JP6891766B2 - Seedling transplanter - Google Patents

Description

The present invention relates to a seedling transplanting machine.

Conventionally, in a seedling transplanting machine provided with a traveling vehicle body, a seedling planting portion rotatably attached to the rear portion of the traveling vehicle body, and a center float provided below the seedling planting portion, the planting portion Some are provided with rake-shaped sensors arranged on the left and right sides of the center float in order to detect the height from the predetermined location to the soil surface of the field (see, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2015-21345

However, the rake-shaped sensor provided in the conventional seedling transplanting machine described above merely follows the surface of the soil surface of the field as the seedling planting portion moves. Therefore, for example, The function of smoothing the ruts of the wheels provided on the traveling vehicle body is poor.

The present invention has been made in view of the above, and while fully exerting the ground leveling function, the height of the field from the soil surface in the seedling planting portion is accurately detected, and the planting depth of the seedling is determined. It is an object of the present invention to provide a seedling transplanting machine that can be stabilized.

In order to solve the above-mentioned problems and achieve the object, the seedling transplanting machine (1) according to claim 1 is placed up and down on a traveling vehicle body (2) traveling in a field and a rear portion of the traveling vehicle body (2). A seedling planting portion (40) that can be rotatably attached, and a ground preparation device (70) that is provided on the front side of the seedling planting portion (40) so as to be movable up and down and prepares the soil surface (L) of the field. , A leveling device for leveling the soil surface (L) leveled by the ground leveling device (70), and a plurality of detection devices for detecting the height of the seedling planting portion (40) from the soil surface (L). And a control unit (8) for adjusting the planting depth of the seedlings by the seedling planting unit (40) based on the detection results of the plurality of detection devices, the leveling device comprises the seedlings. A center float (61) and a side float (62), which are rotatably provided under the planting portion (40) and slide on the soil surface (L), and the center float (61) and the side float (61). A pair of left and right rakes (63) rotatably provided between the support shaft (631) and the soil surface (L) by a predetermined force are provided, and the plurality of rakes (63) are provided. The detection device includes a rake sensor (91) for detecting the swing angle of the pair of rakes (63) and a float sensor (92) for detecting the swing angle of the center float (61), and the control unit ( 8), the state of change in the detected value by the Rekisensa (91), when an abnormality in the behavior of the rake (63) is determined to have occurred, the float sensor to cancel the detection result of the Rekisensa (91) The detection result by (92) is reflected in the adjustment of the planting depth of the seedling, and the drive unit (200) that swings the rake (63) is driven to forcibly move the rake (63) up and down. The rake (63) is rocked a plurality of times, and the rake (63) has a rake (63) having a narrow comb tooth piece (630) that easily enters the soil of the field because the surface pressure is small, and the rake (63) has a large surface pressure. There are two types, a rake (63) having a wide comb tooth piece (630) that is difficult to enter into the soil of the field, and a rake (63) having the narrow comb tooth piece (630) and the wide comb. The rake (63) having the tooth pieces (630) is characterized in that it can be used properly according to the field.

The seedling transplanting machine (1) according to claim 2 includes a notification device (100) that performs notification based on a determination result by the control unit (8) in the seedling transplanting machine (1) according to claim 1. When the control unit (8) determines that an abnormality has occurred in the behavior of the rake (63), the control unit (8) does not reflect the detection result by the rake sensor (91) in the adjustment of the planting depth of the seedling. It is characterized in that the notification device (100) is made to perform abnormality notification.

The seedling transplanting machine (1) according to claim 3 is the seedling transplanting machine (1) according to claim 1 or 2 , and the control unit (8) has a change amount of a value detected by the rake sensor (91). When a certain value is exceeded in a predetermined detection time, or when only one of the pair of rakes (63), the rake sensor (91), shows a detection value exceeding a predetermined range, the rake (63). It is characterized in that it is determined that an abnormality has occurred in the behavior.

The seedling transplanting machine (1) according to claim 4 is the seedling transplanting machine (1) according to any one of claims 1 to 3, wherein the control unit (8) is the traveling vehicle body (2). When moving backward, the drive unit (200) is driven, and the rake (63) is rotated upward to move to a predetermined storage position (300).

The seedling transplanting machine (1) according to claim 5 is the seedling transplanting machine (1) according to any one of claims 1 to 4 , wherein the control unit (8) is a traveling vehicle body (2). It is characterized in that the pressing force on the soil surface (L) in the rake (63) is increased according to the traveling speed.

6. seedling transplantation machine as set forth in (1), in the seedling transplantation machine according to any one of claims 1 to 5 (1), the comb-teeth shape having a plurality of the comb-tooth segments (630) A field hardness detecting device (94) for measuring the amount of mud leaching from between the comb tooth pieces (630) in the rake (63) and detecting the hardness of the field is further provided.

The seedling transplanting machine (1) according to claim 7 is the seedling transplanting machine (1) according to any one of claims 1 to 6 , wherein the water stretched in the field is rotated relative to the water surface. A sensor rake (64) for detecting the amount of water in the field according to the angle is further provided, and the control unit (8) rotates the seedling planting unit (40) based on the detection result of the sensor rake (64). It is characterized by controlling.

The seedling transplanting machine (1) according to claim 8 is the seedling transplanting machine (1) according to any one of claims 1 to 7 , wherein the supporting shaft (631) supporting the rake (63) is A second support shaft (631a) that rotatably supports the rake (631a) and a second support shaft (631a) that rotatably supports the rake (63) in the left-right direction of the machine body. It is characterized by having a support shaft (631b) of the above.

According to the seedling transplanting machine according to claim 1, the height of the seedling planting part from the soil surface is accurately detected and the seedling planting depth is stabilized while fully exerting the ground leveling function. be able to. In addition, even if the rake malfunctions or malfunctions, the detection result by the float sensor can be reflected in the adjustment of the seedling planting depth, so that the seedling planting depth can be stabilized. it can. In addition, impurities that are entangled in the rake and can cause abnormalities in the rake can be effectively shaken off. Further, by properly using rakes having different surface pressures according to the field, it is possible to more accurately grasp the hardness of the field. That is, if the rake has a narrow comb tooth piece that has a small surface pressure and easily sinks, but tends to be pushed upward, it can be determined that the soil in the field is hard. On the other hand, if the rake has a large surface pressure and a wide comb tooth piece that easily floats, but tends to sink downward, it can be judged that the soil in the field is soft.

According to the seedling transplanting machine according to claim 2, in addition to the effect of the invention according to claim 1, the operator can immediately recognize the malfunction or abnormality of the rake, so that repairs and the like can be promptly performed. be able to. In addition, there is no risk of adversely affecting the planting work of seedlings.

According to seedling transplantation machine according to claim 3, in addition to the effect of the invention according to claim 1 or 2, it can be performed accurately abnormality determination of the rake.

According to the seedling transplanting machine according to claim 4 , in addition to the effect of the invention according to any one of claims 1 to 3 , there is no possibility of damaging the rake when moving backward.

