Ride-on vegetable transplanter

Abstract

To make it possible to reduce an operation burden on a driver, and support planting work.SOLUTION: A transplanter 1 (riding vegetable transplanter) comprises: a planting work machine 4 for planting vegetable seedlings in a field; a traveling body 5 fitted with the planting work machine 4, and for traveling; a driver's seat 3 provided in the traveling body 5, and on which a driver can be seated; an antenna unit 400 for receiving satellite positioning information; and a control device for controlling automatic steering of the traveling body 5 on the basis of the satellite positioning information.SELECTED DRAWING: Figure 1A

Description

[Technical Field]

[0001] The present invention relates to a riding vegetable transplanter for planting vegetable seedlings in, for example, a farm field. [Background technology]

[0002] The riding vegetable transplanter disclosed in Patent Document 1 comprises a planting implement for planting vegetable seedlings in a field, a running body on which the planting implement is mounted and which runs, a driver's seat provided on the running body in which a driver can be seated, and a steering handle provided in front of the driver's seat for steering the running body. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 7134921 Summary of the Invention [Problem to be solved by the invention]

[0004] In the riding vegetable transplanter disclosed in Patent Document 1, the driver operates the steering handle to move the traveling body along the ridges of the field, and the planting implement plants vegetable seedlings on the ridges. In other words, the driver must operate the steering handle to move the traveling body along the ridges of the field. For this reason, there is a problem with riding vegetable transplanters in that they place a burden on the driver (operator) when driving them.

[0005] In view of the above problems, the present invention aims to provide a riding vegetable transplanter that can reduce the driving burden on the operator and assist planting work. [Means for solving the problem]

[0006] According to one aspect of the present invention Transfer The planter is seedlings a planting machine that plants seeds; and a traveling body that travels with the planting machine attached; Mamoru an antenna unit that receives satellite positioning information; and a control device that controls automatic steering of the vehicle based on the satellite positioning information; The vehicle comprises support columns erected on both the left and right sides of the vehicle, a connecting frame connecting the tops of the support columns, a housing accommodating a communication device capable of receiving positioning error correction information, and a bracket attached to the connecting frame, the antenna unit being attached to the top of the bracket, the housing being attached to the bottom of the bracket, and the antenna unit and the housing being positioned so as to overlap with each other via the bracket in a plan view, the connecting frame being configured to be switchable between an upright position in which the antenna unit is positioned higher than the tops of both the support columns and can receive the satellite positioning information, and a retracted position in which the antenna unit is lower than the upright position and is positioned below the housing, by rotating about a horizontal axis along the width direction of the vehicle, and the control device determines that the connecting frame is in the retracted position when the reception level of a signal indicating the satellite positioning information from the antenna unit is equal to or lower than a specified value and when positioning error correction information has been acquired by the communication device. .

[0007] Transfer The planting machine is The vehicle is provided with a driver's seat on which a driver can sit, and the support pillar is Extends to a position higher than the driver's seat are .

[0009] The bracket may comprise a first bracket to which the housing is attached and fixed to the connecting frame, and a second bracket to which the antenna unit is attached, wherein a screw hole is formed in the first bracket and a long slot is formed in the second bracket along the connecting frame, and the second bracket may be screwed to the first bracket by inserting a fastener into the slot and screwing it into the screw hole.

[0010] The bracket has a mounting surface on which the antenna unit is mounted, the size of which is equal to that of the antenna unit. It may be larger than the Tena unit.

[0011] The housing may house a speaker, and the speaker may be attached to the housing in a position facing the driver's seat.

[0012] The housing may include a partition wall that separates a first space housing the communication device from a second space housing the speaker.

[0015] The support pillars are gate-shaped support pillars having front and rear support pillars spaced apart in the fore-and-aft direction of the running body, and front and rear frames connecting the tops of the front and rear support pillars. A plurality of spare seedling trays on which spare seedlings can be placed are arranged at intervals in the vertical direction. The base ends of the spare seedling trays are attached to the front and rear support pillars so as to be rotatable around a fore-and-aft axis along the fore-and-aft direction of the running body, and the tip end opposite the base end is positioned in the width direction of the running body, so that spare seedlings can be placed thereon. The trays are configured to be switchable between a use position in which spare seedlings can be placed thereon and an inclined position in which the tip end is raised so as to approach the support pillars, so that spare seedlings cannot be placed thereon. The connecting frame comprises a left leg having a left lower portion connected to the front and rear frame of the support pillar on the left side of the running body and a first extension portion bent upward and extending from the left lower portion, a right leg having a right lower portion connected to the front and rear frame of the support pillar on the right side of the running body and a second extension portion bent upward and extending from the right lower portion, and a rod-shaped body connecting the upper end of the first extension portion to the upper end of the second extension portion and extending in the width direction of the running body, and the rod-shaped body of the connecting frame may be positioned at a higher position than the topmost spare seedling tray among the multiple spare seedling trays when the topmost spare seedling tray is in the unused position. [Effects of the Invention]

[0016] According to the above configuration, the driving burden on the operator of the riding vegetable transplanter can be reduced, and planting work can be assisted. [Brief explanation of the drawings]

[0017] [Figure 1A] FIG. 1 is a schematic side view of a transplanter. [Figure 1B] FIG. 1 is a schematic plan view of a transplanter. [Figure 1C] FIG. 1 is a schematic front view of a transplanter. [Figure 1D] FIG. 2 is a block diagram of the running system and control of the transplanter. [Figure 1E] FIG. 2 is a view of the steering column in front of the driver's seat as seen from the driver's seat side. [Figure 2A]This is a left side view of the upper part of the spare seedling tray of the transplanter. [Figure 2B] FIG. 10 is a plan view of a position detection device attached to the center of the connecting frame. [Figure 2C] This is an exploded oblique view of the upper part of the spare seedling table of the transplanter, seen from the rear lower left. [Figure 2D] This is an exploded oblique view of the upper part of the spare seedling table of the transplanter, seen from the upper left and rear. [Figure 2E] FIG. 2 is an exploded perspective view of a housing that houses a communication device. [Figure 2F] This is a left side view of the upper part of the spare seedling tray with the connecting frame in the stored position. [Figure 2G] FIG. 1 is a partial front view of the transplanter showing the spare seedling tray in the use position. [Figure 2H] FIG. 1 is a partial front view of the transplanter showing the spare seedling tray in an unused position. [Figure 3] FIG. [Figure 4] FIG. 10 is a side view showing the seedling tray movement path and the empty tray receiving portion. [Figure 5] FIG. [Figure 6] FIG. 1 is a plan view of a seedling tray. [Figure 7] FIG. 1 is a front view of a seedling tray. [Figure 8] FIG. [Figure 9] FIG. [Figure 10] FIG. [Figure 11] FIG. 1 is a plan view of the transplant unit. [Figure 12] FIG. 10 is a rear view showing the front support of the unit frame. [Figure 13] FIG. 10 is a plan view showing the rear support of the unit frame. [Figure 14] FIG. 10 is a side view showing the rear support of the unit frame. [Figure 15] FIG. 4 is a side view of a power input section that inputs power to a drive main shaft. [Figure 16] FIG. [Figure 17] FIG. [Figure 18A] FIG. 4 is a side view of the work implement lifting mechanism and the mounting frame. [Figure 18B] FIG. 2 is a perspective view of a work machine lifting mechanism and a mounting frame. [Figure 18C] FIG. [Figure 19A] FIG. 2 is a partially cutaway perspective view of a piston rod and a connecting body. [Figure 19B] FIG. 2 is an exploded perspective view of a piston rod and a connecting body. [Figure 19C] FIG. 2 is an exploded perspective view of a piston rod and a connecting body. [Figure 20] FIG. 4 is a cross-sectional view of the main body of the connector. [Figure 21] FIG. 10 is a perspective view of a lifting drive body according to a modified example. [Figure 22] FIG. 10 is a rear view of the support structure of the main frame. [Figure 23] FIG. [Figure 24] FIG. [Figure 25] FIG. 2 is a side view of the support structure of the sensing roller. [Figure 26] FIG. 10 is a rear view of the support structure for the sensing roller. [Figure 27] FIG. 10 is a rear view of the support structure for the sensing roller. [Figure 28] FIG. 2 is a plan view of the first and second implantation units. [Figure 29] FIG. 1 is a side view showing a planting depth adjustment mechanism and a planting lifting mechanism. [Figure 30] FIG. 10 is a rear view showing the planting depth adjustment mechanism. [Figure 31] FIG. 4 is a side view showing the soil cover pressure adjustment mechanism. [Figure 32] FIG. 2 is a plan view showing an operation unit. [Figure 33] FIG. 10 is a plan view showing the planting lifting mechanism. [Figure 34A]FIG. 1 is a perspective view of a planting lifting mechanism. [Figure 34B] FIG. 10 is a rear view of the planting lifting mechanism. [Figure 34C] FIG. 1 is a perspective view of the rotating case and planting body of the planting lifting mechanism. [Figure 34D] FIG. 1 is a perspective view of a planting body and a support plate. [Figure 34E] FIG. 1 is a perspective view of the rotating case and planting body of the planting lifting mechanism. [Figure 34F] FIG. [Figure 34G] FIG. [Figure 35A] FIG. 2 is a perspective view showing a state in which a second case body of the rotating case is removed. [Figure 35B] FIG. [Figure 35C] FIG. [Figure 35D] FIG. 2 is a view showing the inside of the first case body and the second case body. [Figure 35E] FIG. 10 is a diagram showing the arrangement of the first to fifth spur gears and the locus of the up and down movement of the planting body. [Figure 36A] FIG. 10 is a diagram showing the rotation of the rotating case. [Figure 36B] FIG. 10 is a diagram showing the rotation of the rotating case. [Figure 36C] FIG. 10 is a diagram showing the rotation of the rotating case. [Figure 36D] FIG. 10 is a diagram showing the rotation of the rotating case. [Figure 36E] FIG. 10 is a diagram showing the rotation of the rotating case. [Figure 36F] FIG. 10 is a diagram showing the rotation of the rotating case. [Figure 36G] FIG. 2 is a cross-sectional perspective view showing an input shaft portion of the rotating case. [Figure 37] FIG. 2 is a plan view showing the main frame and seedling tray. [Figure 38] FIG. [Figure 39] FIG. 2 is a rear view showing the connecting structure of the first seedling tray and the second seedling tray. [Figure 40]FIG. 10 is a side view of the lower part of the seedling tray. [Figure 41] FIG. [Figure 42] FIG. 2 is a side view showing the tray feeding mechanism and the seedling removal device. [Figure 43A] FIG. 10 is a diagram illustrating an example of a storage table. [Figure 43B] FIG. 10 is a diagram illustrating an example of a storage table. [Figure 43C] FIG. 10 is a diagram illustrating a storage table according to a modified example. [Figure 44A] 10A and 10B are diagrams illustrating examples of display of various setting items on a display device. [Figure 44B] FIG. 10 is a diagram showing an example of a display for inputting a direction. [Figure 44C] FIG. 10 is a diagram showing an example of a display of a direction call. [Figure 44D] FIG. 10 is a diagram showing an example of a display of a direction output. DETAILED DESCRIPTION OF THE INVENTION

[0018] An embodiment of the present invention will be described below with reference to the drawings as appropriate. Fig. 1A is a schematic side view showing the overall configuration of a transplanter 1 according to this embodiment. Fig. 1B is a schematic plan view of the transplanter 1. Fig. 1C is a schematic front view of the transplanter. As shown in Fig. 1A, the transplanter 1 is a ride-on transplanter (ride-on transplanter) having a driver's seat 3 in which an operator (driver, operator, worker) 2 sits.

[0019] As shown in Figures 1A and 1B, the transplanter 1 has a planting implement 4 that plants seedlings 7 (e.g., vegetable seedlings) in a field 6, and a traveling body 5 that travels with the planting implement 4 attached. Therefore, the transplanter 1 is a machine that plants seedlings 7 in the field 6 using the planting implement 4 while traveling in the field 6 using the traveling body 5. In other words, the transplanter 1 is a riding vegetable transplanter (riding vegetable transplanter) that plants seedlings 7 (e.g., vegetable seedlings).

[0020] In the embodiment of the present invention, the direction in front of the operator 2 seated in the driver's seat 3 of the transplanter 1 (the direction of arrow A1 in Figures 1A and 1B) will be described as the forward direction, and the direction behind the operator 2 (the direction of arrow A2 in Figures 1A and 1B) will be described as the rearward direction. The direction of arrow K1 in Figures 1A and 1B will be referred to as the fore-and-aft direction of the machine body. Furthermore, the right side of the operator 2 (the direction of arrow B1 in Figure 1B) will be described as the right side, and the left side of the operator 2 (the direction of arrow B2 in Figure 1B) will be described as the left side.

[0021] As shown in FIG. 1B, the horizontal direction perpendicular to the longitudinal direction of the aircraft (arrow K1) will be referred to as the aircraft width direction (arrow K2). The direction from the center of the aircraft width direction to the right or left will be referred to as the aircraft outward direction. In other words, the aircraft outward direction is the direction in the aircraft width direction K2 that moves away from the center of the aircraft width direction. The direction opposite to the aircraft outward direction will be referred to as the aircraft inward direction. In other words, the aircraft inward direction is the direction in the aircraft width direction K2 that moves closer to the center of the aircraft width direction.

[0022] First, the planting machine 4 will be outlined. As shown in FIG. 1A, the planting machine 4 has a seedling rest 9 on which a plurality of seedling trays (cell trays) 8 each having a large number of seedlings 7 are placed.

[0023] As shown in Figures 6 and 7, the seedling tray 8 is made of plastic, is thin and flexible, and is rectangular in shape when viewed from above. The seedling tray 8 has a large number of pot sections 8a arranged vertically and horizontally in a grid pattern at a predetermined pitch. The opening edges of the pot sections 8a are connected by a flat top wall 8b. The pot sections 8a protrude from the top wall 8b to the rear side. In the seedling tray 8, seedlings 7 (soil block seedlings) are grown by supplying bed soil to the pot sections 8a, sowing seeds in the bed soil, and raising them.

[0024] As shown in FIG. 3, the seedling tray 9 has a mounting plate 10 on which the seedling tray 8 is placed at a downward incline (inclining rearward as it moves downward). As shown in FIG. 1A, the seedlings 7 in the seedling tray 8 are removed one by one by a seedling removal device 11 located at the rear of the lower part of the seedling tray 9 and delivered to a planting body 12 below. The planting body 12 reciprocates up and down and receives the seedlings 7 at its top dead center position. When the planting body 12 descends, it plunges into the field 6 to plant the seedlings 7. Specifically, the planting body 12 is formed with an opener that can be opened and closed. When closed, it holds the seedlings 7 inside as it descends. Upon entering the field 6, it opens back and forth to form planting holes in the field 6 and drop the seedlings 7 into the planting holes for planting. The planting machine 4 removes the seedlings 7 from the seedling tray 8 and automatically plants them in the field 6 at predetermined intervals.

[0025] As shown in FIG. 3, the mounting plate 10 can accommodate multiple seedling trays 8, arranged vertically along the inclined direction. The seedling trays 8 are arranged with their longitudinal axes aligned with the inclined direction. The seedling removal device 11 removes seedlings 7 from the lowest seedling tray 8 (8A) among the multiple seedling trays 8 mounted on the mounting plate 10. The seedling removal device 11 also removes seedlings 7 one by one from the seedling tray 8 while intermittently moving the seedling mounting table 9 laterally in the machine body width direction K2 by one pitch of the pot section 8a. After a horizontal row of seedlings 7 is removed from the seedling tray 8, the seedling tray 8 is moved vertically downward along the inclined direction by one pitch of the pot section 8a. This allows the next horizontal row of seedlings 7 to be removed. The seedling mounting table 9 is then moved horizontally in the opposite direction to remove the seedlings 7. After a horizontal row of seedlings 7 has been removed, the seedling tray 8 is moved vertically. By repeating this process, all seedlings 7 are removed from the seedling tray 8.

[0026] As shown in FIG. 3, the seedling tray 9 has a reversing guide 13 at its bottom. After the seedlings 7 have been removed by the seedling removal device 11, the seedling tray 8 is fed vertically to the reversing guide 13. The seedling tray 8 is guided by the reversing guide 13 to the rear (lower) side 10A of the mounting plate 10. The seedling tray 9 also has an empty tray guide 14 at the rear side of the mounting plate 10. The empty tray guide 14 has a curved portion 14a at its bottom. The curved portion 14a receives the seedling tray 8 from the reversing guide 13 and guides it to a guide body 14b located at the rear side of the mounting plate 10. The empty seedling tray 8 is guided by the guide body 14b to the upper rear of the mounting plate 10. The empty tray guide 14 has an upper guide portion 14c at its top. The upper guide portion 14c extends forward from the upper end of the guide body 14b toward the driver's seat 3. The upper guide portion 14c is formed with a slight downward inclination (a inclination that becomes downward as it approaches the front). The empty seedling tray 8 can be removed from the upper guide portion 14c.

[0027] Next, the running body 5 will be described in detail. As shown in Fig. 1A, the traveling body 5 is disposed in front of the planting machine 4. As shown in Fig. 4, the traveling body 5 includes a machine body 16 on which the driver's seat 3 is mounted, and a traveling device 17 that supports the machine body 16 so that it can travel.

[0028] The vehicle body 16 has a prime mover 18, a prime mover frame 19, a transmission case 20, and a vehicle body frame 21. The prime mover 18 is, for example, a diesel engine. The prime mover 18 is disposed at the front of the vehicle 5. The prime mover frame 19 is disposed below the prime mover 18 and supports the prime mover 18. The transmission case 20 is disposed behind the prime mover 18. The transmission case 20 is connected to the front of the vehicle 5. The vehicle frame 21 is disposed behind the transmission case 20. In other words, the vehicle frame 21 is disposed at the rear of the vehicle 5. The transmission case 20 is connected to the front of the vehicle frame 21. The vehicle frame 21 has a support body 22 at its rear. The driver's seat 3 is attached to the support body 22 via a seat attachment member 31.

[0029] The driver's seat 3 is located at the rear of the machine body 16. The driver's seat 3 has a seat portion 3A and a backrest portion 3B. The seat portion 3A is the portion on which the operator 2 sits (rests his / her buttocks and thighs). The backrest portion 3B is the portion on which the seated operator 2 leans his / her back, and is provided to extend upward from the rear of the seat portion 3A.

[0030] 1A and 1B, in this embodiment, the traveling device 17 is a wheel-type traveling device having left and right front wheels 23 and left and right rear wheels 24. The front wheels 23 and rear wheels 24 are rotated by the power output from the transmission case 20.

[0031] As shown in Figures 1A and 1B, in front of the driver's seat 3 are provided a steering handle 25 for steering the vehicle 5 (front wheels 23), a hood 26, and a steering column 27. A fuel tank and other components are housed inside the hood 26. The prime mover 18 is disposed below the hood 26. The steering column 27 covers a handle post and other components that support the steering handle 25.

[0032] As shown in FIG. 1D, the transplanter 1 includes a steering device 320. The steering device 320 includes a steering handle 25, a rotating shaft (steering shaft) 25b that rotates with the rotation of the steering handle 25, and an assist mechanism (power steering mechanism) 25c that assists in steering the steering handle 25. The assist mechanism 25c includes a hydraulic pump 133, a control valve 323 to which hydraulic oil discharged from the hydraulic pump 133 is supplied, and a steering cylinder 321 operated by the control valve 323. The control valve 323 is an electromagnetic valve that operates based on a control signal. The control valve 323 is, for example, a three-position switching valve that can be switched by moving a spool or the like. The control valve 323 can also be switched by steering the steering shaft 25b. The steering cylinder 321 is connected to an arm (knuckle arm) 322 that changes the direction of the front wheels 23.

[0033] Therefore, when the steering handle 25 is operated, the switching position and opening degree of the control valve 323 are switched in accordance with the operation of the steering handle 25, and the piston rod of the steering cylinder 321 moves left or right in accordance with the switching position and opening degree of the control valve 323, thereby changing the steering direction of the front wheels 23. Note that the above-described steering device 320 is an example, and is not limited to the above-described configuration.

[0034] As shown in FIG. 1D, the transplanter 1 includes a position detection device 330. As shown in FIGS. 1A and 1C, the position detection device 330 is attached to the connecting frame 420. The position detection device 330 detects its own position (positioning information including latitude and longitude) using a satellite positioning system. That is, the position detection device 330 includes an antenna unit 400 that receives signals (positions of the positioning satellites, transmission times, correction information, etc.) transmitted from multiple positioning satellites, and a communication device 401 that can receive correction information for positioning errors from a base station (reference station) that can receive signals from the positioning satellites, and detects its position (latitude and longitude) based on the received satellite positioning information and correction information. The position detection device 330 may also include an inertial measurement device such as a gyro sensor or an acceleration sensor, and detect the position corrected by the inertial measurement device as its own position. The position detection device 330 can detect the position (running position) of the transplanter 1 (running object 5).

[0035] As shown in Fig. 1D, the transplanter 1 includes a control device 131 that controls automatic steering of the traveling object 5 based on satellite positioning information received by the antenna unit 400. The control device 131 is connected to a position detection device 330 and a traveling detection device 341 of the traveling system. Therefore, the control device 131 can acquire the position (traveling position) detected by the position detection device 330 and the detection value detected by the traveling detection device 341. The traveling detection device 341 is, for example, a crank sensor, a cam sensor, an engine rotation sensor, an accelerator sensor, a vehicle speed sensor, a steering angle sensor, etc.

[0036] The control device 131 controls the traveling system of the transplanter 1. The control device 131 controls, for example, the engine speed, vehicle speed, steering angle of the steering device 320, etc. based on the detection values ​​detected by the traveling detection device 341. The control device 131 has a steering control unit 131A and a memory device 131B. The steering control unit 131A is composed of electric and electronic components provided in the control device 131, programs installed in the control device 131, etc. The memory device 131B is a non-volatile memory, etc.

[0037] The steering control unit 131A (control device 131) can automatically control (auto-steering control) the steering of the transplanter 1 (traveling body 5) based on the set reference orientation. As shown in FIGS. 1D and 1E, the transplanter 1 is equipped with a shift lever 350, a steering selector switch (GS switch) 351, a first switch 352, a second switch 353, and a main switch 354. The shift lever 350, the steering selector switch 351, the first switch 352, the second switch 353, and the main switch 354 are connected to the control device 131.

[0038] The shift lever 350 is operated by the operator 2 to change the gears of the transmission mechanism. The steering changeover switch 351 is a switch that can be switched ON / OFF by the operator 2, and when it is ON, it enables auto-steering control, and when it is OFF, it disables auto-steering control. The first switch 352 is operated by the operator 2 to set the start point of the reference heading. The second switch 353 is operated by the operator 2 to set the end point of the reference heading.

[0039] The main switch 354 is a switch for turning the power supply on and off and the prime mover 18 on and off. Specifically, the main switch 354 can be switched to any of the start, run, and stop positions. When the operator 2 inserts the switch key into the main switch 354 and turns it to the start position, the prime mover 18 starts and the power to the transplanter 1 is turned on. When the operator 2 releases the switch key after the prime mover 18 has started, the switch key returns to the run position. In the run position, various electrical devices of the transplanter 1 operate. When the switch key is turned from the run position to the stop position, the prime mover 18 stops and the switch key can be inserted or removed.

