transplant machine

Abstract

To provide a vertically-movable transplanting mechanism in a simple configuration where the number of components is reduced.SOLUTION: A transplanter includes a vertically-movable transplanting mechanism that vertically moves planting bodies 12 each holding a seedling. The vertically-movable transplanting mechanism includes: a first gear G1; a second gear G2 that engages with the first gear G1; a third gear G3 that engages with the second gear G2; a rotation case in which first to third gears G1 to G3 are provided; an input shaft which is provided at a position where the third gear G3 is positioned and in which a rotational force for rotating the rotation case is input; an output shaft to which the planting body 12 is attached and which outputs rotational force from the first gear G1; and a fixing member which rotationally supports the input shaft and the rotation case and to which the third gear G3 is fixed. The first gear G1, the second gear G2, and the third gear G3 each have a shaft center that is eccentric from a circular center and are arranged in the rotation case such that the shaft centers are aligned in a straight line.SELECTED DRAWING: Figure 36A

Description

Technical Field

[0001] The present invention relates to, for example, a transplanter for planting seedlings in a field.

Background Art

[0002] The riding vegetable transplanter disclosed in Patent Document 1 includes a planting work machine for planting vegetable seedlings in a field, a traveling body on which the planting work machine is mounted and travels, a driver's seat provided on the traveling body and capable of seating a driver, and a steering handle provided in front of the driver's seat for steering the traveling body.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The planting work machine of the riding vegetable transplanter disclosed in Patent Document 1 includes a planting lifting mechanism. The planting lifting mechanism includes a first rotating case that rotates forward by the power from an input shaft provided at one end side, a second rotating case whose one end side is pivotally supported at the other end side of the first rotating case and rotates reversely by the power from the first rotating case, and a support plate attached to the other end side of the second rotating case and provided with a planting body. The planting lifting mechanism rotates the first rotating case and the second rotating case in different directions from each other, thereby vertically translating the support plate while moving it back and forth, and moving the planting body up and down in an elliptical trajectory to plant the seedlings when the planting body with the seedlings enters the field when it descends. Therefore, in the above riding vegetable transplanter, there is a problem that the structure of the planting lifting mechanism is complicated and the number of parts is large.

[0005] Therefore, in view of the above problems, an object of the present invention is to provide a transplanter capable of having a simple planting lifting mechanism and reducing the number of parts. [Means for solving the problem]

[0006] A transplanting machine according to one aspect of the present invention comprises a planting machine for planting seedlings in a field, and a traveling body on which the planting machine is mounted and travels, wherein the planting machine includes a planting lifting mechanism for moving a first planting body and a second planting body that hold seedlings up and down, and the planting lifting mechanism includes a first gear, a second gear that meshes with the first gear, a third gear that meshes with the second gear, a fourth gear that meshes with the third gear, a fifth gear that meshes with the fourth gear, and the first to fifth gears arranged single The device comprises a rotating case, an input shaft provided at the location where the third gear is located and to which rotational force for rotating the rotating case is input, a first output shaft to which the first planting body is attached and which outputs the rotational force of the first gear, a second output shaft to which the second planting body is attached and which outputs the rotational force of the fifth gear, and a fixing member that rotatably supports the input shaft and the rotating case and to which the third gear is fixed, wherein the first to fifth gears have axes eccentric from a circular center and are arranged in the rotating case such that the axes are aligned on the same straight line, and the rotating case rotates when rotational force is input to the input shaft. As it rotates, the second gear and the fourth gear rotate along the outer circumference of the third gear, maintaining a relative position to each other via the third gear, and as the second gear rotates, the first gear rotates, and as the fourth gear rotates, the fifth gear rotates, causing the first planting body and the second planting body to move up and down in an egg-shaped trajectory, and as the second planting body is raised, the first planting body is lowered and driven into the field to plant seedlings, and as the first planting body is raised, the second planting body is lowered and driven into the field to plant seedlings, singleIn the first upright position where the rotating case is in an upright position in the vertical direction, with the first gear positioned on the upper side and the fifth gear positioned on the lower side, the first planting body and the second planting body are arranged vertically and in a hanging position, with the first planting body, located on the upper side, receiving the seedling in a hanging position, and the second planting body, located on the lower side, planting the seedling in a hanging position. single In a second upright position where the rotating case has rotated half a turn from the first upright position to an upright position in the vertical direction, with the first gear positioned on the lower side and the fifth gear positioned on the upper side, the second planting body and the first planting body are aligned vertically and in a hanging position, with the upper second planting body receiving the seedling in a hanging position and the lower first planting body planting the seedling in a hanging position. Furthermore, during the process in which the single rotating case rotates half a turn from the first upright position to the second upright position, the lower tip of the first planting body follows the egg-shaped trajectory, so that the first planting body assumes a downward-swinging posture with its lower tip facing the trajectory; and during the process in which the single rotating case rotates half a turn from the second upright position to the first upright position, the lower tip of the second planting body follows the egg-shaped trajectory, so that the second planting body assumes a downward-swinging posture with its lower tip facing the trajectory. .

[0007] In the first upright position, the first planting body and the second planting body are aligned vertically and in a hanging position at a position that coincides with the straight line in a side view of the rotating case viewed from the direction of the input axis, with the upper first planting body receiving the seedling in a hanging position and the lower second planting body planting the seedling in a hanging position. In the second upright position, which is a half-rotation from the first upright position, the second planting body and the first planting body are aligned vertically and in a hanging position at a position that coincides with the straight line in a side view of the rotating case, with the upper second planting body receiving the seedling in a hanging position and the lower first planting body planting the seedling in a hanging position. That's fine.

[0008] The aforementioned first to fifth gears are first to fifth spur gears of the same size. That's good too.

[0009] The fixing member comprises a cylindrical body into which the input shaft is inserted, the cylindrical body having an insertion cylinder portion inserted into the rotating case and a protruding cylinder portion projecting from the insertion cylinder portion to the outside of the rotating case, a first bearing for rotatably supporting the input shaft provided inside the protruding cylinder portion, a second bearing for rotatably supporting the rotating case provided on the outer circumference of the insertion cylinder portion, and the third spur gear may be fixed to the insertion cylinder portion by fitting the insertion cylinder portion into a shaft hole formed through the axis of the third spur gear.

[0010] The rotating case is divided in the axial direction of the input shaft and has a first case body and a second case body that house the first to fifth spur gears inside, and two second bearings are provided spaced apart on the outer circumference of the insertion cylinder, one of the two second bearings rotatably supports the first case body, the other of the two second bearings rotatably supports the second case body, and the third spur gear may be fixed between the two second bearings.

[0011] The input shaft may have a mounting plate fixed to the tip that protrudes from the insertion cylinder portion to the outside of the second case body, and the mounting plate may be fixed to a location on the outside of the second case body.

[0012] The rotating case may include a claw member that contacts the circumferential surface of the shaft of the first spur gear and engages with the first spur gear when the first spur gear rotates in reverse, and a biasing member that biases the claw member toward the circumferential surface of the shaft.

[0013] The rotating case may include a claw member that contacts the circumferential surface of the shaft of the fifth spur gear and engages with the fifth spur gear when the fifth spur gear rotates in reverse, and a biasing member that biases the claw member towards the circumferential surface of the shaft.

[0014] The mounting plate, the second case body, and the first case body may be fastened together with a fastening member.

[0015] The first planting body is formed with a first opening that can be opened and closed in the front and back directions, and the second planting body is formed with a second opening that can be opened and closed in the front and back directions. The first case body and the second opening / closing cam, which are positioned around the first output shaft on the outside of the second case body and are used to open and close the first opening, are fastened together with the fastening member. The second opening / closing cam, which are positioned around the second output shaft on the outside of the second case body and are used to open and close the second opening, are fastened together with the fastening member. [Effects of the Invention]

[0016] According to the above configuration, it is possible to provide a transplanting machine that allows for a simple planting and lifting mechanism with a reduced number of parts. [Brief explanation of the drawing]

[0017] [Figure 1A] This is a schematic side view of the transplanting machine. [Figure 1B]It is a schematic plan view of the transplanter. [Figure 1C] It is a schematic front view of the transplanter. [Figure 1D] It is a configuration and control block diagram of the traveling system of the transplanter. [Figure 1E] It is a view of the steering column in front of the driver's seat as seen from the driver's seat side. [Figure 2A] It is a left side view of the upper part of the spare seedling table of the transplanter. [Figure 2B] It is a plan view of the position detection device attached to the central part of the connecting frame. [Figure 2C] It is an exploded perspective view of the upper part of the spare seedling table of the transplanter as seen from the lower left rear. [Figure 2D] It is an exploded perspective view of the upper part of the spare seedling table of the transplanter as seen from the upper left rear. [Figure 2E] It is an exploded perspective view of the housing containing the communication device. [Figure 2F] It is a left side view of the upper part of the spare seedling table with the connecting frame in the stored position. [Figure 2G] It is a partial front view of the transplanter showing the spare seedling tray in the use position. [Figure 2H] It is a partial front view of the transplanter showing the spare seedling tray in the non-use position. [Figure 3] It is a side view of the machine body. [Figure 4] It is a side view showing the movement path of the seedling tray and the empty tray receiver. [Figure 5] It is a perspective view of the rear part of the traveling body. [Figure 6] It is a plan view of the seedling tray. [Figure 7] It is a front view of the seedling tray. [Figure 8] It is a plan view of the main frame. [Figure 9] It is a side view of the main frame. [Figure 10] It is a rear view of the main frame. [Figure 11] It is a plan view of the transplanting unit. [Figure 12]This is a rear view showing the front support of the unit frame. [Figure 13] This is a plan view showing the rear support of the unit frame. [Figure 14] This is a side view showing the rear support of the unit frame. [Figure 15] This is a side view of the power input section, which supplies power to the drive shaft. [Figure 16] This is a plan view of the power input section. [Figure 17] This is a side view showing the work equipment mounting device. [Figure 18A] This is a side view of the work equipment lifting mechanism and mounting frame. [Figure 18B] This is a perspective view of the work equipment lifting mechanism and mounting frame. [Figure 18C] This is a perspective view of the lifting drive mechanism. [Figure 19A] This is a partially fractured perspective view of the piston rod and its connecting body. [Figure 19B] This is an exploded perspective view of the piston rod and its connecting body. [Figure 19C] This is an exploded perspective view of the piston rod and its connecting body. [Figure 20] This is a cross-sectional view of the main body of the connecting unit. [Figure 21] This is a perspective view of the modified lifting drive mechanism. [Figure 22] This is a rear view of the mainframe support structure. [Figure 23] This is a rear view of the rolling mechanism. [Figure 24] This is a side view of the rolling mechanism. [Figure 25] This is a side view of the support structure for the sensing roller. [Figure 26] This is a rear view of the support structure for the sensing roller. [Figure 27] This is a rear view of the support structure for the sensing roller. [Figure 28] These are plan views of the first transplant unit and the second transplant unit. [Figure 29] This is a side view showing the planting depth adjustment mechanism and the planting lifting mechanism. [Figure 30] This is a rear view showing the planting depth adjustment mechanism. [Figure 31] This is a side view showing the soil cover pressure adjustment mechanism. [Figure 32] This is a plan view showing the control panel. [Figure 33] This is a plan view showing the planting lifting mechanism. [Figure 34A] This is a perspective view of the planting lifting mechanism. [Figure 34B] This is a rear view of the planting lifting mechanism. [Figure 34C] This is a perspective view of the rotating case and planting body of the planting lifting mechanism. [Figure 34D] This is a perspective view of the planting body and support plate. [Figure 34E] This is a perspective view of the rotating case and planting body of the planting lifting mechanism. [Figure 34F] This is a disassembled perspective view of the rotating case. [Figure 34G] This is a side view of the rotating case. [Figure 35A] This is a perspective view showing the rotating case with the second case body removed. [Figure 35B] This is a disassembled perspective view of the rotating case. [Figure 35C] This is a disassembled perspective view of the rotating case. [Figure 35D] This diagram shows the inside of the first and second case bodies. [Figure 35E] This diagram shows the arrangement of the first to fifth spur gears and the trajectory of the vertical movement of the planting body. [Figure 36A] This diagram shows the rotation of the rotating case. [Figure 36B] This diagram shows the rotation of the rotating case. [Figure 36C] This diagram shows the rotation of the rotating case. [Figure 36D] This diagram shows the rotation of the rotating case. [Figure 36E] This diagram shows the rotation of the rotating case. [Figure 36F] This diagram shows the rotation of the rotating case. [Figure 36G]This is a cross-sectional perspective view showing the input shaft portion of the rotating case. [Figure 37] This is a plan view showing the main frame and seedling tray. [Figure 38] This is a plan view showing a seedling tray. [Figure 39] This is a rear view showing the connecting structure between the first seedling tray and the second seedling tray. [Figure 40] This is a side view of the lower part of the seedling stand. [Figure 41] This is a rear view showing the lateral feed mechanism. [Figure 42] This is a side view showing the tray feeding mechanism and seedling removal device. [Figure 43A] This figure shows an example of a memory table. [Figure 43B] This figure shows an example of a memory table. [Figure 43C] This figure shows a memory table of modified examples. [Figure 44A] This figure shows examples of how various setting items are displayed on a display device. [Figure 44B] This figure shows an example of how direction input is displayed. [Figure 44C] This figure shows an example of a compass call display. [Figure 44D] This figure shows an example of the azimuth output display. [Modes for carrying out the invention]

[0018] Hereinafter, an embodiment of the present invention will be described with reference to the drawings as appropriate. Figure 1A is a schematic side view showing the overall configuration of the transplanting machine 1 according to this embodiment. Figure 1B is a schematic top view of the transplanting machine 1. Figure 1C is a schematic front view of the transplanting machine. As shown in Figure 1A, the transplanting machine 1 is a ride-on type transplanting machine (ride-on transplanting machine) having a driver's seat 3 where 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 (for example, vegetable seedlings) in the field 6, and a traveling body 5 that moves 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 on the traveling body 5. In other words, the transplanter 1 is a ride-on type vegetable transplanter (ride-on vegetable transplanter) that plants seedlings 7 (for example, vegetable seedlings).

[0020] In the embodiments of the present invention, the direction in front of the operator 2 seated in the driver's seat 3 of the transplanting machine 1 (direction of arrow A1 in Figures 1A and 1B) is described as the front, and the direction behind the operator 2 (direction of arrow A2 in Figures 1A and 1B) is described as the rear. Also, the direction of arrow K1 in Figures 1A and 1B is referred to as the front-rear direction of the machine. Furthermore, the right side of the operator 2 (direction of arrow B1 in Figure 1B) is described as the right, and the left side of the operator 2 (direction of arrow B2 in Figure 1B) is described as the left.

[0021] Furthermore, as shown in Figure 1B, the horizontal direction, which is perpendicular to the longitudinal direction of the aircraft (arrow K1), will be described as the aircraft width direction (arrow K2). The direction from the center of the aircraft width direction toward the right or left will be described as the aircraft outward direction. In other words, the aircraft outward direction is the direction away from the center of the aircraft width direction K2. The direction opposite to the aircraft outward direction will be described as the aircraft inward direction. In other words, the aircraft inward direction is the direction approaching the center of the aircraft width direction K2.

[0022] First, let me give an overview of planting machine 4. As shown in Figure 1A, the planting machine 4 has a seedling tray 9 on which multiple seedling trays (cell trays) 8, each containing 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-walled and flexible, and is rectangular in shape when viewed from above. The seedling tray 8 has a large number of pot sections 8a arranged in a grid pattern at predetermined pitches in the vertical and horizontal directions. The opening edges of the pot sections 8a are connected by a flat upper wall 8b. The pot sections 8a protrude from the upper wall 8b towards the rear. Seedlings 7 (soil block seedlings) are grown in the seedling tray 8 by supplying soil to the pot sections 8a, sowing seeds in the soil, and raising the seedlings.

[0024] As shown in Figure 3, the seedling tray 9 has a mounting plate 10 on which the seedling tray 8 is placed in a downward-sloping position (sloping in a direction that shifts to the rear as it goes downward). As shown in Figure 1A, the seedlings 7 in the seedling tray 8 are removed one by one by a seedling removal device 11 located at the lower rear of the seedling tray 9 and supplied to the planting body 12 below. The planting body 12 moves back and forth and receives the seedlings 7 at the top dead center position. The planting body 12 also plunges into the field 6 as it descends and plants the seedlings 7. Specifically, the planting body 12 is formed with an opening that can be opened and closed back and forth. When closed, it holds the seedlings 7 inside as it descends, and when it plunges into the field 6, it opens back and forth to form planting holes in the field 6 and drops the seedlings 7 into the planting holes to plant them. 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 Figure 3, the mounting plate 10 can accommodate multiple seedling trays 8 arranged vertically along the direction of the incline. The seedling trays 8 are positioned with their longitudinal direction aligned with the direction of the incline. The seedling removal device 11 removes seedlings 7 from the lowest seedling tray 8 (8A) among the multiple seedling trays 8 placed on the mounting plate 10. The seedling removal device 11 also removes seedlings 7 one by one from the seedling trays 8 while intermittently moving the seedling stand 9 horizontally in the machine width direction K2 for one pitch of the pot section 8a. Once a horizontal row of seedlings 7 has been removed from the seedling tray 8, the seedling tray 8 is moved vertically downward along the direction of the incline for one pitch of the pot section 8a. This makes the next horizontal row of seedlings 7 available for removal. Subsequently, the seedling stand 9 is moved horizontally in the opposite direction to remove seedlings 7, and once a horizontal row of seedlings 7 has been removed, the seedling tray 8 is moved vertically. By repeating this process sequentially, all the seedlings 7 are removed from the seedling trays 8.

[0026] As shown in Figure 3, the seedling tray 9 has a reversal guide 13 at its lower part, and after the seedlings 7 are removed by the seedling removal device 11, the seedling tray 8 is fed vertically to the reversal guide 13. The seedling tray 8 that has been fed to the reversal guide 13 is guided by the reversal guide 13 to the back side (bottom side) 10A of the mounting plate 10. The seedling tray 9 also has an empty tray guide 14 on the back side of the mounting plate 10. The empty tray guide 14 has a curved portion 14a at its lower part. The curved section 14a takes over the seedling tray 8 from the reversal guide 13 and guides it to the guide body section 14b located on the rear side of the mounting plate 10. The empty seedling tray 8 is guided by the guide body section 14b to the upper rear side of the mounting plate 10. The empty tray guide 14 has an upper guide section 14c at its top. The upper guide section 14c extends forward from the upper end of the guide body section 14b toward the driver's seat 3. The upper guide section 14c is also formed with a slight downward slope (a slope that transitions downward as it goes forward). The empty seedling tray 8 can be removed from the upper guide section 14c.