According to the seedling transplanting machine according to claim 5 , in addition to the effect of the invention according to any one of claims 1 to 4 , the rake is prevented from easily jumping up as the speed increases. , False detection of the rake sensor is suppressed as much as possible, the ground leveling performance is improved, and the hydraulic sensitivity of the hydraulic drive mechanism that raises and lowers the seedling planting part is stabilized, so that the seedling planting depth can be adjusted well. be able to.

According to the seedling transplanting machine according to claim 6 , in addition to the effect of the invention according to any one of claims 1 to 5 , a hydraulic drive for raising and lowering the seedling planting portion according to the detected hardness of the field. By changing the hydraulic sensitivity of the mechanism, the seedling planting depth can be adjusted well.

According to seedling transplantation machine according to claim 7, in addition to the effect of the invention according to any one of claims 1 to 6, the hydraulic drive mechanism for elevating the seedling planting unit in accordance with the field of water By changing the hydraulic sensitivity, the seedling planting depth can be adjusted well.

According to the seedling transplanting machine according to claim 8 , in addition to the effect of the invention according to any one of claims 1 to 7 , for example, a resistor and a function for preventing wobbling when the rear part of the machine wobbles. By rotating the rake in the direction of the rake, the straightness of the traveling vehicle body can be improved.

FIG. 1 is a schematic side view of the seedling transplanting machine according to the embodiment. FIG. 2 is a schematic plan view of the seedling transplanting machine of the same as above. FIG. 3 is an explanatory diagram schematically showing the arrangement of rakes. FIG. 4 is an explanatory diagram of the rake. FIG. 5 is a functional block diagram centered on the controller of the seedling transplanting machine according to the embodiment. FIG. 6 is an explanatory diagram showing a moving range of the rake. FIG. 7 is a flowchart showing an example of the planting depth setting process. FIG. 8A is a reference view of the rotor drive shaft. FIG. 8B is an explanatory view of a safety pin provided on the rotor drive shaft according to the embodiment. FIG. 9 is an explanatory view of a tube pump provided in the chain case of the seedling planting portion. FIG. 10A is an explanatory view of the float stopper viewed from the side. FIG. 10B is an explanatory view of the float stopper in a plan view. FIG. 10C is an explanatory view of the hook of the float stopper. FIG. 11 is an explanatory diagram showing a modified example 1 of the rake. FIG. 12 is an explanatory diagram showing a modified example 2 of the rake. FIG. 13 is an explanatory diagram showing a modified example 3 of the rake.

<Overall configuration of seedling transplanter>
Hereinafter, the present invention will be described in detail with reference to the drawings. The present invention is not limited to the following embodiments. In addition, the components in the following embodiments include those that can be easily assumed by those skilled in the art or those that are substantially the same, that is, those having a so-called equal range. In addition, the components in the following embodiments can be combined as appropriate.

FIG. 1 is a schematic side view of the seedling transplanting machine 1, FIG. 2 is a schematic plan view of the seedling transplanting machine 1, and FIG. 3 is an explanatory view schematically showing a rake arrangement. In the following, the front-rear and left-right direction standards are set as the front-rear and left-right reference based on the traveling direction of the traveling vehicle body 2 when viewed from the cockpit.

As shown in FIGS. 1 and 2, the seedling transplanting machine 1 includes a traveling vehicle body 2 traveling in a field. The traveling vehicle body 2 has a pair of left and right front wheels 4 and a pair of left and right rear wheels 5, and is a four-wheel drive vehicle in which the front and rear wheels 4 and 5 are driven during traveling. Further, the rear portion of the traveling vehicle body 2 is provided with a seedling planting portion 40 that can be raised and lowered by the seedling planting portion raising and lowering mechanism 50.

The traveling vehicle body 2 has a main frame 7 arranged substantially in the center of the vehicle body, an engine 10 mounted on the main frame 7, and the driving force of the engine 10 with front and rear wheels 4, 5 (driving wheels) and seedlings. A power transmission mechanism 15 for transmitting to the planting portion 40 is provided. That is, in the seedling transplanting machine 1, the power of the engine 10 moves the traveling vehicle body 2 forward and backward and drives the seedling planting portion 40. A heat engine such as a diesel engine or a gasoline engine is used for the engine 10.

The engine 10 is substantially centered in the left-right direction of the traveling vehicle body 2, and is arranged so as to project upward from the floor step 26 on which the operator puts his / her foot when riding.

The floor step 26 is provided between the front portion of the traveling vehicle body 2 and the rear portion of the engine 10, and is mounted on the main frame 7. A part of the floor step 26 has a grid pattern (FIG. 2), and mud and the like adhering to the worker's shoes can be dropped on the field.

The floor step 26 is attached to the main frame 7 by bolts 26c. The concave bolt insertion portion 260 provided in the floor step 26 is formed in a mortar shape as shown, and its tapered surfaces have a predetermined pitch. A mud removing space 26b partitioned by the spoke portions 26a is formed. Therefore, mud and the like are less likely to collect in the bolt insertion portion 260, and the bolt 26c can be easily attached and detached. Further, it is possible to suppress the occurrence of rust on the bolt insertion portion 260. In FIG. 1, the bolt insertion portion 260, which is extracted and enlarged, is shown in cross-sectional view in order to make it easier to understand its shape.

Further, behind the floor step 26, a rear step 27 that also serves as a fender for the rear wheels 5 is provided. The rear step 27 has an inclined surface that is inclined upward toward the rear, and is arranged on each of the left and right sides of the engine 10.

The engine 10 projects upward from the floor step 26 and the rear step 27, and an engine cover 11 that covers the engine 10 is disposed at the protruding portion. That is, the engine cover 11 covers the engine 10 in a state of protruding upward from the floor step 26 and the rear step 27.

Further, in the traveling vehicle body 2, a driver's seat 28 is installed above the engine cover 11, and a steering unit 30 is arranged in front of the driver's seat 28 and in the front central portion of the traveling vehicle body 2. The control unit 30 is arranged so as to project upward from the floor surface of the floor step 26, and divides the front side of the floor step 26 into left and right.

Various operating devices, fuel tanks for engine fuel, and the like are arranged inside the control unit 30, and a front cover 31 that can be opened and closed is provided at the front portion of the control unit 30. Further, on the upper panel 33 of the control unit 30, an operation lever and the like for operating the operation device, instruments, a handle 32, a notification device 100, and the like are arranged.

The steering wheel 32 is provided as a steering member that steers the traveling vehicle body 2 by the operator steering the front wheels 4, and steers the front wheels 4 via an operating device or the like in the control unit 30. Further, the lever includes a speed change lever 35, which is a traveling operation member for controlling the forward movement and traveling speed of the traveling vehicle body 2, and an operating state of the seedling planting portion 40, at least in an ascending state by the seedling planting portion elevating mechanism 50. A planting lift lever 36, which is a planting operation member that can be switched with, is arranged. Specifically, it is possible to switch the operating state of the seedling planting unit 40, and it is possible to switch and set each mode of "rise", "stop", "down", and "planting". It has become.