[0040] 1E, the shift lever 350, steering selector switch 351, first switch 352, and second switch 353 are installed near the driver's seat 3 and can be operated by the operator 2. For example, the steering selector switch 351 is provided near the grip of the shift lever 350. The first switch 352 is provided on the upper part of the steering column 27 to the right of the display device 360, and the second switch 353 is provided on the upper part of the steering column 27 to the left of the display device 360. The main switch 354 is provided on the upper part of the steering column 27 at the front right side.

[0041] The control device 131 determines the position of the transplanter 1 (traveling body 5) in the field when the first switch 352 is operated (the position determined based on the satellite positioning information received by the antenna unit 400) as the start point of the reference orientation and stores this start point in the storage device 131B. Next, the position of the transplanter 1 (traveling body 5) when the second switch 353 is operated after the transplanter 1 (traveling body 5) has traveled a predetermined distance or more due to operation by the driver (the position determined based on the satellite positioning information received by the antenna unit 400) is determined as the end point of the reference orientation and stores this end point in the storage device 131B. The control device 131 then stores the orientation of the straight line route connecting the start point and the end point in the storage device 131B as the reference orientation.

[0042] When the steering changeover switch 351 is turned on if the conditions for permitting automatic steering are met, the control device 131 controls automatic steering to make the transplanter 1 (traveling body 5) travel along the reference heading. The conditions for permitting automatic steering are that the reference heading is stored in the storage device 131B (i.e., the reference heading is set) and the difference between the traveling direction of the transplanter 1 (traveling body 5) and the reference heading is equal to or less than a tolerance value.

[0043] When the steering changeover switch 351 is turned on and auto-steering control is enabled, the steering control section 131A sets the switching position and opening degree of the control valve 323 so that the position of the running body 5 coincides with a planned running route that includes the running position (position of the running body 5) of the transplanter 1 (running body 5) and is parallel to the reference direction, i.e., so that the running body 5 moves on a planned running route that is parallel to the reference direction. In other words, when the steering changeover switch 351 is ON, the control device 131 sets the moving direction and moving amount of the piston rod of the steering cylinder 321 (the steering direction and steering angle of the front wheels 23) so that the running position of the transplanter 1 coincides with the planned running route.

[0044] In detail, when the auto-steering control is enabled, the steering control unit 131A compares the running position of the transplanter 1 (running body 5) detected by the position detection device 330 with the position (planned running position) indicated on the planned running route, and if the running position matches the planned running position, the steering angle and steering direction of the steering handle 25 in the steering device 320 (the steering angle and steering direction of the front wheels 23) are maintained without change (the opening degree and switching position of the control valve 323 are maintained without change).

[0045] On the other hand, if the driving position does not match the planned driving position, the steering control unit 131A changes the steering angle and / or steering direction of the steering handle 25 in the steering device 320 (changes the opening and / or switching position of the control valve 323) so that the deviation (deviation) between the driving position and the planned driving position becomes zero.

[0046] In the above-described embodiment, the steering control unit 131A changes the steering angle of the steering device 320 based on the deviation between the traveling position and the planned traveling position during autosteering control. However, when the orientation of the planned traveling route R1 differs from the orientation (vehicle body orientation) of the traveling direction (traveling direction) of the transplanter 1 (traveling body 5), the steering control unit 131A may set the steering angle so that the vehicle body orientation matches the orientation of the planned traveling route R. Furthermore, the steering control unit 131A may set the final steering angle during autosteering control based on the steering angle calculated based on the deviation (position deviation) and the steering angle calculated based on the orientation deviation. The setting of the steering angle during autosteering control in the above-described embodiment is an example and is not limited thereto.

[0047] When the conditions for permitting automatic steering are met, the control device 131 starts controlling automatic steering based on satellite positioning information when the steering changeover switch 351 is turned on, and ends controlling automatic steering when the steering changeover switch 351 is turned off. In other words, the transplanter 1 can make the traveling body 5 travel along the reference direction by the auto-steering control by the steering control unit 131A (control device 131) from when the steering changeover switch 351 is turned on until it is turned off.

[0048] On the other hand, when the auto-steering control is disabled, the steering control unit 131A determines whether the steering wheel 25 of the operator 2 is being operated, whether the accelerator pedal of the operator 2 is being operated, and whether the steering wheel 25 is being operated. The steering control unit 131A sets the steering direction and steering angle of the front wheels 23, the vehicle speed, etc. based on the steering operation, etc. In this way, the steering control unit 131A can manually change the direction of the transplanter 1 (traveling body 5).

[0049] As shown in FIGS. 1D and 1E, the transplanter 1 is equipped with a display device 360 ​​and a warning lamp 362. The display device 360 ​​is disposed in a central location above the steering column 27 in front of the driver's seat 3. The warning lamp 362 is disposed on the steering column 27 to the right of the display device 360. The operator 2 can see the display device 360 ​​and the warning lamp 362 while seated in the driver's seat 3. The display device 360 ​​has, for example, a segment display unit 361. The segment display unit 361 is a segment LCD (Liquid Crystal Display) that displays various information using multiple (e.g., four) characters in a segment format. The segment display unit 361 can display, in a segment format, various setting information before the start of automatic steering, various display information related to automatic steering, and the like. Note that the display device 360 ​​may be equipped with a dot-matrix display unit with excellent expressiveness (e.g., a display unit configured with a liquid crystal panel, a touch panel, or the like) instead of the segment display unit 361. The alarm lamp 362 lights up or flashes under the control of the control device 131 when there is an abnormality or a warning in the transplanter 1, thereby alerting the operator 2.

[0050] As shown in Figures 1A and 1C, spare seedling trays 28 for placing seedling trays 8 containing seedlings 7 are arranged on the sides of the hood 26. The spare seedling trays 28 have multiple tiers (e.g., six tiers) of spare seedling trays 28A, and are provided on the left and right sides of the hood 26. The operator 2 can remove the seedling trays 8 from the spare seedling trays 28 and supply them to the planting machine 4 (seedling loading trays 9).

[0051] The spare seedling tray 28 has support posts 28B that extend to a position higher than the driver's seat 3. The support posts 28B are erected on both the left and right sides of the running body 5, for example, on the left and right sides of the hood 26. Specifically, the support posts 28B are gate-shaped support posts having a front support post 28B1 and a rear support post 28B2 erected at a distance in the fore-and-aft direction of the running body 5, and a front-and-aft frame 28B3 connecting the top of the front support post 28B1 and the top of the rear support post 28B2. Six tiers of spare seedling trays 28A are attached to the support posts 28B at intervals in the vertical direction.

[0052] 1C, the upper portions of the left and right support columns 28B are connected to each other by a connecting frame 420. Therefore, both support columns 28B are firmly held by the connecting frame 420. As shown in FIGS. 1A and 1C, an antenna unit 400 that receives satellite positioning information and a housing 405 that houses a communication device 401 are attached to the connecting frame 420.

[0053] As shown in FIG. 2A, a bracket 410 is attached to the connecting frame 420. An antenna unit 400 is attached to the upper part of the bracket 410. A housing 405 is attached to the lower part of the bracket 410. As shown in FIG. 2B, the antenna unit 400 and the housing 405 are arranged in a position where they overlap with each other via the bracket 410 in a plan view. As shown in FIG. 2B, the antenna unit 400 is connected to the control device 131 via a cable CB1. The communication device 401 is connected to the control device 131 via a cable CB2. The cables CB1 and CB2 are routed along the connecting frame 420.

[0054] Specifically, as shown in FIGS. 2A to 2D, the bracket 410 includes a first bracket 411 to which the housing 405 is attached and which is fixed to a connecting frame 420, and a second bracket 412 to which the antenna unit 400 is attached. As shown in FIGS. 2C and 2D, the first bracket 411 has a screw hole 411a formed therein. The second bracket 412 has a long slot 412a formed along the connecting frame 420. For example, a fastener 413 such as a bolt is inserted into the slot 412a and screwed (screwed) into the screw hole 411a, thereby securing the second bracket 412 to the housing 405. The bracket 412 is fastened to the first bracket 411 with screws.

[0055] First bracket 411 includes clamping portion 411A that is U-shaped in a side view and is fixed to connecting frame 420, and mounting plate portion 411B that is rectangular in a plan view and has housing 405 attached to its underside. For example, clamping portion 411A in a U-shape is fixed to connecting frame 420 in a state where it clamps connecting frame 420 by pressing the inside of clamping portion 411A against connecting frame 420 or by welding to connecting frame 420. Clamping portion 411A may also be fixed to connecting frame 420 with a fastener or the like.

[0056] Through holes into which bolts 415 are inserted are formed at the four corners of the mounting plate portion 411B of the first bracket 411. The bolts 415 inserted into the through holes are screwed into female screws 407 formed at the four corners of the top surface of the housing 405, thereby attaching the housing 405 to the bottom surface of the mounting plate portion 411B.

[0057] 2C and 2D, the second bracket 412 includes a rounded, generally rectangular mounting plate portion 412A and an L-shaped frame body 412B that is fixed to the underside of the mounting plate portion 412A and is long in the width direction of the second bracket 412. The L-shaped frame body 412B has an upper side portion 412B1 and a hanging side portion 412B2. The upper side portion 412B1 of the L-shaped frame body 412B is fixed to the underside of the mounting plate portion 412A. Two long holes 412a are formed in the hanging side portion 412B2 of the L-shaped frame body 412B, side by side in the width direction.

[0058] 2B, in a plan view, bracket 410 has a mounting surface on which antenna unit 400 is mounted that is larger than antenna unit 400. This mounting surface is a surface whose outline is formed by mounting plate portion 411B of first bracket 411 and mounting plate portion 412A of second bracket 412. Note that, as shown in FIGS. 2B and 2C, mounting plate portion 412A of second bracket 412 is larger than bottom surface 400a of antenna unit 400.

[0059] 1A and 2A, housing 405 accommodates communication device 401 and speaker 402. Speaker 402 is attached to housing 405 in a position facing the driver's seat 3. Housing 405 includes partition wall 406 that separates first space 405A accommodating communication device 401 from second space 405B accommodating speaker 402.

[0060] 2E, housing 405 includes upper plate 408A, housing 408B, and opening / closing lid 408C. Opening / closing lid 408C includes waterproof cable passage 409 through which cable CB2 of communication device 401 and cable CB3 of speaker 402 are passed.

[0061] The connecting frame 420 is configured to be switchable between an upright position SP shown in FIG. 2A and a retracted position DP shown in FIG. 2F by rotating about a horizontal axis X3 along the width direction (machine body width direction K2) of the running body 5. In the upright position SP of the connecting frame 420 shown in FIG. 2A, the antenna unit 400 is positioned higher than the tops of both support columns 28B and can receive satellite positioning information. In the retracted position DP of the connecting frame 420 shown in FIG. 2F, the antenna unit 400 is lower than in the upright position SP and is positioned below the housing 405. Therefore, in the retracted position DP, the antenna unit 400 cannot receive satellite positioning information or the reception condition is significantly deteriorated.

[0062] The control device 131 determines that the connecting frame 420 is in the storage position DP when the reception level of the signal indicating the satellite positioning information from the antenna unit 400 is equal to or lower than a specified value and when correction information for the positioning error is acquired by the communication device 401. For example, when the control device 131 determines that the connecting frame 420 is in the storage position DP, it issues a command such as "The connecting frame 420 is in the storage position DP." The operator 2 can be notified by outputting a voice from the speaker 402, by displaying a character string indicating this in segments on the display device 360, or by lighting up the alarm lamp 362.

[0063] Here, a configuration in which connecting frame 420 can be switched between an upright position SP shown in Fig. 2A and a retracted position DP shown in Fig. 2F will be described. As shown in Figs. 2C and 2D, connecting frame 420 includes left leg 421, right leg 422, and rod-shaped body 423. Left leg 421 has a left lower portion 421A connected to front / rear frame 28B3 of support column 28B on the left side of running body 5, and a first extending portion 421B that is bent upward and extends from lower left portion 421A. Right leg 422 has a right lower portion 422A connected to front / rear frame 28B3 of support column 28B on the right side of running body 5, and a second extending portion 422B that is bent upward and extends from lower right portion 422A. The rod-shaped body 423 is a member that connects the upper end of the first extending portion 421B and the upper end of the second extending portion 422B, and extends in the width direction of the running body 5 (machine body width direction K2).

[0064] A rotary support body 28B4 is fixed to the upper part of the front and rear frames 28B3 of the support pillar 28B, and rotatably supports the connecting frame 420. That is, a rotary support body 28B4 is fixed to each of the support pillars 28B on both the left and right sides.

[0065] The left-side pivotable support 28B4 comprises a pair of support walls 28B41 extending upward at a distance slightly larger than the left lower part 421A of the left leg 421, a semicircular protrusion 28B42 protruding upward from the center of the pair of support walls 28B41, and a fixing pin 28B43 inserted into a through hole formed in the protrusion 28B42 and a through hole formed at the tip of the left lower part 421A of the left leg 421.

[0066] In addition, the right-side pivotable support 28B4 has a pair of support walls 28B41 extending upward at a distance slightly larger than the lower right part 422A of the right leg 422, a semicircular protrusion 28B42 protruding upward from the center of the pair of support walls 28B41, and a fixing pin 28B43 inserted into a through hole formed in the protrusion 28B42 and a through hole formed at the tip of the lower right part 422A of the right leg 422.

[0067] Therefore, the connecting frame 420 is rotatable between an upright position SP shown in FIG. 2A and a retracted position DP shown in FIG. 2F.

[0068] The connecting frame 420 can be fixed in either an upright position SP shown in Fig. 2A or a retracted position DP shown in Fig. 2F. As shown in Fig. 2A, the left-side pivoting support 28B4 has a first female screw portion 28B61 for screwing the connecting frame 420 in the upright position SP and a second female screw portion 28B62 for screwing the connecting frame 420 in the retracted position DP. In the upright position SP shown in Fig. 2A, two fixing bolts 28B5 are inserted into vertical through-holes formed in the left lower portion 421A of the left leg 421, and the two fixing bolts 28B5 screw the left lower portion 421A of the left leg 421 to the first female screw portion 28B61 of the left-side pivoting support 28B4. Two fixing bolts 28B5 are inserted into vertical through-holes formed in the right lower portion 422A of the right leg 422, and the right lower portion 422A of the right leg 422 is screwed into the first female screw portion 28B61 of the right rotating support body 28B4 by the two fixing bolts 28B5. As a result, the connecting frame 420 is fixed to the support column 28B in the upright position SP.

[0069] On the other hand, as shown in Fig. 2D, by removing two fixing bolts 28B5 from the left lower portion 421A of the left leg 421 and removing two fixing bolts 28B5 from the right lower portion 422A of the right leg 422, the connecting frame 420 becomes rotatable. The operator rotates the connecting frame 420 around the horizontal axis X3 to the storage position DP shown in Fig. 2F. In the storage position DP shown in Fig. 2F, the two removed fixing bolts 28B5 penetrate the left lower portion 421A of the left leg 421 vertically. The connecting frame 420 is inserted into the vertical through-holes in the right lower part 422A of the right leg 422 and screwed into the second female screw portion 28B62 of the right rotating support body 28B4. The two fixing bolts 28B5 that were removed are inserted into the vertical through-holes in the right lower part 422A of the right leg 422 and screwed into the second female screw portion 28B62 of the right rotating support body 28B4. As a result, the connecting frame 420 is fixed to the support column 28B in the storage position DP.

[0070] As shown in Figures 2G and 2H, the spare seedling tray 28A has a base end 28A1 rotatably mounted on the front support 28B1 and the rear support 28B2 about a front-to-rear axis X4 extending in the front-to-rear direction of the running body 5, and is configured to be switchable between a use position UP1 shown in Figure 2G and a non-use position UP2 shown in Figure 2H. As shown in Figure 2G, in the use position UP1 of the spare seedling tray 28A, the tip end 28A2 of the spare seedling tray 28A, opposite the base end 28A1, is positioned in the width direction of the running body 5, allowing spare seedlings to be placed thereon. Also, as shown in Figure 2H, in the non-use position UP2 of the spare seedling tray 28A, the tip end 28A2 of the spare seedling tray 28A is tilted upward toward the support 28B, preventing spare seedlings from being placed thereon.

[0071] 2H, the rod-shaped members 423 of the connecting frame 420 are positioned higher than the uppermost spare seedling tray 28A when the uppermost spare seedling tray 28A is in the unused position UP2. In other words, the rod-shaped members 423 of the connecting frame 420 are positioned at a third height H3 from the uppermost spare seedling tray 28A.

[0072] 1A and 1B, the traveling vehicle 5 has a floor seat 29 arranged below the driver's seat 3. The floor seat 29 has a front step 29a at the front on which the operator 2 seated in the driver's seat 3 places his / her feet. The front step 29a is arranged in front of and below the driver's seat 3. The transmission case 20 is arranged below the front step 29a. Behind the front step 29a and below the driver's seat 3, a seat base cover 30 is provided to cover a portion 22A (see FIG. 4) of the support body 22 on which the driver's seat 3 is supported.

[0073] As shown in FIGS. 1A to 5, an empty tray receiving portion 15 capable of receiving empty seedling trays 8 sent out from the empty tray guide 14 is provided behind the seat base cover 30. The upper guide portion 14c is positioned above the empty tray receiving portion 15 and extends toward the empty tray receiving portion 15. The empty tray receiving portion 15 is provided behind the driver's seat 3 and in front of the seedling loading platform 9. In other words, the empty tray receiving portion 15 is provided between the driver's seat 3 and the empty tray guide 14 (seedling loading platform 9). This prevents the empty seedling trays 8 sent out from the empty tray guide 14 from falling downward from between the driver's seat 3 and the empty tray guide 14 (seedling loading platform 9). The empty tray receiving portion 15 is also provided above the front step 29a and below the driver's seat 3. Therefore, the empty tray receiving portion 15 is provided at a height that allows it to properly receive the empty seedling trays 8 sent out from the empty tray guide 14. Furthermore, the upper guide portion 14c is formed with a downward inclination toward the front and extends toward the empty tray receiving portion 15, so that the empty seedling tray 8 can be smoothly sent out to the empty tray receiving portion 15. The rear end of the empty tray receiving portion 15 is located below the upper rear end of the empty tray guide 14. Specifically, the rear end of the empty tray receiving portion 15 and the rear end of the empty tray guide 14 overlap in plan view. This prevents the empty seedling tray 8 sent out from the empty tray guide 14 from falling downward from between the empty tray guide 14 and the empty tray receiving portion 15, and the empty seedling tray 8 can be received by the empty tray receiving portion 15.

[0074] As shown in FIGS. 3 and 5, the empty tray receiving section 15 has an extension (first receiving section) 32 at the rear of the floor seat 29 and multiple rear steps (second receiving sections) 33 arranged behind the extension 32. The extension 32 is located higher than the front step 29a and behind the seat base cover 30. Specifically, it protrudes rearward from the lower rear end of the seat base cover 30. The left portion of the extension 32 protrudes leftward from the seat base cover 30, and the right portion protrudes rightward from the seat base cover 30. The left and right portions of the extension 32 are connected to the front step 29a by an inclined portion 29b. The inclined portion 29b extends in an inclined direction that becomes upward as it moves rearward from the rear of the front step 29a. The multiple rear steps 33 are located rearward of the extension 32 and at approximately the same height as the extension 32.

[0075] The multiple rear steps 33 include a first rear step 33R and a second rear step 33L. The first rear step 33R is located rear of the right part of the extension part 32, and the second rear step 33L is located rear of the left part of the extension part 32. The first rear step 33R and the second rear step 33L are supported by the vehicle body 16 (vehicle body frame 21) via frame members (referred to as step frames) 34.

[0076] As shown in FIG. 3, the step frame 34 has a first frame member 34A to a third frame member 34C. The first frame member 34A is disposed between the rear step 33 and the extension portion 32, extending in the vehicle width direction K2. The second frame member 34B has a lower portion fixed to the vehicle frame 21, and an upper portion to which the first frame member 34A is fixed. The third frame member 34C protrudes rearward from the first frame member 34A. The third frame member 34C is disposed on the underside of the rear step 33 and supports the rear step 33 from below. A plurality of third frame members 34C are provided, one on each of the left and right portions of the first rear step 33R and the second rear step 33L.

[0077] The rear step 33 is disposed in front of the seedling loading table 9. Therefore, the operator 2 can place his / her foot on the rear step 33 when supplying (replenishing) the seedling trays 8 to the seedling loading table 9, and by placing his / her foot on the rear step 33, the seedling trays 8 can be easily replenished.

[0078] As shown in Figures 1B and 5, the planting work machine 4 of this embodiment has two (multiple) seedling loading trays 9, with a first rear step 33R arranged in front of one of the seedling loading trays 9 (first seedling loading tray 9R) and a second rear step 33L arranged in front of the other seedling loading tray 9 (second seedling loading tray 9L).

[0079] The first rear step 33R and the second rear step 33L may be formed continuously. The rear step 33 may also be formed from a single member. When there is one seedling carrying tray 9, one rear step 33 is provided. When there are three or more seedling carrying trays 9, the number of rear steps 33 may correspond to the number of seedling carrying trays 9, or one rear step 33 common to all seedling carrying trays 9 may be provided.

[0080] Next, the planting machine 4 will be described in detail.

[0081] As shown in Figures 1A and 1B, the planting machine 4 has a transplanting frame 36. As shown in Figure 1B, the transplanting frame 36 has a main frame 37 and a plurality of unit frames 38. The plurality of unit frames 38 include a first unit frame 38R and a second unit frame 38L.

[0082] As shown in Figures 8 to 10, the main frame 37 has a first frame 39 to a twelfth frame 50. The first frame 39 is disposed in the front portion of the main frame 37. The first frame 39 has a first support column 39a on the right side, a second support column 39b on the left side, and a connecting portion 39c that connects the upper portions of the first support column 39a and the second support column 39b. The first support column 39a and the second support column 39b are bent forward midway in the vertical direction. More specifically, the lower portions of the first support column 39a and the second support column 39b are linear in the vertical direction, and the upper portions are formed in an inclined shape that slopes forward as they extend upward. The lower portion of the second support column 39b protrudes downward beyond the lower end of the first support column 39a.

[0083] The second frame 40 is disposed below the first support column 39a and the second support column 39b, extending in the aircraft width direction K2. The lower end of the second support column 39b is connected to the second frame 40. The right portion of the second frame 40 protrudes rightward beyond the first support column 39a, and the left portion protrudes leftward beyond the second support column 39b. The third frame 41 connects the lower portion of the first support column 39a to the second frame 40.

[0084] The fourth frame 42 protrudes rearward from a vertically intermediate portion of the first frame 39. Specifically, the fourth frame 42 has a first portion 42a to a third portion 42c. The front portion of the first portion 42a is connected to a vertically intermediate portion of the first support column 39a and protrudes rightward from the first support column 39a. The portions from the intermediate portion to the rear portion of the first portion 42a extend rearward from the outer end of the front portion of the first portion 42a. The front portion of the second portion 42b is connected to a lower portion of the second support column 39b and protrudes leftward from the second support column 39b. The portions from the intermediate portion to the rear portion of the second portion 42b extend rearward from the outer end of the front portion of the second portion 42b. The third portion 42c connects the rear ends of the first portion 42a and the second portion 42b.

[0085] The fifth frame 43 has a horizontal front portion and is connected to the right portion of the second frame 40. The fifth frame 43 is formed in an inclined shape that slopes upward from the middle portion to the rear portion, and its rear end portion is connected to the third portion 42c of the fourth frame 42.

[0086] The sixth frame 44 has a horizontal front portion and is connected to the left portion of the second frame 40. The sixth frame 44 is formed in an inclined shape that slopes upward from the middle portion to the rear portion, and its rear end portion is connected to the third portion 42c of the fourth frame 42.