[0027] Next, we will explain the vehicle 5 in detail. As shown in Figure 1A, the traveling unit 5 is positioned in front of the planting machine 4. As shown in Figure 4, the traveling unit 5 comprises 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 move.

[0028] The machine body 16 comprises a prime mover 18, a prime mover frame 19, a transmission case 20, and a machine body frame 21. The prime mover 18 is, for example, a diesel engine. The prime mover 18 is located at the front of the vehicle body 5. The prime mover frame 19 is located below the prime mover 18 and supports it. The transmission case 20 is located behind the prime mover 18 and houses a transmission mechanism that changes the power output from the prime mover 18. The prime mover frame 19 is connected to the front of the transmission case 20. The machine body frame 21 is located behind the transmission case 20. In other words, the machine body frame 21 is located at the rear of the vehicle body 5. The transmission case 20 is connected to the front of the machine body frame 21. The machine body frame 21 has a support 22 at its rear. The driver's seat 3 is attached to the support 22 via a seat mounting member 31.

[0029] The cockpit 3 is located at the rear of the aircraft body 16. The cockpit 3 has a seat 3A and a backrest 3B. The seat 3A is the part where the operator 2 sits (on which the buttocks and thighs rest). The backrest 3B is the part on which the seated operator 2 leans their back, and is provided at the rear of the seat 3A so as to extend upward.

[0030] As shown in Figures 1A and 1B, the running gear 17 in this embodiment is a wheeled running gear having left and right front wheels 23 and left and right rear wheels 24. The front wheels 23 and rear wheels 24 rotate when power is transmitted from the transmission case 20.

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

[0032] As shown in Figure 1D, the transplanting machine 1 is equipped with a steering device 320. The steering device 320 includes a steering wheel 25, a rotating shaft (steering shaft) 25b that rotates in conjunction with the rotation of the steering wheel 25, and an auxiliary mechanism (power steering mechanism) 25c that assists in steering the steering wheel 25. The auxiliary mechanism 25c includes a hydraulic pump 133, a control valve 323 to which hydraulic fluid discharged from the hydraulic pump 133 is supplied, and a steering cylinder 321 that is operated by the control valve 323. The control valve 323 is a solenoid valve that operates based on a control signal. The control valve 323 is a three-position changeable valve that can be switched by, for example, the movement of a spool. 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 wheel 23.

[0033] Therefore, by operating the steering wheel 25, the switching position and opening degree of the control valve 323 are switched in accordance with the operation of the steering wheel 25, and the piston rod of the steering cylinder 321 moves to the 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 steering device 320 described above is just one example and is not limited to the above configuration.

[0034] As shown in Figure 1D, the transplanting machine 1 is equipped with a position detection device 330. As shown in Figures 1A and 1C, the position detection device 330 is mounted on a connecting frame 420. The position detection device 330 is a device that detects its own position (positioning information including latitude and longitude) using a satellite positioning system. Specifically, the position detection device 330 includes an antenna unit 400 that receives signals transmitted from multiple positioning satellites (position of the positioning satellite, transmission time, correction information, etc.) and a communication device 401 that can receive correction information for positioning errors from a base station (reference station) capable of receiving signals from positioning satellites, and detects the position (latitude and longitude) based on the received satellite positioning information and correction information. Alternatively, the position detection device 330 may have inertial measuring devices such as a gyro sensor or an acceleration sensor, and may detect the position corrected by the inertial measuring device as its own position. The position detection device 330 can detect the position (traveling position) of the transplanting machine 1 (traveling body 5).

[0035] As shown in Figure 1D, the transplanter 1 is equipped with a control device 131 that controls the automatic steering of the vehicle 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 vehicle driving detection device 341. Therefore, the control device 131 can acquire the position (driving position) detected by the position detection device 330 and the detected values ​​detected by the vehicle driving detection device 341. The vehicle driving detection device 341 can be, for example, a crank sensor, cam sensor, engine rotation sensor, accelerator sensor, vehicle speed sensor, steering angle sensor, etc.

[0036] The control device 131 controls the driving system of the transplanting machine 1. For example, the control device 131 controls the engine speed, vehicle speed, steering angle of the steering device 320, etc., based on the detected values ​​detected by the driving detection device 341. The control device 131 has a steering control unit 131A and a storage device 131B. The steering control unit 131A consists of electrical and electronic components provided in the control device 131, a program incorporated in the control device 131, etc. The storage device 131B is a non-volatile memory, etc.

[0037] The steering control unit 131A (control device 131) can automatically control the steering of the transplanting machine 1 (vehicle 5) based on a set reference direction (auto steering control). As shown in Figures 1D and 1E, the transplanting machine 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 operator 2 for shifting gears in the transmission mechanism. The steering selector switch 351 is a switch that operator 2 can switch ON / OFF, enabling auto steering control when ON and disabling auto steering control when OFF. The first switch 352 is operated by operator 2 to set the starting point of the reference bearing. The second switch 353 is operated by operator 2 to set the ending point of the reference bearing.

[0039] The main switch 354 is a switch for turning the power on and off and for turning the prime mover 18 on and off. Specifically, the main switch 354 can be switched to one of the following positions: start, run, or stop. 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. After starting the prime mover 18, releasing the switch key returns it to the "operate" position. In the "operate" position, all the electrical equipment of the transplanting machine 1 is in operation. When the switch key is turned from the "operate" position to the "stop" position, the prime mover 18 stops, and the switch key can be inserted and removed.

[0040] As shown in Figure 1E, the shift lever 350, steering selector switch 351, first switch 352, and second switch 353 are located near the driver's seat 3 and are operable by the operator 2. For example, the steering selector switch 351 is located near the grip of the shift lever 350. The first switch 352 is located on the upper part of the steering column 27 to the right of the display device 360, and the second switch 353 is located on the upper part of the steering column 27 to the left of the display device 360. The main switch 354 is located on the upper right front of the steering column 27.

[0041] The control device 131 sets the position of the transplanter 1 (traveling body 5) when the first switch 352 is operated in the field (a position identified based on satellite positioning information received by the antenna unit 400) as the starting point of the reference bearing, and stores this starting point in the storage device 131B. Subsequently, when the transplanter 1 (traveling body 5) has moved a predetermined distance or more by the operator's steering, and the second switch 353 is operated, the position of the transplanter 1 (traveling body 5) when the second switch 353 is operated as the ending point of the reference bearing, and stores this ending point in the storage device 131B. Then, the control device 131 stores the bearing of the straight route connecting the starting point and the ending point as the reference bearing in the storage device 131B.

[0042] When the steering switch 351 is turned on, the control device 131 performs automatic steering control to move the transplanting machine 1 (vehicle 5) along the reference direction, provided that the conditions for permission for automatic steering are met. The conditions for permission for automatic steering are that the reference direction is stored in the memory device 131B (i.e., the reference direction is set), and the difference between the direction of travel of the transplanting machine 1 (vehicle 5) and the reference direction is less than or equal to an allowable value.

[0043] When the steering switch 351 is turned ON and auto-steering control is enabled, the steering control unit 131A sets the switching position and opening degree of the control valve 323 so that the position of the transplanting machine 1 (driving body 5) coincides with the planned driving route that includes the driving position of the transplanting machine 1 (driving body 5) and is parallel to the reference direction, that is, so that the driving body 5 moves along the planned driving route parallel to the reference direction. In other words, when the steering switch 351 is ON, the control device 131 sets the direction and amount of movement of the piston rod of the steering cylinder 321 (steering direction and steering angle of the front wheels 23) so that the driving position of the transplanting machine 1 coincides with the planned driving route.

[0044] More specifically, when auto-steering control is enabled, the steering control unit 131A compares the driving position of the transplanter 1 (driving body 5) detected by the position detection device 330 with the position indicated by the planned driving route (planned driving position). If the driving position and the planned driving position match, the steering control unit 320 maintains the steering angle and steering direction of the steering handle 25 (steering angle and steering direction of the front wheels 23) without changing them (maintains the opening degree and switching position of the control valve 323 without changing them).

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

[0046] In the above-described embodiment, the steering control unit 131A changed the steering angle of the steering device 320 based on the deviation between the driving position and the planned driving position in auto steering control. However, if the direction of the planned route R1 differs from the direction of travel (vehicle orientation) of the transplanter 1 (vehicle body 5), the steering control unit 131A may set the steering angle so that the vehicle orientation matches the direction of the planned route R. In addition, the steering control unit 131A may set the final steering angle in auto steering control based on the steering angle determined based on the deviation (position deviation) and the steering angle determined based on the orientation deviation. The setting of the steering angle in auto steering control in the above-described embodiment is just an example and is not limited to this.

[0047] When the steering switch 351 is turned on, the control device 131 starts controlling automatic steering based on satellite positioning information, and when the steering switch 351 is turned off, it stops controlling automatic steering. In other words, the transplant vehicle 1 can drive the vehicle body 5 along the reference direction by auto-steering control by the steering control unit 131A (control device 131) from the time the steering switch 351 is turned on until it is turned off.

[0048] On the other hand, when auto-steering control is disabled, the steering control unit 131A sets the steering direction and steering angle of the front wheels 23, vehicle speed, etc., based on the operator 2's actions (operation of the steering wheel 25 by operator 2, operation of the accelerator by operator 2, etc.). In this way, the steering control unit 131A allows the direction of the transplanting machine 1 (vehicle 5) to be changed manually.

[0049] As shown in Figures 1D and 1E, the transplanter 1 is equipped with a display device 360 ​​and a warning lamp 362. The display device 360 ​​is located in the center of the upper part of the steering column 27 in front of the driver's seat 3. The warning lamp 362 is located to the right of the display device 360 ​​on the steering column 27. 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 in segment format using multiple (for example, four) characters. The segment display unit 361 can display various setting information before the start of automatic steering, various display information related to automatic steering, etc., in segment format. In addition to the segment display unit 361, the display device 360 ​​may be equipped with a dot matrix display unit with superior expressiveness (for example, a display unit composed of a liquid crystal panel, touch panel, etc.). The alarm lamp 362 lights up or flashes under the control of the control device 131 when there is an abnormality or warning regarding the transplanting machine 1. This notifies the operator 2.

[0050] Now, as shown in Figures 1A and 1C, a spare seedling stand 28 for holding seedling trays 8 containing seedlings 7 is positioned on the side of the bonnet 26. The spare seedling stand 28 has multiple tiers (for example, 6 tiers) of spare seedling trays 28A and is provided on the left and right sides of the bonnet 26. The operator 2 can take the seedling trays 8 from the spare seedling stand 28 and supply them to the planting machine 4 (seedling stand 9).

[0051] The spare seedling tray 28 has support columns 28B that extend to a position higher than the driver's seat 3. The support columns 28B are erected on both the left and right sides of the vehicle body 5, for example, on the left and right sides of the bonnet 26. Specifically, the support columns 28B are gate-shaped columns having a front support column 28B1 and a rear support column 28B2 erected at intervals in the front-rear direction of the vehicle body 5, and a front and rear frame 28B3 that connects the top of the front support column 28B1 and the top of the rear support column 28B2. Six spare seedling trays 28A are mounted on the support columns 28B at intervals in the vertical direction.

[0052] As shown in Figure 1C, the upper parts of the left and right support columns 28B are connected by a connecting frame 420. Therefore, both support columns 28B are firmly held in place by the connecting frame 420. As shown in Figures 1A and 1C, the connecting frame 420 is fitted with an antenna unit 400 for receiving satellite positioning information and a housing 405 that houses a communication device 401.

[0053] As shown in Figure 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 Figure 2B, in a plan view, the antenna unit 400 and the housing 405 are positioned to overlap via the bracket 410. As shown in Figure 2B, the antenna unit 400 is connected to the control device 131 via cable CB1. The communication device 401 is connected to the control device 131 via cable CB2. Cables CB1 and CB2 are routed along the connecting frame 420.

[0054] Specifically, as shown in Figures 2A to 2D, the bracket 410 comprises a first bracket 411 to which the housing 405 is attached and which is fixed to the connecting frame 420, and a second bracket 412 to which the antenna unit 400 is attached. As shown in Figures 2C and 2D, the first bracket 411 has a screw hole 411a. The second bracket 412 has a long elongated hole 412a that runs along the connecting frame 420. The second bracket 412 is screw-fastened to the first bracket 411 by, for example, inserting a fastener 413 such as a bolt into the elongated hole 412a and screwing it into the screw hole 411a.

[0055] The first bracket 411 comprises a clamping portion 411A, which is U-shaped in side view and fixed to the connecting frame 420, and a mounting plate portion 411B, which is rectangular in plan view and to which the housing 405 is attached. For example, the U-shaped clamping portion 411A is fixed to the connecting frame 420 in a clamping state by pressing its inner side against the connecting frame 420 or by welding it to the connecting frame 420. The clamping portion 411A may also be fixed to the connecting frame 420 with fastening components or the like.

[0056] Through holes are formed in the four corners of the mounting plate portion 411B of the first bracket 411, into which bolts 415 are inserted. The housing 405 is attached to the lower surface of the mounting plate portion 411B by screwing the bolts 415 inserted into the through holes into the female threads 407 formed in the four corners of the upper surface of the housing 405.

[0057] As shown in Figures 2C and 2D, the second bracket 412 comprises a rounded, substantially rectangular mounting plate portion 412A and an L-shaped frame 412B fixed to the lower surface of the mounting plate portion 412A and elongated in the lateral direction of the second bracket 412. The L-shaped frame 412B has an upper edge portion 412B1 and a hanging edge portion 412B2. The upper edge portion 412B1 of the L-shaped frame 412B is fixed to the lower surface of the mounting plate portion 412A. Two elongated holes 412a are formed side by side in the lateral direction in the hanging edge portion 412B2 of the L-shaped frame 412B.

[0058] As shown in Figure 2B, in a plan view, the mounting surface of the bracket 410 on which the antenna unit 400 is attached is larger than the antenna unit 400 itself. This mounting surface is the surface whose outer casing is formed by the mounting plate portion 411B of the first bracket 411 and the mounting plate portion 412A of the second bracket 412. Note that, as shown in Figures 2B and 2C, the mounting plate portion 412A of the second bracket 412 is larger than the lower surface 400a of the antenna unit 400.

[0059] As shown in Figures 1A and 2A, the housing 405 houses a communication device 401 and a speaker 402. The speaker 402 is mounted in the housing 405 facing the driver's seat 3. The housing 405 is equipped with a partition wall 406 that separates a first space 405A, which houses the communication device 401, from a second space 405B, which houses the speaker 402.

[0060] As shown in Figure 2E, the housing 405 comprises an upper plate portion 408A, a housing 408B, and an opening / closing lid portion 408C. The opening / closing lid portion 408C is equipped with a waterproof cable passage portion 409 through which the cable CB2 of the communication device 401 and the cable CB3 of the speaker 402 are passed.

[0061] The connecting frame 420 is configured to be switchable between the upright position SP shown in Figure 2A and the retracted position DP shown in Figure 2F by rotating around a horizontal axis X3 along the width direction (body width direction K2) of the traveling body 5. In the upright position SP of the connecting frame 420 shown in Figure 2A, the antenna unit 400 is positioned higher than the tops of both support columns 28B and is capable of receiving satellite positioning information. In the retracted position DP of the connecting frame 420 shown in Figure 2F, the antenna unit 400 is lower than in the upright position SP and is located below the housing 405. Therefore, in the retracted position DP, the antenna unit 400 is unable to receive satellite positioning information, or the reception is significantly worse.

[0062] The control device 131 determines that the coupling frame 420 is in the retracted position DP when the reception level of the signal indicating satellite positioning information from the antenna unit 400 is below a specified value and positioning error correction information has been acquired by the communication device 401. For example, when the control device 131 determines that the coupling frame 420 is in the retracted position DP, it can notify the operator 2 by outputting an audio message from the speaker 402 stating "The coupling frame 420 is in the retracted position DP", by displaying a string of characters indicating this on the display device 360, or by illuminating the alarm lamp 362.

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

[0064] A rotating support 28B4 is fixed to the upper part of the front and rear frames 28B3 of the support column 28B, which rotatably supports the connecting frame 420. In other words, a rotating support 28B4 is fixed to each of the support columns 28B on both the left and right sides.

[0065] The left rotating support 28B4 includes a pair of support walls 28B41 that extend upward at a distance slightly larger than the lower left portion 421A of the left leg 421, a semicircular projection 28B42 that protrudes upward from the center of the pair of support walls 28B41, and a fixing pin 28B43 inserted into a through hole formed in the projection 28B42 and a through hole formed at the tip of the lower left portion 421A of the left leg 421.

[0066] Furthermore, the right-side rotating support 28B4 includes a pair of support walls 28B41 that extend upward at a distance slightly larger than the lower right portion 422A of the right leg 422, a semicircular projection 28B42 that protrudes upward from the center of the pair of support walls 28B41, and a fixing pin 28B43 inserted into a through hole formed in the projection 28B42 and a through hole formed at the tip of the lower right portion 422A of the right leg 422.

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

[0068] The connecting frame 420 can be fixed in the upright position SP shown in Figure 2A and in the retracted position DP shown in Figure 2F. As shown in Figure 2A, the left rotating support 28B4 has a first female threaded portion 28B61 for screwing the connecting frame 420 in the upright position SP and a second female threaded portion 28B62 for screwing the connecting frame 420 in the retracted position DP. In the upright position SP shown in Figure 2A, two fixing bolts 28B5 are inserted into upper and lower through holes formed in the lower left part 421A of the left leg 421, and the lower left part 421A of the left leg 421 is screwed to the first female threaded portion 28B61 of the left rotating support 28B4 by the two fixing bolts 28B5. Furthermore, two fixing bolts 28B5 are inserted into the upper and lower through holes formed in the lower right portion 422A of the right leg portion 422, and the lower right portion 422A of the right leg portion 422 is screwed to the first female threaded portion 28B61 of the right rotating support 28B4 by the two fixing bolts 28B5. In this way, the connecting frame 420 is fixed to the support column 28B in the upright position SP.