Further, a spare seedling stand 130 on which the seedlings for replenishment are placed is arranged on the left and right side portions of the control unit 30 in the floor step 26. The spare seedling stand 130 is rotatably supported by a support cylinder 133 protruding from the floor surface of the floor step 26.

In the vicinity of both the left and right sides of the spare seedling stand 130, a drawing marker 135 forming a line serving as a guide for the traveling direction is provided on the next planting strip so as to be vertically swingable. The line drawing marker 135 draws a mark on the field when the seedling transplanter 1 turns straight ahead at the ridge of the field and then moves straight forward in the field. The line drawing marker 135 is provided so that the left and right line drawing markers 135 can be switched and operated each time the traveling vehicle body 2 turns.

Further, the power transmission mechanism 15 includes a hydraulic continuously variable transmission 16 as a main transmission and a belt type power transmission mechanism 17 that transmits power from the engine 10 to the hydraulic continuously variable transmission 16. The hydraulic continuously variable transmission 16 is a hydrostatic continuously variable transmission called HST (Hydro Static Transmission). Therefore, the hydraulic continuously variable transmission 16 generates flood control by a hydraulic pump driven by power from the engine 10, and converts the flood control into a mechanical force (rotational force) by a hydraulic motor and outputs it. The hydraulic continuously variable transmission 16 is arranged in front of the engine 10 and below the floor surface of the floor step 26, and is arranged in front of the engine 10 when viewed from the upper surface of the traveling vehicle body 2.

The belt-type power transmission mechanism 17 includes a pulley attached to the output shaft of the engine 10, a pulley attached to the input shaft of the hydraulic continuously variable transmission 16, a belt wound around both pulleys, and tension of the belt. It is equipped with a tension pulley to adjust. As a result, the belt-type power transmission mechanism 17 transmits the power generated by the engine 10 to the hydraulic continuously variable transmission 16 via the belt.

Further, the power transmission mechanism 15 has a mission case 18 in which the output from the engine 10 is transmitted via the belt type power transmission mechanism 17 and the hydraulic continuously variable transmission 16. The mission case 18 is attached to the front portion of the main frame 7. The transmission case 18 shifts the output from the engine 10 transmitted via the belt-type power transmission mechanism 17 and the hydraulic continuously variable transmission 16 by the auxiliary transmission in the transmission case 18, and shifts the output to the front wheels 4 and the rear. The power for traveling to the wheel 5 and the power for driving the seedling planting portion 40 are separately output.

Of these, part of the running power is transmitted to the front wheels 4 via the left and right front wheel final cases 21, and the rest is transmitted to the rear wheels 5 via the left and right rear wheel gear cases 22. The left and right front wheel final cases 21 are arranged on the left and right sides of the mission case 18, and the left and right front wheels 4 are connected to the left and right front wheel final cases 21 via axles. Further, the front wheel final case 21 is driven according to the steering operation of the steering wheel 32, and the front wheel 4 can be steered. Similarly, the rear wheels 5 are connected to the left and right rear wheel gear cases 22 via axles. On the other hand, the driving power is transmitted to the planting clutch (not shown) provided at the rear of the traveling vehicle body 2, and is transmitted to the seedling planting portion 40 by the planting transmission shaft (not shown) when the planting clutch is engaged. To.

A fertilizer application device 150 is mounted behind the cockpit 28. The fertilizer application device 150 transfers the fertilizer tank 151 for storing fertilizer, the fertilizer feeding section 152 for feeding the fertilizer in the fertilizer tank 151 downward by a fixed amount, and the fed fertilizer to the seedling planting section 40 side by the fertilizer hose 154. It has a blower 153 and a blower 153.

<Sapling planting section 40>
The seedling planting portion 40 is vertically connected to the rear portion of the traveling vehicle body 2 via the seedling planting portion elevating mechanism 50. The seedling planting portion elevating mechanism 50 has an elevating link 51, and the elevating link 51 has a link member which is a parallel link mechanism for connecting the rear portion of the traveling vehicle body 2 and the seedling planting portion 40. The link member has two members extending substantially in the front-rear direction, an upper link 53 which is an upper link member located relatively upward and a lower link located below the upper link 53. 54. A pair of left and right upper links 53 and a pair of lower links 54 are provided.

The upper link 53 and the lower link 54, which are link members, are rotatably connected to the link base frame 55, which is a rear view gate type rear frame erected on the rear side of the main frame 7, and the links 53 and 54 are respectively connected. The other end side of the seedling planting portion 40 is rotatably connected to the seedling planting portion 40. With such a configuration, the seedling planting portion 40 is connected to the traveling vehicle body 2 so as to be able to move up and down. That is, the link base frame 55 is arranged so as to extend in the vertical direction at the rear portion of the traveling vehicle body 2, and the link member extends rearward from the link base frame 55. Although not shown, stands are provided on the left and right sides of the seedling planting portion 40 as guard members for softening the impact from the field when descending.

The seedling planting portion elevating mechanism 50 has an elevating cylinder 56 that expands and contracts by flood control, and the seedling planting portion 40 is elevated and lowered by the expansion and contraction operation of the elevating cylinder 56. The seedling planting section elevating mechanism 50 can raise and lower the seedling planting section 40 to a non-working position or lower it to a ground working position (ground planting position) by an elevating operation.

The seedling planting unit 40 can plant the seedlings in a plurality of sections or a plurality of rows, and in the seedling transplanting machine 1 according to the present embodiment, the seedlings are planted in six sections, so-called six-row planting. It is a seedling planting section 40.

The seedling planting section 40 includes a planting device 41, a seedling loading section 45, and a center float 61 and a side float 62 constituting a leveling device for leveling the soil surface L (see FIG. 6) of the field. In the following, both the center float 61 and the side float 62 may be referred to simply as a float.

The seedling loading portion 45 has as many seedling loading surfaces as the number of planting rows partitioned in the left-right direction of the traveling vehicle body 2, and mat-shaped seedlings with soil can be placed on each seedling loading surface. It has become. As a result, every time the seedlings placed on the seedling loading portion 45 are planted and disappear, it is not necessary to return the seedlings to the outside of the field, for example, and continuous work can be performed, so that the work efficiency is improved.

Further, the planting device 41 is arranged one by two for every two rows, and includes two row of planting claws 42. As for the driving power to the seedling planting portion 40, the output from the engine 10 is transmitted via a shaft (not shown). In the planting device 41, the planting claw 42 is driven by the rotation of the drive shaft arranged inside the pipe extending in the left-right direction of the traveling vehicle body 2.

<Leveling device and leveling device>
The float constituting the leveling device has a function of leveling the soil while preventing excessive subduction of the seedling planting portion 40 while sliding on the field scene, and the center float 61 is in the left-right direction of the traveling vehicle body 2. It is located in the center of the seedling planting portion 40 and slides on the field scene as the traveling vehicle body 2 moves to level the ground. Further, the side floats 62 are located on both sides of the seedling planting portion 40 in the left-right direction of the traveling vehicle body 2.