[0087] The seventh frame 45 connects the first section 42a and the second section 42b of the fourth frame 42. More specifically, it connects the inboard section (left section) of the front part of the first section 42a to the inboard section (right section) of the front part of the second section 42b.

[0088] The eighth frame 46 connects the first portion 42a and the second portion 42b of the fourth frame 42. More specifically, the eighth frame 46 connects a connecting piece 51R fixed to a midpoint in the fore-and-aft direction of the first portion 42a and a connecting piece 51L fixed to a midpoint in the fore-and-aft direction of the second portion 42b.

[0089] The ninth frame 47 connects the lower part of the second support column 39b and the third frame 41.

[0090] The tenth frame 48 is disposed in the approximate center of the main frame 37 in the body width direction K2, and connects the ninth frame 47 and the third portion 42c of the fourth frame 42 together.

[0091] The eleventh frame 49 and the twelfth frame 50 are arranged at a distance in the width direction K2 of the body at the center of the body width direction K2 in the front part of the main frame 37. The eleventh frame 49 and the twelfth frame 50 connect the seventh frame 45 and the second frame 40.

[0092] A first spring hook stay 52R is provided on the top of the first support pillar 39a, and a second spring hook stay 52L is provided on the top of the second support pillar 39b.

[0093] A fixed plate 53 is provided at the upper portion between the eleventh frame 49 and the twelfth frame 50. A rolling shaft 54 ​​is attached to the fixed plate 53 so as to protrude forward. The rolling shaft 54 ​​has a rolling axis X1 extending in the longitudinal direction of the machine body (arrow K1). The rolling shaft 54 ​​is disposed in approximately the center of the main frame 37 in the width direction K2 of the machine body.

[0094] A rail member (referred to as a first rail) 56 extending in the width direction K2 of the vehicle body is disposed on the rear side of the seventh frame 45. The first rail 56 is formed of a channel steel member and opens toward the rear. A plurality of stay members 55 are fixed to the upper surface of the first rail 56 at predetermined intervals in the width direction K2 of the vehicle body. Each stay member 55 is fixed to the seventh frame 45 with a bolt.

[0095] A rail member (referred to as a second rail) 58 extending in the vehicle width direction K2 is disposed on the front side of the eighth frame 46. The second rail 58 is formed of a channel steel member and opens forward. A plurality of stay members 57 are fixed to the second rail 58. Each stay member 57 is fixed to the eighth frame 46 with a bolt.

[0096] A support bracket (referred to as a first support bracket) 59 is fixed to the front of the sixth frame 44. The first support bracket 59 stands upright on the sixth frame 44. A support bracket (referred to as a second support bracket) 60 is fixed to the front of the fifth frame 43. The second support bracket 60 stands upright on the fifth frame 43.

[0097] A plurality of connecting plates 61 are provided on the rear of the main frame 37. The plurality of connecting plates 61 include a first connecting plate 61R and a second connecting plate 61L. The first connecting plate 61R is fixed to the right portion of the third portion 42c of the fourth frame 42, and the second connecting plate 61R is fixed to the left portion of the third portion 42c.

[0098] 1B, the first unit frame 38R is disposed on the right side of the main frame 37, and the second unit frame 38L is disposed on the left side of the main frame 37. Specifically, the first unit frame 38R and the second unit frame 38L are disposed between the first portion 42a and the second portion 42b of the fourth frame 42, with the first unit frame 38R disposed on the right side between the first portion 42a and the second portion 42b, and the second unit frame 38L disposed on the left side between the first portion 42a and the second portion 42b. A first connecting plate 61R is disposed behind the first unit frame 38R, and a second connecting plate 61L is disposed behind the second unit frame 38L.

[0099] As shown in FIG. 1A, the first unit frame 38R and the second unit frame 38L are provided with a seedling extracting device 11, a planting body 12, and a soil covering wheel (ground contact roller) 62, respectively.

[0100] A plurality of seedling picking devices 11 are provided, and the plurality of seedling picking devices 11 include a first seedling picking device 11R provided on the first unit frame 38R and a second seedling picking device 11L provided on the second unit frame 38L.

[0101] A plurality of planting bodies 12 are provided, including a right planting body 12R provided on the first unit frame 38R and a left planting body 12L provided on the second unit frame 38L. The right planting body 12R constitutes part of a first planting device 35R (see Figure 28) that plants seedlings 7 taken out by the first seedling taking-out device 11R in the field 6. The left planting body 12L constitutes part of a second planting device 35L (see Figure 28) that plants seedlings 7 taken out by the second seedling taking-out device 11L in the field 6.

[0102] The soil covering wheels 62 are composed of a first soil covering wheel 62R provided on the first unit frame 38R and a second unit The knit frame 38L includes a second soil covering wheel 62L. Two first soil covering wheels 62R and two second soil covering wheels 62L are provided. The two first soil covering wheels 62R are arranged side by side in the width direction K2 of the machine body. The two second soil covering wheels 62L are also arranged side by side in the width direction K2 of the machine body. The first soil covering wheel 62R is arranged behind the right planting body 12R and rolls on the left and right sides of the seedlings 7 planted in the right planting body 12R, piling up soil around the seedlings' periphery and compacting the periphery. The second soil covering wheel 62L is arranged behind the left planting body 12L and rolls on the left and right sides of the seedlings 7 planted in the left planting body 12L, piling up soil around the seedlings' periphery and compacting the periphery.

[0103] As shown in Figure 1A, the first unit frame 38R, the first seedling pick-up device 11R, the right planting body 12R (first planting device 35R), and the first soil covering wheel 62R constitute a first transplanting unit 63R. The second unit frame 38L, the second seedling pick-up device 11L, the left planting body 12L (second planting device 35L), and the second soil covering wheel 62L constitute a second transplanting unit 63L.

[0104] The number of transplanting units may be one or more than two. The number of seedling carriers is also determined according to the number of transplanting units.

[0105] 11 and 12, the first unit frame 38R has a frame main body 64 that is rectangular in plan view. The frame main body 64 has a first side frame 65A and a second side frame 65B that are arranged facing each other with a gap in between in the vehicle width direction, a front frame 66 (referred to as a first front frame) that connects front portions of the first side frame 65A and the second side frame 65B, a rear frame 67 that connects front portions of the first side frame 65A and the second side frame 65B, and a second front frame 68 that is arranged rearward of the first front frame 66 and connects the first side frame 65A and the second side frame 65B. The first side frame 65A is arranged outward of the second side frame 65B.

[0106] The second unit frame 38L also has a frame main body 64 having a similar configuration to that of the first unit frame 38R.

[0107] A first unit bracket 69 and a second unit bracket 70 are provided at the front of each frame main body 64, and are spaced apart in the vehicle width direction K2. The first unit bracket 69 and the second unit bracket 70 have their upper portions fixed to the first front frame 66 and the second front frame 68, and protrude downward from the frame main body 64. The first unit bracket 69 is disposed on the outer side of the frame main body 64 toward the vehicle body, and the second unit bracket 70 is disposed on the inner side of the frame main body 64 toward the vehicle body.

[0108] 11, a drive shaft 71 is disposed at the front of the first unit frame 38R (first transplant unit 63R) and the second unit frame 38L (second transplant unit 63L) so as to extend in the machine body width direction K2. The drive shaft 71 is also provided at the front of the main frame 37 so as to extend in the machine body width direction.

[0109] The drive main shaft 71 supports the front portions of the first unit frame 38R and the second unit frame 38L so as to be movable in the width direction K2 of the machine body. Specifically, the drive main shaft 71 has an axis extending in the width direction K2 of the machine body, and is provided across from the front portion of the fifth frame 43 to the front portion of the sixth frame 44. The left side of the drive main shaft 71 is rotatably supported by the first support bracket 59 via a bearing 72, and the right side is rotatably supported by the second support bracket 60 via a bearing 73. The first unit frame 38R and the second unit frame 38L are disposed above the drive main shaft 71. The drive main shaft 71 is supported by the first unit bracket 69 and the second unit bracket 70 of the first unit frame 38R and the second unit frame 38L. The drive shaft 71 is inserted through the lower portion thereof and is rotatably supported by bearings 74 provided on the first unit bracket 69 and the second unit bracket 70. As a result, the front portions of the first unit frame 38R and the second unit frame 38L are supported on the drive main shaft 71 so as to be movable in the machine body width direction K2.

[0110] As shown in Figures 11 and 13, the first unit frame 38R has a first mounting plate 76R attached to the first connecting plate 61R, and the second unit frame 38L has a second mounting plate 76L attached to the second connecting plate 61L.

[0111] As shown in Figures 13 and 14, the first mounting plate 76R is attached to the rear frame 67 of the first unit frame 38R by bolts 77A and nuts 77B so that its position can be adjusted in the width direction K2 of the vehicle body. The second mounting plate 76L is attached to the rear frame 67 of the second unit frame 38L by bolts 77A and nuts 77B so that its position can be adjusted in the width direction K2 of the vehicle body. The first mounting plate 76R is attached to the first connecting plate 61R by bolts 78A and nuts 78B so that its position can be adjusted in the width direction K2 of the vehicle body. The second mounting plate 76L is attached to the second connecting plate 61L by bolts 78A and nuts 78B so that its position can be adjusted in the width direction K2 of the vehicle body. The position of the first unit frame 38R relative to the main frame 37 in the width direction K2 of the vehicle body can be adjusted by changing the mounting position of the first mounting plate 76R relative to the first connecting plate 61R in the width direction K2 of the vehicle body. By changing the mounting position of the second mounting plate 76L relative to the second connecting plate 61L in the width direction K2 of the machine body, the position of the second unit frame 38L can be adjusted in the width direction K2 of the machine body relative to the main frame 37. That is, the first transplanting unit 63R and the second transplanting unit 63L are supported by the main frame 37 so that their positions can be adjusted independently in the width direction K2 of the machine body.

[0112] By adjusting the positions of the first unit frame 38R and the second unit frame 38L in the width direction K2 of the machine body, the row spacing W1 (see Figure 11), which is the distance between the right planting body 12R and the left planting body 12L in the width direction K2 of the machine body (the distance between the seedlings 7 planted in the right planting body 12R and the seedlings 7 planted in the left planting body 12L in the width direction K2 of the machine body), can be adjusted.

[0113] As shown in Figure 13, the first mounting plate 76R and the second mounting plate 76L are provided with indicators 78. The first connecting plate 61R and the second connecting plate 61L are provided with row-to-row spacing indicators 79. The row-to-row spacing indicators 79 have numbers indicating the row-to-row spacing W1 written on them. By aligning the indicators 78 with the numbers on the row-to-row spacing indicators 79, the row-to-row spacing W1 can be easily adjusted.

[0114] 12, an input sprocket 83, which is an input member that inputs rotational power to the drive main shaft 71, is provided on the center side of the drive main shaft 71 so as to rotate integrally with it. The input sprocket 83 is supported by a bearing 84, and the bearing 84 is attached to a stay member 85 fixed to the tenth frame 48.

[0115] FIG. 15 shows a side view of the power input section 86 that inputs power to the drive main shaft 71, and FIG. 16 shows a plan view in which a part of the power input section 86 is developed.

[0116] As shown in FIGS. 15 and 16, the power input unit 86 has an input shaft 87, a gear transmission mechanism 88, and a wrapping transmission mechanism 89 including the input sprocket 83.

[0117] As shown in FIG. 1A, power is transmitted to the input shaft 87 from a PTO shaft (power take-off shaft) protruding rearward from the transmission case 20. In detail, a first joint shaft 92 is interlocked with the PTO shaft 90 via a planting clutch (inter-plant clutch) 91. A second joint shaft 93 is operatively connected to the shaft 92. The second joint shaft 93 is operatively connected to the input shaft 87. The planting clutch 91 transmits the power output from the PTO shaft 90 to the input shaft 87 in an intermittent manner. When the planting clutch 91 is disengaged, the operation of the planting body 12, seedling removal device 11, etc. stops, and when the planting clutch 91 is engaged, the operation of the planting body 12, seedling removal device 11, etc. resumes. Therefore, the control device 131 can plant the seedlings 7 at a predetermined spacing by adjusting the disengagement time of the planting clutch 91.

[0118] 15 and 16 , the gear transmission mechanism 88 has a first bevel gear 88A fitted to the input shaft 87 so as to be rotatable together with the input shaft 87, and a second bevel gear 88B meshing with the first bevel gear 88A. The wrapping transmission mechanism 89 has a first transmission sprocket 94 rotatable together with the second bevel gear 88B, a second transmission sprocket 95 to which power is transmitted from the first transmission sprocket 94, and a third transmission sprocket 96 to which power is transmitted from the second transmission sprocket 95. Power is transmitted from the third transmission sprocket 96 to the input sprocket 83.

[0119] As shown in Figures 1A and 17, the main frame 37 (planting implement 4) is attached to the traveling body 5 via an implement attachment device 123. The implement attachment device 123 has an attachment frame 124 to which the main frame 37 (planting implement 4) is detachably attached, and an implement lifting mechanism 125 that raises and lowers the main frame 37 (planting implement 4).

[0120] As shown in Figure 17, the mounting frame 124 has a bearing body 128 that supports the rolling shaft 54 ​​rotatably around the rolling axis X1. The main frame 37 can swing around the rolling axis X1 relative to the mounting frame 124. The right planting body 12R and the left planting body 12L are arranged side by side in the machine body width direction K2, sandwiching the rolling axis X1 therebetween.

[0121] The work implement lifting mechanism 125 has a connecting link mechanism 129 that connects the running body 5 and the mounting frame 124, and a lifting driver 130 that drives the planting work implement 4 to lift up and down.

[0122] The connecting link mechanism 129 is configured with parallel links and has an upper link 129A and a lower link 129B arranged below the upper link 129A. The front portion of the upper link 129A is connected to the rear portion of the machine body 16 (machine body frame 21) so as to be rotatable about its axis in the machine body width direction K2. The rear portion of the upper link 129A is connected to the mounting frame 124 so as to be rotatable about its axis in the machine body width direction K2. The front portion of the lower link 129B is connected to the rear portion of the machine body 16 (machine body frame 21) so as to be rotatable about its axis in the machine body width direction K2. The rear portion of the lower link 129B is connected to the mounting frame 124 so as to be rotatable about its axis in the machine body width direction K2. The connecting link mechanism 129 allows the planting implement 4 to move up and down in a parallel manner.

[0123] The lifting drive body 130 includes a lifting cylinder 450 and a connecting body 460. The lifting cylinder 450 is, for example, a hydraulic cylinder. The lifting cylinder 450 includes a cylindrical cylinder body 451 and a piston rod 452 that is extendable from the cylinder body 451 in the longitudinal direction of the cylinder body 451. The connecting body 460 is attached to the tip of the piston rod 452 of the lifting cylinder 450 and is connected to the mounting frame 124. More specifically, one end of the lifting cylinder 450 (the bottom side of the cylinder body 451) is connected to the rear of the machine body 16 (machine body frame 21) so as to be rotatable about an axis in the machine body width direction K2. The other end of the lifting cylinder 450 (the connecting body 460 attached to the tip side of the piston rod 452) is connected to the mounting frame 124 so as to be rotatable about an axis in the machine body width direction K2. One end of the lifting cylinder 450 is pivotally supported concentrically with the front part of the upper link 129A, and the other end is pivotally supported concentrically with the rear part of the lower link 129B.

[0124] As shown in FIG. 17, the transplanter 1 is provided with a control valve 132 for controlling the lifting cylinder 450. The control valve 132 is controlled by the control device 131. The control valve 132 is formed by an electromagnetic valve and is configured, for example, as a three-position directional changeover valve that can be switched between a neutral position, a raised position, and a lowered position. The control valve 132 is connected to the control device 131 by electrical wiring or the like, and is also connected to the cylinder body 451 of the lifting cylinder 450, the hydraulic pump 133, and the hydraulic oil tank 134 via hydraulic lines. When the control device 131 sends a lift command signal to the control valve 132, the control valve 132 is switched to the raised position, hydraulic oil from the hydraulic pump 133 is supplied to the bottom side of the cylinder body 451, the lifting cylinder 450 extends, and the main frame (planting machine 4) rises. In addition, when the control device 131 sends a lowering command signal to the control valve 132, the control valve 132 is switched to the lowering position, hydraulic oil is supplied to the rod side of the cylinder body 451, the lifting cylinder 450 contracts, and the main frame 37 lowers.

[0125] The lifting driver 130 may be configured as an electric cylinder (electric actuator) or an electric hydraulic cylinder (electric hydraulic actuator). An electric cylinder is an electrically driven cylinder, and is, for example, an actuator that rotates a ball screw around its axis using an electric motor to move a ball screw nut, and moves a rod forward and backward by the movement of this ball screw nut. An electric hydraulic cylinder is, for example, an actuator that integrates an electric motor, an oil tank, a hydraulic pump, a valve, a hydraulic cylinder, etc., and is an actuator in which the rotation of the electric motor rotates the hydraulic pump and switches the valve to operate the hydraulic cylinder.

[0126] 18A to 18C, the work implement lifting mechanism 125 is provided with a shock absorber 470 that absorbs impacts from the traveling body 5 and the planting implement 4. Specifically, the connecting body 460 of the lifting drive body 130 is provided with the shock absorber 470.

[0127] 19A and 20, piston rod 452 has first flange 453 at a first position spaced a first distance D1 (see FIG. 20) from its tip. As shown in FIGS. 19A and 19B, first flange 453 is a disc-shaped metallic flange member with a through-hole 453a formed in the center. Tip 452A of piston rod 452 (see FIGS. 19B and 19C) is inserted into through-hole 453a of first flange 453.

[0128] 18A to 19A, the connector 460 includes a main body 464 attached to the tip 452A of the piston rod 452, and a pair of legs 466 extending from the side of the main body 464 and connected to the mounting frame 124. As shown in FIGS. 19A to 19C and 20, the main body 464 includes a mounting surface 462 having a through-hole 461 into which the tip 452A of the piston rod 452 is inserted, and a cylindrical portion 463 extending from the outer periphery of the mounting surface 462 along the tip 452A of the piston rod 452. The pair of legs 466 extend from the outer periphery of the cylindrical portion 463 and are connected to the mounting frame 124 so as to be rotatable about an axis in the width direction of the traveling body 5.

[0129] As shown in FIGS. 19A to 19C and 20, the shock absorber 470 includes a first elastic body 471 having a through-hole 472 into which a tip portion 452A of a piston rod 452 (see FIGS. 19B and 19C) is inserted. The first elastic body 471 is made of cylindrical rubber and has a first surface 471a that abuts against the first flange portion 453 and a second surface 471b that abuts against the main body portion 464. The first elastic body 471 is made of, for example, urethane rubber having a hardness of 90 degrees or more. The first elastic body 471 has a through-hole 472 that penetrates from the center of the circular first surface 471a to the center of the circular second surface 471b. As shown in FIG. 20, the through-hole 472 has a tapered shape (a mortar shape) in which the opening of the through-hole 472 gradually becomes larger from approximately the center position in the depth direction of the through-hole 472 toward the second surface 471b. The tapered shape of the through-hole 472 makes it easy for the first elastic body 471 to be inserted into and removed from the tip portion 452A of the piston rod 452. Note that first elastic body 471 may be made of an elastic material other than urethane rubber, such as rubber having a hardness of 90 degrees or more, or a spring. First elastic body 471 is configured by sandwiching first elastic body 471 between main body portion 464 and first flange portion 453.

[0130] As shown in Figures 19B and 20, the piston rod 452 has a first thread 454 formed in a first region RG1 that includes the first position. A first fastener 455 is screwed into the first region RG1 of the piston rod 452. Therefore, the first fastener 455 is screwed in a state in which the first flange 453 is pressed against the first elastic body 471. The first fastener 455 is made up of a first nut 455a and a second nut 455b, and the first nut 455a and the second nut 455b that are screwed into the first region RG1 of the piston rod 452 are clamped together. This clamping prevents the first fastener 455 from loosening.

[0131] 19A and 20, piston rod 452 has second flange 456, separate from first flange 453, at a second position spaced a second distance D2 (see FIG. 20) from the tip of piston rod 452, which is shorter than first distance D1. Second flange 456 is a disc-shaped metallic flange member with a through-hole 456a formed in the center. Tip 452A of piston rod 452 (see FIGS. 19B and 19C) is inserted into through-hole 456a of second flange 456.

[0132] As shown in FIGS. 19A to 19C and 20, the shock absorber 470 includes a second elastic body 474 in addition to the first elastic body 471. The second elastic body 474 has a through-hole 473 into which the tip portion 452A of the piston rod 452 is inserted, and is located inside the cylindrical portion 463. The second elastic body 474 is made of rubber and has a circular first surface 474a that abuts against the bottom surface 463a (see FIGS. 19B and 20) of the cylindrical portion 463, and a circular second surface 474b that abuts against the second flange portion 456. The through-hole 472 of the second elastic body 474 is formed so as to penetrate from the center of the circular first surface 474a to the center of the circular second surface 474b. The second elastic body 474 is made of, for example, urethane rubber having a hardness of 90 degrees or more. The second elastic body 474 may be an elastic body other than urethane rubber, such as rubber or a spring, having a hardness of 90 degrees or more. In this embodiment, the first elastic body 471 and the second elastic body 474 have the same hardness, but may have different hardnesses.

[0133] The buffer device 470 is configured by sandwiching a first elastic body 471 between the first flange portion 453 and the mounting surface 462 of the main body portion 464, and sandwiching a second elastic body 474 between the bottom surface 463a of the tubular portion 463 of the main body portion 464 and the second flange portion 456.

[0134] The piston rod 452 has a second thread 457 formed in a second range RG2 that includes the second position. A second fastener 458, such as a nut, is screwed into the second range RG2 of the piston rod 452. A second elastic body 474 and a second flange 456 are inserted into the cylindrical portion 463 of the main body 464. In this state, the second fastener 458 is screwed in such a way that the second flange 456 is pressed against the second elastic body 474.

[0135] As shown in FIGS. 18C and 20, a portion of the first elastic body 471 (for example, the circumferential surface 471c) is exposed. On the other hand, the second elastic body 474 is housed inside the tubular portion 463 of the main body 464 and is sandwiched by the second flange portion 456. In other words, the second elastic body 474 is not exposed. An operator can visually check the circumferential surface 471c (i.e., the exposed portion) of the first elastic body 471. This allows the operator to check the condition of the first elastic body 471 (for example, changes over time) without disassembling the connector 460, and to replace at least one of the first elastic body 471 and the second elastic body 474 at an appropriate time as needed.

[0136] As shown in Figure 22, the transplanter 1 has a rolling mechanism 135 that swings the planting implement 4 around a rolling axis X1. The rolling mechanism 135 is driven by a rolling motor 13 6, a rolling roller 137, and a rope 138. The rolling motor 136 and the rolling roller 137 are provided on the mounting frame 124 (work machine mounting device 123). The rolling motor 136 and the rolling roller 137 are disposed above the rolling shaft 54 ​​and at a position corresponding to the center of the main frame 37 in the machine body width direction K2. The rolling roller 137 is disposed above the rolling motor 136. The rolling motor 136 is constituted by an electric motor that can rotate forward and backward. The rolling motor 136 is also connected to a control device 131. The control device 131 controls the rolling mechanism 135.