[0069] On the other hand, as shown in Figure 2D, the connecting frame 420 becomes rotatable by removing two fixing bolts 28B5 from the lower left part 421A of the left leg 421 and two fixing bolts 28B5 from the lower right part 422A of the right leg 422. The operator rotates the connecting frame 420 around the horizontal axis X3 to the stowed position DP shown in Figure 2F. In the stowed position DP shown in Figure 2F, the two removed fixing bolts 28B5 are inserted into the upper and lower through holes of the lower left part 421A of the left leg 421 and screwed into the second female threaded portion 28B62 of the left rotating support 28B4. Also, the two removed fixing bolts 28B5 are inserted into the upper and lower through holes of the lower right part 422A of the right leg 422 and screwed into the second female threaded portion 28B62 of the right rotating support 28B4. These measures ensure that the connecting frame 420 is fixed to the support column 28B in the stowed position DP.

[0070] As shown in Figures 2G and 2H, the spare seedling tray 28A is mounted so that its base end 28A1 is rotatable around the front-to-rear axis X4, which is aligned with the front-to-rear direction of the vehicle 5, on the front-to-rear support column 28B1 and the rear support column 28B2, and is configured to be switchable between the usage position UP1 shown in Figure 2G and the non-use position UP2 shown in Figure 2H. As shown in Figure 2G, in the usage position UP1 of the spare seedling tray 28A, the tip end 28A2 of the spare seedling tray 28A, opposite to the base end 28A1, is positioned in the lateral direction of the vehicle 5, so spare seedlings can be placed on it. 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 raised and tilted so that it is closer to the support column 28B, so spare seedlings cannot be placed on it.

[0071] As shown in Figure 2H, the rod-shaped body 423 of the connecting frame 420 is positioned higher than the topmost spare seedling tray 28A among the multiple spare seedling trays 28A when that tray is in the unused position UP2. In other words, the rod-shaped body 423 of the connecting frame 420 is at a third height H3 above the topmost spare seedling tray 28A.

[0072] As shown in Figures 1A and 1B, the vehicle 5 has a floor seat 29 positioned below the driver's seat 3. The floor seat 29 has a front step 29a at its front, on which the operator 2, seated in the driver's seat 3, places their feet. The front step 29a is positioned in front of and below the driver's seat 3. Below the front step 29a, the transmission case 20 is positioned. Behind the front step 29a and below the driver's seat 3, a seat base cover 30 is provided that covers the portion 22A (see Figure 4) of the support 22 on which the driver's seat 3 is supported.

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

[0074] As shown in Figures 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 a plurality of rear steps (second receiving sections) 33 positioned behind the extension 32. The extension 32 is positioned higher than the front step 29a and is located behind the seat base cover 30. Specifically, it protrudes rearward from the lower rear end of the seat base cover 30. The left part of the extension 32 protrudes to the left of the seat base cover 30, and the right part protrudes to the right of the seat base cover 30. The left and right parts of the extension 32 are connected to the front step 29a by an inclined section 29b. The inclined section 29b extends in an inclined direction that transitions upward as it moves towards the rear from the rear of the front step 29a. The plurality of rear steps 33 are positioned behind 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 behind the right side of the extension 32, and the second rear step 33L is located behind the left side of the extension 32. The first rear step 33R and the second rear step 33L are supported by the aircraft body 16 (aircraft frame 21) via a frame member (referred to as a step frame) 34.

[0076] As shown in Figure 3, the step frame 34 has first frame members 34A to third frame members 34C. The first frame member 34A is positioned between the rear step 33 and the extension 32, extending in the width direction K2 of the aircraft body. The lower part of the second frame member 34B is fixed to the aircraft body frame 21, and the upper part is fixed to the first frame member 34A. The third frame member 34C protrudes rearward from the first frame member 34A. The third frame member 34C is positioned on the underside of the rear step 33 and supports the rear step 33 from below. In addition, multiple third frame members 34C are provided, and are provided on the left and right sides of the first rear step 33R and the second rear step 33L, respectively.

[0077] The rear step 33 is positioned in front of the seedling tray 9. Therefore, when the operator 2 supplies (replenishes) seedling trays 8 to the seedling tray 9, the operator 2 can place their foot on the rear step 33, and by placing their foot on the rear step 33, the replenishment of seedling trays 8 can be easily performed.

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

[0079] Furthermore, the first rear step 33R and the second rear step 33L are formed in a continuous manner. This is also acceptable. The rear step 33 may also be made of a single component. If there is one seedling stand 9, one rear step 33 is provided. If there are three or more seedling stands 9, the number of rear steps 33 may correspond to the number of seedling stands 9, or one rear step 33 may be provided common to each seedling stand 9.

[0080] Next, we will explain the planting machine 4 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 located at the front 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 parts 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 at their midpoint in the vertical direction. More specifically, the lower part of the first support column 39a and the second support column 39b is straight in the vertical direction, and the upper part is formed in a sloping shape that transitions forward as it goes upward. The lower part of the second support column 39b protrudes below the lower end of the first support column 39a.

[0083] The second frame 40 is positioned below the first support section 39a and the second support section 39b, extending in the aircraft width direction K2. The lower end of the second support section 39b is connected to the second frame 40. The right side of the second frame 40 protrudes to the right of the first support section 39a, and the left side protrudes to the left of the second support section 39b. The third frame 41 connects the lower part of the first support section 39a to the second frame 40.

[0084] The fourth frame 42 protrudes rearward from the middle of the first frame 39 in the vertical direction. More specifically, the fourth frame 42 has first parts 42a to third parts 42c. The front part of the first part 42a is connected to the middle of the first support part 39a in the vertical direction and protrudes to the right from the first support part 39a. The rear part of the first part 42a from the middle extends rearward from the outer end of the front part 42a. The front part of the second part 42b is connected to the lower part of the second support part 39b and protrudes to the left from the second support part 39b. The rear part of the second part 42b from the middle extends rearward from the outer end of the front part 42b. The third part 42c connects the rear ends of the first part 42a and the second part 42b.

[0085] The fifth frame 43 is formed horizontally at its front and connected to the right side of the second frame 40. The fifth frame 43 is formed in a sloping shape from the middle to the rear, gradually sloping upward as it moves towards the rear, and its rear end is connected to the third portion 42c of the fourth frame 42.

[0086] The sixth frame 44 is formed horizontally at its front and connected to the left side of the second frame 40. The sixth frame 44 is formed in a sloping shape from the middle to the rear, gradually sloping upward as it moves towards the rear, and its rear end 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 front inner side (left) of the first section 42a and the front inner side (right) of the second section 42b.

[0088] The eighth frame 46 connects the first part 42a and the second part 42b of the fourth frame 42. More specifically, the eighth frame 46 is fixed to the middle of the first part 42a in the front-rear direction of the aircraft. The connecting piece 51R is connected to the connecting piece 51L which is fixed to the middle of the aircraft body in the longitudinal direction of the second part 42b.

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

[0090] The 10th frame 48 is positioned approximately in the center of the main frame 37 in the width direction K2, and connects the 9th frame 47 and the third part 42c of the 4th frame 42.

[0091] The 11th frame 49 and the 12th frame 50 are positioned at the center of the front part of the main frame 37 in the aircraft width direction K2, with a gap in the aircraft width direction K2 between them. The 11th frame 49 and the 12th frame 50 connect the 7th frame 45 and the 2nd frame 40.

[0092] A first spring-attaching stay 52R is provided on the upper part of the first support column 39a, and a second spring-attaching stay 52L is provided on the upper part of the second support column 39b.

[0093] A fixing plate 53 is provided at the top between the 11th frame 49 and the 12th frame 50. A rolling shaft 54 ​​is mounted on the fixing plate 53 in a forward-projecting manner. The rolling shaft 54 ​​has a rolling axis X1 that extends in the longitudinal direction of the aircraft (arrow K1). The rolling shaft 54 ​​is located approximately in the center of the aircraft width direction K2 of the main frame 37.

[0094] A rail member (referred to as the first rail) 56 is positioned on the rear side of the seventh frame 45, extending in the aircraft width direction K2. The first rail 56 is formed from a channel-shaped steel member and opens towards the rear. Multiple stay members 55 are fixed to the upper surface of the first rail 56 at predetermined intervals in the aircraft width direction K2. Each stay member 55 is bolted to the seventh frame 45.

[0095] On the front side of the eighth frame 46, a rail member (referred to as the second rail) 58 is positioned, extending in the aircraft width direction K2. The second rail 58 is formed from a channel-shaped steel member and opens forward. Multiple stay members 57 are fixed to the second rail 58. Each stay member 57 is bolted to the eighth frame 46.

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

[0097] Multiple connecting plates 61 are provided at the rear of the main frame 37. The multiple 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 side of the third section 42c of the fourth frame 42, and the second connecting plate 61 is fixed to the left side of the third section 42c.

[0098] As shown in Figure 1B, the first unit frame 38R is positioned on the right side of the main frame 37, and the second unit frame 38L is positioned on the left side of the main frame 37. More specifically, the first unit frame 38R and the second unit frame 38L are positioned between the first part 42a and the second part 42b of the fourth frame 42. The first unit frame 38R is positioned on the right side between the first part 42a and the second part 42b, and the second unit frame 38L is positioned on the left side between the first part 42a and the second part 42b. The first connecting plate 61R is positioned behind the first unit frame 38R, and the second connecting plate 61L is positioned behind the second unit frame 38L.

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

[0100] Multiple seedling extraction devices 11 are provided, and each of the multiple seedling extraction devices 11 includes a first seedling extraction device 11R provided on the first unit frame 38R and a second seedling extraction device 11L provided on the second unit frame 38L.

[0101] Multiple planting units 12 are provided, and these multiple planting units 12 include a right planting unit 12R provided on the first unit frame 38R and a left planting unit 12L provided on the second unit frame 38L. The right planting unit 12R constitutes part of the first planting device 35R (see Figure 28) which plants seedlings 7 taken out by the first seedling takeout device 11R into the field 6. The left planting unit 12L constitutes part of the second planting device 35L (see Figure 28) which plants seedlings 7 taken out by the second seedling takeout device 11L into the field 6.

[0102] The soil covering wheel 62 includes a first soil covering wheel 62R provided on the first unit frame 38R and a second soil covering wheel 62L provided on the second unit frame 38L. There are two of each of the first soil covering wheel 62R and the second soil covering wheel 62L. The two first soil covering wheels 62R are arranged side by side in the machine width direction K2. The two second soil covering wheels 62L are also arranged side by side in the machine width direction K2. The first soil covering wheel 62R is positioned behind the right planting body 12R and rolls around the left and right sides of the seedlings 7 planted by the right planting body 12R to pile soil around the base of the seedlings 7 and to compact the soil around the base of the seedlings 7. The second soil covering wheel 62L is positioned behind the left planting body 12L and rolls around the left and right sides of the seedlings 7 planted by the left planting body 12L to pile soil around the base of the seedlings 7 and to compact the soil around the base of the seedlings 7.

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

[0104] There may be one transplanting unit or three or more units. The number of seedling trays will also be determined according to the number of transplanting units.

[0105] As shown in Figures 11 and 12, the first unit frame 38R has a rectangular frame body 64 in plan view. The frame body 64 has a first side frame 65A and a second side frame 65B that are spaced apart and facing each other in the width direction of the aircraft, a front frame 66 (referred to as the first front frame) that connects the front ends of the first side frame 65A and the second side frame 65B, a rear frame 67 that connects the front ends of the first side frame 65A and the second side frame 65B, and a second front frame 68 that is positioned behind the first front frame 66 and connects the first side frame 65A and the second side frame 65B. The first side frame 65A is positioned outside the aircraft body of the second side frame 65B.

[0106] The second unit frame 38L also has a frame body 64 with the same configuration as the first unit frame 38R.

[0107] At the front of each frame body 64, a first unit bracket 69 and a second unit bracket 70 are provided, spaced apart in the aircraft width direction K2. The upper part of the first unit bracket 69 and the second unit bracket 70 is the first front frame 66 and The first unit bracket 69 is fixed to the front frame 68 and protrudes downward from the frame body 64. The first unit bracket 69 is located on the outer side of the frame body 64, and the second unit bracket 70 is located on the inner side of the frame body 64.

[0108] As shown in Figure 11, the drive shaft 71 is positioned at the front of the first unit frame 38R (first transplant unit 63R) and the second unit frame 38L (second transplant unit 63L), extending in the width direction K2 of the aircraft. The drive shaft 71 is also provided at the front of the main frame 37, extending in the width direction of the aircraft.

[0109] The front portions of the first unit frame 38R and the second unit frame 38L are supported on the drive shaft 71 so as to be movable in the machine width direction K2. More specifically, the drive shaft 71 has an axis that extends in the machine width direction K2 and is provided from the front portion of the fifth frame 43 to the front portion of the sixth frame 44. The left side of the drive shaft 71 is rotatably supported by a bearing 72 on the first support bracket 59, and the right side is rotatably supported by a bearing 73 on the second support bracket 60. The first unit frame 38R and the second unit frame 38L are positioned above the drive shaft 71. The drive shaft 71 passes through the lower portions of the first unit bracket 69 and the second unit bracket 70 of the first unit frame 38R and the second unit frame 38L, 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 by the drive shaft 71 so as to be movable in the width direction K2 of the machine body.

[0110] As shown in Figures 11 and 13, the first unit frame 38R has a first mounting plate 76R that is attached to the first connecting plate 61R, and the second unit frame 38L has a second mounting plate 76L that is 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 as to be adjustable in the aircraft width direction K2. 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 as to be adjustable in the aircraft width direction K2. The first mounting plate 76R is attached to the first connecting plate 61R by bolts 78A and nuts 78B so as to be adjustable in the aircraft width direction K2. The second mounting plate 76L is attached to the second connecting plate 61L by bolts 78A and nuts 78B so as to be adjustable in the aircraft width direction K2. By changing the mounting position of the first mounting plate 76R relative to the first connecting plate 61R in the aircraft width direction K2, the first unit frame 38R can be adjusted in the aircraft width direction K2 relative to the main frame 37. By changing the mounting position of the second mounting plate 76L on the second connecting plate 61L in the aircraft width direction K2, the second unit frame 38L can be adjusted in the aircraft width direction K2 relative to the main frame 37. That is, the first transplant unit 63R and the second transplant unit 63L are each supported by the main frame 37 in a manner that allows for independent adjustment of their position in the aircraft width direction K2.

[0112] By adjusting the positions of the first unit frame 38R and the second unit frame 38L in the width direction K2, the row spacing W1 (see Figure 11), which is the distance in the width direction K2 between the right planting body 12R and the left planting body 12L (the distance in the width direction K2 between the seedlings 7 planted by the right planting body 12R and the seedlings 7 planted by the left planting body 12L), 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 a row spacing indicator section 79. The row spacing indicator section 79 is marked with a number representing the row spacing W1. By aligning the indicator 78 with the number on the row spacing indicator 79, the row spacing W1 can be easily adjusted.

[0114] As shown in Figure 12, an input sprocket 83, which is an input member that inputs rotational power to the drive shaft 71, is provided integrally with the drive shaft 71 on its central side. 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] Figure 15 shows a side view of the power input section 86 that supplies power to the drive shaft 71, and Figure 16 shows a plan view of a part of the power input section 86 unfolded.

[0116] As shown in Figures 15 and 16, the power input section 86 includes an input shaft 87, a gear transmission mechanism 88, and a winding transmission mechanism 89 including an input sprocket 83.

[0117] As shown in Figure 1A, power is transmitted to the input shaft 87 from the PTO shaft (power take-off shaft) which protrudes rearward from the transmission case 20. More specifically, the first joint shaft 92 is interlocked to the PTO shaft 90 via a planting clutch (inter-plant clutch) 91, and the second joint shaft 93 is interlocked to the first joint shaft 92. The second joint shaft 93 is interlocked to the input shaft 87. The planting clutch 91 intermittently transmits the power output from the PTO shaft 90 to the input shaft 87. When the planting clutch 91 is disengaged, the operation of the planting body 12, seedling removal device 11, etc. stops, and when it is reconnected, the operation of the planting body 12, seedling removal device 11, etc. resumes. Therefore, the control device 131 can plant seedlings 7 at predetermined intervals by adjusting the disengagement time of the planting clutch 91.

[0118] As shown in Figures 15 and 16, the gear transmission mechanism 88 has a first bevel gear 88A that is integrally rotatable on the input shaft 87 and a second bevel gear 88B that meshes with the first bevel gear 88A. The winding transmission mechanism 89 has a first transmission sprocket 94 that is integrally rotatable 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 work machine 4) is mounted on the traveling body 5 via a work machine mounting device 123. The work machine mounting device 123 includes a mounting frame 124 for detachably mounting the main frame 37 (planting work machine 4) and a work machine lifting mechanism 125 for raising and lowering the main frame 37 (planting work machine 4).

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

[0121] The work machine lifting mechanism 125 includes a connecting link mechanism 129 that connects the traveling body 5 and the mounting frame 124, and a lifting drive unit 130 that drives the planting work machine 4 up and down.

[0122] The connecting link mechanism 129 is composed of parallel links and has an upper link 129A and a lower link 129B located below the upper link 129A. The front end of the upper link 129A is rotatably connected to the rear of the machine body 16 (machine frame 21) around an axis in the machine width direction K2. The rear end of the upper link 129A is rotatably connected to the mounting frame 124 around an axis in the machine width direction K2. The front end of the lower link 129B is rotatably connected to the rear of the machine body 16 (machine frame 21) around an axis in the machine width direction K2. The rear end of the lower link 129B is rotatably connected to the mounting frame 124 around an axis in the machine width direction K2. The connecting link mechanism 129 makes it possible to move the planting work machine 4 up and down in parallel.

[0123] The lifting drive unit 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 has a cylindrical cylinder body 451 and a piston rod 452 that can extend from the cylinder body 451 in the longitudinal direction of the cylinder body 451. The connecting body 460 is attached to the end 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 rotatably connected to the rear of the machine body 16 (machine frame 21) around an axis in the machine body width direction K2. The other end of the lifting cylinder 450 (the connecting body 460 attached to the end of the piston rod 452) is rotatably connected to the mounting frame 124 around an axis in the machine body width direction K2. One end of the lifting cylinder 450 is pivotally supported concentrically with the front of the upper link 129A, and the other end is pivotally supported concentrically with the rear of the lower link 129B.

[0124] As shown in Figure 17, the transplanting machine 1 is equipped with a control valve 132 that controls the lifting cylinder 450. The control valve 132 is controlled by a control device 131. The control valve 132 is formed by a solenoid valve and consists of, for example, a three-position directional switching valve that can be switched between a neutral position, an upward position, and a downward position. The control valve 132 is connected to the control device 131 by electrical wiring, etc., 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 an upward command signal is sent from the control device 131 to the control valve 132, the control valve 132 is switched to the upward 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 work machine 4) rises. Furthermore, when a descent command signal is transmitted from the control device 131 to the control valve 132, the control valve 132 is switched to the descent position, hydraulic fluid is supplied to the rod side of the cylinder body 451, the lifting cylinder 450 retracts, and the main frame 37 descends.