Since the center float 61 swings up and down with respect to the field scene, the planting depth of the seedlings to be planted at the seedling planting portion 40 can be adjusted by a planting depth adjusting mechanism (not shown) based on the detection result of the swing amount. It is composed of. The planting depth adjusting mechanism can adjust the planting depth of the seedlings by adjusting the position of the seedling planting portion 40 in the vertical direction with respect to the field. In this way, the planting depth adjusting mechanism adjusts the relative position of the center float 61 and the seedling planting portion 40 in the vertical direction to adjust the vertical position of the seedling planting portion 40 with respect to the field. Can be done.

That is, the seedling transplanting machine 1 is provided with a control unit (controller) 8 as described later, and the float sensor 92 and the float motor 220 constituting the planting depth adjusting mechanism are connected to the control unit 8. (See FIG. 5). The float sensor 92 detects the swing amount of the center float 61, and based on the detection result, the control unit 8 adjusts the relative position between the center float 61 and the seedling planting unit 40 to adjust the seedling planting depth. To do.

Further, the float sensor 92 is an example of a detection device that detects the height of the seedling planting portion 40 from the soil surface L of the field, and the height of the detected seedling planting portion 40 from the soil surface L of the field is used. Based on this, the control valve of the elevating cylinder 56 can be controlled to move the seedling planting portion 40 up and down.

A ground leveling rotor 70, which is a ground leveling device for leveling the field, is provided on the front side at a position on the lower side of the seedling planting portion 40. In particular, since the rear wheel 5 is located in the front portion of the side float 62, the field scene tends to be agitated by the rotation of the rear wheel 5 and the unevenness tends to be severe. It is possible to flatten the float into a flat surface so that the sliding smoothing action of the float can be performed more smoothly.

The ground leveling rotor 70 is rotatably provided about a rotation shaft extending in the left-right direction of the traveling vehicle body 2 by the output from the engine 10 transmitted via the rear wheel gear case 22 and the interlocking shaft 59. The drive source of the interlocking shaft 59 is not limited to the engine 10, and may be, for example, a motor provided separately from the engine 10. In this case, the rotation speed of the interlocking shaft 59 can be determined independently of the rotation speed of the engine 10.

In this way, the seedling transplanting machine 1 can level the field while crushing the soil by the ground leveling rotor 70 before leveling with the float. Therefore, in the seedling planting section 40, the ground leveling rotor 70 and the float Seedlings can be planted on the soil surface L leveled with.

The seedling transplanting machine 1 according to the present embodiment is further provided with a rake 63 in addition to the float as an example of a leveling device for leveling the soil surface L of the field leveled by the leveling rotor 70. FIG. 3 is an explanatory diagram schematically showing the arrangement of the rake 63, and FIG. 4 is an explanatory diagram of the rake 63.

As shown in FIG. 3, the rake 63 is arranged so as to sandwich the center float 61. That is, a support shaft 631 extending in the left-right direction of the machine body is rotatably mounted on the support bracket 61a of the center float 61 around the axis, and a pair of left and right rakes are rotatably mounted on the support shaft 631. 63 are oscillatingly connected.

As shown in FIG. 4, the rake 63 has a plurality of comb tooth pieces that abut on the soil surface L of the field at the tip of the connecting rod 633 provided at the base end of the rotary cylinder 632 through which the support shaft 631 is inserted. A main body portion in which the 630 extends at predetermined intervals is attached and configured. With this configuration, when the rake 63 abuts on the soil surface L of the field with a predetermined pressing force, mud drains from the mud draining space 634 formed between the adjacent comb tooth pieces 630 and 630 in the main body. Therefore, the rake 63 swings following the unevenness of the soil surface L without being affected by muddy water so much.

Along with the swing of the main body, the rotary cylinder 632 rotates around an axis, and the rotation angle of the rotary cylinder 632, that is, the swing angle of the rake 63 can be detected by the rake sensor 91 provided on the support shaft 631. It is supposed to be. In the present embodiment, the rake sensor 91 is configured to be able to independently detect the amount of swing of the left and right rakes 63 and 63, that is, the amount of rotation of the left and right rotating cylinders 632 and 632, respectively.

The rake 63 is an elastic member that urges the rotary cylinder 632 in a direction in which the main body rotates downward in order to prevent the main body from unnecessarily bouncing from the soil surface L in the direction of separation. It is fitted to the support shaft 631 via (not shown).

In this way, when the seedling transplanter 1 travels in the field for planting seedlings, the plurality of comb tooth pieces 630 even out the soil surface L of the field. Therefore, in the seedling transplanting machine 1 according to the present embodiment, in addition to the ground leveling rotor 70 and the float, the unevenness of the soil surface L can be leveled by the rake 63 so that the planting depth of the seedlings becomes uniform. In addition, the planting work can be performed more smoothly.

Further, a rake motor 200 as a drive unit for swinging the rake 63 is connected to one end of the support shaft 631 via a rake clutch 210.

That is, as described above, the rake 63 according to the present embodiment is fitted to the support shaft 631 via the elastic member (not shown), but the rake motor 200 is driven as necessary to drive the support shaft. 631 can be forcibly rotated. Normally, the rake clutch 210 is in a disengaged state, and when the rake motor 200 is driven, the rake clutch 210 is engaged so that the rake motor 200 and the support shaft 631 can be interlocked with each other.

<Control unit 8>
In the seedling transplanting machine 1 having the above-described configuration, the control unit 8 for adjusting the seedling planting depth by the seedling planting unit 40 based on the detection results of the rake sensor 91 and the float sensor 92 as the detection devices described above will be described. .. FIG. 5 is a functional block diagram centered on the controller of the seedling transplanting machine 1 according to the embodiment.

The control unit 8 which is a controller is a controller including a processing device having a CPU (Central Processing Unit) and a storage device such as a ROM (Read Only Memory) and a RAM (Random Access Memory). It is electrically connected to various sensors 95 and various drive devices 230.

The control unit 8 electrically connects the rake sensor 91, the float sensor 92, the vehicle speed sensor 93, and the field hardness detection device 94 to the input side. As described above, the rake sensor 91 detects the amount of swing of the left and right rakes 63, 63. The float sensor 92 detects the swing amount of the center float 61, as described above. Both the rake sensor 91 and the float sensor 92 are examples of detection devices for detecting the height of the seedling planting portion 40 from the soil surface L of the field. Further, the vehicle speed sensor 93 detects the traveling speed of the seedling transplanting machine 1, and the field hardness detecting device 94 detects the hardness of the field.

Further, the control unit 8 is electrically connected to the rake motor 200, the rake clutch 210, the elevating cylinder 56, the float motor 220, and the notification device 100 described above, respectively, on the output side.

That is, the rake motor 200 can be connected to the support shaft 631 to which the rake 63 is attached, and the rake 63 can be forcibly swung by rotating the support shaft 631. The rake clutch 210 is normally in a disengaged state, but when the rake motor 200 is driven, the rake clutch 210 operates so as to be in a connected state, and the rake motor 200 and the support shaft 631 are interlocked with each other.