[0137] As shown in Figures 23 and 24, the power of the rolling motor 136 is transmitted to the rolling roller 137 via a transmission mechanism (gear transmission mechanism) 139. The transmission mechanism 139 has a first gear 139A that is rotationally driven by the power of the rolling motor 136, and a second gear 139B that meshes with the first gear 139A. The second gear 139B has a larger diameter than the first gear 139A and rotates integrally with the rolling roller 137. Therefore, the power of the rolling motor 136 causes the rolling roller 137 to rotate forward and backward.

[0138] The cord 138 is formed of, for example, a wire or a cable, and is wound around the rolling roller 137. One side (right side) 138R of the cord 138 extends to one side (right side) from the rolling roller 137, and the other side (left side) 138L extends to the other side (left side) from the rolling roller 137. One side 138R of the cord 138 is connected to one side of the planting machine 4 in the machine body width direction K2, and the other side 138L is connected to the other side of the planting machine 4 in the machine body width direction K2. More specifically, as shown in FIG. 22 , one side 138R of the cord 138 is connected to one end of a first buffer spring 140R, and the other side 138L is connected to one end of a second buffer spring 140L. The other end of the first buffer spring 140R is hooked to the first spring hook stay 52R of the main frame 37, and the other end of the second buffer spring 140L is hooked to the second spring hook stay 52L. In other words, one end of the cord 138 is connected to one side of the main frame 37 in the body width direction K2 via the first buffer spring 140R, and the other end is connected to the other side of the main frame 37 in the body width direction K2 via the second buffer spring 140L.

[0139] When the rolling roller 137 is rotated in one direction, forward or reverse, for example, clockwise in FIG. 22, the left side of the rope 138 is pulled. This causes the main frame 37 (planting machine 4) to swing clockwise in FIG. 22 around the rolling axis X1. When the rolling motor 136 rotates the rolling roller 137 in the other direction, forward or reverse (counterclockwise in FIG. 22), the right side of the rope 138 is pulled. This causes the main frame 37 (planting machine 4) to swing counterclockwise in FIG. 22 around the rolling axis X1. As described above, the main frame 37 (planting machine 4) can freely swing around the rolling axis X1.

[0140] As shown in FIG. 23 , the mounting frame 124 is provided with a detection sensor 141 that detects large swings of the planting implement 4 around the rolling axis X1. The detection sensor 141 includes a first limit switch 141R that detects clockwise swings of the planting implement 4 and a second limit switch 141L that detects counterclockwise swings of the planting implement 4. One of the many teeth of the second gear 139B is a detection tooth 142 that protrudes radially outward from the other teeth. When this detection tooth 142 comes into contact with the contact of the first limit switch 141R or the second limit switch 141L, a large swing of the planting implement 4 around the rolling axis X1 is detected. When the first limit switch 141R or the second limit switch 141L detects the detection tooth 142, it stops driving the rolling motor 136, for example.

[0141] As shown in FIG. 1B, the planting implement 4 is connected to the first sensor located in front of the right planting body 12R. The left transplanting body 12L has a first sensor roller 126R (sensing roller 126) and a second sensor roller 126L (sensing roller 126) arranged in front of the left transplanting body 12L. The first sensor roller 126R is provided on the first unit frame 38R. That is, the first transplanting unit 63R includes the first sensor roller 126R. The second sensor roller 126L is provided on the second unit frame 38L. That is, the second transplanting unit 63L includes the second sensor roller 126L.

[0142] 22, the first sensing roller 126R is a member for detecting the height of the first planting surface 144R, which is the planting surface of the field 6 corresponding to the right planting body 12R. In other words, the first sensing roller 126R is a member for detecting the height of the first ridge 143R where the seedlings 7 are planted in the right planting body 12R.

[0143] The second sensing roller 126L is a member for detecting the height of the second planting surface 144L, which is the planting surface of the field 6 corresponding to the left planting body 12L. In other words, the second sensing roller 126L is a member for detecting the height of the second ridge 143L in which the seedlings 7 are planted in the left planting body 12L.

[0144] The first sensing roller 126R rolls on the first planting surface 144R, moving up and down in response to changes in the height of the first planting surface 144R. The second sensing roller 126L rolls on the second planting surface 144L, moving up and down in response to changes in the height of the second planting surface 144L.

[0145] 25, the first sensing roller 126R is supported by the first unit frame 38R by a first roller support mechanism 145R so as to be able to swing up and down. The second sensing roller 126L is supported by the second unit frame 38L by a second roller support mechanism 145L so as to be able to swing up and down.

[0146] The first roller support mechanism 145R includes a first roller bracket 146R that supports the first sensing roller 126R so that it can swing up and down, and a first biasing spring 147R that biases the first roller bracket 146R downward to press the first sensing roller 126R against the field surface (ground). The first roller bracket 146R includes a first arm 148A, a second arm 148B, and a connecting member 148C. The first arm 148A is disposed on the outer side of the machine body of the first sensing roller 126R, and the second arm 148B is disposed on the inner side of the machine body of the first sensing roller 126R. The first arm 148A and the second arm 148B protrude forward from the first sensing roller 126R. The connecting member 148C connects the first arm 148A and the second arm 148B to each other on the front side of the first sensing roller 126R.

[0147] As shown in FIGS. 25 and 27, a support bracket 149 is provided on the first unit frame 38R. The support bracket 149 has a fixed plate 149A extending between the first unit bracket 69 and the second unit bracket 70, and a mounting plate 149B fixed to the fixed plate 149A. The mounting plate 149B is disposed in front of the first sensing roller 126R. The mounting plate 149B has a width corresponding to the width of the first sensing roller 126R in the body width direction K2. The mounting plate 149B also has a first side plate 149a on the outer end side in the body width direction K2 and a second side plate 149b on the inner end side in the body width direction K2. Front portions of the first arm 148A and the second arm 148B are pivotally supported by pivots 150 to the first side plate 149a and the second side plate 149b. A first sensing roller 126R is rotatably supported on the rear of the first arm 148A and the second arm 148B by a roller shaft 151 having an axis extending in the machine body width direction K2.

[0148] 25 and 26, the first biasing spring 147R is formed of a compression coil spring and is fitted onto the outside of the rod member 152. The lower part of the rod member 152 is pivotally supported on a rod support shaft 153 fixed to the second arm 148B. The upper part of the rod member 152 is supported by a support stay 154 fixed to the second side frame 65B of the first unit frame 38R so as to be movable up and down along the axial direction of the rod member 152. The first biasing spring 147R is interposed in a compressed state between a spring receiving plate 155 attached to the rod member 152 and the support stay 154.

[0149] The second roller support mechanism 145L includes a second roller bracket 146L that supports the second sensing roller 126L so that it can swing up and down, and a second biasing spring (spring) 147L that biases the second roller bracket 146L downward to press the second sensing roller 126L against the field surface (ground). The second roller bracket 146L has a similar structure to the first roller bracket 146R. The second roller bracket 146L is supported on the second unit frame 38L by a support bracket 149 and rotatably supports the second sensing roller 126L by a roller shaft 151. The second biasing spring 147L is formed by a compression coil spring and is fitted into a rod member 152 on the second unit frame 38L side. The rod member 152 is pivotally supported on the second roller bracket 146L and is supported by a support stay 154 fixed to the second side frame 65B of the second unit frame 38L.

[0150] The height (height change) of the first planting surface 144R is detected by the first sensor mechanism 156R as the amount of swing of the first roller bracket 146R (the amount of change in the vertical position of the first sensing roller 126R).The height (height change) of the second planting surface 144L is detected by the second sensor mechanism 156L as the amount of swing of the second roller bracket 146L (the amount of change in the vertical position of the second sensing roller 126L).

[0151] As shown in Figures 25 and 27, the first sensor mechanism 156R has a first height detection sensor 157R and a first detection arm 159R. The first height detection sensor 157R is formed by a potentiometer. The first height detection sensor 157R is attached to a sensor bracket 158 ​​fixed to the second side plate portion 149b on the first unit frame 38R side. The first detection arm 159R has an arm main body 160 and an abutment 161. The front portion of the arm main body 160 is connected to the rotation detector of the first height detection sensor 157R and is rotatable together with the rotation detector. The abutment 161 is fixed to the rear portion of the arm main body 160. The abutment 161 is formed by a pin and abuts on the second arm 148B of the first roller bracket 146R. The arm body 160 can swing up and down concentrically with the first roller bracket 146R, and the first detection arm 159R swings up and down together with the first roller bracket 146R, causing the first height detection sensor 157R to detect the amount of swing of the first roller bracket 146R. This makes it possible to detect the height (height change) of the first planting surface 144R.

[0152] The second sensor mechanism 156L has a second height detection sensor 157L and a second detection arm 159L. The second height detection sensor 157L is also formed of a potentiometer. The second height detection sensor 157L is attached to a sensor bracket 158 ​​fixed to the second side plate portion 149b on the second unit frame 38L side. The second detection arm 159L has an arm main body 160 and an abutment 161. The front portion of the arm main body 160 is connected to the rotation detector of the second height detection sensor 157L and is rotatable together with the rotation detector. The abutment 161 is fixed to the rear portion of the arm main body 160. The abutment 161 is formed by a pin and abuts on the second arm 148B of the second roller bracket 146L. The arm body 160 can swing up and down concentrically with the second roller bracket 146L, and the second detection arm 159L swings up and down together with the second roller bracket 146L, causing the second height detection sensor 157L to detect the amount of swing of the second roller bracket 146L. This makes it possible to detect the height (height change) of the second planting surface 144L.

[0153] As shown in FIGS. 25 and 26, the first roller support mechanism 145R includes a first sensing roller 12 A scraper 162 is provided to remove mud from the first sensing roller 126R. The scraper 162 is attached to a scraper bracket 163. The scraper bracket 163 is provided so as to straddle the first sensing roller 126R and is fixed to the first roller bracket 146R. Similarly, a scraper 162 is provided in the second roller support mechanism 145L to remove mud from the second sensing roller 126R.

[0154] 22, the first height detection sensor 157R and the second height detection sensor 157L are connected to the control device 131 and transmit their detection values ​​to the control device 131. The control device 131 acquires the detection values ​​detected by the first height detection sensor 157R and the second height detection sensor 157L.

[0155] If there is a difference in height between the first planting surface 144R and the second planting surface 144L, the planting depth of the seedlings 7 planted in the right planting body 12R will differ from the planting depth of the seedlings 7 planted in the left planting body 12L. Therefore, when a difference in height occurs between the first planting surface 144R and the second planting surface 144L, the planting implement 4 is swung around the rolling axis X1 to set the first height H1, which is the height of the right planting body 12R relative to the first planting surface 144R (planting surface), and the second height H2, which is the height of the left planting body 12L relative to the second planting surface 144L (planting surface), to predetermined heights. In more detail, the control device 131 calculates the difference in height between the first height H1 and the second height H2 based on the detection values ​​detected by the first sensing roller 126R and the second sensing roller 126L, and swings the planting implement 4 around the rolling axis X1 in a direction that reduces this difference in height. In other words, the control device 131 calculates the difference in height between the first sensing roller 126R and the second sensing roller 126L based on the detection values ​​detected by the first sensing roller 126R and the second sensing roller 126L, and swings the planting implement 4 around the rolling axis X1 in a direction that reduces this difference in height between the first sensing roller 126R and the second sensing roller 126L.

[0156] More specifically, if the second planting surface 144L is higher than the first planting surface 144R, a difference in height will occur between the first and second sensing rollers 126R and 126L. In this case, the control device 131 swings the planting implement 4 around the rolling axis X1 so that the left side rises and the right side falls. This essentially ensures that the planting depth of the seedlings 7 planted with the right planting body 12R is the same as the planting depth of the seedlings 7 planted with the left planting body 12L. Note that if a height difference between the first height H1 and the second height H2 is set in advance using the angle adjustment unit 194 (described later), the planting implement 4 is swung around the rolling axis X1 to return to this set height.

[0157] In addition, the control device 131 raises and lowers the planting implement 4 based on the unevenness of the planting surface (field 6) detected by one of the first sensing roller 126R or the second sensing roller 126L, and calculates the difference in height between the first sensing roller 126R and the second sensing roller 126L based on the one sensing roller.

[0158] In this embodiment, the first sensing roller 126R detects unevenness of the first planting surface 144R, and the planting implement 4 is raised and lowered in response to the unevenness of the first planting surface 144R to ensure that the seedlings 7 are planted at the same depth in the fore-and-aft direction of the implement (arrow K1), i.e., the longitudinal direction of the furrow. Specifically, when the planting surface becomes higher, the planting implement 4 is raised, and when the planting surface becomes lower, the planting implement 4 is lowered. Furthermore, the height difference is calculated based on the height of the second sensing roller 126L relative to the first sensing roller 126R, using either the first sensing roller 126R or the second sensing roller 126L as a reference. By calculating the height difference between the first sensing roller 126R and the second sensing roller 126L using either the first sensing roller 126R or the second sensing roller 126L as a reference, rolling control can be performed stably to swing the planting implement 4 around the rolling axis X1.

[0159] The second sensing roller 126L detects the unevenness of the second planting surface 144L, and the planting work machine 4 may be raised and lowered, and the difference in height between the first sensing roller 126R and the second sensing roller 126L may be calculated using the second sensing roller 126L as a reference.

[0160] Furthermore, in this embodiment, if the difference in height between the first sensing roller 126R and the second sensing roller 126L is less than a predetermined value, the control device 131 does not perform rolling control, and the height difference is absorbed by the free swing of the planting implement 4 about the rolling axis X1. When the difference in height between the first planting surface 144R and the second planting surface 144L becomes equal to or greater than a predetermined value, the control device 131 activates the rolling mechanism 135 to perform rolling control.

[0161] 28, the first unit frame 38R and the second unit frame 38L are each provided with a swingable frame 164 that can swing up and down. Since the first unit frame 38R and the second unit frame 38L are fixed to the main frame 37, the swingable frame 164 can swing up and down relative to the main frame 37 (transplantation frame 36).

[0162] The oscillating frame 164 provided on the first unit frame 38R is referred to as the first oscillating frame 164R, and the oscillating frame 164 provided on the second unit frame 38L is referred to as the second oscillating frame 164L. The first oscillating frame 164R and the second oscillating frame 164L are bilaterally symmetrical and have the same structure, so the first oscillating frame 164R and the second oscillating frame 164L will be described together.

[0163] As shown in Figures 28 and 29, the oscillating frame 164 has a first side frame portion 164A on the outer side of the aircraft body, a second side frame portion 164B on the inner side of the aircraft body, an intermediate frame portion 164C connecting the front and rear middle portions of the first side frame portion 164A and the second side frame portion 164B, a rear frame portion 164D connecting the rear portions of the first side frame portion 164A and the second side frame portion 164B, a first support portion 164E fixed to the front portion of the first side frame portion 164A by bolts or welding, etc., and a second support portion 164F fixed to the front portion of the second side frame portion 164B by bolts or welding, etc.

[0164] The first support part 164E is supported by the first unit bracket 69 so as to be rotatable about a horizontal axis (an axis extending in the width direction of the machine body), and the second support part 164F is supported by the second unit bracket 70 so as to be rotatable about the horizontal axis. Therefore, the rear part of the swing frame 164 can swing up and down. More specifically, a planting drive shaft 165 is supported between the first unit bracket 69 and the second unit bracket 70 so as to be rotatable about the horizontal axis, and the first support part 164E and the second support part 164F are rotatably supported on this planting drive shaft 165. A transmission gear 166 is provided on the planting drive shaft 165 so as to be rotatable integrally with it, and rotational power is transmitted to this transmission gear 166 from the drive main shaft 71, causing the planting drive shaft 165 to rotate.

[0165] As shown in Figures 28 and 29, the first swinging frame 164R is provided with a first planting lifting mechanism 167R (planting lifting mechanism 167), and the right planting body 12R is provided to this first planting lifting mechanism 167R so that it can move back and forth up and down. The second swinging frame 164L is provided with a second planting lifting mechanism 167L (planting lifting mechanism 167), and the left planting body 12L is provided to this second planting lifting mechanism 167L so that it can move back and forth up and down. The right planting body 12R and the first planting lifting mechanism 167R constitute the first planting device 35R (planting device 35), and the left planting body 12L and the second planting lifting mechanism 167L constitute the second planting device 35L (planting device 35).

[0166] The first soil cover wheel 62R is supported by a first roller frame (roller frame 168) 168R on a first swing frame 164R so as to be able to swing up and down. The second soil cover wheel 62L is supported by a second roller frame 168L (roller frame 168) on the swing frame 164R so as to be able to swing up and down.

[0167] The first roller frame 168R and the second roller frame 168L are formed to have the same structure, and therefore the first roller frame 168R and the second roller frame 168L will be described together.

[0168] As shown in Figures 29 and 30, the roller frame 168 is formed from a pipe or the like and has a first side rod 168A on the outer side of the vehicle body, a second side rod 168B on the inner side of the vehicle body, and a rear rod 168C at the rear. The first side rod 168A has a first section 168a extending in the fore-and-aft direction of the vehicle body and a second section 168b extending upward from the rear end of the first section 168a. The front section of the first section 168a is rotatably connected to a bracket member 169 protruding downward from the first side frame 65A around a horizontal axis. The second side rod 168B has a first section 168c extending in the fore-and-aft direction of the vehicle body and a second section 168d extending upward from the rear end of the first section 168c. The front portion of the first portion 168c is rotatably connected to a bracket member 170 that protrudes downward from the second side frame 65B around a horizontal axis. The rear rod portion 168C connects the rear portions of the first side rod portion 168A and the second side rod portion 168B. More specifically, it connects the upper ends of the second portion 168b and the second portion 168d. The soil cover wheel 62 is attached to the rear portions of the first portion 168a and the first portion 168c via stay members 171.

[0169] A first planting depth adjustment mechanism 172R (planting depth adjustment mechanism 172) is provided across the first swinging frame 164R and the first roller frame 168R, and a second planting depth adjustment mechanism 172L (planting depth adjustment mechanism 172) is provided across the second swinging frame 164L and the second roller frame 168L. The first planting depth adjustment mechanism 172R and the second planting depth adjustment mechanism 172L have the same structure, so the first planting depth adjustment mechanism 172R and the second planting depth adjustment mechanism 172L will be described together.

[0170] The planting depth adjusting mechanism 172 is a mechanism that adjusts the planting depth of the seedlings 7 by variably fixing the distance between the roller frame 168 and the swinging frame 164 and changing the distance.

[0171] As shown in Figures 29 and 30, the planting depth adjustment mechanism 172 has a mechanism frame 173, an adjustment motor 174, a drive mechanism 175, and a link member 176. The mechanism frame 173 is erected on the rear frame portion 164D of the swing frame 164. The adjustment motor 174 is formed by an electric motor and is connected to the control device 131. The adjustment motor 174 is attached to the mechanism frame 173. More specifically, the adjustment motor 174 is attached to the upper part of the mechanism frame 173. The drive mechanism 175 is driven by the adjustment motor 174. More specifically, the drive mechanism 175 has a first gear 177 driven by the adjustment motor 174 and a second gear 178 that rotates in mesh with the first gear 177. The link member 176 connects the drive mechanism 175 and the roller frame 168 and moves up and down in conjunction with the drive of the drive mechanism 175.

[0172] The first gear 177 is formed by a pinion gear, and the second gear 178 is formed by a sector gear. The first gear (pinion gear) 177 is rotatably attached to the upper part of the mechanism frame 173. The second gear (sector gear) 178 has a lower part pivotally supported by the mechanism frame 173 and an upper part having a gear part 178a that meshes with the first gear (pinion gear) 177. The second gear 178 (sector gear) has a connecting part 178b that connects to a link member 176. The upper part 176a of the link member 176 is connected to the connecting part 178b via a ball joint. The lower part 176b of the link member 176 is connected via a ball joint to a bracket member 179 fixed to the rear rod part 168C.

[0173] In the planting depth adjusting mechanism 172, the first gear 177 is rotated by the adjusting motor 174, and the second gear 178 swings around the pivot 180. When the gear 178 swings, the connecting portion 178b moves up and down, causing the link member 176 to move up and down. When the link member 176 moves up and down, the swinging frame 164 swings up and down relative to the roller frame 168. This changes the distance between the roller frame 168 and the swinging frame 164, as well as the height of the planting bodies 12 relative to the soil covering wheel 62. Changing the height of the planting bodies 12 relative to the soil covering wheel 62 changes the height of the planting bodies 12 relative to the planting surface, making it possible to change the planting depth. Furthermore, by stopping the driving of the adjustment motor 174, the distance between the roller frame 168 and the swinging frame 164 is fixed, and the set planting depth can be maintained.

[0174] The oscillating frame 164 oscillates up and down as the soil covering wheel 62 follows the unevenness of the field 6. The oscillating frame 164 is set to be located in the center of the allowable oscillating range. When the planting depth is changed, the oscillating frame 164 oscillates up and down relative to the transplanting frame 36, changing its vertical position relative to the transplanting frame 36. Therefore, when the distance between the roller frame 168 and the oscillating frame 164 is changed, the control device 131 raises and lowers the main frame 37 (transplanting frame 36) in a direction that returns the relative position of the oscillating frame 164 to its original position relative to the transplanting frame 36 in accordance with the change in the distance between the roller frame 168 and the oscillating frame 164.

[0175] The planting depth adjustment mechanism 172 has a detection unit 182 that detects the amount of change in the gap between the roller frame 168 and the swing frame 164. The detection unit 182 is connected to the control device 131 and feeds back the amount of change in the gap between the roller frame 168 and the swing frame 164 to the control device 131. The detection unit 182 is composed of, for example, a potentiometer. The rotation detector of the detection unit 182 is connected to a pivot 181 that pivots the second gear 178. The pivot 181 rotates integrally with the second gear 178. Therefore, the detection unit 182 detects the amount of rotation of the second gear 178.

[0176] 31 shows a soil covering pressure adjustment mechanism 183 that adjusts the soil covering pressure (the force with which the soil covering wheel 62 presses against the ground) of the soil covering wheel 62. The soil covering pressure adjustment mechanism 183 has a support plate 185, an operating lever 184, a spring hook arm 186, a first fixed bracket 187A, a second fixed bracket 187B, an interlocking link 188, and an adjustment spring 189.

[0177] The support plate 185 is fixed to the rear of the unit frame 38. The operating lever 184 is attached to the support plate 185 by a pivot 185A so as to be swingable. The spring-loaded arm 186 is fixed to the operating lever 184 by a bolt and swings integrally with the operating lever 184. The first fixed bracket 187A is fixed to the swing frame 164. The second fixed bracket 187B is fixed to the unit frame 38. The interlocking link 188 has a first link 188A pivotally supported by the first fixed bracket 187A and a second link 188B pivotally supported by the second fixed bracket 187B. The first link 188A and the second link 188B are pivotally connected. The adjustment spring 189 is formed by a tension coil spring, one end of which is hooked into a locking hole 186a formed at the end of the spring hook arm 186, and the other end of which is hooked into a locking hole 188a formed in the first link 188A.

[0178] In the soil covering pressure adjustment mechanism 183, the soil covering pressure can be adjusted by swinging the operating lever 184 around the pivot 185A to change the spring force of the adjustment spring 189. A plurality of locking portions 185a are provided on the upper part of the support plate 185, and by locking the locking pieces 184a of the operating lever 184 to the locking portions 185a, the operating lever 184 can be fixed in a plurality of positions.

[0179] As shown in Figure 32, the planting depth adjusting mechanism 172 is operated by an operating unit 127. As shown in Figures 1A and 1B, the operating unit 127 is provided in the vicinity of the driver's seat 3. More specifically, the operating unit 127 is provided on the top of the steering column 27 in front of the driver's seat 3, and is The operation unit 127 is provided in an inclined manner that transitions upward as the driver moves down. The operation unit 127 is disposed below the steering wheel 25. The operation unit 127 can be operated by an operator seated in the driver's seat 3. As shown in FIGS. 17 and 30, the operation unit 127 is connected to a control device 131.