[0125] The lifting drive unit 130 may be composed of an electric cylinder (electric actuator) or an electric hydraulic cylinder (electric hydraulic actuator). An electric cylinder is an electrically driven cylinder that, for example, uses an electric motor to rotate a ball screw around its axis, moving a ball screw nut, and the movement of this ball screw nut causes a rod to move forward and backward. An electric hydraulic cylinder is an actuator that integrates, for example, an electric motor, an oil tank, a hydraulic pump, a valve, a hydraulic cylinder, etc., and the rotation of the electric motor rotates the hydraulic pump and switches a valve, thereby operating the hydraulic cylinder.

[0126] Now, as shown in Figures 18A to 18C, the work machine lifting mechanism 125 is equipped with a shock absorber 470 that absorbs shocks from the traveling body 5 and the planting work machine 4. Specifically, the connecting body 460 of the lifting drive body 130 is equipped with the shock absorber 470.

[0127] As shown in Figures 19A and 20, the piston rod 452 has a first flange portion 453 at a first position at a first interval D1 (see Figure 20) from its tip. As shown in Figures 19A and 19B, the first flange portion 453 is a disc-shaped metal flange member with a through hole 453a formed in the center. The tip portion 452A (see Figures 19B and 19C) of the piston rod 452 is inserted into the through hole 453a of the first flange portion 453.

[0128] As shown in Figures 18A to 19A, the connecting body 460 comprises 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 Figures 19A to 19C and 20, the main body 464 has 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 peripheral end of the mounting surface 462 along the tip 452A of the piston rod 452. The pair of legs 466 extend from the outer peripheral portion 463 and are rotatably connected to the mounting frame 124 around the lateral axis of the traveling body 5.

[0129] As shown in Figures 19A to 19C and Figure 20, the shock absorber 470 includes a first elastic body 471 having a through hole 472 into which the tip portion 452A of the piston rod 452 (see Figures 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, for example, urethane rubber with 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 Figure 20, the through hole 472 has a tapered shape (mortar shape) into which the opening of the through hole 472 gradually increases from the approximate center position in the depth direction toward the second surface 471b. The tapered shape of the through-hole 472 facilitates insertion and removal of the first elastic body 471 from the tip portion 452A of the piston rod 452. The first elastic body 471 may be an elastic material other than urethane rubber, such as rubber with a hardness of 90 degrees or more, or a spring. The first elastic body 471 is constructed by sandwiching it between the main body portion 464 and the 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 range RG1 including a first position. A first fastener 455 is screwed into the first range RG1 of the piston rod 452. Thus, the first fastener 455 is screwed in such a way that the first flange portion 453 is pressed against the first elastic body 471. The first fastener 455 consists of a first nut 455a and a second nut 455b, and the first nut 455a and the second nut 455b screwed into the first range RG1 of the piston rod 452 are tightly fastened together. This tight fastening prevents the first fastener 455 from loosening.

[0131] As shown in Figures 19A and 20, the piston rod 452 has a second flange portion 456 separate from the first flange portion 453 at a second position located at a second interval D2 (see Figure 20) shorter than the first interval D1 from its tip. The second flange portion 456 is a disc-shaped metal flange member with a through hole 456a formed in the center. The tip portion 452A (see Figures 19B and 19C) of the piston rod 452 is inserted into the through hole 456a of the second flange portion 456.

[0132] As shown in Figures 19A to 19C and Figure 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 a cylindrical rubber and has a circular first surface 474a that abuts against the bottom surface 463a of the cylindrical portion 463 (see Figures 19B and 20), 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 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, for example, urethane rubber with a hardness of 90 degrees or more. The second elastic body 474 may be an elastic material other than urethane rubber, such as rubber or springs with a hardness of 90 degrees or higher. In this embodiment, the first elastic body 471 and the second elastic body 474 have the same hardness, but they may have different hardnesses.

[0133] The shock absorber 470 is constructed by sandwiching the first elastic body 471 between the first flange portion 453 and the mounting surface 462 of the main body portion 464, and sandwiching the second elastic body 474 between the bottom surface 463a of the cylindrical 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 including the second position. A second fastener 458, such as a nut, is screwed into the second range RG2 of the piston rod 452. The cylindrical portion 463 of the main body 464 has a second elastic body 474 and a second flange portion 456 inserted inside it. In this state, the second fastener 458 is screwed in such a way that it presses the second flange portion 456 against the second elastic body 474.

[0135] As shown in Figures 18C and 20, a portion of the first elastic body 471 (for example, its circumferential surface 471c) is exposed. On the other hand, the second elastic body 474 is housed inside the cylindrical portion 463 of the main body portion 464 and is sandwiched by the second flange portion 456. In other words, the second elastic body 474 is not exposed. The worker can visually inspect the circumferential surface 471c of the first elastic body 471 (i.e., the exposed portion). Therefore, the condition of the first elastic body 471 (for example, deterioration over time) can be checked without disassembling the connecting body 460, and at least one of the first elastic body 471 and the second elastic body 474 can be replaced at an appropriate time as needed.

[0136] As shown in Figure 22, the transplanting machine 1 has a rolling mechanism 135 that swings the planting work machine 4 around a rolling axis X1. The rolling mechanism 135 includes a rolling motor 136, a rolling roller 137, and a cable 138. The rolling motor 136 and the rolling roller 137 are mounted on the mounting frame 124 (work machine mounting device 123). The rolling motor 136 and the rolling roller 137 are positioned above the rolling axis 54 and corresponding to the center of the machine width direction K2 of the main frame 37. The rolling roller 137 is positioned above the rolling motor 136. The rolling motor 136 is composed of an electric motor that can move in both forward and reverse directions. 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 rolling roller 137 rotates in forward and reverse directions due to the power of the rolling motor 136.

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

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

[0140] As shown in Figure 23, the mounting frame 124 is provided with a detection sensor 141 for detecting large oscillations of the planting machine 4 around the rolling axis X1. The detection sensor 141 includes a first limit switch 141R for detecting clockwise oscillations of the planting machine 4 and a second limit switch 141L for detecting counterclockwise oscillations of the planting machine 4. One of the many teeth of the second gear 139B is a detection tooth 142 that protrudes radially outward from the gear compared to the other teeth. When this detection tooth 142 contacts the contactor of the first limit switch 141R or the second limit switch 141L, a large oscillation of the planting machine 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, for example, the driving of the rolling motor 136 is stopped.

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

[0142] As shown in Figure 22, the first sensing roller 126R is a component 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 component for detecting the height of the first furrow 143R where seedlings 7 are planted by the right planting body 12R.

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

[0144] The first sensing roller 126R rolls on the first planting surface 144R and moves up and down in accordance with the height changes of the first planting surface 144R. The second sensing roller 126L rolls on the second planting surface 144L and moves up and down in accordance with the height changes of the second planting surface 144L.

[0145] As shown in Figure 25, the first sensing roller 126R is supported on 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 on 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 (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 positioned on the outer side of the first sensing roller 126R, and the second arm 148B is positioned on the inner side 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 is located on the front side of the first sensing roller 126R. Arm 148A and Arm 248B are connected.

[0147] As shown in Figures 25 and 27, the first unit frame 38R is provided with a support bracket 149. The support bracket 149 has a fixed plate 149A that spans 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 positioned in front of the first sensing roller 126R. The mounting plate 149B is formed to a width corresponding to the width K2 of the first sensing roller 126R in the machine width direction. The mounting plate 149B also has a first side plate portion 149a on the outer end side in the machine width direction K2 and a second side plate portion 149b on the inner end side in the machine width direction K2. The front portions of the first arm 148A and the second arm 148B are pivotally supported by a pivot 150 to the first side plate portion 149a and the second side plate portion 149b. The first sensing roller 126R is rotatably supported at the rear of the first arm 148A and the second arm 148B by a roller shaft 151 having an axis that extends in the width direction K2 of the machine body.

[0148] As shown in Figures 25 and 26, the first biasing spring 147R is formed of a compression coil spring and is fitted to the outside of the rod member 152. The lower part of the rod member 152 is pivotally supported by 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 able to move up and down along the axial direction of the rod member 152. The first biasing spring 147R is interposed in a compressive manner between the 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 is configured in the same way as the first roller bracket 146R. The second roller bracket 146L is supported by 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 of 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 by the second roller bracket 146L and is also 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, which detects the amount of oscillation 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, which detects the amount of oscillation 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 includes 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 includes an arm body 160 and a contact 161. The front of the arm body 160 is connected to the rotation detector of the first height detection sensor 157R and is rotatable together with the rotation detector. The contact 161 is fixed to the rear of the arm body 160. The contact 161 is formed by a pin and contacts the second arm 148B of the first roller bracket 146R. The arm body 160 is capable of vertical swinging concentrically with the first roller bracket 146R, and the first detection arm 159R swings vertically together with the first roller bracket 146R, allowing 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 includes a second height detection sensor 157L and a second detection arm 159L. The second height detection sensor 157L is also formed from 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 includes an arm body 160 and a contact 161. The front of the arm body 160 is connected to the rotation detector of the second height detection sensor 157L and is rotatable together with the rotation detector. The contact 161 is fixed to the rear of the arm body 160. The contact 161 is formed from a pin and contacts the second arm 148B of the second roller bracket 146L. The arm body 160 is capable of vertically swinging concentrically with the second roller bracket 146L, and the second detection arm 159L swings vertically together with the second roller bracket 146L, allowing 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 Figures 25 and 26, the first roller support mechanism 145R is provided with a scraper 162 for removing 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. The second roller support mechanism 145L is similarly provided with a scraper 162 for removing mud from the second sensing roller 126L.

[0154] As shown in Figure 22, the first height detection sensor 157R and the second height detection sensor 157L are connected to the control device 131 and transmit the detected values ​​to the control device 131. The control device 131 acquires the detected 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 by the right planting body 12R will be different from the planting depth of the seedlings 7 planted by the left planting body 12L. Therefore, if there is a difference in height between the first planting surface 144R and the second planting surface 144L, the planting machine 4 is oscillated around the rolling axis X1 to bring 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. More specifically, the control device 131 calculates the height difference between the first height H1 and the second height H2 based on the detected values ​​detected by the first sensing roller 126R and the second sensing roller 126L, and swings the planting machine 4 around the rolling axis X1 in a direction that reduces this height difference. In other words, the control device 131 calculates the height difference between the first sensing roller 126R and the second sensing roller 126L based on the detected values ​​detected by the first sensing roller 126R and the second sensing roller 126L, and swings the planting machine 4 around the rolling axis X1 in a direction that reduces this height difference 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 height difference will occur between the first sensing roller 126R and the second sensing roller 126L. In this case, the control device 131 oscillates the planting machine 4 around the rolling axis X1 so that the left side rises and the right side falls. This basically makes the planting depth of the seedlings 7 planted by the right planting body 12R the same as the planting depth of the seedlings 7 planted by the left planting body 12L. If a height difference between the first height H1 and the second height H2 has been set in advance by the angle adjustment unit 194 described later, the planting machine 4 is oscillated around the rolling axis X1 to return to this set height.

[0157] Furthermore, the control device 131 raises and lowers the planting machine 4 based on the unevenness of the planting surface (field 6) detected by either the first sensing roller 126R or the second sensing roller 126L, and calculates the height difference between the first sensing roller 126R and the second sensing roller 126L, using the aforementioned sensing roller as a reference.

[0158] In this embodiment, the first sensing roller 126R detects irregularities on the first planting surface 144R, and the planting implement 4 is raised and lowered according to the irregularities on the first planting surface 144R, thereby ensuring that the planting depth of the seedlings 7 in the front-to-back direction of the machine (arrow K1), i.e., the longitudinal direction of the ridge, is the same. 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. In addition, the height difference is calculated based on the height of the second sensing roller 126L relative to the first sensing roller 126R, using the first sensing roller 126R as a reference. By calculating the height difference between the first sensing roller 126R and the second sensing roller 126L based on either the first sensing roller 126R or the second sensing roller 126L, stable rolling control can be performed to oscillate the planting implement 4 around the rolling axis X1.

[0159] Alternatively, the second sensing roller 126L may be used to detect irregularities on the second planting surface 144L, thereby raising and lowering the planting machine 4, and the height difference 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 height difference between the first sensing roller 126R and the second sensing roller 126L is less than a predetermined value, rolling control by the control device 131 is not performed, and the height difference is absorbed by the free oscillation of the planting work machine 4 around the rolling axis X1. When the height difference between the first planting surface 144R and the second planting surface 144L exceeds a predetermined value, the control device 131 activates the rolling mechanism 135 to perform rolling control.

[0161] As shown in Figure 28, the first unit frame 38R and the second unit frame 38L are each provided with a swinging 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 swinging frame 164 can swing up and down relative to the main frame 37 (transplant frame 36).

[0162] The oscillating frame 164 provided on the first unit frame 38R is called the first oscillating frame 164R, and the oscillating frame 164 provided on the second unit frame 38L is called the second oscillating frame 164L. Since the first oscillating frame 164R and the second oscillating frame 164L are formed with a symmetrical and similar structure, the first oscillating frame 164R and the second oscillating frame 164L will be described together.

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

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

[0165] As shown in Figures 28 and 29, the first rocking frame 164R is provided with a first planting lifting mechanism 167R (planting lifting mechanism 167), and the right planting body 12R is mounted on this first planting lifting mechanism 167R so as to be able to reciprocate up and down. The second rocking frame 164L is provided with a second planting lifting mechanism 167L (planting lifting mechanism 167), and the left planting body 12L is mounted on this second planting lifting mechanism 167L so as to be able to reciprocate 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 covering wheel 62R is supported by the first oscillating frame 164R and the first roller frame (roller frame 168) 168R so as to be able to swing up and down. The second covering wheel 62L is supported by the oscillating frame 164 and the second roller frame 168L (roller frame 168) so as to be able to swing up and down.

[0167] Since the first roller frame 168R and the second roller frame 168L are formed with similar structures, 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 pipe material or the like and has a first side rod portion 168A on the outer side of the machine body, a second side rod portion 168B on the inner side of the machine body, and a rear rod portion 168C at the rear. The first side rod portion 168A has a first portion 168a that extends in the longitudinal direction of the machine body and a second portion 168b that extends upward from the rear end of the first portion 168a. The front part of the first portion 168a is rotatably connected around a horizontal axis to a bracket member 169 that protrudes downward from the first side frame 65A. The second side rod portion 168B has a first portion 168c that extends in the longitudinal direction of the machine body and a second portion 168d that extends upward from the rear end of the first portion 168c. The front of the first section 168c is rotatably connected around a horizontal axis to a bracket member 170 that protrudes downward from the second side frame 65B. The rear rod 168C connects the rear ends of the first side rod 168A and the second side rod 168B. More specifically, it connects the upper ends of the second section 168b and the second section 168d. The covering wheel 62 is attached to the rear of the first section 168a and the rear of the first section 168c via stay members 171.

[0169] A first planting depth adjustment mechanism 172R (planting depth adjustment mechanism 172) is provided across the first oscillating 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 oscillating frame 164L and the second roller frame 168L. Since the first planting depth adjustment mechanism 172R and the second planting depth adjustment mechanism 172L are formed with similar structures, the first planting depth adjustment mechanism 172R and the second planting depth adjustment mechanism 172L will be described together.

[0170] The planting depth adjustment mechanism 172 is a mechanism that adjusts the planting depth of seedlings 7 by fixing the distance between the roller frame 168 and the oscillating frame 164 so that it can be changed, and by changing the distance between them.

[0171] As shown in Figures 29 and 30, the planting depth adjustment mechanism 172 includes a mechanism frame 173, an adjust 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 oscillating frame 164. The adjust motor 174 is formed by an electric motor and is connected to the control device 131. The adjust motor 174 is mounted on the mechanism frame 173. More specifically, the adjust motor 174 is mounted on the upper part of the mechanism frame 173. The drive mechanism 175 is driven by the adjust motor 174. More specifically, the drive mechanism 175 includes a first gear 177 driven by the adjust 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 mounted on the upper part of the mechanism frame 173. The second gear (sector gear) 178 has its lower part pivotally supported on the mechanism frame 173 and has a gear portion 178a at its upper part that meshes with the first gear (pinion gear) 177. The second gear 178 (sector gear) has a connecting portion 178b that connects to a link member 176. The upper part 176a of the link member 176 is connected to the connecting portion 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 portion 168C.

[0173] In the planting depth adjustment mechanism 172 described above, the adjustment motor 174 rotates the first gear 177, causing the second gear 178 to oscillate around the pivot 180. When the second gear 178 oscillates, the connecting part 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 oscillating frame 164 oscillates up and down relative to the roller frame 168. This changes the distance between the roller frame 168 and the oscillating frame 164, and also changes the height of the planting body 12 relative to the soil covering wheel 62. Changing the height of the planting body 12 relative to the soil covering wheel 62 changes the height of the planting body 12 relative to the planting surface, thus changing the planting depth. Furthermore, by stopping the drive of the adjustment motor 174, the distance between the roller frame 168 and the oscillating frame 164 is fixed, and the set planting depth can be maintained.

[0174] The oscillating frame 164 oscillates up and down as the 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, so the relative vertical position of the oscillating frame 164 relative to the transplanting frame 36 changes. 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 relative to the transplanting frame 36 to its original position 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 distance between the roller frame 168 and the oscillating frame 164. The detection unit 182 is connected to the control device 131 and feeds back the amount of change in the distance between the roller frame 168 and the oscillating 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] Figure 31 shows a soil cover pressure adjustment mechanism 183 that adjusts the soil cover pressure (the force with which the soil cover wheel 62 presses against the ground) of the soil cover wheel 62. The soil cover pressure adjustment mechanism 183 includes a support plate 185, an operating lever 184, a spring-loaded arm 186, a first fixing bracket 187A, a second fixing 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 bolts 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 on the first fixed bracket 187A and a second link 188B pivotally supported on the second fixed bracket 187B. The first link 188A and the second link 188B are pivotally connected. The adjustment spring 189 is formed from a tension coil spring, with one end hooked into a locking hole 186a formed at the end of the spring-hanging arm 186, and the other end hooked into a locking hole 188a formed in the first link 188A.

[0178] In the soil cover pressure adjustment mechanism 183, the soil cover pressure can be adjusted by changing the spring force of the adjustment spring 189 by swinging the operating lever 184 around the pivot 185A. Multiple locking parts 185a are provided on the upper part of the support plate 185, and the operating lever 184 can be fixed in multiple positions by locking the locking piece 184a of the operating lever 184 to the locking parts 185a.