For example, when the control unit 8 determines from the detection result by the rake sensor 91 that an abnormality has occurred in the behavior of the rake 63, the control unit 8 can drive the rake motor 200 to forcibly swing the rake 63 a plurality of times. By swinging the rake 63 in this way, for example, when the rake 63 is entangled with impurities, the impurities can be shaken off. Therefore, when the cause of the malfunction of the rake 63 is due to impurities, the cause of the abnormality can be eliminated.

Further, an example of further operation of the rake motor 200 will be described with reference to FIG. FIG. 6 is an explanatory diagram showing a moving range of the rake 63.

That is, in the seedling transplanting machine 1, the storage position 300 of the rake 63 is set at a position at a predetermined height above the soil surface L of the field. For example, when the traveling vehicle body 2 moves backward, the rake motor 200 is driven to rotate the rake 63 upward (see arrow A2), so that the vehicle can be retracted to the storage position 300. Therefore, an abnormal load is applied while the rake 63 bites into the field when moving backward, and there is no possibility that the rake 63 is damaged or the peripheral members of the rake 63 (for example, the support shaft 631, the rake sensor 91, etc.) are damaged.

Further, when the seedling planting portion 40 is further lowered by a certain amount (for example, several cm) from the maximum lowering position, the rake 63 can also be retracted to the storage position 300.

Further, for example, when the seedling transplanting machine 1 is provided with an inclination sensor or the like and it is detected that the machine body is in the forward rising state, the rake 63 can be retracted to the storage position 300. This is to prevent the seedling transplanting machine 1 from suddenly retreating and causing the same problems as when moving backward.

Further, the elevating cylinder 56 constitutes a part of the seedling planting portion elevating mechanism 50, and can be expanded and contracted by flood control to elevate and elevate the seedling planting portion 40. The float motor 220 constitutes a part of the planting depth adjusting mechanism, and by driving the float motor 220, the relative positions of the center float 61 and the seedling planting portion 40 can be adjusted.

In this way, when the center float 61 swings up and down according to the unevenness of the field scene while sliding, the control unit 8 determines the depth of the field scene and the hardness of the tillage board based on the swing amount, and controls the control valve of the elevating cylinder 56. Then, the seedling planting portion 40 is moved up and down. In this way, in the seedling transplanting machine 1, the seedling planting unit 40 can be controlled so that the planting depth of the seedlings by the planting device 41 is constant.

Further, when it is determined that an abnormality has occurred in the behavior of the rake 63 due to the state of change in the detection value by the rake sensor 91, the control unit 8 cancels the detection result by the rake sensor 91. In particular, in the present embodiment, when it is determined that an abnormality has occurred in the behavior of the rake 63, the detection result by the float sensor 92 is reflected in the adjustment of the planting depth of the seedlings. Therefore, even if the rake 63 malfunctions or becomes abnormal, the planting depth of the seedlings can be stabilized.

Further, the notification device 100 is, for example, a notification lamp provided on the upper panel 33 of the control unit 30, and when the control unit 8 detects an abnormality in each part of the seedling transplanting machine 1, it emits light to cause an abnormality to the operator. Notify. For example, when the control unit 8 determines that an abnormality has occurred in the behavior of the rake 63 based on the value detected by the rake sensor 91, the control unit 8 emits a notification lamp as the notification device 100 to notify the abnormality. A buzzer or the like may be used as the notification device 100 instead of the notification lamp.

<Sapling depth setting process>
Here, the seedling planting depth setting process by the control unit 8 will be described with reference to FIG. FIG. 8 is a flowchart showing an example of the planting depth setting process.

During the seedling planting operation of the seedling transplanting machine 1, as shown in the figure, the control unit 8 first acquires the rake swing amount from each of the pair of left and right rake sensors 91 and 91 (step S11). Specifically, as shown in FIG. 3, the rotation angle around the support shaft 631 of the rotary cylinder 632 provided at the base end of the connecting rod 633 of the rake 63 is acquired as a detection value.

Next, the control unit 8 acquires a detected value indicating the swing amount of the center float 61 from the float sensor 92 (step S12). The order of step S11 and step S12 may be reversed.

Next, the control unit 8 determines whether or not the detected values of the rake sensors 91 and 91 are within a predetermined range (step S13). That is, a range recognized as appropriate as the detection value of the rake sensor 91 is stored in advance in the storage device of the control unit 8, and the control unit 8 determines whether or not the detection value deviates from the range. judge.

Then, when it is determined that the detected values of the rake sensors 91 and 91 are within the predetermined range (step S13: Yes), the control unit 8 determines the planting depth based on the detected values from the rake sensors 91 and 91 and the float sensor 92. The setting (step S14) is performed, and the seedling planting depth setting process is completed.

On the other hand, when it is determined that at least one of the detected values of the rake sensors 91 and 91 deviates from the predetermined range (step S13: No), the control unit 8 has both the left and right pair of rake sensors 91 and 91 within the predetermined range. It is determined whether or not the deviation from the above (step S15). Then, when it is determined that both the pair of left and right rake sensors 91 and 91 deviate from the predetermined range (step S15: Yes), the control unit 8 cancels the detected values of the rake sensors 91 and 91 (step S16). , The process is moved to step S14. Since the control unit 8 has canceled the detected values of the rake sensors 91 and 91, in step S14, the planting depth is set based on the detected values from the float sensor 92. After completing the process of step S14, the control unit 8 ends the planting depth setting process of the seedlings.

In step S15, when not both of the pair of left and right rake sensors 91 and 91 but one of the detected values deviates from the predetermined range (step S15: No), the control unit 8 detects that the predetermined range is exceeded. It is determined that an abnormality has occurred in the rake sensor 91 that outputs the value, and the notification device 100 is operated to notify the abnormality (step S17). After that, the control unit 8 drives the rake motor 200 to forcibly swing the rake 63, which is a target determined to be abnormal (step S18). That is, since there is a possibility that the rake 63 is entangled with impurities as a cause of the abnormality, the rake 63 is forcibly swung to shake off the impurities. After that, the control unit 8 ends the planting depth setting process of the seedlings. At this time, between the process of step S17 and the process of setting the planting depth of the seedlings, the control unit 8 performs a process of setting the planting depth based only on the value detected from the float sensor 92. I try to do it.

Further, in the process of step S18, when the rake motor 200 is driven, in the present embodiment, the left and right rakes 63, 63 are supported by a single support shaft 631, so that the pair of left and right rakes 63, 63 both swing. To do. This is because there is no particular problem even if the rake 63 in which no abnormality is found is swung. If the support shaft 631 is divided so that each support shaft 631 corresponds to each rake 63 and each support shaft 631 can rotate independently, only the rake 63 that has been determined to be abnormal can be swung. You can also.

Further, in step S15 in the above-described processing, the detection value by at least one rake sensor 91 is replaced with the condition that only one of the pair of rakes 63 and 63 of the rake sensor 91 shows a detection value exceeding a predetermined range. It can also be replaced with the condition that the amount of change in is exceeding a certain value in a predetermined detection time.

This is because it can be determined that impurities are entangled even when the detection value of the rake sensor 91 changes rapidly.