[0180] As shown in Figure 32, the operating unit 127 sends an operating signal to the control device 131 to operate the planting depth adjustment mechanism 172. The operating unit 127 also has a planting depth adjustment unit 190 that operates the planting depth adjustment mechanism 172. The planting depth adjustment unit 190 is provided at the rear (lower part) of the operating unit 127. The planting depth adjustment unit 190 has an operating dial (rotating operating member) 191 and an index 192 that indicates the rotation position of the operating dial 191. The index 192 is provided on the top surface of the operating dial 191. The planting depth adjustment mechanism 172 (adjusting motor 174) is operated by rotating the operating dial 191 left or right. The planting depth adjustment unit 190 has a depth display unit 193 that indicates the operating direction of the operating dial 191. The depth display section 193 has the word "deep" provided on the right side of the operation dial 191 and the word "shallow" provided on the left side of the operation dial 191.

[0181] In the planting depth adjustment unit 190, when the operation dial 191 is turned clockwise, a first operation signal S1 is sent from the operation unit 127 to the control device 131. When the control device 131 receives the first operation signal S1, it operates the planting depth adjustment unit 190 in the direction to deepen the planting depth. The standard planting depth is set when the indicator 192 faces forward (upward) as shown in FIG. 32, and the more the operation dial 191 is turned clockwise from the state in which the indicator 192 faces forward, the deeper the planting depth becomes from the standard depth. When the operation dial 191 is turned counterclockwise, a second operation signal S2 is sent from the operation unit 127 to the control device 131. When the control device 131 receives the second operation signal S2, it operates the planting depth adjustment unit 190 in the direction to shallower the planting depth. The more the operation dial 191 is turned counterclockwise from the state where the indicator 192 faces forward, the shallower the planting depth becomes from the standard depth. Note that the operation dial 191 may be configured so that turning it clockwise deepens the planting depth and turning it counterclockwise shallows the planting depth.

[0182] The operation dial 191 can be operated in stages, and the planting depth can be adjusted in stages. The operation dial 191 can also be operated continuously, and the planting depth can be adjusted continuously.

[0183] The operator 2 can operate the planting depth adjusting mechanism 172 while seated in the driver's seat 3 using the planting depth adjusting unit 190, so that the planting depth of the seedlings 7 can be easily adjusted.

[0184] The operating unit 127 has an angle adjustment unit 194. The angle adjustment unit 194 is used to lower one side of the planting implement 4 in the machine body width direction K2 around the rolling axis X1 or the other side. By lowering one side of the planting implement 4 in the machine body width direction K2, the planting body 12 on that side is lowered, and by lowering the other side of the planting implement 4 in the machine body width direction K2, the planting body 12 on the other side is lowered. This allows fine adjustment of the planting depth.

[0185] For example, even if the first planting surface 144R and the second planting surface 144L are at the same height, the planting depth of the seedlings 7 planted in the right planting body 12R may differ slightly from the planting depth of the seedlings 7 planted in the left planting body 12L. In such cases, the planting depth can be finely adjusted by, for example, lowering the planting body 12 with the shallower planting depth. Rolling control is performed with this adjustment made.

[0186] As shown in Figure 32, the angle adjuster 194 is provided at the front (top) of the operating unit 127 and has a right-lowering switch 195 and a left-lowering switch 196 arranged side by side in the machine body width direction K2. The right-lowering switch 195 sends a first lowering signal to the control device 131 to lower one side of the planting implement 4 (the side where the first planting object is placed) about the rolling axis X1. In other words, the right-lowering switch 195 sends a first lowering signal S3 to the control device 131 to lower the first planting object placed side of the planting implement 4 about the rolling axis X1. When the control device 131 receives the first lowering signal S3, it lowers the right side of the planting implement 4.

[0187] The left lowering switch 196 sends a second lowering signal S4 to the control device 131 to lower the other side of the planting implement 4 in the machine body width direction K2 (the side where the second planting object is placed) around the rolling axis X1. When the control device 131 receives the second lowering signal S4, it lowers the left side of the planting implement 4.

[0188] For example, each time the right-lowering switch 195 or the left-lowering switch 196 is pressed, the planting implement 4 rotates a predetermined angle around the rolling axis X1, allowing the planting depth to be finely adjusted in predetermined dimensional units (in units of a few millimeters or a few centimeters). However, this is not limitative.

[0189] The operating unit 127 also has a transplanting unit height adjustment unit 197. The transplanting unit height adjustment unit 197 is located midway through the operating unit 127 (between the angle adjustment unit 194 and the planting depth adjustment unit 190), and has a raising switch 198 and a lowering switch 199. The lowering switch 199 is located to the right and behind (below) the raising switch 198.

[0190] The transplanting unit height adjustment unit 197 corrects the difference in the amount of sinking between the sensing roller 126 and the soil covering wheel 62. It is also used to correct deviations in the mechanical and electrical initial values. The aim is to prevent the swinging frame 164 from moving too far above or below the swing range.

[0191] This will be explained in detail below. The numerical values ​​described in the following explanation are illustrative and not limiting.

[0192] The planting bodies 12 and the soil covering wheel 62 are attached to a swinging frame 164 that swings up and down around the front part (planting drive shaft 165) as a fulcrum. When the soil covering wheel 62 (which is in contact with the ground) is raised by, for example, 1 cm relative to the swinging frame 164, the swinging frame 164 lowers and the planting bodies 12 penetrate approximately 1 cm deeper into the ground, increasing the planting depth by approximately 1 cm.

[0193] The swinging frame 164 has a swing range of approximately 4 cm at the soil covering wheel 62 portion, and if the soil covering wheel 62 is in the center of the swing range, the planting depth can be kept constant even if the unevenness of the ridge is ±2 cm.

[0194] However, if the height of the transplanting frame 36 (height of the pivot point (planting drive shaft 165) of the oscillating frame 164) is the same, raising the soil covering wheel 62 by 1 cm will shift the oscillating frame 164 to the lower side of its oscillating range, and the range of adaptability to ridge irregularities will be -1 cm to +3 cm. Therefore, to increase the planting depth by 1 cm, the soil covering wheel 62 is raised by 1 cm and the transplanting frame 36 is lowered by 1 cm so that the oscillating frame 164 is in the center of its oscillating range.

[0195] The planting depth adjustment range is -2cm to +5cm, with 0 being the level where the top of the root ball (the bed soil for seedling 7) and the top of the ridge are flush. 0 does not necessarily mean that they are flush, but rather there is a large margin for adjustment on the deep planting side.

[0196] Incidentally, the ground contact height of the sensing roller 126 and the soil covering wheel 62 are not the same. That is, because the soil covering wheel 62 has a higher packing load than the sensing roller 126, the soil covering wheel 62 sinks and becomes lower than the sensing roller 126. By design, the soil covering wheel 62 is expected to be 1 cm lower, but the difference in the amount of sinking varies depending on the adjustment of the packing load of the soil covering wheel 62, the hardness of the top surface of the ridge, the presence or absence of mulch film, etc. To correct this difference in the amount of sinking, a transplanting section height adjustment section 197 is provided.

[0197] When the lowering switch 199 is pressed, the transplanting unit height adjustment unit 197 sends a correction value (first correction value S5) to the control device 131, which then lowers the transplanting frame 36 based on that correction value. Specifically, if the difference in contact surface between the sensing roller 126 and the soil covering wheel 62 is normally 1 cm, but the ridges are soft and the soil covering wheel 62 sinks significantly (the swinging frame 164 is shifted downward in its swing range), resulting in a large difference in contact surface—for example, 1.5 cm—then the lowering switch 199 ("lower") is pressed to lower the transplanting frame 36 by 0.5 cm (raising the sensing roller by 0.5 cm), correcting the swinging frame 164 so that it is in the center of its swing range.

[0198] Furthermore, when the raise switch 198 is pressed, the transplanting unit height adjustment unit 197 sends a correction value (second correction value S6) to the control device 131, and the control device 131 raises the transplanting frame 36 based on that correction value. Specifically, when the ridges are hard or when a mulch film is present, the difference in contact surface height between the sensing roller 126 and the soil covering wheel 62 is small, and the oscillating frame 164 shifts to the upper side of its oscillating range. Therefore, the raise switch 198 ("high") is pressed to raise the transplanting frame 36.

[0199] The up switch 198 and down switch 199 may be configured to change their numerical values ​​in predetermined dimensional increments each time they are pressed. When adjusting the planting depth, if the target height for the soil covering wheel 62 is 2 cm, the sensor roller 126 will aim for 3 cm, 1 cm higher than the soil covering wheel 62. That is, when the sensor roller 126 detects a value of +1 cm (4 cm), the transplanting frame 36 will be raised, and when it detects a value of -1 cm (2 cm), the transplanting frame 36 will be lowered. When the up switch 198 is pressed to "raise" the transplanting frame height by 0.5 cm, the sensor roller 126 will control the height to a target height of 2.5 cm, 0.5 cm higher than the soil covering wheel 62 (1 - 0.5 = 1 - 0.5). (The target height value for the sensor roller will be lower, but the transplanting frame height will be higher.) That is, when the sensor roller 126 detects a value of +1 cm (3.5 cm), the transplanting frame 36 will be raised, and when it detects a value of -1 cm (1.5 cm), the transplanting frame 36 will be lowered. Also, when the lowering switch 199 is pressed to "lower" the transplanting frame height by 0.5 cm, the sensor roller 126 controls the height to a target of 3.5 cm, which is (1 + 0.5 =) 1.5 cm higher than the soil covering wheel 62. In other words, when the detection value of the sensor roller 126 becomes +1 cm (4.5 cm), the transplanting frame 36 is raised, and when it becomes -1 cm (2.5 cm), the transplanting frame 36 is lowered.

[0200] Now, the first planting lifting mechanism 167R and the second planting lifting mechanism 167L will be described with reference to Figures 33, 34A, etc. The first planting lifting mechanism 167R and the second planting lifting mechanism 167L are bilaterally symmetrical and have similar structures, so the first planting lifting mechanism 167R and the second planting lifting mechanism 167L will be described together.

[0201] As shown in Figures 33 and 34A, the planting lifting mechanism 167 includes a rotating case 201. The rotating case 201 is rotatably supported by the first side frame portion 164A via a first support shaft 202. More specifically, a bearing member 204 is provided on a bracket member 169 provided on the first side frame portion 164A, and a first support shaft 202 is rotatably supported by this bearing member 204. An input shaft 205 of the rotating case 201 is connected to the first support shaft 202, and the rotating case 201 is supported by the first support shaft 202. A sprocket 203 is attached to the first support shaft 202 so as to rotate integrally therewith. As shown in Figure 28, power is transmitted to the sprocket 203 from a sprocket 207 attached to the planting drive shaft 165 so as to rotate integrally therewith.

[0202] As shown in Figures 34B and 34C, the rotating case 201 is provided with two output shafts 215 (a first output shaft 215A and a second output shaft 215B). A support plate 111 is fixed to each of the two output shafts 215. The output shafts 215 are inserted into and fixed to mounting holes 111A formed in the support plates 111. Each support plate 111 is provided with a planting body 12. Therefore, when the output shaft 215 rotates, the support plate 111 rotates, and as shown in Figures 36A to 36C, As shown in FIG. 6F, two planting bodies 12 (a first planting body 12 and a second planting body 12) each rotate. That is, when the rotating case 201 rotates half a turn, the first planting body 12 plants vegetable seedlings, and when it rotates another half turn, the second planting body 12 plants vegetable seedlings. In other words, when the rotating case 201 rotates once, two planting bodies 12 plant vegetable seedlings. That is, the planting lifting mechanism 167 has a double rotary cup configuration.

[0203] The two planting bodies 12 have the same configuration, so only one of the planting bodies 12 will be described. As shown in Figures 34A to 34E, the planting body 12 is formed with an opening device 206 that can be opened and closed back and forth. In detail, the planting body 12 has a front component 206A and a rear component 206B. An upper front plate 115A is provided on the upper front side of the front component 206A, and a pivot 112A is formed on the upper front plate 115A. An upper rear plate 115B is provided on the upper rear side of the rear component 206B, and a pivot 112B is formed on the upper rear plate 115B. Bearing members 113 are provided on the pivots 112A and 112B, respectively. Support holes 114A and 114B are provided on the upper part of the support plate 111. A pivot 112A is inserted into the support hole 114A of the support plate 111 via a bearing member 113, and a pivot 112B is inserted into the support hole 114B via a bearing member 113.

[0204] As shown in Figures 34A and 34D, the shaft 115B1 formed at the front end of the upper rear plate 115B is inserted into the notch 115A1 at the rear end of the upper front plate 115A, and the upper front plate 115A and the upper rear plate 115B are arranged around the shaft 115B1, so that the front component 206A and the rear component 206B can be opened and closed. A spring 116 is engaged with the upper front plate 115A and the upper rear plate 115B. Specifically, one end of the spring 116 is engaged with the lower end of the upper front plate 115A, and the other end of the spring 116 is engaged with the lower end of the upper rear plate 115B, and the planting body 12 (opening device 206) is biased to a closed state by this spring 116.

[0205] As shown in FIGS. 34A to 34E, the rotating case 201 has a first case body 201A and a second case body 201B that are divided in half in the axial direction of the input shaft 205. As shown in FIGS. 34F and 34G, a first opening / closing cam 214A for opening and closing the first opening device 206 is disposed around the first output shaft 215A at an outer location of the second case body 201B. A second opening / closing cam 214B for opening and closing the second opening device 206 is disposed around the second output shaft 215B at an outer location of the second case body 201B. As shown in FIGS. 34A to 34E, a sliding portion 117 that slides while abutting against the opening / closing cams (the first opening / closing cam 214A and the second opening / closing cam 214B) is provided on the upper rear plate 115B. The upper rear plate 115B has a protruding shaft 115B2 that protrudes toward the rotating case 201 up to the position of the opening / closing cam, and a sliding part 117 is provided on the tip side of this protruding shaft 115B2. This sliding part 117 is, for example, a ball bearing, and is rotatable when sliding on the opening / closing cam, so that the sliding resistance to the opening / closing cam can be reduced and smooth sliding can be achieved.

[0206] As shown in FIG. 34G, the first opening / closing cam 214A and the second opening / closing cam 214B are shaped to have a first circumferential range 1LR centered on the output shaft 215, where the distance from the output shaft 215 is a predetermined first radius, a second circumferential range 2LR where the distance from the output shaft 215 is a predetermined second radius that is longer than the first radius, and a transition circumferential range 3LR where the distance from the output shaft 215 transitions from the first radius to the second radius or from the second radius to the first radius. When the sliding portion 117 of the upper rear plate 115B is in contact with the first rotation range 1LR of the opening / closing cam (first opening / closing cam 214A, second opening / closing cam 214B), the planting body 12 (opening device 206) is in a closed state (see the planting body 12 on the upper side of the paper in Figure 34A), when it is in contact with the second rotation range 2LR, the planting body 12 (opening device 206) is in an open state (see the planting body 12 on the lower side of the paper in Figure 34A), and when it is in contact with the transition rotation range 3LR, the planting body 12 (opening device 206) is changing from an open state to a closed state or from a closed state to an open state (see the planting body 12 on the upper side of the paper in Figure 36F).

[0207] As shown in Figures 35A to 35D, a first spur gear G1, a second spur gear G2 meshing with the first spur gear G1, a third spur gear G3 meshing with the second spur gear G2, a fourth spur gear G4 meshing with the third spur gear G3, and a fifth spur gear G5 meshing with the fourth spur gear G4 are arranged inside the rotating case 201. The rotating case 201 has a first case body 201A and a second case body 201B which are divided into two halves in the axial direction of the input shaft 205. The first to fifth spur gears G1 to G5 are housed in the internal spaces of the first case body 201A and the second case body 201B.

[0208] As shown in Figure 35E, the first to fifth spur gears G1 to G5 are all the same size, and the eccentric distance ED from the circular center of the spur gear to the axis is also the same. Note that Figure 35E illustrates the egg-shaped trajectory T of the planting body 12 when it moves up and down, so the eccentric distance ED of the fourth and fifth spur gears G4 and G5 is omitted. As shown in Figure 35D, the rotating case 201 accommodates the first to fifth spur gears G1 to G5 arranged on a straight line, with the axes J1 to J5 of the first to fifth spur gears G1 to G5 aligned on the straight line. When the rotating case 201 is in an upright position (i.e., the rotation angle of the input shaft 205 is 0 degrees and 180 degrees), the axes J1 to J5 of the first to fifth spur gears G1 to G5 are aligned on the straight line and positioned on the same side of the spur gear center (upper side of the paper in Figure 35D). It should be noted that helical gears, double helical gears, etc. may be used in place of the first to fifth spur gears G1 to G5.

[0209] The input shaft 205 is provided at a position on the rotating case 201 where the third spur gear G3 is located. The input shaft 205 receives the rotational force from the first support shaft 202, i.e., the rotational force for rotating the rotating case 201. The first output shaft 215A is integrally molded with the axis J1 of the first spur gear G1 and outputs the rotational force of the first spur gear G1. The second output shaft 215B is integrally molded with the axis J5 of the fifth spur gear G5 and outputs the rotational force of the fifth spur gear G5. The first output shaft 215A may be coupled to the axis J1 of the first spur gear G1. The second output shaft 215B may be coupled to the axis J5 of the fifth spur gear G5.

[0210] A fixed member 210 is provided on the rotating case 201. The fixed member 210 rotatably supports the input shaft 205 and the rotating case 201, and has a third spur gear G3 fixed thereto.

[0211] As shown in FIGS. 35B, 35C, and 36G, the fixed member 210 includes a cylindrical main body 211 into which the input shaft 205 is inserted. The cylindrical main body 211 includes an insertion cylindrical portion 211A inserted into the rotatable case 201 and a protruding cylindrical portion 211B protruding from the insertion cylindrical portion 211A to the outside of the rotatable case 201 (more precisely, to the outside of the first case body 201A). Specifically, the insertion cylindrical portion 211A is inserted into a support hole 201A3 formed in the longitudinal center of the first case body 201A and a support hole 201B3 formed in the longitudinal center of the second case body 201B. As shown in FIG. 36G, a first bearing 212A that rotatably supports the input shaft 205 is provided within the cylindrical protruding cylindrical portion 211B, and two second bearings 212B that rotatably support the rotatable case 201 are provided on the outer periphery of the insertion cylindrical portion 211A. The third spur gear G3 has a shaft hole G3A formed coaxially through its axis J3. The insertion cylindrical portion 211A is fitted into the shaft hole G3A of the third spur gear G3, thereby fixing the third spur gear G3 to the insertion cylindrical portion 211A.

[0212] As shown in FIG. 36G, two second bearings 212B are provided on the outer periphery of the insertion cylindrical portion 211A at an interval in the cylindrical length direction of the insertion cylindrical portion 211A. One of the two second bearings 212B is held in a support hole 201A3 of the first case body 201A to rotatably support the first case body 201A. The other of the two second bearings 212B is held in a support hole 201B3 of the second case body 201B to rotatably support the second case body 201B. The third spur gear G3 is fixed to the insertion cylindrical portion 211A between the two second bearings 212B.

[0213] As shown in FIGS. 35B and 35C, a third bearing 212C is provided on the first case body 201A side and the second case body 201B side of the axis J1 of the first spur gear G1. A retaining portion 201A1 is formed in the first case body 201A. The retaining portion 201A1 of the first case body 201A retains the third bearing 212C on the first case body 201A side of the first spur gear G1. The retaining portion 201A1 has a recessed shape on the inner surface of the first case body 201A into which the third bearing 212C is fitted, and the third bearing 212C is held by the retaining portion 201A1 by fitting the third bearing 212C into the retaining portion 201A1. A retaining portion 201B1 is formed in the second case body 201B. The retaining portion 201B1 of the second case body 201B retains the third bearing 212C on the second case body 201B side of the first spur gear G1. The retaining portion 201B1 has a recessed shape on the inner surface of the second case body 201B into which the third bearing 212C is fitted, and the third bearing 212C is held by the retaining portion 201B1 by fitting the third bearing 212C into the retaining portion 201B1.

[0214] The first case body 201A is formed with a shaft support portion 201A2 that supports the first case body 201A side of the axis J2 of the second spur gear G2. The shaft support portion 201A2 has a recessed shape into which the axis J2 can be inserted. The second case body 201B is formed with a shaft support portion 201B2 that supports the second case body 201B side of the axis J2 of the second spur gear G2. The shaft support portion 201B2 has a recessed shape into which the axis J2 can be inserted.

[0215] The first case body 201A is formed with a shaft support portion 201A4 that supports the first case body 201A side of the axis J4 of the fourth spur gear G4. The shaft support portion 201A4 has a recessed shape into which the axis J4 can be inserted. The second case body 201B is formed with a shaft support portion 201B4 that supports the second case body 201B side of the axis J4 of the fourth spur gear G4. The shaft support portion 201B4 has a recessed shape into which the axis J4 can be inserted.

[0216] A third bearing 212C is provided on the first case body 201A side and the second case body 201B side of the axis J5 of the fifth spur gear G5. A retaining portion 201A5 is formed in the first case body 201A. The retaining portion 201A5 of the first case body 201A retains the third bearing 212C on the first case body 201A side of the fifth spur gear G5. The retaining portion 201A5 has a recessed shape on the inner surface of the first case body 201A into which the third bearing 212C is fitted, and the third bearing 212C is held by the retaining portion 201A5 by fitting the third bearing 212C into the retaining portion 201A5. A retaining portion 201B5 is formed in the second case body 201B. The retaining portion 201B5 of the second case body 201B retains the third bearing 212C on the second case body 201B side of the fifth spur gear G5. The retaining portion 201B5 has a recessed shape on the inner surface of the second case body 201B into which the third bearing 212C is fitted, and the third bearing 212C is held by the retaining portion 201B5 by fitting the third bearing 212C into the retaining portion 201B5.

[0217] The input shaft 205 has a tip portion inserted into the rotating case 201 fixed to a mounting plate 213. For example, a fixed flange portion 205A is fixed to the tip portion of the input shaft 205 protruding from the insertion tube portion 211A to the outside of the second case body 201B. The mounting plate 213 has a mounting hole 213A and is fixed to an outer portion of the second case body 201B. The fixed flange portion 205A is fitted into the mounting hole 213A of the mounting plate 213. As a result, the input shaft 205 is fixed to the mounting plate 213 at its tip portion. In other words, the rotational force of the input shaft 205 is transmitted to the rotating case 201. As shown in FIGS. 34C and 34F , the mounting plate 213, the second case body 201B, and the first case body 201A are fastened together by a fastening member 216A.

[0218] In addition, the first opening / closing cam 214A, the second case body 201B, and the first case body 201A are They are fastened together by a fastening member 216B. The second opening / closing cam 214B, the second case body 201B and the first case body 201A are fastened together by a fastening member 216C.

[0219] The input shaft 205 is rotatably supported by the first bearing 212A, and the rotational force of the input shaft 205 is not transmitted to the cylindrical main body 211 but is transmitted to the second case body 201B via the mounting plate 213, so that the rotating case 201 rotates, but the cylindrical main body 211 and the third spur gear G3 do not rotate.