[0179] As shown in Figure 32, the planting depth adjustment mechanism 172 is operated by the operating unit 127. As shown in Figures 1A and 1B, the operating unit 127 is located near the driver's seat 3. More specifically, the operating unit 127 is located on the upper part of the steering column 27 in front of the driver's seat 3, and is angled upwards as it moves forward. The operating unit 127 is also located below the steering wheel 25. Furthermore, the operating unit 127 can be operated by an operator seated in the driver's seat 3. As shown in Figures 17 and 30, the operating unit 127 is connected to the control device 131.

[0180] As shown in Figure 32, the operating unit 127 sends an operation 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 located 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 indicator 192 that shows the rotation position of the operating dial 191. The indicator 192 is located on the upper surface of the operating dial 191. The planting depth adjustment mechanism 172 (adjust motor 174) is operated by rotating the operating dial 191 to the left or right. The planting depth adjustment unit 190 has a depth indicator 193 that shows the direction of operation of the operating dial 191. The depth indicator 193 has the word "deep" located to the right of the operation dial 191 and the word "shallow" located to the left of the operation dial 191.

[0181] In the planting depth adjustment unit 190 described above, turning the operation dial 191 to the right sends a first operation signal S1 from the operation unit 127 to the control device 131. Upon receiving the first operation signal S1, the control device 131 activates the planting depth adjustment unit 190 in a direction that increases the planting depth. The indicator 192 is set to the standard planting depth when it is facing forward (upward) as shown in Figure 32, and the further to the right the operation dial 191 is turned from the position where the indicator 192 is facing forward, the deeper the planting depth becomes from the standard depth. Also, turning the operation dial 191 to the left sends a second operation signal S2 from the operation unit 127 to the control device 131. Upon receiving the second operation signal S2, the control device 131 activates the planting depth adjustment unit 190 in a direction that decreases the planting depth. The more you turn the control dial 191 to the left from the position where the indicator 192 is facing forward, the shallower the planting depth becomes from the standard depth. Alternatively, turning the control dial 191 to the right may increase the planting depth, and turning it to the left may decrease the planting depth.

[0182] The operation dial 191 can be operated in steps, and the planting depth can be adjusted in steps. The operation dial 191 may also be made continuously operable, allowing for continuous adjustment of the planting depth.

[0183] Operator 2 adjusts the planting depth using the planting depth adjustment unit 190 while seated in the driver's seat 3. Since the joint mechanism 172 can be operated, 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 operates by lowering one side of the planting machine 4 in the width direction K2 around the rolling axis X1, or lowering the other side. Lowering one side of the planting machine 4 in the width direction K2 lowers the planting body 12 on that side, and lowering the other side of the planting machine 4 in the width direction K2 lowers the planting body 12 on the other side. This allows for 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 by the right planting body 12R may differ slightly from the planting depth of the seedlings 7 planted by the left planting body 12L. In such cases, the planting depth can be finely adjusted by, for example, lowering the planting body 12 that allows for shallower planting. Rolling control is performed with this adjustment in place.

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

[0187] The left-down switch 196 sends a second down signal S4 to the control device 131, which lowers the other side of the planting implement 4 in the machine 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 down signal S4, it lowers the left side of the planting implement 4.

[0188] For example, each time the right-down switch 195 or the left-down switch 196 is pressed, the planting machine 4 rotates by a predetermined angle around the rolling axis X1, allowing for fine adjustment of the planting depth in predetermined dimensional units (a few millimeters or a few centimeters). However, it is not limited to this.

[0189] Furthermore, the operating unit 127 has a transplanting unit height adjustment unit 197. The transplanting unit height adjustment unit 197 is located in the middle of the operating unit 127 (between the angle adjustment unit 194 and the planting depth adjustment unit 190) and has an upward switch 198 and a downward switch 199. The downward switch 199 is located to the right and rear (downward) of the upward switch 198.

[0190] The transplant section height adjustment unit 197 compensates for the difference in the amount of sinking between the sensing roller 126 and the soil covering wheel 62. It is also used to compensate for deviations in the initial mechanical and electrical values. The aim is to prevent the oscillating frame 164 from shifting significantly above or below its oscillating range.

[0191] This will be explained in detail below. Furthermore, the figures mentioned in the following explanation are illustrative and not limiting.

[0192] The planting body 12 and soil covering wheel 62 are attached to a swinging frame 164 that swings up and down with the front part (planting drive shaft 165) as the pivot point. If the soil covering wheel 62 (which is in contact with the ground) is raised by 1 cm relative to the swinging frame 164, for example, the swinging frame 164 will lower, causing the planting body 12 to penetrate approximately 1 cm deeper into the ground, and the planting depth will increase by approximately 1 cm.

[0193] The oscillating frame 164 has an oscillating range of approximately 4 cm at the soil covering ring 62 portion, and if the soil covering ring 62 is in the center of the oscillating 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 (the height of the pivot point of the oscillating frame 164 (planting drive shaft 165)) remains the same, raising the soil covering wheel 62 by 1 cm will shift the oscillating frame 164 to the lower side of the oscillating range, resulting in a ridge unevenness adaptation range of -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 the oscillating range.

[0195] The planting depth adjustment range is -2cm to +5cm, with 0 representing the point where the top surface of the root ball (the soil around seedling 7) and the top surface of the ridge are at the same level. 0 does not necessarily mean they are always at the same level; rather, it indicates that there is a larger adjustment range on the deeper planting side.

[0196] Incidentally, the ground contact height of the sensing roller 126 and the ground contact height of the soil covering wheel 62 are not the same. That is, because the soil covering wheel 62 has a higher compaction load than the sensing roller 126, the soil covering wheel 62 sinks, and the soil covering wheel 62 becomes lower than the sensing roller 126. In the design, it is assumed that the soil covering wheel 62 will sink by 1 cm, but the amount of sinking will vary depending on the adjustment of the compaction load of the soil covering wheel 62, the hardness of the ridge surface, the presence or absence of mulch film, etc. To compensate for this difference in the amount of sinking, a transplanting section height adjustment section 197 is provided.

[0197] When the lower switch 199 is pressed, the transplanting section height adjustment unit 197 sends a correction value (first correction value S5) to the control device 131, and the control device 131 lowers the transplanting frame 36 based on this value. Specifically, under normal circumstances, the difference in the contact surface between the sensing roller 126 and the covering wheel 62 is 1 cm. However, if the ridge is soft and the covering wheel 62 sinks significantly (the oscillating frame 164 is shifted downwards within the oscillating range), and the difference in the contact surface is large, for example, if the difference in the contact surface is 1.5 cm, the lower switch 199 ("lower") is pressed to lower the transplanting frame 36 by 0.5 cm (raise the sensing roller by 0.5 cm) and correct the oscillating frame 164 so that it is in the center of the oscillating range.

[0198] Furthermore, when the lift switch 198 is pressed, the transplanting section 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 this value. Specifically, if the ridge is hard or there is mulch film, the difference in height between the contact surface of the sensing roller 126 and the soil covering wheel 62 is small, and the oscillating frame 164 shifts to the upper side of the oscillating range, so the lift switch 198 ("higher") is pressed to raise the transplanting frame 36.

[0199] Furthermore, the up switch 198 and down switch 199 may be configured to change the value in predetermined units each time they are pressed. Also, if the target for the soil cover wheel 62 is 2 cm when adjusting the planting depth, the sensing roller 126 will aim for 3 cm, which is 1 cm higher than the soil cover wheel 62. That is, when the detected value of the sensing roller 126 reaches +1 cm (4 cm), the transplanting frame 36 is raised, and when it reaches -1 cm (2 cm), the transplanting frame 36 is lowered. Also, if the up switch 198 is pressed to "raise" the transplanting frame height by 0.5 cm, the sensing roller 126 will be controlled to target 2.5 cm, which is (1 - 0.5 =) 0.5 cm higher than the soil cover wheel 62 (the target value for the sensing roller height will decrease, but conversely, the transplanting frame height will increase). That is, when the detected value of the sensing roller 126 reaches +1 cm (3.5 cm), the transplanting frame 36 is raised, and when it reaches -1 cm (1.5 cm), the transplanting frame 36 is lowered. Furthermore, when the lowering switch 199 is pressed to "lower" the transplanting frame height by 0.5 cm, the sensing roller 126 controls itself to target a height of 3.5 cm, which is (1 + 0.5 =) 1.5 cm higher than the soil covering ring 62. In other words, when the detected value of the sensing roller 126 reaches +1 cm (4.5 cm), the transplanting frame 36 is raised, and when it reaches -1 cm (2.5 cm), the transplanting frame 36 is lowered.

[0200] Now, referring to Figures 33, 34A, etc., the first planting lifting mechanism 167R and the second planting lifting mechanism 167L will be explained. The first planting lifting mechanism 167R and the second planting lifting mechanism 167L are, Since they are right-symmetrical and have a similar structure, 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 on 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 the first support shaft 202 is rotatably supported on this bearing member 204. The input shaft 205 of the rotating case 201 is connected to the first support shaft 202, and the rotating case 201 is supported on the first support shaft 202. A sprocket 203 is integrally rotatably mounted on the first support shaft 202. As shown in Figure 28, power is transmitted to the sprocket 203 from a sprocket 207 which is integrally rotatably mounted on the planting drive shaft 165.

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

[0203] Since the two planting bodies 12 have the same configuration, only one planting body 12 will be described. As shown in Figures 34A to 34E, the planting body 12 is formed by an opening 206 that can be opened and closed in the front and rear directions. More specifically, 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, a shaft portion 115B1 formed at the front end of the upper rear plate 115B is inserted into a 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 able to open and close the front component 206A and the rear component 206B with the shaft portion 115B1 as the axis. A spring 116 is attached to the upper front plate 115A and the upper rear plate 115B. Specifically, one end of the spring 116 is attached to the lower end of the upper front plate 115A, and the other end of the spring 116 is attached to the lower end of the upper rear plate 115B, and this spring 116 biases the planting body 12 (opening device 206) to be in the closed state.

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

[0206] As shown in Figure 34G, the first opening / closing cam 214A and the second opening / closing cam 214B have a shape that includes 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 transitional 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 circumferential range 1LR of the opening / closing cams (first opening / closing cam 214A, second opening / closing cam 214B), the planting body 12 (opening retractor 206) is in a closed state (see planting body 12 on the upper side of the paper in Figure 34A). When it is in contact with the second circumferential range 2LR, the planting body 12 (opening retractor 206) is in an open state (see planting body 12 on the lower side of the paper in Figure 34A). When it is in contact with the transition circumferential range 3LR, the planting body 12 (opening retractor 206) is in the process of changing from an open state to a closed state or from a closed state to an open state (see planting body 12 on the upper side of the paper in Figure 36F).

[0207] As shown in Figures 35A to 35D, the rotating case 201 has a first spur gear G1, a second spur gear G2 that meshes with the first spur gear G1, a third spur gear G3 that meshes with the second spur gear G2, a fourth spur gear G4 that meshes with the third spur gear G3, and a fifth spur gear G5 that meshes with the fourth spur gear G4 arranged inside. The rotating case 201 has a first case body 201A and a second case body 201B which are divided in the axial direction of the input shaft 205. The first to fifth spur gears G1 to G5 are housed in the internal space 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 eccentricity distance ED from the circular center of the spur gear to the axis is also the same. Note that in Figure 35E, the oval trajectory T when the planting body 12 moves up and down is illustrated, so the eccentricity distance ED of the fourth and fifth spur gears G4 and G5 is not shown. As shown in Figure 35D, the rotating case 201 houses the first to fifth spur gears G1 to G5 arranged in a straight line, with the axes J1 to J5 of the first to fifth spur gears G1 to G5 aligned on that straight line. When the rotating case 201 is in an upright position in the vertical direction (i.e., the rotation angles of the input shaft 205 are 0 degrees and 180 degrees), the axes J1 to J5 of the first to fifth spur gears G1 to G5 are aligned on that straight line, on the same side from the center of the spur gear (upwards in Figure 35D). In addition, helical gears, serpentine gears, or the like may be used instead of the first to fifth spur gears G1 to G5.

[0209] The input shaft 205 is located at the position of the third spur gear G3 on the rotating case 201. The input shaft 205 receives rotational force from the first support shaft 202, that is, the rotational force required to rotate 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 configured to be coupled to the axis J1 of the first spur gear G1. The second output shaft 215B may be configured to be coupled to the axis J5 of the fifth spur gear G5.

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

[0211] As shown in Figures 35B, 35C, and 36G, the fixing member 210 includes a cylindrical body 211 into which the input shaft 205 is inserted. The cylindrical body 211 has an insertion cylinder portion 211A that is inserted into the rotating case 201, and a protruding cylinder portion 211B that protrudes from the insertion cylinder portion 211A to the outside of the rotating case 201 (more precisely, to the outside of the first case body 201A). Specifically, the insertion cylinder portion 211A is inserted into a support hole 201A3 formed at the longitudinal center of the first case body 201A and a support hole 201B3 formed at the longitudinal center of the second case body 201B. As shown in Figure 36G, a first bearing 212A for rotatably supporting the input shaft 205 is provided inside the protruding cylinder portion 211B, and two second bearings 212B for rotatably supporting the rotating case 201 are provided on the outer circumference of the insertion cylinder portion 211A. Furthermore, a shaft hole G3A is formed through the axis J3 of the third spur gear G3, sharing the same axis. The insertion cylinder 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 cylinder portion 211A.

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

[0213] As shown in Figures 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, respectively. A retaining portion 201A1 is formed in the first case body 201A. The retaining portion 201A1 of the first case body 201A holds 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 in the retaining portion 201A1 by being fitted 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 holds 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 in the retaining portion 201B1 when it is fitted into the retaining portion 201B1.

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

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

[0216] Third bearings 212C are 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 holds 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. The third bearing 212C is held in the retaining portion 201A5 by being fitted into the retaining portion 201A5. The second case body 201B has a retaining portion 201B5 formed therein. The retaining portion 201B5 of the second case body 201B holds 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 in the retaining portion 201B5 by being fitted into the retaining portion 201B5.

[0217] Furthermore, the tip of the input shaft 205, which is inserted into the rotating case 201, is fixed to the mounting plate 213. For example, a fixing flange 205A is fixed to the tip of the input shaft 205 that protrudes from the insertion cylinder portion 211A to the outside of the second case body 201B. The mounting plate 213 has a mounting hole 213A and is fixed to the outside of the second case body 201B. The fixing flange 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. In other words, the rotational force from the input shaft 205 is transmitted to the rotating case 201. Also, as shown in Figures 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] Furthermore, the first opening / closing cam 214A, the second case body 201B, and the first case body 201A 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 from the input shaft 205 is not transmitted to the cylindrical body 211, but is transmitted to the second case body 201B via the mounting plate 213. As a result, the rotating case 201 rotates, but the cylindrical body 211 and the third spur gear G3 do not rotate.

[0220] As shown in Figure 35D, the rotating case 201 includes a claw member 208A that contacts 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 is in the reverse direction, and a biasing member 209A that biases the claw member 208A towards the circumferential surface of the axis J1. The rotating case 201 also includes a claw member 208B that contacts 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 is in the reverse direction, and a biasing member 209B that biases the claw member 208B towards the circumferential surface of the axis J5.

[0221] As shown in Figures 36A to 36F, the planting lifting mechanism 167 rotates in the direction of arrow Y1 as the rotating case 201 rotates around the input shaft 205 due to the input of rotational force to the input shaft 205. As a result, the second spur gear G2 and the fourth spur gear G4 rotate along the outer circumference of the third spur gear G3 in the direction of arrow Y21, while maintaining a relative position facing each other via the third spur gear G3. As the second spur gear G2 rotates in the direction of arrow Y21, the first spur gear G1 rotates in the direction of arrow Y As the gear rotates in the direction of 22, and as the fourth spur gear G4 rotates in the direction of arrow Y21, the fifth spur gear G5 rotates in the direction of arrow Y22, causing the first planting body 12 and the second planting body 12 to move up and down in an egg-shaped trajectory T. When the second planting body 12 is rising, the first planting body 12 is lowered and plunged into the field to plant seedlings, and when the first planting body 12 is rising, the second planting body 12 is lowered and plunged into the field to plant seedlings.

[0222] Furthermore, as shown in Figure 35E, since the first to third spur gears G1 to G3 are eccentric, when the rotation angle of the input shaft 205 changes from 0 degrees to 360 degrees (i.e., the rotating case 201 completes one rotation), at angles other than 0 degrees and 180 degrees (when the rotating case 201 is upright in the vertical direction), the rotation angle of the output shaft 215 is smaller than the rotation angle of the input shaft 205. In Figure 35E, the rotation angles of the input shaft 205 are, for example, 45°, 90°, 135°, 225°, At 275° and 315°, the rotation angle of the output shaft 215 is approximately 30°, 65°, 120°, 210°, 245°, and 300°, respectively, resulting in a difference where the rotation angle of the output shaft 215 is smaller than that of the input shaft 205. The planting body 12 oscillates with an oscillating angle corresponding to this difference. If the axes of the first to third spur gears G1 to G3 were perfectly circular without eccentricity, 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°. In previous planting lifting mechanisms, the oscillating motion of the planting body 12 was achieved by providing an oscillating cam. In contrast, the above configuration allows for the oscillating motion of the planting body 12 without providing an oscillating cam. The same applies to the third to fifth spur gears G3 to G5 as to the first to third spur gears G1 to G3 described above.

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

[0225] As shown in Figure 38, the reversing guide 13 is 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 is attached to the support rod 217 provided at the lower part of the seedling tray 9. The empty tray guide 14 has a first rod portion 14A located on the outer side of the machine body of the seedling tray 9, a second rod portion 14B located on the inner side of the machine body of the seedling tray 9, and a connecting rod portion 14C that connects 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 portion 218 provided on the right side and a second storage portion 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 housing section 218, a second stay 225R attached to the second housing 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 connecting stay 226R. A connecting bracket 228 is fixed to the connecting stay 226R (see Figure 46). The connecting bracket 228 is located on the outside side 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 lower part of the first seedling tray 9R, and is rotatable along the width direction K2 of the machine body. The outer side of the operating shaft 229 protrudes significantly outward from the first housing section 218. Two followers 230 are attached to the operating shaft 229, 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 section 218, a second stay 232R attached to the second housing section 219, and a connecting stay 233R that connects the first stay 231R and the second stay 232R.