Further, step S15 can be replaced with a condition that, for example, one of the pair of rake sensors 91 and 91 continuously outputs a value indicating that the rake 63 is in the raised state. Even in such a case, it can be determined that the contaminants are entangled in the rake 63.

Further, in the process of setting the planting depth of the seedlings by the control unit 8, for example, when the difference between the values detected by the two rake sensors 91 and 91 exceeds a certain value (for example, about 3 cm), the step S16 and subsequent steps are performed. Similar to the processing, the detected values of the rake sensors 91 and 91 may be canceled and the planting depth may be set based on the detected values from the float sensor 92.

By the way, as a process of the control unit 8, the pressing force on the soil surface L in the rake 63 can be changed according to the traveling speed of the traveling vehicle body 2. For example, as the speed increases, the pressing force of the rake 63 on the soil surface L is increased. By such control, it is possible to prevent the rake 63 from rising freely and to prevent the rake 63 from jumping up more frequently than necessary, making it difficult to detect the height between the seedling planting portion 40 and the soil surface L of the field. can do.

Further, the control unit 8 monitors the behavior of the elevating cylinder 56, and even when it is determined that the elevating cylinder 56 operates excessively frequently, the pressing force of the rake 63 on the soil surface L can be increased. By such control, it is possible to prevent the seedling planting portion 40 from moving up and down excessively, and to stably perform the seedling planting operation.

Further, the adjustment of the pressing force of the rake 63 contributes to the fine adjustment of the hydraulic sensitivity of the elevating cylinder 56 that raises and lowers the seedling planting portion 40. For example, when the hydraulic sensitivity is desensitized, the pressing force of the rake 63 may be increased, and when the hydraulic sensitivity is made sensitive, the pressing force of the rake 63 may be decreased.

<Other configurations>
Here, other configurations of the seedling transplanting machine 1 according to the present embodiment will be described. FIG. 8A is a reference view of the rotor drive shaft, and FIG. 8B is an explanatory view of a safety pin provided on the rotor drive shaft according to the embodiment.

Generally, as shown in FIG. 8A, the power transmission to the transmission case 720 for driving the leveling rotor 70 (see FIG. 1) is the rotor drive input shaft 731 and the gear case of the rotor drive case 730 provided in the center of the left and right sides of the machine body. The rotor side output shaft 712 protruding from the 710 toward the center is connected by a joint 750 to transmit power. The rotation of the rotor drive input shaft 731 is transmitted to the rotor drive shaft 724 by the bevel gear via the rotor transmission clutch 740. The rotor drive shaft 724 is connected to the input shaft 721 of the transmission case 720 via a joint 722. In the figure, reference numeral 711 indicates a transmission shaft that transmits power from the mission case 18 (see FIG. 1) to the gear case 710. Reference numeral 723 indicates a telescopic boot that covers the spline fitting portion.

In the above configuration, the joint 750 connecting the rotor drive input shaft 731 and the rotor side output shaft 712 is inserted so that a safety pin 760 partially engraved with a screw portion 762 crosses the tip side of the shaft body. And attached by a double nut 761.

The safety pin 760 is provided to prevent even the gear of the gear case 710 from being damaged by breaking the ground leveling rotor 70 when it is mechanically locked for some reason.

However, in the general safety pin 760 shown in FIG. 8A, the length of the easily broken screw portion 762 is not considered, so that it is easy depending on the contact state between the screw portion 762 and the peripheral wall portion of the joint 750. There is a risk that it will not break.

Therefore, as shown in FIG. 8B, by expanding the threaded portion 763 of the safety pin 760 to about half the shaft length, only one part of the threaded portion 763 is surely in contact with the peripheral wall portion of the joint 750. I have to. With this configuration, when a force is applied to the safety pin 760 due to the mechanical lock of the leveling rotor 70, the screw portion 763 is surely broken and the rotor side output shaft 712 is transferred to the rotor drive input shaft 731. Since the force is not transmitted to the gear case 710, it is possible to prevent the gear case 710 from being damaged.

Next, a chain case 43 including the seedling planting portion 40 shown in FIG. 1 and accommodating the transmission chain 450 for transmitting the power from the traveling vehicle body 2 side to the planting device 41 will be described. FIG. 9 is an explanatory view of a tube pump 430 provided in the chain case 43 for driving the planting device 41.

As shown in FIG. 9, an input sprocket 471 is attached to a front transmission shaft 47 to which power from the traveling vehicle body 2 side is input, and an output sprocket 441 attached to the input sprocket 471 and the planting device mounting shaft 411. A transmission chain 450 is installed between and.

Since the chain case 43 containing the oil 440 is arranged so as to have a downward slope to the rear, the oil 440 has a deeper output sprocket 441 side. Therefore, as it is, in order to supply a sufficient amount of oil 440 to the front transmission shaft 47, an amount of oil 440 sufficient to immerse the front transmission shaft 47 is required.

Therefore, in the present embodiment, the tube pump 430 is provided on the planting device mounting shaft 411 so that the amount of oil 440 can be significantly reduced (for example, 1/3 to 2/3).

That is, in the tube pump 430, as shown in the figure, one side opening 433a opens below the liquid level 440L of the oil 440 on the rear side of the chain case 43, and the other side opening 433b transmits to the front side. A tube 433 having the other end side bent along the circumference of the planting device mounting shaft 411 and extending toward the front transmission shaft 47 is arranged so as to face the shaft 47. The one-side opening 433a of the tube 433 may be located below the liquid level 440L of the oil 440, but here, the one-side opening 433a of the tube 433 faces the bottom wall of the chain case 43.

Then, the arm body 432 is rotatably attached to the planting device mounting shaft 411, the rollers 431 are attached to both ends of the arm body 432, and the roller 431 comes into contact with the tube 433 as the planting device mounting shaft 411 rotates. It is configured so that oil 440 can be fed by pressing.

Since the tube pump 430 configured in this way is provided, even if the amount of oil 440 is smaller than that of the conventional one, the oil 440 is supplied to the front transmission shaft 47 as shown in the drawing, so that the amount of oil 440 is reduced. It is possible to prevent seizure while smoothly rotating the front transmission shaft 47.

Next, the float stopper structure will be described. In the seedling transplanting machine 1, a float stopper 80 is provided in order to prevent the float from falling significantly forward. 10A is an explanatory view of the float stopper 80 in a side view, FIG. 10B is an explanatory view of the float stopper 80 in a plan view, and FIG. 10C is an explanatory view of hooks 801, 802 of the float stopper 80.

As shown in FIGS. 10A to 10C, the float stopper 80 in the present embodiment has the same shape, but the first hook 801 and the second hook 802 engaged with the support pipe 800 in opposite directions are connected to each other. Be prepared.

That is, the first hook 801 and the second hook 802 are locked to the support pipe 800 in the opposite directions, while the locking pin attached to the base end of the cable 830 to which the hook attachment 810 is attached to the tip. The 840 is engaged with a predetermined locking hole formed on the front side of the float (eg, center float 61).