[0220] 35D, the rotating case 201 includes a pawl member 208A that abuts against the circumferential surface of the axis J1 of the first spur gear G1 and engages with the first spur gear G1 when the first spur gear G1 rotates in the reverse direction, and a biasing member 209A that biases the pawl member 208A against the circumferential surface of the axis J1. The rotating case 201 also includes a pawl member 208B that abuts against the circumferential surface of the axis J5 of the fifth spur gear G5 and engages with the fifth spur gear G5 when the fifth spur gear G5 rotates in the reverse direction, and a biasing member 209B that biases the pawl member 208B against the circumferential surface of the axis J5.

[0221] As shown in Figures 36A to 36F, in the planting lifting mechanism 167, as the rotational force is input to the input shaft 205, the rotating case 201 rotates around the input shaft 205 in the direction of the arrow Y1, and the second spur gear G2 and the fourth spur gear G4 rotate in the direction of the arrow Y21 along the outer periphery of the third spur gear G3 while maintaining a positional relationship in which they face each other via the third spur gear G3. 22, and the rotation of the fourth spur gear G4 in the direction of arrow Y21 causes the fifth spur gear G5 to rotate in the direction of arrow Y22, causing the first planting body 12 and the second planting body 12 to move up and down along an egg-shaped trajectory T, so that when the second planting body 12 is being raised, the first planting body 12 is lowered to enter the field and plant the seedlings, and when the first planting body 12 is being raised, the second planting body 12 is lowered to enter the field and plant the seedlings.

[0222] 35E, because the first to third spur gears G1 to G3 are eccentric, when the rotation angle of the input shaft 205 changes from 0 to 360 degrees (i.e., when the rotatable case 201 makes one rotation), the rotation angle of the output shaft 215 is smaller than the rotation angle of the input shaft 205 at angles other than 0 and 180 degrees (when the rotatable case 201 is in an upright position). In FIG. 35E, when the rotation angle of the input shaft 205 is, for example, 45, 90, 135, 225, 275, or 315 degrees, the rotation angles of the output shaft 215 are approximately 30, 65, 120, 210, 245, or 300 degrees, resulting in a difference in that the rotation angle of the output shaft 215 is smaller than the rotation angle of the input shaft 205. The planting body 12 oscillates at an oscillating angle corresponding to this difference. If the axes of the first to third spur gears G1 to G3 were not eccentric but were the center of a circle, the planting body 12 would remain in a hanging position and would not oscillate even if the rotation angle of the input shaft 205 changed from 0 to 360 degrees. In conventional planting lifting mechanisms, the planting body 12 was oscillated by providing an oscillating cam. In contrast, the above configuration allows the planting body 12 to oscillate without providing an oscillating cam. The third to fifth spur gears G3 to G5 are similar to the first to third spur gears G1 to G3.

[0223] The rotation direction of the rotating case 201 (i.e., the rotation direction of the input shaft 205) may be the opposite direction to that of the arrow Y1. In this case, the arrows Y21 and Y22 also rotate in opposite directions. That is, the second spur gear G2 and the fourth spur gear G4 rotate in the opposite direction of the arrow Y21 along the outer periphery of the third spur gear G3 while maintaining a mutually opposing positional relationship via the third spur gear G3. As the second spur gear G2 rotates in the opposite direction of the arrow Y21, the first spur gear G1 rotates in the opposite direction of the arrow Y22, and as the fourth spur gear G4 rotates in the opposite direction of the arrow Y21, the fifth spur gear G5 rotates in the opposite direction of the arrow Y22.

[0224] As shown in Figure 37, the first seedling tray 9R and the second seedling tray 9L are arranged side by side in the width direction K2 of the machine body and mounted on the main frame 37. The first seedling tray 9R and the second seedling tray 9L are supported by rail members (first rail 56, second rail 58) of the main frame 37 so as to be movable in the width direction K2 of the machine body.

[0225] As shown in Figure 38, the reversing guides 13 are provided at the center, right and left sides of the lower part of the seedling tray 9 in the width direction K2 of the machine body, and are attached to support rods 217 provided at the lower part of the seedling tray 9. The empty tray guide 14 has a first rod portion 14A arranged on the outer side of the machine body of the seedling tray 9, a second rod portion 14B arranged on the inner side of the machine body of the seedling tray 9, and a connecting rod portion 14C connecting the upper parts of the first rod portion 14A and the second rod portion 14B. The lower part of the seedling tray 9 has a first storage section 218 provided on the right side and a second storage section 219 provided on the left side.

[0226] As shown in Figures 39 and 40, the first seedling tray 9R has a first holder member 221R. The first holder member 221R has an upper holder 222R and a lower holder 223R provided below the upper holder 222R. The upper holder 222R has a first stay 224R attached to the first storage section 218, a second stay 225R attached to the second storage section 219, and a connecting stay 226R connecting the first stay 224R and the second stay 225R. A first stay plate 227R is fixed to the inside (left side) of the machine body of the connecting stay 226R. A connecting bracket 228 is fixed to the connecting stay 226R (see Figure 46). The connecting bracket 228 is arranged on the outside of the machine body of the first stay plate 227R and is also fixed to the first stay plate 227R. An operating shaft 229 extending in the width direction K2 of the machine body is provided at the bottom of the first seedling tray 9R and is rotatable across the width direction K2 of the machine body. The outer side of the operating shaft 229 protrudes farther outward than the first storage section 218. Two followers 230 are attached to the operating shaft 229 and are spaced apart in the width direction K2 of the machine body.

[0227] The lower holder 223R has a first stay 231R attached to the first housing portion 218, a second stay 232R attached to the second housing portion 219, and a connecting stay 233R connecting the first stay 231R and the second stay 232R.

[0228] A plurality of first rollers 234R are rotatably attached to the connecting stays 226R and 233R. The first rollers 234R attached to the connecting stay 226R are supported on the first rail 56 so as to be movable in the width direction K2 of the machine body. The first rollers 234R attached to the connecting stay 233R are supported on the second rail 58 so as to be movable in the width direction K2 of the machine body.

[0229] As shown in Figures 39 and 40, the second seedling placing tray 9L has a second holder member 221L. The second holder member 221L has an upper holder 222L and a lower holder 223L provided below the upper holder 222L. The upper holder 222L has a first stay 224L attached to the first storage section 218, a second stay 225L attached to the second storage section 219, and a connecting stay 226L connecting the first stay 224L and the second stay 225L. A second stay plate 227L is fixed to the inside side (right side) of the connecting stay 226L. The lower holder 223L has a first stay 231L attached to the first housing portion 218, a second stay 232L attached to the second housing portion 219, and a connecting stay 233L connecting the first stay 231L and the second stay 232L.

[0230] A plurality of second rollers 234L are rotatably attached to the connecting stay 226L and the connecting stay 233L. The plurality of second rollers 234L attached to the connecting stay 226L are supported on the first rail 56 so as to be movable in the machine body width direction K2. The plurality of second rollers 234L attached to L are supported on the second rail 58 so as to be movable in the machine body width direction K2.

[0231] As shown in Figure 39, a connecting member 235 is provided, extending in the width direction K2 of the machine body from the left part of the first seedling tray 9R to the second seedling tray 9L. The first stay plate 227 is fixed with bolts to the right part of the connecting member 235. The second stay plate 227L is fixed with bolts to the connecting member 235 so that its position can be adjusted in the width direction K2 of the machine body.

[0232] Since the first seedling carrying tray 9R and the second seedling carrying tray 9L are connected via a connecting member 235, the first seedling carrying tray 9R and the second seedling carrying tray 9L move integrally in the width direction K2 of the machine body along the first rail 56 and the second rail 58.

[0233] Figure 39 shows the state of the first seedling tray 9R and the second seedling tray 9L when the row spacing W1 is at its narrowest. From this state, by changing the mounting position of the second stay plate 227L, the distance between the first seedling tray 9R and the second seedling tray 9L in the machine body width direction K2 can be adjusted in accordance with the adjustment of the row spacing W1.

[0234] Figure 41 shows a lateral feed mechanism 236 that intermittently feeds the first seedling tray 9R and the second seedling tray 9L laterally by one pitch of the pot section 8a in the width direction K2 of the machine body. The lateral feed mechanism 236 has a lateral feed shaft 237 located below the first seedling tray 9R. The lateral feed shaft 237 extends in the width direction K2 of the machine body and is supported by a support 238 fixed to the first unit frame 38R. The support 238 is provided on the frame body 64 of the first unit frame 38R. The support 238 includes a first bracket 238A attached to the frame main body 64, a second bracket 238B fixed to the first bracket 238A, a third bracket 238C fixed to the right end of the second bracket 238B, a gearbox 238D fixed to the second bracket 238B and the third bracket 238C, and a fourth bracket 238E attached to the second bracket 238B on the side opposite the gearbox 238D. The cross feed shaft 237 is attached between the gearbox 238D and the fourth bracket 238E. A first transmission sprocket 239 is attached to the lower part of the third bracket 238C and is rotatable integrally with the drive shaft 71 and movable in the axial direction. The first transmission sprocket 239 is capable of transmitting power to a second transmission sprocket 240 attached to the second bracket 238B. The power transmitted to the second transmission sprocket 240 is transmitted from an input shaft provided so as to be rotatable integrally with the second transmission sprocket 240 to the cross feed shaft 237 via a transmission mechanism in the gear box 238D.

[0235] The lateral feed shaft 237 uses a Napier screw with a spiral groove (so-called traverse groove) 237a that reciprocates in the axial direction and is formed on the outer surface. A slider 241 having an engaging portion 241a that engages with the traverse groove 237a is fitted to the lateral feed shaft 237. A connecting shaft 242 is provided on the slider 241, and the connecting shaft 242 is connected to a connecting bracket 228 provided on the first holder member 221R of the first seedling loading tray 9R. Vertical feed cams (operating bodies) 243 are fixed to one end and the other end of the lateral feed shaft 237.

[0236] When the lateral feed shaft 237 rotates, the engaging portion 241a is guided along the traverse groove 237a, causing the slider 241 to reciprocate in the width direction K2 of the machine body. This allows the first seedling tray 9R to reciprocate in the width direction K2 of the machine body. In addition, since the second seedling tray 9L is connected to the first seedling tray 9R via the connecting member 235, the first seedling tray 9R and the second seedling tray 9L can move back and forth together in the width direction K2 of the machine body.

[0237] When adjusting the row spacing W1, the first seedling tray 9R and the first unit frame 38R (first transplanting unit 63R) are connected via a lateral feed mechanism 236. Since the second seedling tray 9L is connected to the first seedling tray 9R by a connecting member 235, the positions of the first seedling tray 9R, the second seedling tray 9L, and the first transplanting unit 63R are adjusted together in the width direction K2 of the machine body. The position of the second transplanting unit 63L is adjusted separately from the first transplanting unit 63R. After adjusting the first transplanting unit 63R and the second transplanting unit 63L in the width direction K2 of the machine body, the position of the second seedling tray 9L is adjusted to match the adjusted row spacing W1.

[0238] Figure 42 shows the seedling extracting device 11 and a vertical feed mechanism 244 that vertically feeds the seedling trays 8 downward along the inclined direction by one pitch of the pot sections 8a. The vertical feed mechanism 244 has a tray feed mechanism 245 provided in each of the first storage section 218 and the second storage section 219 of each seedling loading platform 9. The tray feed mechanism 245 has a drive sprocket 246, a driven sprocket 247, and an endless conveyor chain 248 wound around the drive sprocket 246 and the driven sprocket 247. The conveyor chain 248 has conveyor pins 249 that fit between the pot sections 8a and are spaced apart along the longitudinal direction. By rotating the drive sprocket 246 in the direction of arrow Y3 in Figure 42, the seedling trays 8 are vertically fed downward along the loading plate 10 (in the direction of arrow Y4 in Figure 42) via the conveyor chain 248 and the conveyor pins 249.

[0239] As shown in Figure 42, the seedling removal device 11 is disposed at the lower rear of the seedling loading platform 9 and has seedling removal claws 250. The seedling removal claws 250 penetrate into the pot portion 8a from the rear, pierce the root ball of the seedling 7, and then remove the seedling 7 from the pot portion 8a by retreating from the pot portion 8a with the root ball still pierced. After removing the seedling 7, the seedling removal claws 250 change their position so that the bed soil (root ball) of the seedling 7 faces the planting body 12 below, and then release the seedling 7 and place it into the planting body 12.

[0240] In the transplanter 1 of this embodiment, in a setting mode in which settings are made before the start of automatic steering, various information settings can be manually input by the operator 2. For example, in the transplanter 1 of this embodiment, the reference orientation can be manually set by the operator 2 in the setting mode without having to run the transplanter 1 in the field to obtain the reference orientation. In addition, in the setting mode, information other than the reference orientation can also be manually set by the operator 2. For this reason, the setting mode is a mode in which the operator 2 can manually input, call up, change, etc., setting values ​​for various setting items before the start of automatic steering.

[0241] The control device 131 transitions the transplanter 1 to the setting mode based on a predetermined operation. The predetermined operation here means, for example, pressing the steering selector switch 351 while the main switch 354 is off (i.e., the switch key is in the stop position), turning the main switch 354 on (e.g., turning the switch key to the start or drive position), and then releasing the steering selector switch 351 within two seconds. Note that the predetermined operation may be any other operation. Note that when the transplanter 1 is not in the setting mode, it is in a non-setting mode in which various settings cannot be made. In the non-setting mode, tasks other than making various settings are permitted, and for example, manual operation or automatic steering operation can be performed.

[0242] As shown in FIG. 1D, the control device 131 has a setting unit 131C. The setting unit 131C is composed of electric and electronic components provided in the control device 131, programs installed in the control device 131, etc. The setting unit 131C performs settings related to the travel and operation of the transplanter 1 (such as automatic sensitivity setting, azimuth setting, GPS adjustment, row spacing setting, and RTK setting shown in FIG. 43A). Regarding azimuth setting, the setting unit 131C can set an azimuth input (e.g., manually input) by an operator as the reference azimuth. More specifically, when in setting mode, the setting unit 131C accepts azimuth input (e.g., manual azimuth input by an operator) and stores the input azimuth in the storage device 131B as the reference azimuth.

[0243] As shown in FIG. 43A, the storage device 131B stores a plurality of items (i.e., setting items) and a plurality of The memory table DT1 stores a memory table DT1 that associates the setting values ​​for each of the items (setting items) with the setting values ​​for each of the items. The multiple setting items include automatic sensitivity setting (GS sensitivity setting), azimuth setting, GPS adjustment, row spacing setting, and RTK setting. The setting items in the memory table DT1 are broadly divided into major items and minor items. The major items are items in the first hierarchy, which is the highest hierarchy. The minor items are items in the second hierarchy, which is lower than the first hierarchy. The automatic sensitivity setting item, azimuth setting item, GPS adjustment item, row spacing setting item, and RTK setting item are all items in the first hierarchy. The azimuth setting item includes an azimuth input item and an azimuth call item, which are stored as minor items (items in the second hierarchy). The setting values ​​for each of the multiple setting items are values ​​in the third hierarchy, which is lower than the second hierarchy. The setting values ​​are hierarchically divided into first, second, third, and fourth levels depending on the type of setting item.

[0244] The automatic sensitivity setting item is an item for setting the sensitivity of straight-ahead steering, and its setting values ​​are assigned only to the first value and are broadly categorized as standard, sensitive, and insensitive. The automatic sensitivity setting setting values ​​can be set to "DEF" indicating standard, a "+number (an integer such as +1 or +2)" indicating sensitivity, or a "-number (an integer such as -1 or -2)" indicating insensitive. When set to standard, the automatic steering steering angle for position deviation and heading deviation is normal; when set to sensitive, the automatic steering steering angle is made larger than normal in accordance with the numerical value; and when set to insensitive, the automatic steering steering angle is made smaller than normal in accordance with the numerical value. In FIG. 43A, the value "DEF" is stored as the setting value corresponding to the automatic sensitivity setting item.

[0245] The heading setting item is an item related to heading setting. The heading input item is a sub-item for manually inputting heading information (i.e., reference heading), and its setting value corresponds to the value of the integer part of the heading (heading integer part: first-place value) and the value of the decimal part of the heading (heading decimal part: second-place value). In FIG. 43A, the value "H359" indicating the integer part of a heading of 359.99° is stored as the first-place value (heading integer part) of the setting value corresponding to the heading input item, and the value "L_99" indicating the decimal part (up to two decimal places) of a heading of 359.99° is stored as the second-place value (heading decimal part).

[0246] The direction call item is a sub-item for calling up a registered direction, and its setting values ​​correspond to the direction name (first digit value), registration date (second digit value), direction integer part (third digit value), and direction decimal part (fourth digit value). In Fig. 43A, among the setting values ​​corresponding to the direction call item, "A4" (identification number) is stored as the first digit value (direction name), "2022", "0823", and "1658" as the second digit value (registration date), "H359" as the third digit value (direction integer part), and "L_99" as the fourth digit value (direction decimal part).

[0247] The GPS adjustment item is an item for adjusting the GPS position, and its setting value is assigned only to the first value and is roughly divided into standard, positive correction, and negative correction. The setting value for GPS adjustment can be set to "DEF" indicating standard, "+number (an integer such as +1, +2)" indicating positive correction, or "-number (an integer such as -1, -2)" indicating negative correction. In FIG. 43A, the value "DEF" is stored as the setting value corresponding to the GPS adjustment item.

[0248] The row spacing setting item is an item for setting the distance between adjacent rows to be used for row spacing assist. Row spacing assist is a function that notifies the operator 2 of the "deviation" between adjacent rows when starting straight-ahead driving, and assists by automatic steering to eliminate the "deviation" between the adjacent rows. Only the first value is associated with the row spacing setting value, and "1200" indicating 1200 mm, which is the distance between adjacent rows, and "1320" indicating 1320 mm, etc. are stored as default values. Values ​​other than these may also be used as default values. In FIG. 43A, the value "1200" is stored as the setting value corresponding to the row spacing setting item.

[0249] The RTK setting item is an item for setting RTK, and its setting value is roughly classified into standard and custom, with only the first value corresponding. In Figure 43A, the value "DEF" indicating standard is stored as the setting value corresponding to the RTK setting item.

[0250] As shown in Fig. 43B, the storage device 131B stores a storage table DT2 in which a direction call item is associated with a plurality of direction names and direction information is associated with each of the plurality of direction names. In the storage table DT2 shown in Fig. 43B, first to fourth direction names (e.g., "A1" to "A4") are stored as a plurality of direction names. For example, the first direction name ("A1") is associated with the registration date (the number "2022" indicating the year (e.g., 2022), the number "0322" indicating the date (e.g., March 2), and the number "0845" indicating the hour and minute in 24-hour format (e.g., 8:45)), a direction integer part (e.g., the value "H302"), and a direction decimal part (e.g., the value "L_79").

[0251] When the control device 131 is in setting mode, it causes the segment display unit 361 to display the selected item from among the multiple items and its setting value in order, and if there are multiple setting values ​​that are hierarchically divided, it causes the segment display unit 361 to display the multiple setting values ​​in hierarchical order.

[0252] Note that the steering selector switch 351 was a button for instructing the start and end of automatic steering in the non-setting mode, but functions as a decision button in the setting mode. Also, the first switch 352 and the second switch 353 were buttons for instructing the start and end points of the reference heading in the non-setting mode, but function as selection buttons in the setting mode. For example, in the setting mode, the first switch 352 can change or increase the value in ascending order, and the second switch 353 can change or decrease the value in descending order. In other words, the control device 131 makes the functions (instructions) of the steering selector switch 351, the first switch 352, and the second switch 353 different between the non-setting mode and the setting mode.

[0253] Here, a case where the operator 2 sets the reference heading by manual input will be described. When in the setting mode, the control device 131 switches between the multiple items shown in Fig. 44A and displays them on the segment display unit 361 of the display device 360 ​​based on the operation of at least one of the first switch 352 and the second switch 353. That is, the segment display unit 361 switches between and displays each item, namely, automatic sensitivity setting (GS sensitivity setting), heading setting, GPS adjustment, row spacing setting, and RTK setting, in ascending order each time the first switch 352 is operated, and switches between and displays each item in descending order each time the second switch 353 is operated. The operator 2 can understand that the various segment displays shown in Fig. 44A, i.e., "GAIN," "A--B," "I--N," "READ," "ADJ," "JOU," and "GPS," represent automatic sensitivity setting (GS sensitivity setting), heading setting, heading input, heading call, GPS adjustment, row spacing setting, and RTK setting.

[0254] When the steering switch 351 is operated while the heading setting item is selected, that is, while the segment display unit 361 displays the main item shown in FIG. 44B (for example, "A--B"), the control device 131 selects the heading setting item and switches between the heading input and the heading call in turn based on the operation of at least one of the first switch 352 and the second switch 353.

[0255] When the steering switch 351 is operated with the heading input item selected, that is, with the sub-item shown in Figure 44B (e.g., "I--N") displayed on the segment display unit 361, the control unit 131 causes the segment display unit 361 to display the heading value of the reference heading stored in the memory device 131B. Specifically, the segment display unit 361 displays the value of the heading integer part (third layer) which is the setting value shown in FIG. 44B ("H359"), and after a predetermined second, subsequently displays the value of the heading decimal part (fourth layer) which is the setting value "L_99". The control device 131 changes the heading value displayed on the segment display unit 361 based on the operation of at least one of the first switch 352 and the second switch 353. For example, when the first switch 352 is operated while the heading integer part is being displayed, the control device 131 increases the value of the heading integer part being displayed, and when the second switch 353 is operated, decreases the value. When the steering changeover switch 351 is operated, the control device 131 stores the changed heading value as the reference heading in the storage device 131B, associating it with the heading input item. For example, if the changed heading value is 359.97°, this value is stored as the reference heading. Note that if the heading value remains as the original value and the steering changeover switch 351 is operated, it may not be stored, or it may be overwritten and stored.

[0256] Next, a case where the operator 2 manually recalls a stored direction (registered direction) and changes the reference direction will be described. When the steering selector switch 351 is operated in the setting mode with the direction recall item selected, that is, with a major item (e.g., "READ") shown in FIG. 44A displayed on the segment display unit 361, the control device 131 determines the direction recall item. The control device 131 displays the direction information of the direction name currently set among the multiple direction names stored in the storage device 131B on the segment display unit 361. The memory table DT1 shown in FIG. 43A stores the currently set setting items and their setting values ​​(direction name, registration date, direction integer part, direction decimal part). Therefore, as shown in FIG. 44C, the control device 131 displays the fourth direction name and its setting value in order on the segment display unit 361. That is, the segment display unit 361 displays "A4", "2022", "0823", "1658", "H359", and "L_99" in that order.

[0257] When the fourth direction name is displayed, the control device 131 can select any of the multiple direction names displayed on the segment display unit 361 based on the operation of at least one of the first switch 352 and the second switch 353. As shown in FIG. 43B, the first to fourth direction names and their direction information are stored in the memory table DT2. When the second direction name "A2" in the memory table DT2 is selected, the second direction name "A2" and its setting value are displayed in order. When the steering selector switch 351 is operated while the second direction name "A2" is displayed, the direction indicated by the direction information of the selected direction name is set as the reference direction. For example, the direction value indicated by the setting value of the selected second direction name "A2," i.e., the direction 358.44°, which is the direction value of the direction name "A2" shown in FIG. 43B, is changed to the reference direction.

[0258] Next, a case where the operator 2 manually sets the row spacing will be described. When the control device 131 is in setting mode and the row spacing setting item is selected from multiple items, that is, when the steering selector switch 351 is operated with a major item (for example, "JOU") shown in FIG. 44A displayed on the segment display unit 361, the control device 131 selects the row spacing setting item. The control device 131 causes the segment display unit 361 to display the row spacing setting stored in the memory device 131B. The segment display unit 361 displays the row spacing setting value stored in the memory table DT1 shown in FIG. 43A, that is, "1200" indicating 1200 mm, which is the distance between adjacent rows.