[0228] Multiple first rollers 234R are rotatably mounted on the connecting stays 226R and 233R. The first rollers 234R mounted on the connecting stay 226R are The first rail 56 is supported so as to be movable in the width direction K2 of the aircraft. The first roller 234R, attached to the connecting stay 233R, is supported so as to be movable in the width direction K2 of the aircraft by the second rail 58.

[0229] As shown in Figures 39 and 40, the second seedling 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 housing section 218, a second stay 225L attached to the second housing 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 inner side (right side) of the connecting stay 226L. The lower holder 223L has a first stay 231L attached to the first housing section 218, a second stay 232L attached to the second housing section 219, and a connecting stay 233L that connects the first stay 231L and the second stay 232L.

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

[0231] As shown in FIG. 39, a connecting member 235 is provided which extends in the machine width direction K2 from the left part of the first seedling placing table 9R to the second seedling placing table 9L. The first stay plate 227 is bolt-fixed to the right part of the connecting member 235. The second stay plate 227L is bolt-fixed to the connecting member 235 so that its position can be adjusted in the machine width direction K2.

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

[0233] FIG. 39 shows the states of the first seedling placing table 9R and the second seedling placing table 9L when the row spacing W1 is at its narrowest. By changing the mounting position of the second stay plate 227L from this state, it is possible to adjust the interval in the machine width direction K between the first seedling placing table 9R and the second seedling placing table 9L according to the adjustment of the row spacing W1.

[0234] Figure 41 shows a lateral feed mechanism 236 that intermittently feeds the first seedling mounting table 9R and the second seedling mounting table 9L in the machine width direction K2 by one pitch of the pot portion 8a. The lateral feed mechanism 236 has a lateral feed shaft 237 disposed below the first seedling mounting table 9R. The lateral feed shaft 237 extends in the machine width direction K2 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 body 64, a second bracket 238B fixed to the first bracket 238A, a third bracket 238C fixed to the right end side of the second bracket 238B, a gear box 238D fixed to the second bracket 238B and the third bracket 238C, and a fourth bracket 238E provided on the side of the second bracket 238B opposite to the gear box 238D. The lateral feed shaft 237 is provided across the gear box 238D and the fourth bracket 238E. A first transmission sprocket 239 that can rotate integrally with the drive main shaft 71 and can move in the axial direction is provided at the lower part of the third bracket 238C. The first transmission sprocket 239 can transmit power to a second transmission sprocket 240 provided on the second bracket 238B. The power transmitted to the second transmission sprocket 240 is transmitted from an input shaft rotatably provided integrally with the second transmission sprocket 240 to the lateral feed shaft 237 through a transmission mechanism in the gear box 238D.

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

[0236] When the horizontal feed shaft 237 rotates, the engaging portion 241a is guided along the traverse groove 237a, causing the sliding body 241 to reciprocate in the machine width direction K2. This allows the first seedling stand 9R to reciprocate in the machine width direction K2. Furthermore, since the second seedling stand 9L is connected to the first seedling stand 9R via a connecting member 235, the first seedling stand 9R and the second seedling stand 9L can reciprocate together in the machine width direction K2.

[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 feeding mechanism 236, and the first seedling tray 9R and the second seedling tray 9L are connected by a connecting member 235. Therefore, the first seedling tray 9R, the second seedling tray 9L, and the first transplanting unit 63R are integrally positioned in the machine width direction K2. The second transplanting unit 63L is positioned separately from the first transplanting unit 63R. After adjusting the first transplanting unit 63R and the second transplanting unit 63L in the machine width direction K2, the second seedling tray 9L is positioned to match the adjusted row spacing W1.

[0238] Figure 42 shows a vertical feeding mechanism 244 and a seedling removal device 11 that vertically feed the seedling tray 8 downward along the inclined direction by one pitch of the pot portion 8a. The vertical feeding mechanism 244 has a tray feeding mechanism 245 provided in each of the first storage portion 218 and the second storage portion 219 of each seedling tray 9. The tray feeding mechanism 245 has a drive sprocket 246, a driven sprocket 247, and an endless transport chain 248 wrapped around the drive sprocket 246 and the driven sprocket 247. Transport pins 249 that fit between the pot portions 8a are provided on the transport chain 248 at intervals in the longitudinal direction. By rotating the drive sprocket 246 in the direction of arrow Y3 in Figure 42, the seedling tray 8 is vertically fed downward along the mounting plate 10 (in the direction of arrow Y4 in Figure 42) via the transport chain 248 and transport pins 249.

[0239] As shown in Figure 42, the seedling removal device 11 is positioned at the lower rear of the seedling tray 9 and has seedling removal claws 250. The seedling removal claws 250 penetrate into the pot section 8a from the rear, pierce the root ball of the seedling 7, and then retract from the pot section 8a while the root ball is pierced, thereby removing the seedling 7 from the pot section 8a. After removing the seedling 7, the seedling removal claws 250 change their position so that the 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 this embodiment of the transplanter 1, various information settings can be configured by manual input by operator 2 in the setting mode, which is used to configure settings before the start of automatic steering. For example, in this embodiment of the transplanter 1, the reference direction can be set by manual input by operator 2 in the setting mode without having to drive the transplanter 1 in the field to acquire the reference direction. In addition, information other than the reference direction can also be set by manual input by operator 2 in the setting mode. Therefore, the setting mode is a mode in which, before the start of automatic steering, operator 2 can input, recall, and change the setting values ​​of various setting items by manual input.

[0241] The control device 131 switches the transplanter 1 to the setting mode based on a predetermined operation. The predetermined operation here is, for example, turning off the main switch 354 (i.e., the switch key is stopped). The procedure involves pressing the steering selector switch 351 while the steering selector switch 351 is pressed, then turning the main switch 354 ON (for example, to the start or drive position) and releasing the steering selector switch 351 within 2 seconds. Note that the prescribed operation may be any other operation. Note that when the transplanter 1 is not in setting mode, it is in non-setting mode, in which various settings cannot be made. Non-setting mode is a mode that allows operations other than making various settings, such as manual operation or operation by automatic steering.

[0242] As shown in Figure 1D, the control device 131 has a setting unit 131C. The setting unit 131C consists of electrical and electronic components provided in the control device 131, a program incorporated into the control device 131, etc. The setting unit 131C performs settings related to the movement and operation of the transplanting machine 1 (such as automatic sensitivity setting, orientation setting, GPS adjustment, row spacing setting, and RTK setting shown in Figure 43A). Regarding orientation setting, the setting unit 131C can set an orientation input by the operator (for example, manual input) as the reference orientation. More specifically, when the setting unit 131C is in setting mode, it accepts orientation input (for example, manual input of orientation by the operator) and stores the input orientation as the reference orientation in the storage device 131B.

[0243] As shown in Figure 43A, the storage device 131B stores a storage table DT1 that associates multiple items (i.e., setting items) with the setting values ​​for each of these items. The multiple setting items include automatic sensitivity setting (GS sensitivity setting), direction setting, GPS adjustment, row spacing setting, and RTK setting. The setting items in storage table DT1 are broadly divided into major items and minor items. Major items are items of the highest level, the first level. Minor items are items of the second level, which is lower than the first level. The items for automatic sensitivity setting, direction setting, GPS adjustment, row spacing setting, and RTK setting are all items of the first level. The items for direction setting include direction input and direction recall, which are stored as minor items (items of the second level). The setting values ​​for each of the multiple setting items are values ​​of the third level, which is lower than the second level. The settings are categorized into four levels based on the type of setting item: 1st, 2nd, 3rd, and 4th.

[0244] The automatic sensitivity setting item is used to set the sensitivity of straight-line steering. Only the first-digit value is associated with this setting, and it is broadly categorized into standard, sensitive, and insensitive. The possible setting values ​​for automatic sensitivity are "DEF" for standard, "+numerical value (+1, +2, etc.)" for sensitive, and "-numerical value (-1, -2, etc.)" for insensitive. If set to standard, the steering angle of automatic steering in relation to position deviation and heading deviation will be normal. If set to sensitive, the steering angle of automatic steering will be larger than normal according to the aforementioned numerical value. If set to insensitive, the steering angle of automatic steering will be smaller than normal according to the numerical value. In Figure 43A, the value of "DEF" is stored as the setting value corresponding to the automatic sensitivity setting item.

[0245] The "Direction Setting" item is related to direction settings. The "Direction Input" item is a sub-item for manually entering direction information (i.e., the reference direction), and its setting value corresponds to the integer part of the direction (direction integer part: the first digit) and the decimal part of the direction (direction decimal part: the second digit). In Figure 43A, the first digit (direction integer part) of the setting value corresponding to the "Direction Input" item is stored as "H359," which represents the integer part of the direction 359.99°, and the second digit (direction decimal part) is stored as "L_99," which represents the decimal part (up to the second decimal place) of the direction 359.99°.

[0246] The direction recall item is a sub-item for recalling registered directions, and its settings correspond to the direction name (first digit value), registration date (second digit value), integer part of the direction (third digit value), and decimal part of the direction (fourth digit value). In Figure 43A, among the settings corresponding to the direction recall item, the first digit value (direction name) is "A4" (identification number), the second digit value (registration date) is "2022", "0823", and "1658", and the third digit value (integer part of the direction) The value "H359" is stored as the part (azimuth decimal), and the value "L_99" is stored as the fourth digit (azimuth decimal part).

[0247] The GPS calibration setting is used to adjust the GPS position, and only the first digit of the setting value is associated with it. It is broadly categorized into standard, positive correction, and negative correction. The possible GPS calibration settings are "DEF" for standard, "+ numerical value (integer such as +1, +2)" for positive correction, and "- numerical value (integer such as -1, -2)" for negative correction. In Figure 43A, the value of "DEF" is stored as the setting value corresponding to the GPS calibration setting.

[0248] The row spacing setting item is used to set the distance between adjacent rows used for row spacing assist. Row spacing assist is a function that notifies operator 2 of any "deviation" between adjacent rows when straight-line driving begins, and provides automatic steering assistance to eliminate the "deviation" between adjacent rows. Only the first-order value is associated with the row spacing setting, and default values ​​such as "1200" indicating the distance between adjacent rows (1200 mm) and "1320" indicating 1320 mm are stored. Other values ​​may also be used as default values. In Figure 43A, the value "1200" is stored as the setting value corresponding to the row spacing setting item.

[0249] The RTK settings items are used to configure RTK, and only the first-digit value of each setting is associated with them, which are broadly categorized into standard and custom. In Figure 43A, the value "DEF," which indicates standard, is stored as the setting value corresponding to the RTK settings item.

[0250] As shown in Figure 43B, the memory device 131B associates the direction call item with multiple direction names and stores a memory table DT2 that associates direction information with each of the multiple direction names. In the memory table DT2 shown in Figure 43B, the first to fourth direction names (for example, "A1" to "A4") are stored as multiple direction names. For example, the first direction name ("A1") is associated with the registration date (the number "2022" indicating the year in the Western calendar (for example, 2022), the number "0322" indicating the month and day (for example, March 2nd), and the number "0845" indicating the hour and minute in 24-hour format (for example, 8:45)), the integer part of the direction (for example, the value of "H302"), and the decimal part of the direction (for example, the value of "L_79").

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

[0252] Furthermore, the steering selector switch 351, which in non-setting mode was a button for instructing the start and end of automatic steering, functions as a confirmation button in setting mode. Also, the first switch 352 and the second switch 353, which in non-setting mode were buttons for instructing the start and end points of the reference bearing, function as selection buttons in setting mode. For example, in 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 non-setting mode and setting mode.

[0253] Here, we will describe the case where operator 2 sets the reference bearing manually. When the control device 131 is in setting mode, it switches between several items shown in Figure 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, each time the first switch 352 is operated, the segment display unit 361 switches and displays the items of automatic sensitivity setting (GS sensitivity setting), bearing setting, GPS adjustment, row spacing setting, and RTK setting in ascending order, and each time the second switch 353 is operated, it switches and displays them in descending order. Operator 2 can understand that the various segment displays shown in Figure 44A, namely "GAIN", "A--B", "I--N", "READ", "ADJ", "JOU", and "GPS", are automatic sensitivity setting (GS sensitivity setting), bearing setting, bearing input, bearing call, GPS adjustment, row spacing setting, and RTK setting.

[0254] When the control device 131 is operated with the azimuth setting item selected, that is, when the steering changeover switch 351 is operated in a state where a major item (e.g., "A--B") shown in FIG. 44B is displayed on the segment display unit 361, it determines the azimuth setting item and causes the azimuth input and the azimuth call to be switched and displayed in order based on the operation of at least one of the first switch 352 and the second switch 353.

[0255] When the control device 131 is operated with the azimuth input item selected, that is, when the steering changeover switch 351 is operated in a state where a minor item (e.g., "I--N") shown in FIG. 44B is displayed on the segment display unit 361, it causes the azimuth value of the reference azimuth stored in the storage device 131B to be displayed on the segment display unit 361. Specifically, the value of the azimuth integer part (third layer) which is the set value shown in FIG. 44B ( "H359") is displayed on the segment display unit 361, and after a predetermined number of seconds, the value of the azimuth decimal part (fourth layer) "L_99" which is the set value is displayed. The control device 131 changes the azimuth 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 azimuth integer part is being displayed, the control device 131 increases the value of the displayed azimuth integer part, and when the second switch 353 is operated, it decreases the value. When there is an operation of the steering changeover switch 351, the control device 131 stores the changed azimuth value in the storage device 131B in association with the azimuth input item as the reference azimuth. For example, if the changed azimuth value is 359.97°, this value is stored as the reference azimuth. Note that it may not be stored when there is an operation of the steering changeover switch 351 while the azimuth value remains the original value, or it may be overwritten and stored.

[0256] Next, we will explain the case where operator 2 manually inputs a stored bearing (registered bearing) to change the reference bearing. When the control device 131 is in setting mode, if the steering selector switch 351 is operated while the bearing recall item is selected, that is, when the main item shown in Figure 44A (for example, "READ") is displayed on the segment display unit 361, the control device 131 determines the bearing recall item. The control device 131 displays the bearing information of the currently set bearing name from among the multiple bearing names stored in the storage device 131B on the segment display unit 361. The storage table DT1 shown in Figure 43A stores the currently set setting items and their setting values ​​(bearing name, registration date, integer part of bearing, decimal part of bearing). Therefore, as shown in Figure 44C, the control device 131 displays the fourth bearing name and its setting value in order on the segment display unit 361. In other words, the segment display unit 361 displays "A4", "2022", "0823", "1658", "H359", and "L_99" in that order.

[0257] The control device 131 can select any bearing name from among the multiple bearing 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 when the fourth bearing name is displayed. As shown in Figure 43B, the memory table DT2 stores the first to fourth bearing names and their bearing information. When the second bearing name "A2" in the memory table DT2 is selected, the second bearing name "A2" and its setting value are displayed in order. When the steering change switch 351 is operated while the second bearing name "A2" is displayed, the bearing indicated by the bearing information of the selected bearing name is set as the reference bearing. For example, the bearing value indicated by the setting value of the selected second bearing name "A2", that is, the bearing value of bearing name "A2" shown in Figure 43B, which is bearing 358.44°, is changed to the reference bearing.

[0258] Next, we will explain the case where operator 2 manually enters the row spacing settings. When the control device 131 is in setting mode, if the item for row spacing settings is selected from among multiple items, that is, when the steering switch 351 is operated while the main item shown in Figure 44A (for example, "JOU") is displayed on the segment display unit 361, the control device 131 determines that the item for row spacing settings is selected. The control device 131 displays the row spacing settings stored in the storage device 131B on the segment display unit 361. The segment display unit 361 displays the row spacing setting value stored in the storage table DT1 shown in Figure 43A, that is, "1200", which represents the distance between adjacent rows of 1200 mm.

[0259] When the first switch 352 is operated while the row spacing setting value (in this case, "1200") is displayed on the control device 131, the displayed setting value is increased, and when the second switch 353 is operated, the setting value is decreased. When the steering 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. If the row spacing setting value remains the original value and the steering switch 351 is operated, the control device 131 may choose not to store the value, or it may overwrite the value.

[0260] Next, we will describe the case where operator 2 changes the setting value of the automatic steering sensitivity by manual input. When the control device 131 is in setting mode, if the steering selector switch 351 is operated while the automatic steering sensitivity setting item is selected from among multiple items, that is, when the major item shown in Figure 44A (for example, "GAIN") is displayed on the segment display unit 361, the control device 131 determines the item to be the automatic steering sensitivity item. The control device 131 displays the setting value of the automatic steering sensitivity stored in the storage device 131B on the segment display unit 361. 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, if 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 storage device 131B in association with the automatic steering sensitivity setting item.

[0261] When the control device 131 is not in setting mode (non-setting mode), it acquires the position of the vehicle 5 when the first switch 352 is operated as the starting point, and acquires the position of the vehicle 5 when the second switch 353 is operated after the vehicle 5 has traveled a predetermined distance or more from the starting point as the ending point. The control device 131 then displays the bearing value (in this case, the bearing is assumed to be 290.13°) indicating the bearing of the line connecting the starting point and the ending point on the segment display unit 361.

[0262] When the bearing value is displayed on the segment display unit 361, the control device 131 displays the bearing name on the segment display unit 361 when the second switch 353 is performed a first operation (e.g., long press). The control device 131 selects an available bearing 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 also automatically select the bearing name ("A5") that follows the stored bearing name ("A4"). When the steering selector switch 351 is operated, the control device 131 uses the bearing value (bearing 290.13°) as the reference bearing and stores the reference bearing and the selected bearing name ("A5") 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] Furthermore, when the control device 131 is not in setting mode, if the second switch 353 is pressed for a second operation (e.g., a short press), and a reference bearing has already been stored in the storage device 131B, the control device 131 will display the reference bearing and bearing name stored in the storage device 131B on the segment display unit 361. Specifically, the control device 131 will display the reference bearing and bearing name stored in the storage table DT1 shown in Figure 43A on the segment display unit 361. For example, as shown in Figure 44C, the control device 131 will display "A4", "2022", "0823", "1658", "H359", and "L_99" in that order on the segment display unit 361. The control device 131 will not start automatic steering control while the bearing value (bearing 359.99°) is displayed on the segment display unit 361. Also, the control device 131 will not erase the start and end points while the bearing value (bearing 359.99°) is displayed on the segment display unit 361.