Then, the first hook 801 and the second hook 802 are positioned so as to sandwich the hook attachment 810 from the left and right, and both hooks 801 and 802 are hooked with the hook attachment 810 by the connecting tool 820 having the connecting pin and the fastener. Connect to.

With such a configuration, the first hook 801 and the second hook 802 do not come off from the support pipe 800, and the configuration is simple, and it is extremely easy to attach and detach. The support pipe 800 is covered with, for example, a resin tube so that the metal support pipe 800 and the first hook 801 and the second hook 802 do not come into direct contact with each other. Friction with the support pipe 800 can be reduced, and wear of the hooks 801, 802 can be suppressed.

<Modification example>
Next, a modified example of the rake 63 will be described. 11 is an explanatory diagram showing a modified example 1 of the rake 63, FIG. 12 is an explanatory diagram showing a modified example 2 of the rake 63, and FIG. 13 is an explanatory diagram showing a modified example 3 of the rake 63.

The rake 63 shown in FIG. 11 differs from the rake 63 described above (see FIGS. 3 and 4) in that the width of the comb tooth piece 630 is widened and the surface pressure is changed. That is, as shown in FIGS. 3 and 4, the rake 63 provided with the narrow comb tooth piece 630 has a small surface pressure, so that it can easily enter the soil of the field, and as shown in FIG. If the wide comb tooth piece 630 has a large surface pressure, it is difficult to enter the soil. Further, as shown in FIG. 11, the connecting rod 632 of the rake 63 may be configured to be rotatable around the rod axis (see arrow A3).

Therefore, by properly using the rake 63 having a different surface pressure depending on the field, it is possible to more accurately grasp the hardness of the field. That is, when the rake 63 has a narrow comb tooth piece 630 having a small surface pressure and easily sinks, but tends to be pushed upward, it can be determined that the soil in the field is hard. On the other hand, if the rake 63 is provided with a wide comb tooth piece 630 having a large surface pressure and easily floats, but tends to sink downward, it can be determined that the soil in the field is soft.

Next, the modification 2 shown in FIG. 12 will be described. Here, a double rake structure is formed in which the sensor rake 64 is arranged as a sub-brake oscillatingly connected to the same support shaft 631 on the above-mentioned rake 63 oscillatingly connected to the support shaft 631. There is.

That is, as shown in FIG. 12A, the comb tooth piece 640 is located directly above the mud removal space 634 formed between the adjacent comb tooth pieces 630 and 630 of the rake 63 located on the lower side. The sensor rake 64 is arranged.

With such a configuration, the amount of mud leaching from the mud removal space 634 between the comb tooth pieces 630 and 630 is detected by measuring the swing amount d of the sensor rake 64 as shown in FIG. 12 (b). be able to. From the detected amount of mud, the hardness of the field can be detected, and the hydraulic sensitivity of the elevating cylinder 56 that raises and lowers the seedling planting portion 40 can be corrected to perform an appropriate seedling planting operation.

As described above, the rake 63 and the sensor rake 64 can realize the field hardness detection device 94 (see FIG. 5) with an inexpensive mechanical configuration without using an ultrasonic sensor or the like.

By the way, according to the configuration shown in FIG. 12, the sensor rake 64 swings at a rotation angle relative to the water surface of the water stretched in the field. By detecting such a rotation angle, the amount of water in the field can be detected, so that the sensor rake 64 functions as a sensor for detecting the amount of water in the field. Therefore, the control unit 8 can prevent erroneous detection due to the resistance of the water wave based on the detection result of the sensor rake 64, and can more appropriately control the rotation operation of the seedling planting unit 40.

Since it is possible to determine whether the material leached from the mud escape space 634 of the rake 63 is water or mud from the amount of floating of the sensor rake 64, the control unit 8 can determine whether it is water or mud. , The correction amount of the hydraulic sensitivity of the elevating cylinder 56 can be changed as appropriate.

Further, since the amount of water in the field can be detected by using the field hardness detection device 94 having the above configuration, the amount of fertilizer applied by the fertilizer application device 150 shown in FIG. 1 can be appropriately adjusted. That is, if it is judged that the amount of water is large, the outflow of fertilizer is considered to be large, so the amount of fertilizer applied is increased. On the contrary, if it is judged that the amount of water is small, the outflow of fertilizer is considered to be small, so that the amount of fertilizer applied can be reduced.

Further, the rake 63 according to the third modification shown in FIG. 13 has a configuration in which it can swing left and right as well as swing up and down. That is, as shown in the figure, a vertical axis orthogonal to the first support axis 631a is provided at the tip of the horizontally arranged first support axis 631a described above, and the second support axis 631b composed of this vertical axis is provided. A rake 63 is rotatably connected in the left-right direction of the machine body around the rake 63.

With such a configuration, for example, when the seedling transplanting machine 1 is running in the field and the rear part of the machine body sways (drifts), the rake 63 is rotated outward around the second support shaft 631b. Then, the rake 63 acts as a resistor to suppress the wobbling of the machine body, and the straightness can be improved.

Further, the above-described embodiment can be further modified and implemented as appropriate. For example, instead of a single rake sensor 91, two rake sensors 91 may be provided so as to have a one-to-one correspondence with the left and right rakes 63, 63 to detect the swing amount of each rake 63.

Further, although the field hardness detection device 94 can be configured by the rake 63 and the sensor rake 64 shown in FIG. 12, an ultrasonic sensor may be used as the field hardness detection device 94. It is possible to detect the amount of water and mud in the field with an ultrasonic sensor and adjust the amount of fertilizer applied according to the result.

Further, the stands provided on the left and right sides of the seedling planting portion 40 connected to the rear portion of the traveling vehicle body 2 shall be configured as an automatic flip-up type instead of the fixed type assumed in the above-described embodiment. You can also. For example, a well-known flip-up structure using a torque spring or compression spring is adopted, and when the release lever urged in the direction of holding the stand upright by the compression spring is pushed, the torque spring acts and the stand is horizontal. It can be configured to jump up to the state.

Further modifications and effects of the configuration of the seedling transplanting machine 1 described above can be easily derived by those skilled in the art. For this reason, the broader aspects of the invention are not limited to the particular details and representative embodiments expressed and described as described above. Therefore, various modifications can be made without departing from the spirit or scope of the general concept of the invention as defined by the appended claims and their equivalents.

From the above-described embodiment, the following seedling transplanting machine 1 is realized.

(1) A traveling vehicle body 2 traveling in a field, a seedling planting portion 40 rotatably attached to the rear portion of the traveling vehicle body 2, and a seedling planting portion 40 provided to the front side of the seedling planting portion 40 so as to be vertically movable. A ground leveling rotor 70 for leveling the soil surface L, a leveling device for leveling the soil surface L leveled by the ground leveling rotor 70, and a plurality of detection devices for detecting the height of the seedling planting portion 40 from the soil surface L. A control unit 8 for adjusting the seedling planting depth by the seedling planting unit 40 based on the detection results of the plurality of detection devices is provided, and the leveling device rotates up and down under the seedling planting unit 40. Soil with a predetermined force provided freely and rotatably provided about a support shaft 631 between the center float 61 and the side float 62 and the center float 61 and the side float 62 that slide on the soil surface L. A pair of left and right rakes 63 pressed against the surface L are provided, the plurality of detection devices include a rake sensor 91 for detecting the swing angle of the pair of rakes 63, and the control unit 8 is a control unit 8 for changing the detection value by the rake sensor 91. A seedling transplanting machine 1 that cancels the detection result by the rake sensor 91 when it is determined that an abnormality has occurred in the behavior of the rake 63 depending on the state.