[0259] When the first switch 352 is operated while the row spacing setting value (here, "1200") is displayed, the control device 131 increases the displayed setting value, and when the second switch 353 is operated, decreases the setting value. When the steering changeover switch 351 is operated, the control device 131 stores the row spacing setting value displayed on the segment display unit 361 as the changed row spacing setting value. For example, if the changed row spacing setting value is "1300", this value is stored as the row spacing setting. Note that if the row spacing setting value remains the original value and the steering changeover switch 351 is operated, it may not be stored, or it may be overwritten and stored.

[0260] Next, a case where the operator 2 manually changes the setting value of the automatic steering sensitivity will be described. In the setting mode, when the steering selector switch 351 is operated with the automatic steering sensitivity setting item selected from among multiple items, that is, with a major item (e.g., "GAIN") shown in FIG. 44A displayed on the segment display unit 361, the control device 131 selects the automatic steering sensitivity item. The control device 131 causes the segment display unit 361 to display the setting value of the automatic steering sensitivity stored in the memory device 131B. The segment display unit 361 changes the setting value of the automatic steering sensitivity displayed on the segment display unit 361 based on the operation of at least one of the first switch 352 and the second switch 353. For example, when the steering selector switch 351 is operated while the setting value is displayed, the control device 131 stores the changed setting value of the automatic steering sensitivity in the memory device 131B in association with the item of the automatic steering sensitivity setting.

[0261] When not in the setting mode (non-setting mode), the control device 131 acquires the position of the running object 5 when the first switch 352 is operated as the start point, and acquires the position of the running object 5 when the second switch 353 is operated after the running object 5 has traveled a predetermined distance or more from the start point as the end point. Then, the control device 131 causes the segment display unit 361 to display a bearing value (here, the bearing is assumed to be 290.13°) indicating the bearing of the line connecting the start point and the end point.

[0262] When the second switch 353 is operated in a first manner (e.g., pressed and held) while the heading value is displayed on the segment display unit 361, the control device 131 displays the heading name on the segment display unit 361. The control device 131 selects an available heading name ("A5") based on the operation of at least one of the first switch 352 and the second switch 353. The control device 131 may automatically select the heading name ("A5") next to the stored heading name ("A4"). When the steering selector switch 351 is operated, the control device 131 sets the heading value (heading 290.13°) as the reference heading, and stores the reference heading and the selected heading name ("A5") in association with each other in the storage device 131B. The control device 131 is also equipped with a real-time clock, and stores the date indicated by the real-time clock at the time of storage as the registration date.

[0263] When the second switch 353 is operated by a second operation (e.g., a short press) while the control device 131 is not in the setting mode, if a reference heading has already been stored in the storage device 131B, the control device 131 causes the segment display unit 361 to display the reference heading and heading name stored in the storage device 131B. Specifically, the control device 131 causes the segment display unit 361 to display the reference heading and heading name stored in the storage table DT1 shown in FIG. 43A. For example, as shown in FIG. 44C, the control device 131 displays "A4," "2022," "0823," "1658," "H359," and "L_99" in that order on the segment display unit 361. The control device 131 does not start automatic steering control while the heading value (heading 359.99°) is displayed on the segment display unit 361. Furthermore, the control device 131 does not erase the start point and end point while the heading value (heading 359.99°) is displayed on the segment display unit 361.

[0264] Here, the control device 131 can set at least two or more setting items related to the field among the multiple setting items as related settings. The memory table DT3 of a modified example shown in Fig. 43C stores related setting items associated with items related to the field and multiple setting values ​​associated with the related setting items, and the multiple setting values ​​include two or more of the reference orientation, row spacing, and automatic steering sensitivity. In Fig. 43C, the setting values ​​of the orientation call, row spacing setting, and automatic sensitivity setting (GS sensitivity setting) for the same field 6 are stored in association with each other. In other words, the setting values ​​of the reference orientation, row spacing setting, and automatic sensitivity setting (GS sensitivity setting) are setting values ​​for the same field 6.

[0265] When the control device 131 is in the setting mode, if the steering selector switch 351 is operated while a related setting item is selected from among multiple items based on the operation of at least one of the first switch 352 and the second switch 353, that is, while the related setting item (e.g., "RS") shown in FIG. 43C is displayed on the segment display unit 361, the control device 131 selects the related setting item. The control device 131 sequentially displays multiple setting values ​​of the related setting item stored in the memory device 131B on the segment display unit 361. That is, the segment display unit 361 displays "READ," "A4," "2022," "0823," "1658," "H359," "L_99," "JOU," "1200," "GAIN," and "DEF" in that order. The operator 2 can check the setting values ​​of the reference heading, row spacing, and automatic steering sensitivity displayed sequentially on the segment display unit 361 at a glance.

[0266] The transplanter 1 (riding vegetable transplanter) of this embodiment described above comprises a planting implement 4 that plants vegetable seedlings in a field, a running body 5 that runs with the planting implement 4 attached, a driver's seat 3 provided on the running body 5 in which an operator can be seated, an antenna unit 400 that receives satellite positioning information, and a control device 131 that controls automatic steering of the running body 5 based on the satellite positioning information.

[0267] According to this configuration, the transplanter 1 (riding vegetable transplanter) can perform automatic steering based on the satellite positioning information received by the antenna unit 400. This reduces the driving burden on the operator of the riding vegetable transplanter and can assist in planting work.

[0268] The transplanter 1 (riding vegetable transplanter) also includes support pillars 28B that are erected on both the left and right sides of the running body 5 and extend to a position higher than the driver's seat 3, a connecting frame 420 that connects the tops of both support pillars 28B, and a housing 405 that houses a communication device 401, and the antenna unit 400 and housing 405 are attached to the connecting frame 420.

[0269] According to this configuration, both support pillars 28B erected on both the left and right sides of the vehicle 5 extend to a position higher than the driver's seat 3. An antenna unit 400 is provided on a connecting frame 420 connecting the upper parts of both support pillars 28B. That is, since the antenna unit 400 is provided at the highest position of the vehicle 5, the reception condition of the antenna unit 400 can be made the best. In addition, a housing 405 is attached to the connecting frame 420 on which the antenna unit 400 is provided, and a communication device 401 is housed in this housing 405. Therefore, the communication device 401 can be positioned near the antenna unit 400.

[0270] In addition, the transplanter 1 (riding vegetable transplanter) has a bracket 410 attached to a connecting frame 420, an antenna unit 400 is attached to the upper part of the bracket 410, and a housing 405 is attached to the lower part of the bracket 410, and the antenna unit 400 and the housing 405 are positioned so that they overlap via the bracket 410 when viewed in a plane.

[0271] According to this configuration, antenna unit 400 is attached to the upper part of bracket 410 attached to connecting frame 420, and housing 405 is attached to the lower part of bracket 410, and antenna unit 400 and housing 405 are arranged in a position where they overlap via bracket 410 in a plan view. Therefore, antenna unit 400 and communication device 401 can be arranged close to each other above and below.

[0272] Furthermore, bracket 410 includes first bracket 411 to which housing 405 is attached and which is fixed to connecting frame 420, and second bracket 412 to which antenna unit 400 is attached. Screw holes 411a are formed in first bracket 411. Long slots 412a are formed in second bracket 412 along connecting frame 420. Second bracket 412 is fastened to first bracket 411 by inserting fasteners 413 into the slots 412a and screwing them into the screw holes 411a.

[0273] According to this configuration, the first bracket 405 is attached to the housing 405 and fixed to the connecting frame 420. The second bracket 412 to which the antenna unit 400 is attached can be aligned and fixed to the bracket 411 in the width direction (machine body width direction K2) of the running body 5. In other words, the antenna unit 400 can be aligned to a suitable position in the width direction of the running body 5.

[0274] Furthermore, the bracket 410 has a mounting surface on which the antenna unit 400 is mounted that is larger in size than the antenna unit 400. According to this configuration, the bracket 410 has a mounting surface on which the antenna unit 400 is mounted that is larger in size than the antenna unit 400. Therefore, of the radio waves arriving from the satellite, reflected waves from the ground or the running body 5 of the riding vegetable transplanter and heading toward the antenna unit 400 from below, i.e., downward reflected waves, can be blocked by the bracket 410, and the influence of disturbances caused by downward reflected waves can be reduced.

[0275] Furthermore, the housing 405 houses the speaker 402, and the speaker 402 is attached to the housing 405 in a position facing the driver's seat 3. According to this configuration, the speaker 402 is attached to the housing 405 in a position facing the driver's seat 3, so that audio can be output in an easily audible state to the driver seated in the driver's seat 3, and audio notifications can be appropriately given to the driver.

[0276] Furthermore, housing 405 includes partition wall 406 that separates first space 405A housing communication device 401 from second space 405B housing speaker 402. According to this configuration, housing 405 has first space 405A housing communication device 401 and second space 405B housing speaker 402, and first space 405A and second space 405B are separated by partition wall 406. This makes it possible to reduce electromagnetic waves from speaker 402 reaching communication device 401, and housing 405 can be used effectively.

[0277] In addition, the connecting frame 420 is configured to be switchable between an upright position SP in which the antenna unit 400 is positioned higher than the top of both supports 28B and can receive satellite positioning information, and a stored position DP in which the antenna unit 400 is lower than the upright position SP and is positioned below the housing 405, by rotating around a horizontal axis X3 along the width direction of the running body 5 (body width direction K2).

[0278] According to this configuration, the connecting frame 420 can be switched between an upright position SP and a retracted position DP by rotating around a horizontal axis X3 along the width direction of the running body 5. When the connecting frame 420 is in the upright position SP, the antenna unit 400 is positioned higher than the tops of both support columns 28B, enabling it to receive satellite positioning information. On the other hand, when the connecting frame 420 is in the retracted position DP, the antenna unit 400 is lower than the upright position SP and positioned below the housing 405. Therefore, by placing the connecting frame 420 in the retracted position DP, the height of the riding vegetable transplanter can be lowered, allowing it to be stored in a barn, warehouse, or other location with height restrictions. Furthermore, when the connecting frame 420 is in the retracted position DP, the antenna unit 400 is positioned below the housing 405, thereby protecting the antenna unit 400. For example, the housing 405 can protect the antenna unit 400 from rain and direct sunlight, reducing damage to the antenna unit 400 due to contact with external objects.

[0279] Furthermore, the communication device 401 is capable of receiving correction information for positioning errors. The control device 131 determines that the connecting frame 420 is in the stored position DP when the reception level of the signal indicating the satellite positioning information from the antenna unit 400 is equal to or lower than a specified value and when the communication device 401 has acquired correction information for the positioning errors. According to this configuration, the control device 131 determines that the connecting frame 420 is in the stored position DP when the reception level at the antenna unit 400 is equal to or lower than a specified value and when the communication device 401 has acquired correction information for the positioning errors. For this reason, Therefore, it is possible to notify the operator that the connecting frame 420 is in the stored position DP, that is, that the antenna unit 400 is in a state where reception is not possible.

[0280] Pillar 28B is a gate-shaped support having front pillar 28B1 and rear pillar 28B2 spaced apart in the fore-and-aft direction of running body 5, and front-and-aft frame 28B3 connecting the top of front pillar 28B1 and the top of rear pillar 28B2. Multiple spare seedling trays 28A on which spare seedlings can be placed are arranged at intervals in the vertical direction. Spare seedling tray 28A has a base end 28A1 attached to front pillar 28B1 and rear pillar 28B2 so as to be rotatable about a fore-and-aft axis X4 along the fore-and-aft direction of running body 5. Spare seedling tray 28A is configured to be switchable between a use position UP1 in which a tip end 28A2 on the opposite side from base end 28A1 is positioned in the width direction of running body 5 and spare seedlings can be placed, and an unused position UP2 in which tip end 28A2 is raised closer to pillar 28B and tilted, and spare seedlings cannot be placed. The connecting frame 420 includes a left leg 421 having a left lower portion 421A connected to the front and rear frame 28B3 of the left support column 28B of the running body 5 and a first extension portion 421B bent upward and extending from the lower left portion 421A, a right leg 422 having a right lower portion 422A connected to the front and rear frame 28B3 of the right support column 28B of the running body 5 and a second extension portion 422B bent upward and extending from the lower right portion 422A, and a rod-shaped body 423 connecting the upper ends of the first extension portion 421B and the second extension portion 422B and extending in the width direction of the running body 5. The rod-shaped body 423 of the connecting frame 420 is positioned higher than the uppermost spare seedling tray 28A among the multiple spare seedling trays 28A when the uppermost spare seedling tray 28A is in the unused position UP2.

[0281] According to this configuration, multiple spare seedling trays 28A are mounted vertically on the two support columns 28B on both the left and right sides of the traveling body 5. These spare seedling trays 28A can be switched between the use position UP1 and the non-use position UP2. The connecting frame 420 connecting the two support columns 28B includes left and right legs 421 and 422 that extend higher than the two support columns 28B, and a rod-shaped member 423 connecting the left and right legs 421 and 422. The rod-shaped member 423 of the connecting frame 420 is positioned higher than the topmost spare seedling tray 28A when the topmost spare seedling tray 28A is in the non-use position UP2. Therefore, the antenna unit 400 is positioned higher than the topmost spare seedling tray 28A in the non-use position UP2. In other words, because the antenna unit 400 is positioned at the highest position on the traveling body 5, the antenna unit 400 can achieve optimal signal reception.

[0282] In addition, the transplanter 1 (riding transplanter) of this embodiment is equipped with a planting implement 4 that plants seedlings in a field, a running body 5 that runs with the planting implement 4 attached, a driver's seat 3 that is provided on the running body 5 and in which an operator can sit, and a working implement lifting mechanism 125 that raises and lowers the planting implement 4, and the working implement lifting mechanism 125 is equipped with a shock absorber 470 that absorbs impacts from the running body 5 and the planting implement 4.

[0283] With this configuration, the shock absorber 470 of the implement lifting mechanism 125 absorbs impacts from the traveling body 5 and the planting implement 4. This reduces fluctuations in the planting height of seedlings by the planting implement 4. This improves the planting accuracy of the planting implement 4. This supports the planting work. It also reduces vibrations from the planting implement 4 to the driver's seat 3. This improves the ride comfort of the riding transplanter.

[0284] The planting work machine 4 also includes a main frame 37. The work machine lifting mechanism 125 includes a connecting link mechanism 129 that connects the mounting frame 124, on which the main frame 37 is mounted, to the traveling body 5, and a lifting drive body 130 that drives the main frame 37 to move up and down. The lifting drive body 130 includes a lifting cylinder 450 and a connecting body 460 that is attached to the tip of a piston rod 452 of the lifting cylinder 450 and is connected to the mounting frame 124. When the lifting cylinder 450 is extended, the main frame 37 rises, and when the lifting cylinder 450 is contracted, the main frame 37 descends.

[0285] According to this configuration, the shock absorber 470 provided on the connector 460 at the tip of the piston rod 452 of the lifting cylinder 450 can reduce fluctuations in the planting height of seedlings by the planting implement 4, thereby improving the planting accuracy of the planting implement 4. Therefore, a work implement lifting mechanism 125 equipped with the shock absorber 470 can be suitably realized.

[0286] Furthermore, piston rod 452 has a first flange 453 at a first position spaced a first distance D1 from the tip of piston rod 452. Connecting body 460 has a mounting surface 462 having a through hole 461 into which tip end 452A of piston rod 452 is inserted, and a tubular portion 463 extending from the outer circumferential end of mounting surface 462 to follow tip end 452A of piston rod 452, and a main body 464 attached to tip end 452A of piston rod 452. Shock absorber 470 has a first elastic body 471 having a through hole 472 into which tip end 452A of piston rod 452 is inserted, and is configured by sandwiching first elastic body 471 between main body 464 and first flange 453.

[0287] With this configuration, the first elastic body 471 sandwiched between the main body 464 and the first flange 453 can absorb the impact applied from the traveling body 5 to the planting implement 4 via the piston rod 452 of the lifting cylinder 450, and the impact applied from the planting implement 4 to the traveling body 5 via the piston rod 452 of the lifting cylinder 450. In other words, the impact from the traveling body 5 to the planting implement 4 and the impact from the planting implement 4 to the traveling body 5 can be suitably absorbed.

[0288] Furthermore, a first thread 454 is formed in the piston rod 452 in a first range RG1 that includes the first position. A first fastener 455 is screwed into the first range RG1 of the piston rod 452. The first fastener 455 is screwed in a state in which the first flange portion 453 is pressed against the first elastic body 471. With this configuration, the first elastic body 471 can be securely sandwiched between the first flange portion 453 and the main body portion 464, and impact can be securely absorbed by the first elastic body 471.

[0289] The first elastic body 471 is made of rubber and has a first surface 471a that contacts the first flange 453 and a second surface 471b that contacts the main body 464. This effectively absorbs impacts from the traveling body 5 to the planting implement 4 and from the planting implement 4 to the traveling body 5, reducing vibrations to the traveling body 5 and the planting implement 4. This improves the planting accuracy of the planting implement 4 and improves the ride comfort of the riding transplanter.

[0290] Furthermore, piston rod 452 has a second flange 456 separate from first flange 453 at a second position spaced a second distance D2 from the tip of piston rod 452, the second distance D2 being shorter than first distance D1. Shock absorber 470 has a first elastic body 471 and a second elastic body 474 positioned inside cylindrical portion 463 and having a through hole 473 into which tip portion 452A of piston rod 452 is inserted. Shock absorber 470 is configured such that first elastic body 471 is sandwiched between first flange 453 and mounting surface 462 of main body 464, and second elastic body 474 is sandwiched between second flange 456 and a bottom surface 463a of cylindrical portion 463 of main body 464.

[0291] With this configuration, the first elastic body 471 sandwiched between the main body 464 and the first flange 453 can absorb the impact applied from the traveling body 5 to the planting machine 4 via the piston rod 452 of the lifting cylinder 450, and the impact applied from the planting machine 4 to the traveling body 5 via the piston rod 452 of the lifting cylinder 450. In other words, the impact from the traveling body 5 to the planting machine 4 and the impact from the planting machine 4 to the traveling body 5 can be efficiently absorbed. Furthermore, the second elastic body 474 sandwiched between the bottom surface 463a of the tubular portion 463 and the second flange 456 can absorb the impact pulling the piston rod 452 of the lifting cylinder 450 toward the traveling body 5 and the impact pulling the main body 464 of the connecting body 460 toward the planting machine 4. In other words, first elastic body 471 and second elastic body 474 can absorb shock according to the type of shock.

[0292] Furthermore, the piston rod 452 has a second thread 457 formed in a second range RG2 that includes the second position. A second fastener 458 is screwed into the second range RG2 of the piston rod 452. A second elastic body 474 and a second flange 456 are inserted into the cylindrical portion 463 of the main body 464. The second fastener 458 is screwed in a state in which the second flange 456 is pressed against the second elastic body 474. With this configuration, the second elastic body 474 can be securely sandwiched between the cylindrical portion 463 of the main body 464 and the second flange 456, and impact can be securely absorbed by the second elastic body 474.

[0293] The second elastic body 474 is made of rubber and has a first surface 474a that abuts against the bottom surface 463a of the cylindrical portion 463 and a second surface 474b that abuts against the second flange portion 456. This effectively absorbs the impact that pulls the piston rod 452 of the lifting cylinder 450 toward the running body 5 and the impact that pulls the main body 464 of the connecting body 460 toward the planting implement 4, thereby reducing vibration to the running body 5 and the planting implement 4. This improves the planting accuracy of the planting implement 4 and improves the ride comfort of the riding transplanter.

[0294] The first fastener 455 is made up of a first nut 455a and a second nut 455b, and the first nut 455a and the second nut 455b are fastened together when they are screwed into the first region RG1 of the piston rod 452. This prevents the first fastener 455 (that is, the first nut 455a and the second nut 455b) from loosening.

[0295] The planting work machine 4 also includes a seedling removal device 11 that removes seedlings from the seedling tray 8 placed on the seedling loading table 9, a planting body 12 that plants the seedlings removed by the seedling removal device 11 in the field, and a soil covering wheel 62 that is positioned behind the planting body 12 and rolls on the left and right sides of the seedlings planted by the planting body 12 to pile up soil around the seedling's base and compact the base.

[0296] With this configuration, the shock absorber 470 absorbs impacts from the traveling body 5 and the planting implement 4, thereby reducing fluctuations in the planting height of seedlings by the planting implement 4. In other words, it is possible to reduce undulations and compaction of the top surface of the ridges. This allows the soil covering wheels 62 to accurately compact the seedlings' edges.

[0297] <Modification of lift driver 130> 21 may be used. The lifting / lowering driver 130 of the modification includes a connector 460A having a different shape instead of the connector 460 of the above embodiment. The connector 460A includes a pair of legs 466A having a different length from the pair of legs 466 shown in the above embodiment. Specifically, the length of the pair of legs 466A extending in the longitudinal direction of the piston rod 452 beyond the main body 464 (i.e., extension length L1 from the main body 464) is at least twice the length L3 of the piston rod 452 in the longitudinal direction of the main body 464 or is at least the length L2 of the cylinder main body 451 of the lifting cylinder 450.

[0298] According to this configuration, the length of the piston rod 452 of the lifting cylinder 450 can be made shorter than before while maintaining the specifications (dimensions, etc.) of the connecting link mechanism 129 of the work machine lifting mechanism 125. Generally, the longer the piston rod 452 of the lifting cylinder 450, the more difficult it is to center the piston rod 452, and the more expensive it is to produce the lifting cylinder 450. However, since the piston rod 452 of the lifting cylinder 450 can be short, the cost and time required to produce the lifting cylinder 450 can be reduced, thereby improving the productivity of the riding transplanter.

[0299] In the above embodiment, the rotating case 201 is configured to have first to fifth spur gears G1 to G5 and two planting bodies 12 (i.e., a double rotary cup), but is not limited to this. For example, the rotating case 201 may be configured to have first to third gears G1 to G3 (e.g., first to third spur gears G1 to G3) and to move one planting body 12 up and down along an egg-shaped trajectory T on the first output shaft 215A of the first spur gear G1 (i.e., a single rotary cup).

[0300] The transplanter 1 of this embodiment (which may be a riding or non-riding transplanter) comprises a planting implement 4 that plants seedlings in a field, and a traveling body 5 that travels with the planting implement 4 attached. The planting implement 4 comprises a planting lifting mechanism 167 that moves the planting body 12 that holds the seedlings up and down. The planting lifting mechanism 167 comprises a first gear G1, a second gear G2 that meshes with the first gear G1, a third gear G3 that meshes with the second gear G2, a rotating case 201 in which the first to third gears G1 to G3 are arranged, and a rotating case 202 in which the third gear G3 is located. The rotating case 201 is provided with an input shaft 205 that is provided at a location and to which a rotational force for rotating the rotating case 201 is input, an output shaft 215 to which the planting body 12 is attached and which outputs the rotational force of the first gear G1, and a fixed member 210 that rotatably supports the input shaft 205 and the rotating case 201 and to which the third gear G3 is fixed, and the first gear G1, second gear G2 and third gear G3 have axes J1 to J3 that are eccentric from the center of the circle and are arranged in the rotating case 201 so that the axes J1 to J3 are aligned on the same straight line.