[0264] Here, the control device 131 can associate at least two or more setting items that are relevant to the field from among multiple setting items. The modified memory table DT3 shown in Figure 43C stores items of associated settings that are related to the field, and multiple setting values ​​associated with said associated setting items, and the multiple setting values ​​include two or more of the reference orientation, row spacing, and automatic steering sensitivity. In Figure 43C, the setting values ​​for orientation recall, row spacing setting, and automatic sensitivity setting (GS sensitivity setting) for the same field 6 are stored in association. In other words, the setting values ​​for 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 setting mode, if the steering selector switch 351 is operated while the steering selector switch 351 is in a state where a related setting item has been 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, when the related setting item shown in Figure 43C (for example, "RS") is displayed on the segment display unit 361, the control device 131 determines the related setting item. The control device 131 sequentially displays multiple setting values ​​of the related setting items stored in the storage 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 quickly check the setting values ​​of the reference bearing, row spacing, and automatic steering sensitivity that are sequentially displayed on the segment display unit 361.

[0266] The transplanter 1 (ride-on vegetable transplanter) of this embodiment described above comprises a planting work machine 4 for planting vegetable seedlings in a field, a vehicle 5 on which the planting work machine 4 is attached and which travels, a driver's seat 3 provided on the vehicle 5 where an operator can sit, an antenna unit 400 for receiving satellite positioning information, and a control device 131 that controls the automatic steering of the vehicle 5 based on the satellite positioning information.

[0267] With this configuration, the transplanter 1 (riding vegetable transplanter) can automatically steer based on satellite positioning information received by the antenna unit 400. This reduces the driver's burden on the operator of the riding vegetable transplanter and assists in planting work.

[0268] Furthermore, the transplanting machine 1 (riding vegetable transplanting machine) is equipped with support columns 28B erected on both the left and right sides of the traveling body 5 and extending to a position higher than the driver's seat 3, a connecting frame 420 connecting the upper parts of both support columns 28B, and a housing 405 housing a communication device 401. The antenna unit 400 and the housing 405 are attached to the connecting frame 420.

[0269] In this configuration, both support columns 28B, erected on the left and right sides of the vehicle body 5, extend to a position higher than the driver's seat 3. An antenna unit 400 is provided on a connecting frame 420 that connects the upper parts of both support columns 28B. That is, since the antenna unit 400 is located at the highest position on the vehicle body 5, the reception state of the antenna unit 400 can be optimized. Furthermore, 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 inside this housing 405. Therefore, the communication device 401 can be positioned in the vicinity of the antenna unit 400.

[0270] Furthermore, the transplanting machine 1 (riding vegetable transplanting machine) is equipped with a bracket 410 attached to the 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, so that in a plan view, the antenna unit 400 and the housing 405 are positioned to overlap via the bracket 410.

[0271] In this configuration, the antenna unit 400 is mounted on the upper part of the bracket 410 attached to the connecting frame 420, and the housing 405 is mounted on the lower part of the bracket 410. In a plan view, the antenna unit 400 and the housing 405 are positioned so that they overlap via the bracket 410. Therefore, the antenna unit 400 and the communication device 401 can be placed in close proximity, one above the other.

[0272] The bracket 410 also comprises a first bracket 411 to which the housing 405 is attached and which is fixed to the connecting frame 420, and a second bracket 412 to which the antenna unit 400 is attached. The first bracket 411 has a screw hole 411a. The second bracket 412 has a long elongated hole 412a that runs along the connecting frame 420. The second bracket 412 is screw-fastened to the first bracket 411 by inserting a fastener 413 into the elongated hole 412a and screwing it into the screw hole 411a.

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

[0274] Furthermore, the mounting surface of the bracket 410 to which the antenna unit 400 is attached is larger than the antenna unit 400 itself. With this configuration, the mounting surface of the bracket 410 to which the antenna unit 400 is attached is larger than the antenna unit 400 itself. Therefore, the bracket 410 can block reflected waves from the ground or the vehicle body 5 of the riding vegetable transplanter that are reflected from below and head towards the antenna unit 400, i.e., downward reflected waves, thereby reducing the effects of disturbances caused by downward reflected waves.

[0275] Furthermore, the housing 405 houses the speaker 402, which is mounted in the housing 405 in a position facing the driver's seat 3. With this configuration, since the speaker 402 is mounted in the housing 405 in a position facing the driver's seat 3, it is possible to output sound in a way that is easily audible to the operator seated in the driver's seat 3, and to provide appropriate voice notifications to the operator.

[0276] Furthermore, the housing 405 is equipped with a partition wall 406 that separates a first space 405A housing the communication device 401 from a second space 405B housing the speaker 402. With this configuration, the housing 405 has a first space 405A housing the communication device 401 and a second space 405B housing the speaker 402, and the first space 405A and the second space 405B are separated by the partition wall 406. As a result, the arrival of electromagnetic waves from the speaker 402 to the communication device 401 can be reduced, and the housing 405 can be used effectively.

[0277] Furthermore, the connecting frame 420 is configured to be switchable between an upright posture SP, in which the antenna unit 400 is positioned higher than the tops of both support columns 28B and capable of receiving satellite positioning information, and a retracted posture DP, in which the antenna unit 400 is lower than the upright posture SP and positioned below the housing 405, by rotating around a horizontal axis X3 along the width direction (body width direction K2) of the mobile body 5.

[0278] In this configuration, the connecting frame 420 rotates around the horizontal axis X3 which is aligned with the width direction of the running body 5. This allows switching between an upright SP position and a retracted DP position. When the connecting frame 420 is in the upright SP position, the antenna unit 400 is positioned higher than the tops of both support columns 28B, enabling reception of satellite positioning information. On the other hand, when the connecting frame 420 is in the retracted DP position, the antenna unit 400 is lower than in the upright SP position and is located below the housing 405. Therefore, by setting the connecting frame 420 to the retracted DP position, the height of the riding vegetable transplanter can be reduced, allowing the riding vegetable transplanter to be housed in barns, warehouses, etc., that have height restrictions. Also, when the connecting frame 420 is in the retracted DP position, the antenna unit 400 is located below the housing 405, so the housing 405 can protect 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 from contact with external objects.

[0279] Furthermore, the communication device 401 is capable of receiving positioning error correction information. The control device 131 determines that the linking frame 420 is in the stowed position DP when the reception level of the signal indicating satellite positioning information from the antenna unit 400 is below a specified value and positioning error correction information has been acquired by the communication device 401. With this configuration, the control device 131 determines that the linking frame 420 is in the stowed position DP when the reception level at the antenna unit 400 is below a specified value and positioning error correction information has been acquired by the communication device 401. Therefore, the operator can be notified that the linking frame 420 is in the stowed position DP, that is, that the antenna unit 400 is in a state where it cannot receive signals.

[0280] Furthermore, the support column 28B is a gate-shaped support column having a front support column 28B1 and a rear support column 28B2 erected at intervals in the front-rear direction of the running body 5, and a front and rear frame 28B3 connecting the top of the front support column 28B1 and the top of the rear support column 28B2, and multiple spare seedling trays 28A on which spare seedlings can be placed are arranged at intervals in the vertical direction. The base end portion 28A1 of the spare seedling tray 28A1 is mounted on the front support column 28B1 and the rear support column 28B2 so as to be rotatable around a front-rear axis X4 along the front-rear direction of the running body 5, and the tip portion 28A2 opposite to the base end portion 28A1 is positioned in the lateral direction of the running body 5 and spare seedlings can be placed in a usage position UP1, and the tip portion 28A2 is raised so as to be closer to the support column 28B and is in an inclined position on which spare seedlings cannot be placed UP2. The connecting frame 420 comprises a left leg portion 421 having a lower left portion 421A connected to the front and rear frames 28B3 of the left support column 28B of the traveling body 5, and a first extension portion 421B that is bent upward from the lower left portion 421A; a right leg portion 422 having a lower right portion 422A connected to the front and rear frames 28B3 of the right support column 28B of the traveling body 5, and a second extension portion 422B that is bent upward from the lower right portion 422A; and a rod-shaped body 423 that connects the upper end of the first extension portion 421B and the upper end of the second extension portion 422B and extends in the lateral direction of the traveling 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 that uppermost spare seedling tray 28A is in the unused position UP2.

[0281] In this configuration, multiple spare seedling trays 28A are provided vertically on both the left and right support columns 28B erected on both sides of the mobile body 5, and these spare seedling trays 28A can be switched between an in-use position UP1 and an in-use position UP2. The connecting frame 420 that connects the two support columns 28B comprises a left leg portion 421 and a right leg portion 422 that extend higher than the two support columns 28B, and a rod-shaped body 423 that connects the left leg portion 421 and the right leg portion 422. 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 that tray is in the in-use position UP2. Therefore, the antenna unit 400 is positioned higher than the uppermost spare seedling tray 28A in the in-use position UP2. In other words, since the antenna unit 400 is positioned at the highest position on the mobile body 5, the reception state of the antenna unit 400 can be optimized.

[0282] Furthermore, the transplanter 1 (riding transplanter) of this embodiment is equipped with a planting machine 4 for planting seedlings in the field. The vehicle comprises a vehicle 5 that travels with a planting machine 4 attached, a driver's seat 3 provided on the vehicle 5 where an operator can sit, and a work machine lifting mechanism 125 for raising and lowering the planting machine 4. The work machine lifting mechanism 125 is equipped with a shock absorber 470 that absorbs shocks from the vehicle 5 and shocks from the planting machine 4.

[0283] With this configuration, the shock absorber 470 of the work implement lifting mechanism 125 absorbs shocks from the traveling body 5 and shocks from the planting implement 4. Therefore, fluctuations in the planting height of seedlings by the planting implement 4 can be reduced. Consequently, the planting accuracy of the planting implement 4 can be improved. This can support the planting work. In addition, vibrations from the planting implement 4 to the driver's seat 3 can be reduced. Thus, the ride comfort of the ride-on transplanter can be improved.

[0284] The planting machine 4 also includes a main frame 37. The machine lifting mechanism 125 includes a connecting link mechanism 129 that connects the mounting frame 124 on which the main frame 37 is attached to the traveling body 5, and a lifting drive unit 130 that drives the main frame 37 up and down. The lifting drive unit 130 includes a lifting cylinder 450 and a connecting unit 460 that is attached to the tip of the piston rod 452 of the lifting cylinder 450 and connected to the mounting frame 124. When the lifting cylinder 450 extends, the main frame 37 rises, and when the lifting cylinder 450 retracts, the main frame 37 lowers. The connecting unit 460 includes a shock absorber 470.

[0285] With this configuration, the shock absorber 470 provided on the connecting body 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 machine 4, thereby improving the planting accuracy of the planting machine 4. Therefore, a work machine lifting mechanism 125 equipped with the shock absorber 470 can be suitably realized.

[0286] Furthermore, the piston rod 452 has a first flange portion 453 at a first position with a first interval D1 from its tip. The connecting body 460 has a mounting surface 462 having a through hole 461 into which the tip portion 452A of the piston rod 452 is inserted, and a cylindrical portion 463 extending from the outer peripheral end of the mounting surface 462 along the tip portion 452A of the piston rod 452, and a main body portion 464 that is attached to the tip portion 452A of the piston rod 452. The shock absorber 470 has a first elastic body 471 having a through hole 472 into which the tip portion 452A of the piston rod 452 is inserted, and is configured by sandwiching the first elastic body 471 between the main body portion 464 and the first flange portion 453.

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

[0288] Furthermore, the piston rod 452 has a first thread 454 formed in a first range RG1 including 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 such a way that it presses the first flange portion 453 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 the shock can be reliably absorbed by the first elastic body 471.

[0289] Furthermore, the first elastic body 471 is made of rubber having a first surface 471a that contacts the first flange portion 453 and a second surface 471b that contacts the main body portion 464. As a result, it can effectively absorb 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, thereby reducing vibrations to the traveling body 5 and the planting implement 4. Consequently, the planting accuracy of the planting implement 4 can be improved, and the ride comfort of the riding transplanter can be improved.

[0290] Furthermore, the piston rod 452 has a second flange portion 456, separate from the first flange portion 453, at a second position located at a second interval D2 shorter than the first interval D1 from its tip. The shock absorber 470 comprises a first elastic body 471 and a second elastic body 474 that 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 first elastic body 471 is sandwiched between the first flange portion 453 and the mounting surface 462 of the main body portion 464, and the second elastic body 474 is sandwiched between the bottom surface 463a of the cylindrical portion 463 of the main body portion 464 and the second flange portion 456.

[0291] With this configuration, the impact transmitted from the traveling body 5 to the planting machine 4 via the piston rod 452 of the lifting cylinder 450, and the impact transmitted from the planting machine 4 to the traveling body 5 via the piston rod 452 of the lifting cylinder 450, can be absorbed by the first elastic body 471 sandwiched between the main body 464 and the first flange 453. 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 suitably absorbed. Furthermore, 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, can be absorbed by the second elastic body 474 sandwiched between the bottom surface 463a of the cylindrical part 463 and the second flange 456. In other words, the first elastic body 471 and the second elastic body 474 can be used to achieve shock absorption according to the type of impact.

[0292] Furthermore, the piston rod 452 has a second thread 457 formed in a second range RG2 including the second position. A second fastener 458 is screwed into the second range RG2 of the piston rod 452. The cylindrical portion 463 of the main body 464 has a second elastic body 474 and a second flange portion 456 inserted inside it. The second fastener 458 is screwed in such a way that it presses the second flange portion 456 against the second elastic body 474. With this configuration, the second elastic body 474 can be securely sandwiched between the cylindrical portion 463 and the second flange portion 456 of the main body 464, and the shock can be reliably absorbed by the second elastic body 474.

[0293] Furthermore, the second elastic body 474 is made of rubber having a first surface 474a that contacts the bottom surface 463a of the cylindrical portion 463 and a second surface 474b that contacts the second flange portion 456. As a result, it is possible to effectively absorb the impact that pulls the piston rod 452 of the lifting cylinder 450 toward the traveling body 5 and the impact that pulls the main body portion 464 of the connecting body 460 toward the planting work machine 4, thereby reducing vibrations transmitted to the traveling body 5 and the planting work machine 4. Consequently, the planting accuracy of the planting work machine 4 can be improved, and the ride comfort of the riding transplanter can be improved.

[0294] Furthermore, the first fastener 455 consists of a first nut 455a and a second nut 455b, and the first nut 455a and the second nut 455b, which are screwed into the first range RG1 of the piston rod 452, are tightly fastened together. This prevents the first fastener 455 (i.e., the first nut 455a and the second nut 455b) from loosening.

[0295] Furthermore, the planting machine 4 includes a seedling removal device 11 that removes seedlings from seedling trays 8 placed on a seedling tray 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 positioned behind the planting body 12 that rolls on the left and right sides of the seedlings planted by the planting body 12 to mound soil around the base of the seedlings and to compact the soil around the base of the seedlings.

[0296] According to this configuration, the shock absorber 470 absorbs shocks from the traveling body 5 and shocks from the planting machine 4. Because it absorbs the movement, it can reduce fluctuations in the planting height of seedlings by the planting machine 4. In other words, it can reduce the undulation and compaction of the top surface of the ridge. As a result, the soil covering wheel 62 can compact the soil around the base of the seedlings with precision.

[0297] <Modified example of a lifting drive unit 130> Furthermore, a modified lifting drive unit 130 as shown in Figure 21 can be adopted. In the modified lifting drive unit 130, a connecting body 460A of a different shape is provided instead of the connecting body 460 of the above embodiment. The connecting body 460A is provided with a pair of legs 466A of a different length from the pair of legs 466 shown in the above embodiment. Specifically, the length of the pair of legs 466A extending from the main body 464 in the longitudinal direction of the piston rod 452 (i.e., the extension length L1 from the main body 464) is twice or more the length L3 of the piston rod 452 in the longitudinal direction of the main body 464 or longer than or equal to the length L2 of the cylinder body 451 of the lifting cylinder 450.

[0298] This configuration allows for a shorter piston rod 452 of the lifting cylinder 450 compared to conventional designs, 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 becomes to center the piston rod 452, resulting in increased costs and time for production of the lifting cylinder 450. In contrast, since the piston rod 452 of the lifting cylinder 450 can be shorter, the costs and time required for production of the lifting cylinder 450 can be reduced. Consequently, the productivity of the riding transplanter can be improved.

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

[0300] The transplanter 1 of this embodiment (which may be either a ride-on or non-ride-on transplanter) comprises a planting implement 4 for planting seedlings in a field, and a traveling body 5 on which the planting implement 4 is mounted. The planting implement 4 is equipped with a planting lifting mechanism 167 that moves a planting body 12 that holds 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 on which the first to third gears G1 to G3 are arranged, and the position of the third gear G3. The rotating case 201 is provided with an input shaft 205 into which rotational force is input to rotate the rotating case 201, 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 fixing member 210 which rotatably supports the input shaft 205 and the rotating case 201 and to which the third gear G3 is fixed. The first gear G1, the second gear G2, and the third gear G3 have axes J1 to J3 that are eccentric from the circular center and are arranged inside the rotating case 201 such that the axes J1 to J3 are aligned on the same straight line.

[0301] With this configuration, by rotating a single rotating case 201, the planting body 12 can be moved up and down in an egg-shaped trajectory T. Therefore, the number of parts in the planting lifting mechanism 167 can be reduced, and the planting lifting mechanism 167 can be made into a simpler structure.

[0302] Furthermore, the first to third gears G1 to G3 are spur gears of the same size, and the rotating case 201 houses the first to third spur gears G1 to G3 arranged in a straight line with their axes J1 to J3 aligned on that straight line. The planting lifting mechanism 167 works as follows: as the rotating case 201 rotates due to the input of rotational force to the input shaft 205, the second spur gear G2 rotates along the outer circumference of the third spur gear G3, and as the second spur gear G2 rotates, the first spur gear G1 rotates, causing the planting body 12 to move up and down in an egg-shaped trajectory T, and when the planting body 12 is lowered it plunges into the field to plant the seedlings.

[0303] With this configuration, by rotating a single rotating case 201, the planting body 12 can be moved up and down in an egg-shaped trajectory T, thereby reducing the number of parts. In detail, conventional planting lifting mechanisms required a first rotating case and a second rotating case. In contrast, the above configuration only requires a single rotating case 201. Therefore, the number of parts can be reduced. Furthermore, conventional planting lifting mechanisms had a complex structure in which the first rotating case and the second rotating case rotated in different directions. In contrast, with the above configuration, only a single rotating case 201 rotates, so the planting lifting mechanism 167 can be made simpler. Therefore, the planting lifting mechanism 167 can be made simpler and with a reduced number of parts.