(2) In the above (1), the notification device 100 is provided to perform notification based on the determination result by the control unit 8, and the control unit 8 detects the detection result by the rake sensor 91 when it is determined that an abnormality has occurred in the behavior of the rake 63. The seedling transplanting machine 1 which causes the notification device 100 to notify an abnormality without reflecting the above in the adjustment of the planting depth of the seedling.

(3) In the above (1) or (2), the plurality of detection devices include a float sensor 92 that detects the swing angle of the center float 61, and the control unit 8 depends on the state of change in the detection value by the rake sensor 91. When it is determined that an abnormality has occurred in the behavior of the rake 63, the seedling transplanting machine 1 reflects the detection result by the float sensor 92 in the adjustment of the planting depth of the seedling.

(4) In any of the above (1) to (3), the control unit 8 either when the amount of change in the value detected by the rake sensor 91 exceeds a certain value in a predetermined detection time, or either of the pair of rakes 63. A seedling transplanting machine 1 for determining that an abnormality has occurred in the behavior of the rake 63 when only one of the rake sensors 91 shows a detected value exceeding a predetermined range.

(5) In any of the above (1) to (4), the rake motor 200 for swinging the rake 63 is provided, and the control unit 8 drives the rake motor 200 when it is determined that an abnormality has occurred in the behavior of the rake 63. Seedling transplanting machine 1 that forcibly swings the rake 63.

(6) In the above (5), the control unit 8 drives the rake motor 200 when the traveling vehicle body 2 moves backward, and rotates the rake 63 upward to move the rake 63 to a predetermined storage position 300.

(7) In any of the above (1) to (6), the control unit 8 is a seedling transplanting machine 1 that increases the pressing force on the soil surface L on the rake 63 according to the traveling speed of the traveling vehicle body 2.

(8) In any of the above (1) to (7), the amount of mud leaching from between the comb teeth 630 pieces in the comb tooth-shaped rake 63 having a plurality of comb tooth pieces 630 is measured, and the hardness of the field is measured. A seedling transplanting machine 1 further comprising a field hardness detecting device 94 for detecting.

(9) In any of the above (1) to (8), the control unit 8 further includes a sensor rake 64 that detects the amount of water in the field by the relative rotation angle of the water stretched in the field with respect to the water surface. , A seedling transplanting machine 1 that controls the rotation operation of the seedling planting portion 40 based on the detection result of the sensor rake 64.

(10) In any of the above (1) to (9), the support shaft 631 that supports the rake 63 is orthogonal to the first support shaft 631a that supports the rake 63 so as to be vertically rotatable and the first support shaft 631a. A seedling transplanting machine 1 including a second support shaft 631b that rotatably supports the rake 63 in the left-right direction of the machine body.

1 Seedling transplanter 2 Traveling vehicle body 8 Control unit 40 Seedling planting unit 61 Center float (leveling device)
62 Side float (leveling device)
63 Rake (leveling device)
64 Sensor rake 70 Leveling rotor (leveling device)
91 Lake sensor 92 Float sensor 100 Notification device 200 Lake motor (drive unit)
300 Storage position 630 Comb tooth piece 631 Support shaft 631a First support shaft 631b Second support shaft L Soil surface

Claims (8)

A running car body running in the field and
A seedling planting part that is vertically rotatable and attached to the rear part of the traveling vehicle body,
A ground leveling device provided on the front side of the seedling planting portion so as to be movable up and down to level the soil surface of the field.
A leveling device for leveling the soil surface leveled by the ground leveling device,
A plurality of detection devices for detecting the height of the field from the soil surface in the seedling planting portion, and
A control unit that adjusts the seedling planting depth by the seedling planting unit based on the detection results of the plurality of detection devices, and a control unit.
With
The leveling device is
A center float and a side float that are vertically rotatably provided at the lower part of the seedling planting portion and slide on the soil surface, and are rotatably provided about a support shaft between the center float and the side float. It is equipped with a pair of left and right rakes that are pressed against the soil surface with a predetermined force.
The plurality of detection devices include a rake sensor that detects the swing angle of the pair of rakes and a float sensor that detects the swing angle of the center float .
The control unit
When it is determined that an abnormality has occurred in the behavior of the rake due to the state of change in the value detected by the rake sensor.
The detection result by the rake sensor is canceled and the detection result by the float sensor is reflected in the adjustment of the planting depth of the seedling, and the drive unit that swings the rake is driven to forcibly move the rake up and down. Shake multiple times,
The rake has a rake having a narrow comb tooth piece that easily enters the soil of the field due to a small surface pressure, and a wide comb tooth piece that does not easily enter the soil of the field due to a large surface pressure. There are two types, rake
A seedling transplanting machine characterized in that the rake having the narrow comb tooth pieces and the rake having the wide comb tooth pieces are configured to be properly used according to the field. A notification device for performing notification based on the determination result by the control unit is provided.
The control unit
When it is determined that an abnormality has occurred in the behavior of the rake, the claim is characterized in that the notification device is notified of the abnormality without reflecting the detection result by the rake sensor in the adjustment of the planting depth of the seedling. Item 2. The seedling transplanting machine according to item 1. The control unit
When the amount of change in the detected value by the rake sensor exceeds a certain value in a predetermined detection time, or when only one of the pair of rake sensors shows a detected value exceeding a predetermined range, the rake The seedling transplanting machine according to claim 1 or 2 , wherein it is determined that an abnormality has occurred in the behavior. The control unit
The seedling according to any one of claims 1 to 3, wherein when the traveling vehicle body moves backward, the driving unit is driven and the rake is rotated upward to move the rake to a predetermined storage position. Transplant machine. The control unit
The seedling transplanting machine according to any one of claims 1 to 4 , wherein the pressing force on the soil surface in the rake is increased according to the traveling speed of the traveling vehicle body. Claims the amount of mud to be leached from the comb pieces measured in the rake comb shape, and further comprising a field hardness detection device for detecting the hardness of the field having the plurality of the comb-tooth segments Item 5. The seedling transplanting machine according to any one of Items 1 to 5. Further equipped with a sensor rake that detects the amount of water in the field by the relative rotation angle of the water stretched in the field with respect to the water surface.
The control unit
The seedling transplanting machine according to any one of claims 1 to 6 , wherein the rotation operation of the seedling planting portion is controlled based on the detection result of the sensor rake. The support shaft that supports the rake
A first support shaft that supports up and down rotation,
The invention according to any one of claims 1 to 7 , wherein the rake is provided with a second support shaft orthogonal to the first support shaft and rotatably supporting the rake in the left-right direction of the machine body. Seedling transplanter.

Images