[0301] According to this configuration, by rotating the single rotating case 201, the planting body 12 can be moved up and down along an egg-shaped trajectory T. This allows the number of parts in the planting lifting mechanism 167 to be reduced, and the planting lifting mechanism 167 can be made to have a simple configuration.

[0302] Furthermore, the first to third gears G1 to G3 are first to third spur gears G1 to G3 of the same size, and the rotating case 201 accommodates the first to third spur gears G1 to G3 arranged in a straight line and aligned with the axes J1 to J3 of the first to third spur gears G1 to G3 on the straight line. As the rotational force is input to the input shaft 205, the rotating case 201 rotates, and the second spur gear G2 rotates along the outer periphery of the third spur gear G3. As the second spur gear G2 rotates, the first spur gear G1 rotates, causing the planting body 12 to move up and down along an egg-shaped trajectory T. When the planting body 12 is lowered, it plunges into the field and plants the seedlings.

[0303] With this configuration, by rotating the single rotating case 201, the planting body 12 can be moved up and down along an egg-shaped trajectory T, thereby reducing the number of parts. More specifically, conventional planting lifting mechanisms required a first and second rotating case. In contrast, the above configuration requires only a single rotating case 201. This reduces the number of parts. Furthermore, conventional planting lifting mechanisms have a complex structure in which the first and second rotating cases rotate in different directions. In contrast, the above configuration requires only the rotation of the single rotating case 201, allowing the planting lifting mechanism 167 to have a simple configuration. Therefore, the planting lifting mechanism 167 can be simplified and configured with a reduced number of parts.

[0304] The planting lifting mechanism 167 further includes a fourth spur gear G4 that is the same as the second spur gear G2 and a fifth spur gear G5 that is the same as the first spur gear G1. The rotating case 201 accommodates the first to fifth spur gears G1 to G5 arranged in a straight line and aligns the axes J1 to J5 of the first to fifth spur gears G1 to G5 on the straight line. The output shaft 215 is the first output shaft 215A, and the planting body 12 is the first The planting lifting mechanism 167 further includes a second output shaft 215B provided on the axis J5 of the fifth spur gear G5 and on which the second planting body 12 for holding the seedlings is attached. As the rotational force input to the input shaft 205 causes the rotating case 201 to rotate, the second spur gear G2 and the fourth spur gear G4 rotate along the outer periphery of the third spur gear G3 while maintaining a mutually opposing positional relationship via the third spur gear G3, and the second spur gear G3 rotates along the outer periphery of the third spur gear G3. The first spur gear G1 rotates with the rotation of the wheel G2, and the fifth spur gear G5 rotates with the rotation of the fourth spur gear G4, causing the first planting body 12 and the second planting body 12 to move up and down along an egg-shaped trajectory T, and when the second planting body 12 is being raised, the first planting body 12 is lowered to enter the field and plant the seedlings, and when the first planting body 12 is being raised, the second planting body 12 is lowered to enter the field and plant the seedlings.

[0305] With this configuration, by rotating the single rotating case 201, the first planting body 12 and the second planting body 12 can each move up and down along an egg-shaped trajectory T. As a result, seedlings can be planted twice per rotation of the rotating case 201. This doubles the seedling planting efficiency. In other words, double planting can be achieved. Furthermore, because the rotating case 201 rotates around the center of its longitudinal axis, the rotating case 201 can be rotated in a balanced manner, allowing seedlings to be planted efficiently at each planting body 12 (the first planting body 12 and the second planting body 12) located at both ends of the rotating case 201 in the longitudinal direction.

[0306] The fixed member 210 also has a cylindrical main body 211 into which the input shaft 205 is inserted. The cylindrical main body 211 has an insertion cylindrical portion 211A inserted into the rotating case 201 and a protruding cylindrical portion 211B protruding from the insertion cylindrical portion 211A to the outside of the rotating case 201. A first bearing 212A that rotatably supports the input shaft 205 is provided inside the protruding cylindrical portion 211B, and a second bearing 212B that rotatably supports the rotating case 201 is provided on the outer periphery of the insertion cylindrical portion 211A. The third spur gear G3 is fixed to the insertion cylindrical portion 211A by fitting the insertion cylindrical portion 211A into an axial hole G3A formed through the axis J3 of the third spur gear G3.

[0307] According to this configuration, the fixed member 210 includes a cylindrical main body 211 into which the input shaft 205 is inserted. The cylindrical main body 211 has an insertion cylindrical portion 211A inserted into the rotating case 201 and a protruding cylindrical portion 211B protruding to the outside of the rotating case 201. A first bearing 212A provided inside the protruding cylindrical portion 211B rotatably supports the input shaft 205. A second bearing 212B provided on the outer periphery of the insertion cylindrical portion 211A rotatably supports the rotating case 201. The insertion cylindrical portion 211A is fitted into a shaft hole G3A formed through the axis J3 of the third spur gear G3, and the third spur gear G3 is fixed to the insertion cylindrical portion 211A. Therefore, the input shaft 205 can be positioned in the shaft hole G3A of the third spur gear G3 via the first bearing 212A, and the third spur gear G3 can be fixed, and the rotatable case 201 can be rotated around the axis J3 of the third spur gear G3 as the rotation axis of the rotatable case 201. In other words, the fixed member 210 and the third spur gear G3 can be fixed, and the rotatable case 201 can be rotated relative to the fixed member 210 and the third spur gear G3.

[0308] Furthermore, the rotating case 201 is divided into two in the axial direction of the input shaft 205 and has a first case body 201A and a second case body 201B that house first to fifth spur gears G1 to G5 inside, and two second bearings 212B are provided spaced apart on the outer periphery of the insertion tube portion 211A, one of the two second bearings 212B rotatably supports the first case body 201A, and the other of the two second bearings 212B rotatably supports the second case body 201B, and a third spur gear G3 is fixed between the two second bearings 212B.

[0309] According to this configuration, two second bearings 212B are provided at an interval on the outer periphery of the insertion tube portion 211A. One of the two second bearings 212B rotatably supports the first case body 201A, and the other rotatably supports the second case body 201B. The second bearings 212B reduce wobble of the rotation axis of the rotating case 201, and stably support the rotating case 201 for rotation. In addition, the third spur gear G3 is fixed between the two second bearings 212B in the insertion cylindrical portion 211A. Therefore, the third spur gear G3 can be fixed in a stable position inside the rotating case 201.

[0310] Further, the input shaft 205 has a mounting plate 213 fixed to the tip end portion that protrudes from the insertion tube portion 211A to the outside of the second case body 201B, and the mounting plate 213 is fixed to an outer location of the second case body 201B.

[0311] According to this configuration, the mounting plate 213 fixed to the tip of the input shaft 205 is fixed to the second case body 201B of the rotating case 201. Therefore, the rotational force of the input shaft 205 is transmitted to the mounting plate 213 at an outer location of the second case body 201B, and the second case body 201B and the first case body 201A (rotating case 201) can be rotated. In other words, the fixed member 210 and the third spur gear G3 are fixed, and the rotating case 201 can be rotated relative to the fixed member 210 and the third spur gear G3.

[0312] The rotating case 201 also includes a pawl member 208A that abuts against the circumferential surface of the axis J1 of the first spur gear G1 and engages with the first spur gear G1 when the first spur gear G1 rotates in reverse, and a biasing member 209A that biases the pawl member 208A against the circumferential surface of the axis J1.

[0313] According to this configuration, the biasing member 209A biases the claw member 208A against the circumferential surface of the axis J1. The claw member 208A abuts against the circumferential surface of the axis J1 of the first spur gear G1 and engages with the first spur gear G1 when the first spur gear G1 rotates in reverse. This prevents the first spur gear G1 from rotating in reverse, and prevents the planting body 12 from moving backward.

[0314] The rotating case 201 also includes a claw member 208B that abuts against the circumferential surface of the axis J5 of the fifth spur gear G5 and engages with the fifth spur gear G5 when the fifth spur gear G5 rotates in reverse, and a biasing member 209B that biases the claw member 208B against the circumferential surface of the axis J5.

[0315] According to this configuration, the biasing member 209B biases the claw member 208B against the circumferential surface of the axis J5. The claw member 208B abuts against the circumferential surface of the axis J5 of the fifth spur gear G5 and engages with the fifth spur gear G5 when the fifth spur gear G5 rotates in reverse. This prevents the fifth spur gear G5 from rotating in reverse, and prevents the planting body 12 from moving backward.

[0316] Furthermore, the mounting plate 213, the second case body 201B, and the first case body 201A are fastened together by fastening members 216A.

[0317] According to this configuration, the mounting plate 213 and the second case body 201B and the second case body 201B and the first case body 201A can be fastened together by the common fastening member 216A. Therefore, the mounting plate 213, the second case body 201B, and the first case body 201A can be fixed together while reducing the number of fastening members.

[0318] The first planting body 12 is formed of a first opening device 206 that can be opened and closed back and forth, and the second planting body 12 is formed of a second opening device 206 that can be opened and closed back and forth. A first opening and closing cam 214A, which is arranged around the first output shaft 215A at an outer location of the second case body 201B and for opening and closing the first opening device 206, the second case body 201B, and the first case body 201A are fastened together by a fastening member 216B, and a second opening and closing cam 214B, which is arranged around the second output shaft 215B at an outer location of the second case body 201B and for opening and closing the second opening device 206, the second case body 201B, and the first case body 201A are fastened together by a fastening member 216C.

[0319] According to this configuration, the first opening / closing cam 214A and the second case body 201B and the second case body 201B and the first case body 201A can be fastened together by a common fastening member 216B. Furthermore, the second opening / closing cam 214B and the second case body 201B and the second case body 201B and the first case body 201A can be fastened together by a common fastening member 216C. Therefore, the first opening / closing cam 214A, the second case body 201B, and the first case body 201A can be fastened together, and the second opening / closing cam 214B, the second case body 201B, and the first case body 201A can be fastened together while reducing the number of fastening members.

[0320] In addition, the transplanter 1 (riding vegetable transplanter) of this embodiment is equipped with a planting implement 4 that plants vegetable seedlings in a field, a running body 5 that runs with the planting implement 4 attached, a driver's seat 3 provided on the running body 5, a setting unit 131C that sets the direction input by the operator as the reference direction, and a control device 131 that controls automatic steering to run the running body 5 along the reference direction.

[0321] According to this configuration, any orientation input by the operator can be set as the reference orientation in the transplanter 1 (riding vegetable transplanter). This eliminates the need for the preparatory work of actually driving the riding vegetable transplanter in a field, setting the start and end points of the drive, and setting the orientation of the drive line connecting the start and end points as the reference orientation (i.e., the work of preparatory driving to obtain the reference orientation). This reduces the driving burden on the operator of the riding vegetable transplanter and supports planting work.

[0322] The transplanter 1 (riding vegetable transplanter) is equipped with a memory device 131B, and when the setting unit 131C is in a setting mode for setting before the start of automatic steering, it accepts input of a direction and stores the input direction in the memory device 131B as a reference direction.

[0323] According to this configuration, when in the setting mode, the input direction can be accepted and set as the reference direction, thereby making it possible to appropriately set the reference direction before the start of automatic steering.

[0324] The transplanter 1 (riding vegetable transplanter) is equipped with a display device 360, a first switch 352 for setting the start point of a reference heading, a second switch 353 for setting the end point of the reference heading, and a steering changeover switch 351 that can be operated to be on or off to switch between starting and ending automatic steering, and the memory device 131B stores a plurality of items including a heading input item and setting values ​​for each of the plurality of items in association with each other, and the control device 131, when in a setting mode, controls the first switch 352 and the second switch 353. When the steering changeover switch 351 is operated with the heading input item selected from among multiple items based on the operation of at least one of the above, the heading value of the reference heading stored in the memory device 131B is displayed on the display device 360, and based on the operation of at least one of the first switch 352 and the second switch 353, the heading value displayed on the display device 360 ​​is changed, and when the steering changeover switch 351 is operated, the changed heading value is associated with the heading input item as the reference heading and stored in the memory device 131B.

[0325] According to this configuration, the reference heading can be changed by utilizing the first switch 352, the second switch 353 and the steering changeover switch 351 (GS switch) without providing a separate input device such as an operating tool dedicated to heading input or a communication device for receiving heading values.

[0326] The plurality of items includes a direction call item, and the storage device 131B stores the direction call item in association with a plurality of direction names, and stores direction information in association with each of the plurality of direction names. When the control device 131 is in the setting mode, if the steering selector switch 351 is operated with the direction call item selected from the plurality of items based on the operation of at least one of the first switch 352 and the second switch 353, the control device 131 The direction information of the direction name currently set is displayed on the display device 360, and any direction name from the multiple direction names displayed on the display device 360 ​​can be selected based on the operation of at least one of the first switch 352 and the second switch 353, and when the steering changeover switch 351 is operated, the direction indicated by the direction information of the selected direction name is set as the reference direction.

[0327] According to this configuration, a direction stored in the storage device 131B can be called up and displayed for confirmation, and the called-up direction can be set as the reference direction. Therefore, without providing a separate input device such as an operating tool dedicated to calling up the direction or a communication device for receiving the direction value, the first switch 352, the second switch 353, and the steering selector switch 351 can be used to select a stored direction and set the reference direction.

[0328] The multiple items include a row spacing setting item, and the memory device 131B stores the row spacing setting item in association with its setting value, and when the control device 131 is in setting mode and the steering changeover switch 351 is operated with the row spacing setting item selected from the multiple items based on the operation of at least one of the first switch 352 and the second switch 353, the control device 131 displays the row spacing setting stored in the memory device 131B on the display device 360, changes the row spacing setting value displayed on the display device 360 ​​based on the operation of at least one of the first switch 352 and the second switch 353, and when the steering changeover switch 351 is operated, stores the changed row spacing setting value in the memory device 131B in association with the row spacing setting item.

[0329] According to this configuration, the row spacing setting can be changed by utilizing the first switch 352, the second switch 353 and the steering changeover switch 351 without providing a separate input device such as an operating tool dedicated to row spacing setting or a communication device for receiving the row spacing setting value.

[0330] The multiple items include an automatic steering sensitivity setting item, and the memory device 131B stores the automatic steering sensitivity setting item in association with its setting value.When the control device 131 is in setting mode and the steering changeover switch 351 is operated with the automatic steering sensitivity setting item selected from the multiple items based on operation of at least one of the first switch 352 and the second switch 353, the control device 131 displays the automatic steering sensitivity setting stored in the memory device 131B on the display device 360, changes the setting value of the automatic steering sensitivity displayed on the display device 360 ​​based on operation of at least one of the first switch 352 and the second switch 353, and when the steering changeover switch 351 is operated, stores the changed setting value of the automatic steering sensitivity in the memory device 131B in association with the automatic steering sensitivity setting item.

[0331] According to this configuration, the automatic steering sensitivity setting can be changed by utilizing the first switch 352, the second switch 353 and the steering changeover switch 351 without the need to separately provide an input device such as a dedicated operating tool for setting the automatic steering sensitivity or a communication device for receiving the setting value of the automatic steering sensitivity.

[0332] When the control device 131 is not in the setting mode, it acquires the position of the moving object 5 when the first switch 352 is operated as the starting point, acquires the position of the moving object 5 when the second switch 353 is operated after the moving object 5 has traveled a predetermined distance or more from the starting point as the ending point, and displays on the display device 360 ​​a direction value indicating the direction of the line connecting the starting point and the ending point.

[0333] According to this configuration, when not in the setting mode, the riding vegetable transplanter is driven in the field to obtain the starting point (point A) and the ending point (point B), and the direction values ​​based on the obtained starting point and ending point are displayed on the display device 360, allowing the operator to check the direction values.

[0334] When the second switch 353 is operated in the first direction while the direction value is displayed on the display device 360, the control device 131 displays the direction name on the display device 360 ​​and operates the first switch 352 and A direction name is selected based on the operation of at least one of the second switches 353, and when the steering changeover switch 351 is operated, the direction value is set as the reference direction, and the reference direction and the selected direction name are associated and stored in the memory device 131B.

[0335] According to this configuration, when the steering changeover switch 351 is operated by the first operation (for example, a long press) while the azimuth value is displayed on the display device 360, the azimuth value being displayed on the display device 360 ​​is set as the reference azimuth, and the reference azimuth and the selected azimuth name are associated and stored in the storage device 131B. Therefore, the reference azimuth can be stored together with the azimuth name in the storage device 131B, and the reference azimuth can be managed appropriately.

[0336] When the control device 131 is not in the setting mode and the second switch 353 is operated in the second manner, if a reference heading has already been stored in the memory device 131B, the control device 131 causes the display device 360 ​​to display the reference heading and heading name stored in the memory device 131B, and does not start automatic steering control while the heading value is displayed on the display device 360.

[0337] According to this configuration, when the second switch 353 is operated by the second operation (e.g., a short press) while not in the setting mode, the reference heading stored in the storage device 131B is displayed, allowing the operator to confirm the reference heading. Furthermore, even if the steering changeover switch 351 is operated while the heading value is being displayed, automatic steering will not be started. This makes it possible to prevent automatic steering from being started while the reference heading is being displayed for confirmation.

[0338] The multiple items include related setting items that are associated with items that are relevant to the field, and the memory device 131B stores the related setting items and multiple setting values ​​associated with the related setting items, and the multiple setting values ​​include two or more of the reference orientation, row spacing, and automatic steering sensitivity, and when the control device 131 is in the setting mode, when the steering changeover switch 351 is operated with a related setting item selected from the multiple items based on operation of at least one of the first switch 352 and the second switch 353, the control device 131 sequentially displays the multiple setting values ​​of the related setting items stored in the memory device 131B on the display device 360.

[0339] According to this configuration, by simply selecting the related setting item, multiple setting values ​​related to the field, i.e., setting values ​​for two or more of the reference orientation, row spacing, and automatic steering sensitivity, are displayed sequentially on the display device 360, so that multiple setting values ​​related to the field can be visually confirmed at once, which is highly convenient.

[0340] The display device 360 ​​includes a segment display unit 361, and when the control device 131 is in setting mode, the control device 131 causes the segment display unit 361 to sequentially display the selected item from among the multiple items and its setting value, and if there are multiple setting values ​​that are hierarchically divided, causes the segment display unit 361 to display the multiple setting values ​​in hierarchical order.

[0341] According to this configuration, even if the display device 360 ​​has a segment display unit 361 with low expressiveness, it is possible to display the items and their set values. Furthermore, if there are multiple set values ​​divided into hierarchical levels, the multiple set values ​​can be displayed in hierarchical order on the segment display unit 361. Therefore, even in a riding vegetable transplanter equipped with a simple display device 360, it is possible to preferably display the items and their set values ​​by utilizing the first switch 352, the second switch 353, and the steering selector switch 351, without providing a separate high-performance display device 360 ​​with high expressiveness.

[0342] The transplanter 1 (riding vegetable transplanter) is equipped with an antenna unit 400 that receives satellite positioning information, and the control device 131 starts automatic steering control based on the satellite positioning information when the steering changeover switch 351 is turned on when not in the setting mode, and ends automatic steering control when the steering changeover switch 351 is turned off. This configuration allows automatic steering control to be performed appropriately.

[0343] Although one embodiment of the present invention has been described above, the embodiment disclosed herein should be considered to be illustrative in all respects and not restrictive. The scope of the present invention is defined by the claims, not by the above description, and is intended to include all modifications within the meaning and scope of the claims. [Explanation of symbols]

[0344] 1 Transplanter (Ride-on Transplanter, Vegetable Transplanter) 3 Driver's seat 4 Planting machine 5 Running body 28B Post 37 Mainframe 124 Mounting Frame 125 Work equipment lifting mechanism 129 Connecting link mechanism 130 Lifting drive body 131 Control device 131B Storage device 131C Setting section 167 Planting lifting mechanism 201 Rotating Case 205 input shaft 215 output shaft 210 Fixing member 351 Steering switch 352 First Switch 353 Second Switch 360 display device 361 Segment display 400 Antenna Unit 401 Communication equipment 405 Case 410 Bracket 411 First Bracket 412 Second Bracket 420 connecting frame 450 Lifting Cylinder 452 Piston rod 460 Concatenation 470 Shock absorber 471 First Elastic Body 474 Second Elastic Body G1 First gear (first spur gear) G2 Second gear (second spur gear) G3 Third gear (third spur gear) G4 4th gear (4th spur gear) G5 5th gear (5th spur gear)

Claims

1. a planting machine for planting seedlings in a field; a traveling body that travels with the planting implement attached; an antenna unit for receiving satellite positioning information; a control device that controls automatic steering of the traveling object based on the satellite positioning information; Support columns erected on both the left and right sides of the traveling body; A connecting frame connecting the upper portions of both of the support columns; a housing containing a communication device capable of receiving correction information for positioning errors; a bracket attached to the connecting frame, The antenna unit is attached to an upper portion of the bracket, The housing is attached to a lower portion of the bracket, the antenna unit and the housing are arranged at a position where they overlap with each other via the bracket in a plan view, the connecting frame is configured to be switchable between an upright position in which the antenna unit is positioned higher than the upper portions of both of the support columns and can receive the satellite positioning information, and a retracted position in which the antenna unit is lower than the upright position and is positioned below the housing, by rotating about a horizontal axis along the width direction of the traveling body; The control device determines that the connecting frame is in the stored position when the reception level of the signal indicating the satellite positioning information from the antenna unit is below a specified value and when correction information for positioning error is acquired by the communication device.

2. A driver's seat is provided on the vehicle and can accommodate a driver, 2. The transplanter according to claim 1, wherein the support column extends to a position higher than the driver's seat.

3. the bracket includes a first bracket to which the housing is attached and which is fixed to the connecting frame, and a second bracket to which the antenna unit is attached, The first bracket has a screw hole formed therein, The second bracket has a long hole formed along the connecting frame, 3. The transplanter according to claim 2, wherein the second bracket is fastened to the first bracket by inserting a fastener into the elongated hole and threading it into the threaded hole.

4. 3. The transplanter according to claim 2, wherein the bracket has a mounting surface for mounting the antenna unit that is larger than the antenna unit.

5. the housing houses a speaker; 3. The transplanter according to claim 2, wherein the speaker is attached to the housing in a position facing the driver's seat.

6. 6. The transplanter according to claim 5, wherein the housing includes a partition wall separating a first space housing the communication device from a second space housing the speaker.

7. The support pillars are gate-shaped support pillars having front and rear support pillars spaced apart in the front-to-rear direction of the running body, and front and rear frames connecting the tops of the front support pillars and the tops of the rear support pillars. A plurality of spare seedling trays on which spare seedlings can be placed are arranged at intervals in the vertical direction. The spare seedling tray has a base end attached to the front support and the rear support so that it can rotate around a front-to-back axis along the front-to-back direction of the running body, and is configured to be switchable between a use position in which the tip end opposite the base end is positioned in the width direction of the running body and spare seedlings can be placed thereon, and an inclined position in which the tip end is raised closer to the support and spare seedlings cannot be placed thereon, The connecting frame includes a left leg having a left lower portion connected to the front and rear frame of the support pillar on the left side of the running body and a first extending portion bent upward and extending from the left lower portion, a right leg having a right lower portion connected to the front and rear frame of the support pillar on the right side of the running body and a second extending portion bent upward and extending from the right lower portion, and a rod-shaped body connecting an upper end of the first extending portion and an upper end of the second extending portion and extending in the width direction of the running body, A transplanter as described in any one of claims 2 to 6, wherein the rod-shaped body of the connecting frame is positioned at a higher position than the topmost spare seedling tray among the multiple spare seedling trays when the topmost spare seedling tray is in the unused position.

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