[0304] Furthermore, the planting lifting mechanism 167 further includes a fourth spur gear G4 identical to the second spur gear G2 and a fifth spur gear G5 identical to the first spur gear G1, and the rotating case 201 houses the first to fifth spur gears G1 to G5 arranged in a straight line with their axes J1 to J5 aligned on that straight line, the output shaft 215 is designated as the first output shaft 215A, the planting body 12 is designated as the first planting body 12, and the planting lifting mechanism 167 further includes a second output shaft 215B provided on the axis J5 of the fifth spur gear G5 and to which the second planting body 12 that holds the seedling is attached, and as rotational force is input to the input shaft 205, the rotating case 201 rotates The second spur gear G2 and the fourth spur gear G4 rotate along the outer circumference of the third spur gear G3, maintaining a relative position opposite to each other via the third spur gear G3. As the second spur gear G2 rotates, the first spur gear G1 rotates, and as the fourth spur gear G4 rotates, the fifth spur gear G5 rotates, causing the first planting body 12 and the second planting body 12 to move up and down in an egg-shaped trajectory T. When the second planting body 12 is rising, the first planting body 12 is lowered and plunged into the field to plant seedlings, and when the first planting body 12 is rising, the second planting body 12 is lowered and plunged into the field to plant seedlings.

[0305] With this configuration, by rotating a single rotating case 201, the first planting body 12 and the second planting body 12 can be moved up and down in an egg-shaped trajectory T. Therefore, seedlings can be planted twice when the rotating case 201 rotates once. The seedling planting efficiency can be doubled. In other words, double planting can be achieved. Furthermore, since the rotating case 201 rotates with its longitudinal center as the axis of rotation, the rotating case 201 can be rotated in a balanced manner, and seedlings can be efficiently planted at each planting body 12 (first planting body 12 and second planting body 12) located at both ends of the rotating case 201 in the longitudinal direction.

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

[0307] In this configuration, the fixing member 210 includes a cylindrical body 211 into which the input shaft 205 is inserted. The cylindrical body 211 has an insertion cylinder portion 211A that is inserted into the rotating case 201 and a protruding cylinder portion 211B that protrudes to the outside of the rotating case 201. A first bearing 212A provided inside the protruding cylinder portion 211B rotatably supports the input shaft 205. A second bearing 212B provided on the outer circumference of the insertion cylinder portion 211A rotatably supports the rotating case 201. The insertion cylinder portion 211A is fitted into the 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 cylinder 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 rotating case 201 can be rotated using the axis J3 of the third spur gear G3 as the axis of rotation of the rotating case 201. In other words, the fixing member 210 and the third spur gear G3 can be fixed, and the rotating case 201 can be rotated relative to the fixing member 210 and the third spur gear G3.

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

[0309] In this configuration, two second bearings 212B are provided on the outer circumference of the insertion cylinder portion 211A at intervals of two. One of the two second bearings 212B rotatably supports the first case body 201A, and the other rotatably supports the second case body 201B. Therefore, the two second bearings 212B reduce the wobble of the rotation axis of the rotating case 201, and the rotating case 201 can be stably supported for rotation. In addition, a third spur gear G3 is fixed between the two second bearings 212B in the insertion cylinder portion 211A. Therefore, the third spur gear G3 can be fixed in a stable position within the rotating case 201.

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

[0311] In 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 from the input shaft 205 is transmitted to the mounting plate 213 on the outside of the second case body 201B, allowing the second case body 201B and the first case body 201A (rotating case 201) to rotate. In other words, the fixing member 210 and the third spur gear G3 are fixed, and the rotating case 201 can be rotated relative to the fixing member 210 and the third spur gear G3.

[0312] Furthermore, the rotating case 201 includes a claw member 208A that contacts 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 claw member 208A towards the circumferential surface of the axis J1.

[0313] In this configuration, the biasing member 209A biases the claw member 208A to the circumferential surface of the axis J1. The claw member 208A contacts the circumferential surface of the axis J1 of the first spur gear G1 and locks onto the first spur gear G1 when the first spur gear G1 reverses direction. Therefore, the first spur gear G1 can be prevented from reversing direction, and the planting body 12 can be prevented from moving backward.

[0314] Furthermore, the rotating case 201 includes a claw member 208B that contacts 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 claw member 208B to the circumferential surface of the axis J5.

[0315] In this configuration, the biasing member 209B biases the claw member 208B to the circumferential surface of the axis J5. The claw member 208B contacts the circumferential surface of the axis J5 of the fifth spur gear G5 and locks onto the fifth spur gear G5 when the fifth spur gear G5 reverses direction. Therefore, the reverse direction of the fifth spur gear G5 can be prevented, and the reverse movement of the planting body 12 can be prevented.

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

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

[0318] Furthermore, the first planting body 12 is formed with a first opening 206 that can be opened and closed in the front and back directions, and the second planting body 12 is formed with a second opening 206 that can be opened and closed in the front and back directions. The first opening / closing cam 214A, which is positioned around the first output shaft 215A on the outside of the second case body 201B and is for opening and closing the first opening 206, the second case body 201B and the first case body 201A are fastened together by a fastening member 216B, and the second opening / closing cam 214B, which is positioned around the second output shaft 215B on the outside of the second case body 201B and is for opening and closing the second opening 206, the second case body 201B and the first case body 201A are fastened together by a fastening member 216C.

[0319] With this configuration, the fastening of the first opening / closing cam 214A to the second case body 201B and the fastening of the second case body 201B to the first case body 201A can be performed by a common fastening member 216B. Furthermore, the fastening of the second opening / closing cam 214B to the second case body 201B and the fastening of the second case body 201B to the first case body 201A can be performed by a common fastening member 216C. As a result, the number of fastening members can be reduced while fixing the first opening / closing cam 214A to the second case body 201B and the first case body 201A, and the second opening / closing cam 214B to the second case body 201B and the first case body 201A can be fixed.

[0320] Furthermore, the transplanter 1 (riding vegetable transplanter) of this embodiment includes a planting work machine 4 for planting vegetable seedlings in a field, a vehicle 5 on which the planting work machine 4 is attached and which travels, a driver's seat 3 provided on the vehicle 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 make the vehicle 5 travel along the reference direction.

[0321] With this configuration, the transplanter 1 (riding vegetable transplanter) can set any direction entered by the operator as the reference direction. Therefore, it is possible to eliminate the need for pre-operation work (i.e., pre-operation work to acquire the reference direction) of actually driving the riding vegetable transplanter in the field, setting the start and end points of the drive, and setting the direction of the driving line connecting the start and end points as the reference direction. Consequently, the burden on the operator of the riding vegetable transplanter can be reduced, and planting work can be supported.

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

[0323] With this configuration, when in setting mode, the system can accept the input heading and set it as the reference heading. Therefore, the reference heading can be set appropriately before the automatic steering starts.

[0324] The transplanter 1 (riding vegetable transplanter) includes a display device 360, a first switch 352 for setting the starting point of the reference direction, a second switch 353 for setting the ending point of the reference direction, and a steering switch 351 that can be turned on and off to switch between starting and ending automatic steering. The storage device 131B stores multiple items, including direction input items, and setting values ​​for each of the multiple items in association with each other. The control device 131, when in setting mode, controls the first switch 352 and the second switch 353 When the steering selector switch 351 is operated with a 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 storage device 131B is displayed on the display device 360. 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 selector switch 351 is operated, the changed heading value is stored in the storage device 131B as the reference heading, associated with the heading input item.

[0325] With this configuration, the reference bearing can be changed by utilizing the first switch 352, the second switch 353, and the steering selector switch 351 (GS switch) without the need to separately provide an operating device dedicated to bearing input or an input device such as a communication device for receiving bearing values.

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

[0327] With this configuration, the bearings stored in the memory device 131B can be recalled and displayed for confirmation, and the recalled bearing can be set as the reference bearing. Therefore, without providing a separate operating device for recalling bearings or an input device such as a communication device for receiving bearing values, the stored bearings can be selected and the reference bearing can be set using the first switch 352, the second switch 353, and the steering selector switch 351.

[0328] Multiple items include items for setting the spacing between rows. The storage device 131B stores the items for setting the spacing between rows and their corresponding setting values. When the control device 131 is in setting mode, if the steering switch 351 is operated while an item for setting the spacing between rows is 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 spacing between rows stored in the storage device 131B on the display device 360. Based on the operation of at least one of the first switch 352 and the second switch 353, the control device 131 changes the setting value of the spacing between rows displayed on the display device 360. When the steering switch 351 is operated, the control device 131 stores the changed setting value of the spacing between rows in association with the item for setting the spacing between rows.

[0329] With this configuration, the row spacing can be changed using the first switch 352, the second switch 353, and the steering switch 351 without the need to separately provide an operating device dedicated to row spacing settings or an input device such as a communication device for receiving the set value of the row spacing.

[0330] The multiple items include an automatic steering sensitivity setting item, and the storage device 131B stores the automatic steering sensitivity setting item and its setting value in association with each other. When the control device 131 is in setting mode, if the steering switch 351 is operated with the automatic steering sensitivity 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 automatic steering sensitivity setting stored in the storage device 131B on the display device 360, changes the setting value of the automatic steering sensitivity 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 switch 351 is operated, the changed setting value of the automatic steering sensitivity is stored in the storage device 131B in association with the automatic steering sensitivity setting item.

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

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

[0333] With this configuration, when not in setting mode, the riding vegetable transplanter is driven in the field to acquire the starting point (point A) and ending point (point B). The azimuth values ​​based on these acquired starting and ending points are displayed on the display device 360, allowing the operator to confirm the azimuth values.

[0334] When the bearing value is displayed on the display device 360, the control device 131, upon first operation of the second switch 353, displays a bearing name on the display device 360, selects a bearing name based on the operation of at least one of the first switch 352 and the second switch 353, and when the steering change switch 351 is operated, sets the bearing value as the reference bearing and stores the reference bearing and the selected bearing name in the storage device 131B in association.

[0335] With this configuration, when the steering selector switch 351 is pressed for a first operation (for example, by long-pressing) while the bearing value is displayed on the display device 360, the bearing value displayed on the display device 360 ​​is set as the reference bearing, and the reference bearing and the selected bearing name are stored in the storage device 131B in association with each other. Therefore, the reference bearing can be stored in the storage device 131B along with the bearing name, and the reference bearing can be managed appropriately.

[0336] When the control device 131 is not in setting mode, if the second switch 353 is operated for the second time, and a reference bearing has already been stored in the storage device 131B, the control device 131 will display the reference bearing and bearing name stored in the storage device 131B on the display device 360, and will not start automatic steering control while the bearing value is displayed on the display device 360.

[0337] With this configuration, when the second switch 353 is not in setting mode, if a second operation (e.g., a short press) is performed on the second switch 353, the reference bearing stored in the memory device 131B is displayed, allowing the operator to confirm the reference bearing. Furthermore, even if the steering switch 351 is operated while the bearing value is being displayed, automatic steering will not be initiated. This prevents automatic steering from being initiated while the reference bearing confirmation display is active.

[0338] Multiple items include related setting items that associate items relevant to the field, and the storage device 131B stores related setting items and multiple setting values ​​associated with said related setting items, and the multiple setting values ​​include two or more of the reference direction, row spacing and automatic steering sensitivity, and when the control device 131 is in setting mode, if the steering change switch 351 is operated with a related 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 sequentially displays the multiple setting values ​​of the related setting item stored in the storage device 131B on the display device 360.

[0339] With this configuration, simply by selecting related settings, the display device 360 ​​sequentially displays settings for two or more of the following: reference orientation, row spacing, and automatic steering sensitivity. This allows for simultaneous visual confirmation of multiple settings relevant to the field, making it highly convenient.

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

[0341] With this configuration, even if the display device 360 ​​is a segment display unit 361 with low expressiveness, it can display items and their setting values. Furthermore, if there are multiple setting values ​​that are divided hierarchically, the segment display unit 361 can display these multiple setting values ​​in hierarchical order. For this reason, even in a riding vegetable transplanter equipped with a simple display device 360, items and their setting values ​​can be suitably displayed by utilizing the first switch 352, the second switch 353, and the steering switch 351, without having to separately provide a 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. When the steering switch 351 is turned on while the control device 131 is not in setting mode, it starts automatic steering control based on the satellite positioning information, and when the steering switch 351 is turned off, it ends the automatic steering control. With this configuration, automatic steering control can be performed effectively.

[0343] Although one embodiment of the present invention has been described above, the embodiments disclosed herein should be considered in all respects to be illustrative and not restrictive. The scope of the present invention is indicated by the claims rather than by the foregoing description, and all modifications within the meaning and scope equivalent to the claims are intended to be included. [Explanation of Symbols]

[0344] 1. Transplanting machine (riding transplanter, riding 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 Linking link mechanism 130 Lifting drive unit 131 Control device 131B Storage device 131C Setting Section 167 Planting Lifting Mechanism 201 Rotating Case 205 Input axis 215 Output shaft 210 Fixing member 351 Steering selector switch 352 Switch 1 353 Second switch 360 display device 361 Segment Display Unit 400 Antenna Unit 401 Communication equipment 405 cabinet 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 Fourth gear (fourth spur gear) G5 Fifth gear (fifth spur gear)

Claims

1. A planting machine for planting seedlings in the field, The system comprises a vehicle that travels with the aforementioned planting machine attached, The planting machine includes a planting lifting mechanism that moves a first planting body and a second planting body that hold seedlings up and down. The planting lifting mechanism comprises a first gear, a second gear meshing with the first gear, a third gear meshing with the second gear, a fourth gear meshing with the third gear, a fifth gear meshing with the fourth gear, a single rotating case on which the first to fifth gears are arranged, an input shaft provided at the location where the third gear is located and to which rotational force for rotating the rotating case is input, a first output shaft to which the first planting body is attached and which outputs the rotational force of the first gear, a second output shaft to which the second planting body is attached and which outputs the rotational force of the fifth gear, and a fixing member that rotatably supports the input shaft and the rotating case and to which the third gear is fixed. The first to fifth gears are arranged within the rotating case such that they have axes that are eccentric from the circular center and their axes are aligned on the same straight line. As the rotating case rotates due to the input of rotational force to the input shaft, the second gear and the fourth gear rotate along the outer circumference of the third gear, respectively, while maintaining a relative position facing each other via the third gear. As the second gear rotates, the first gear rotates, and as the fourth gear rotates, the fifth gear rotates, causing the first planting body and the second planting body to move up and down in an egg-shaped trajectory. When the second planting body is raised, the first planting body is lowered and driven into the field to plant seedlings, and when the first planting body is raised, the second planting body is lowered and driven into the field to plant seedlings. In a first upright position in which a single rotating case is upright in the vertical direction, with the first gear positioned on the upper side and the fifth gear positioned on the lower side, the first planting body and the second planting body are aligned vertically and in a hanging position, with the upper first planting body receiving the seedling in a hanging position, and the lower second planting body planting the seedling in a hanging position, and in a second upright position in which the single rotating case has rotated half a turn from the first upright position and is upright in the vertical direction, with the first gear positioned on the lower side and the fifth gear positioned on the upper side, the second planting body and the first planting body are aligned vertically and in a hanging position The second planting body located on the upper side receives the seedling in a hanging position, and the first planting body located on the lower side plants the seedling in a hanging position. A transplanter comprising: during the process in which a single rotating case changes from a first upright position to a second upright position by half a rotation, the lower tip of the first planting body follows the egg-shaped trajectory, thereby causing the first planting body to assume a downward-swinging posture with its lower tip facing the trajectory; and further during the process in which a single rotating case changes from a second upright position to a first upright position by half a rotation, the lower tip of the second planting body follows the egg-shaped trajectory, thereby causing the second planting body to assume a downward-swinging posture with its lower tip facing the trajectory.

2. In the first upright position, the first planting body and the second planting body are aligned vertically and in a hanging position at a position that coincides with the straight line in a side view of the rotating case viewed from the direction of the input axis, the upper first planting body receives the seedling in a hanging position, and the lower second planting body plants the seedling in a hanging position; and in the second upright position obtained by half a rotation from the first upright position, the second planting body and the first planting body are aligned vertically and in a hanging position at a position that coincides with the straight line in a side view of the rotating case, the upper second planting body receives the seedling in a hanging position, and the lower first planting body plants the seedling in a hanging position, according to claim 1.

3. The transplanting machine according to claim 2, wherein the first to fifth gears are first to fifth spur gears of the same size.

4. The fixing member comprises a cylindrical body into which the input shaft is inserted, The cylindrical body has an insertion cylinder portion that is inserted into the rotating case and a protruding cylinder portion that extends from the insertion cylinder portion to the outside of the rotating case. A first bearing is provided inside the protruding cylindrical portion to rotatably support the input shaft. A second bearing is provided on the outer circumference of the insertion cylinder portion to rotatably support the rotating case. The transplanting machine according to claim 3, wherein the insertion cylinder is fitted into the axial hole formed through the axis of the third spur gear, thereby fixing the third spur gear to the insertion cylinder.

5. The rotating case is divided in the axial direction of the input shaft and has a first case body and a second case body that house the first to fifth spur gears inside, The transplanting machine according to claim 4, wherein two second bearings are provided on the outer circumference of the insertion cylinder portion at intervals, one of the two second bearings rotatably supports the first case body, the other of the two second bearings rotatably supports the second case body, and the third spur gear is fixed between the two second bearings.

6. The input shaft has a mounting plate fixed to the tip that protrudes from the insertion cylinder portion to the outside of the second case body. The transplanting machine according to claim 5, wherein the mounting plate is fixed to the outer part of the second case body.

7. The transplanting machine according to any one of claims 3 to 6, wherein the rotating case comprises a claw member that contacts the circumferential surface of the shaft of the first spur gear and engages with the first spur gear when the first spur gear rotates in reverse, and a biasing member that biases the claw member toward the circumferential surface of the shaft.

8. The transplanting machine according to claim 7, wherein the rotating case comprises a claw member that contacts the circumferential surface of the axis of the fifth spur gear and engages with the fifth spur gear when the fifth spur gear rotates in reverse, and a biasing member that biases the claw member toward the circumferential surface of the axis.

9. The transplanting machine according to claim 6, wherein the mounting plate, the second case body, and the first case body are fastened together with a fastening member.

10. The first planting body is formed by a first opening that can be opened and closed in the front and back directions. The second planting body is formed by a second opening that can be opened and closed in the front and back directions. The first opening / closing cam, which is positioned around the first output shaft on the outside of the second case body and is used to open and close the first opening, the second case body and the first case body are fastened together by the fastening member. The transplanting machine according to claim 9, wherein a second opening / closing cam, which is positioned around the second output shaft on the outside of the second case body and is used to open and close the second opening, the second case body, and the first case body are fastened together by the fastening member.

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