the second planting tool 20b can be smoothed while the range of forward and backward movement near the top dead center can be reduced, allowing seedlings to be handed over to the first planting tool 20a and the second planting tool 20b in a stable and proper manner.

[0083] As described above, the two up-down movement mechanisms 21 arranged on the left and right are configured to operate with a phase difference of 180 degrees, so that when the first planting tool 20a and the second planting tool 20b are at the top, the third planting tool 20c and the fourth planting tool 20d are at the bottom, and conversely, when the first planting tool 20a and the second planting tool 20b are at the bottom, the third planting tool 20c and the fourth planting tool 20d are at the bottom.

[0084] When stopping the planting device 42, each of the planting tools 20a to 20d is stopped at a central position in the vertical movement range. In other words, each of the planting tools 20a to 20d is stopped at a position where the vertical positions of the tips of the planting tools 20a to 20d are aligned.

[0085] By stopping each of the planting tools 20a to 20d in the center of the vertical movement section, it is possible to prevent each of the planting tools 20a to 20d from interfering with the soil in a stopped state.

[0086] By shifting the front-to-back positions of the first planting tool 20a and the second planting tool 20b, the positions of each planting tool 20a, 20b can be aligned with the position of the seedlings dropping from the first drop supply position 31a and the second drop supply position 31b, which have different front-to-back positions as shown in Figure 2.

[0087] Furthermore, since the first planting tool 20a and the second planting tool 20b can be arranged along the circular movement path of the seedling container 22, not limited to the straight portion 28, the front-to-rear length of the machine body can be reduced.

[0088] Since planting is performed simultaneously using the first planting tool 20a and the second planting tool 20b, if the distance in the fore-and-aft direction between the first planting tool 20a and the second planting tool 20b is taken as the planting tool fore-and-aft spacing 70, then by setting the planting tool fore-and-aft spacing 70 to p × plant spacing + plant spacing / 2 (p is an integer greater than or equal to 0), staggered planting can be performed using the four first planting tools 20a, second planting tool 20b, third planting tool 20c and fourth planting tool 20d.

[0089] Furthermore, by setting the front-to-back spacing 70 between the planting tools to p x the spacing between plants, rows of trees can be planted using the four planting tools, the first planting tool 20a, the second planting tool 20b, the third planting tool 20c and the fourth planting tool 20d.

[0090] 8 is a control block diagram of the left and right lifting cylinders 7L, 7R, in which the tilt angles in the front-rear and left-right directions of the traveling body 40 are input to the control device 5 from an angular velocity sensor 6 as an example of the tilt sensor of the present invention, information on the traveling direction is input from the course detection sensor 9, and the planting depth of the seedlings is input from the planting sensor 4. The course detection sensor 9 is a magnetic direction sensor 9A, a GPS device 9B, a ground sensor 9C, etc.

[0091] The control device 5 outputs extension / retraction signals to the left lift cylinder 7L and the right lift cylinder 7R of the front wheel support leg 17.

[0092] FIG. 9 is a control flowchart for the left and right lifting cylinders 7L, 7R which control the forward and backward inclination of the traveling body 40. In step S01, the angular velocity sensor 6 detects the forward and backward inclination of the traveling body 40, in step S02 the forward and backward inclination angle is determined, and if the inclination angle is slight the process returns, and if the traveling body 40 is tilted forward in step S03 the left and right lifting cylinders 7L, 7R are extended to raise the front side of the traveling body 40 and return the traveling body 40 to horizontal, and if the traveling body 40 is tilted backward in step S04 the left and right lifting cylinders 7L, 7R are contracted to lower the rear side of the traveling body 40 and return the traveling body 40 to horizontal.

[0093] FIG. 10 is a control flowchart for the left and right lifting cylinders 7L, 7R which control the left and right inclination of the traveling body 40. In step S11, the angular velocity sensor 6 detects the left and right inclination of the traveling body 40, and in step S12 the left and right inclination angle is determined. If the inclination angle is slight, nothing is done and the process returns. If the inclination angle is to the upper right, the right lifting cylinder 7R is retracted in step S13. In step S14, the planting depth of the planting sensor 4 is determined. If the planting depth is appropriate, the process returns. If the planting depth is deep, the left and right lifting cylinders 7L, 7R are retracted in step S15 and then returned. If the planting depth is shallow, the left and right lifting cylinders 7L, 7R are extended in step S16 and then returned.

[0094] If the left / right tilt angle is determined to be tilted to the upper left in step S12, the left lifting cylinder 7L is retracted in step S17, the planting depth of the planting sensor 4 is determined in step S18, and if the planting depth is appropriate, the process returns. If the planting depth is deep, the left / right lifting cylinders 7L, 7R are retracted in step S19 and the process returns. If the planting depth is shallow, the left / right lifting cylinders 7L, 7R are extended in step S16 and the process returns.

[0095] In addition, when the path detection sensors 9, such as the magnetic direction sensor 9A, GPS device 9B, and ground sensor 9C, detect a deviation from straight-ahead driving, the left and right lifting cylinders 7L, 7R on the side that corrects the direction of travel are contracted, thereby tilting the vehicle body 40 and correcting the direction of travel to straight-ahead driving. [Explanation of symbols]

[0096] 6 Inclination sensor (angular velocity sensor) 8. Boots 9. Path detection means 17L Left front wheel support leg 17R Right front wheel support leg 32 Seedling transport belt 33 Seedling holder 34 Seedling holder 35 End clamp plate 38L Left drive case 38R Right drive case 40 Running vehicle 42 Seedling transplanting device 43 Seedling supply device 44 Rear wheel 45 Front wheel

Claims

1. A transplanter having a seedling planting device (42) mounted on a traveling body (40) supported by left and right front wheels (45, 45) journaled on left and right front wheel support legs (17L, 17R) and left and right rear wheels (44, 44) journaled on left and right traveling transmission cases (38L, 38R), The left and right front wheel support legs (17L, 17R) are made extendable and retractable, and the inclination of the left and right traveling transmission cases (38L, 38R) is made changeable, and the extension and contraction of the left and right front wheel support legs (17L, 17R) and the inclination of the left and right traveling transmission cases (38L, 38R) are controlled by the fore-and-aft inclination angle of the inclination sensor (6) that detects the inclination of the traveling body (40), thereby maintaining the traveling body (40) horizontal in the fore-and-aft direction; When the tilt sensor (6) detects the left / right tilt of the traveling body (40), the extension / contraction of the left / right front wheel support legs (17L, 17R) and the tilt of the left / right traveling transmission cases (38L, 38R) are controlled to keep the traveling body (40) horizontal in the left / right direction; This transplanter is characterized in that it is provided with a course detection means (9) for detecting the traveling direction of a traveling body (40), and when the course detection means (9) detects a deviation from a straight traveling direction, it extends and retracts the left and right front wheel support legs (17L, 17R) to tilt the traveling body (40) and correct the traveling direction to a straight direction.

2. 2. The transplanter according to claim 1, wherein the extendable portions of the left and right front wheel support legs (17L, 17R) are covered with boots (8).

3. The transplanter according to claim 1, characterized in that the seedling supply device (43) for transporting the seedlings to the planting device (42) is composed of an endlessly wound seedling transport belt (32), and the seedlings are held on the seedling transport belt (32) by seedling holders (33, 34) for holding the seedlings and end clamping plates (35) for clamping or receiving the ends of the seedlings, which are provided at predetermined intervals on the seedling transport belt (32).

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