JP7527240B2 - Rice transplanter - Google Patents

Description

The present invention relates to a rice transplanter equipped with a seedling planting device having a seedling carrying platform.

For example, the rice transplanter described in Patent Document 1 is already known as the above-mentioned rice transplanter. The front of the body of this rice transplanter is equipped with a spare seedling stand. The operator can place spare seedling mats on this spare seedling stand.

JP 2006-168512 A

When performing seedling planting work using the rice transplanter described in Patent Document 1, the worker first places the seedling mat on the seedling placement table (referred to as the "seedling placement table" in Patent Document 1) of the seedling planting device (referred to as the "seedling planting device" in Patent Document 1). The worker then places the seedling mat, supported by the seedling mat support, on the spare seedling placement table.

The seedling mat support is a device that supports the seedling mat, such as a scooping board.

Then, the worker begins planting the seedlings using the rice transplanter. As the planting process progresses, the number of seedlings on the seedling mat placed on the seedling placement table decreases.

When the number of seedlings placed on the seedling tray decreases to a certain level, the worker stops planting the seedlings and stops the rice transplanter. Next, the worker holds the seedling mat placed on the spare seedling tray with his or her hands while it is still supported by the seedling mat support. The worker then separates the seedling mat from the seedling mat support and replenishes it on the seedling tray.

In this way, when the number of seedlings placed on the seedling tray decreases to a certain level, the worker needs to replenish the seedling mats on the seedling tray. Furthermore, the task of replenishing the seedling mats on the seedling tray requires a relatively large amount of effort.

The object of the present invention is to provide a rice transplanter that can reduce the labor required to replenish seedling mats onto the seedling tray.

The present invention is characterized in that it comprises a seedling planting device located at the rear of the machine body and having a seedling carrying tray, and a seedling transporting device located forward of the seedling carrying tray and transporting a seedling mat to the seedling carrying tray, the seedling transporting device being configured to transport the seedling mat when in a driven state and not transport the seedling mat when in a stopped state, a switching unit switching the state of the seedling transporting device between the driven state and the stopped state, and a detection unit detecting the remaining seedling amount, which is the amount of seedlings in the seedling mat placed on the seedling carrying tray , the seedling planting device being configured to transport the seedling carrying tray back and forth to the left and right while performing a seedling planting operation, and when the seedling carrying tray reaches a predetermined position in the left-right direction after the detection unit detects that the remaining seedling amount is equal to or less than a predetermined first remaining amount, the switching unit switching the state of the seedling transporting device from the stopped state to the driven state,

In this invention, when the remaining amount of seedlings falls below a predetermined first remaining amount, the seedling transport device switches to a drive state. This causes the seedling mat to be transported to the seedling placement table by the seedling transport device. Therefore, a rice transplanter can be realized in which the seedling transport device automatically replenishes the seedling mat to the seedling placement table when the number of seedlings placed on the seedling placement table becomes low to a certain extent.

Therefore, the present invention makes it possible to realize a rice transplanter that can reduce the labor required to replenish seedling mats onto the seedling tray.
In addition, with this configuration, the positional relationship between the seedling carrying platform and the seedling carrying device is the same every time the seedling carrying device is switched from the stopped state to the driven state. Therefore, it is easy to realize a rice transplanter in which the positional relationship between the seedling carrying platform and the seedling carrying device is always optimal when seedling mats are replenished onto the seedling carrying platform, and it is easy to simplify the structure, for example, by configuring the seedling carrying device to be fixed in the left-right direction and allowing only the seedling carrying platform to move in the left-right direction.

Another feature of the present invention is a seedling planting device that is located at the rear of a machine body and has a seedling mounting platform, and a seedling transporting device that is located forward of the seedling mounting platform and transports a seedling mat to the seedling mounting platform, the seedling transporting device being configured to transport the seedling mat when in a driven state and not transport the seedling mat when in a stopped state, a switching unit that switches the state of the seedling transporting device between the driven state and the stopped state, and a detection unit that detects the remaining amount of seedlings, which is the amount of seedlings in the seedling mat placed on the seedling mounting platform, the switching unit switching the state of the seedling transporting device from the stopped state to the driven state when the detection unit detects that the remaining amount of seedlings is equal to or less than a predetermined first remaining amount, and the seedling planting device being configured to transport the seedling mounting platform back and forth to the left and right while performing a seedling planting operation, and the switching unit switching the state of the seedling transporting device from the stopped state to the driven state when the detection unit detects that the remaining amount of seedlings is equal to or less than the first remaining amount and the seedling mounting platform has reciprocated back and forth to the left and right a predetermined number of times.

According to the present invention, when the seedling remaining amount becomes equal to or less than a predetermined first remaining amount, the seedling transport device is switched to a drive state. This causes the seedling mat to be transported to the seedling placement table by the seedling transport device. Therefore, when the number of seedlings placed on the seedling placement table becomes small to a certain extent, a rice transplanter can be realized in which the seedling transport device automatically replenishes the seedling mat to the seedling placement table.
Therefore, the present invention makes it possible to realize a rice transplanter that can reduce the labor required to replenish seedling mats onto the seedling tray.
Furthermore, with this configuration, it is easy to realize a configuration in which the state of the seedling transporting device is switched from a stopped state to a driven state at the timing when the seedling remaining amount becomes a predetermined remaining amount that is less than the first remaining amount.

For example, if it is known that the remaining seedling amount will be almost zero when the seedling placement platform has made four back and forth movements from side to side after the remaining seedling amount falls below the first remaining amount, then if the "predetermined number of times" in the above configuration is set to four, the state of the seedling transport device will be switched from a stopped state to a driven state at the moment when the remaining seedling amount becomes almost zero. This provides an optimal timing for replenishing the seedling mats on the seedling placement platform.

In this way, the above configuration makes it easy to realize a rice transplanter that can optimally replenish seedling mats to the seedling loading table.

Furthermore, in the present invention, the seedling planting device is provided in a state in which it can sway left and right by rolling, the seedling transport device has a plurality of transport mechanisms arranged in the left and right direction of the machine body, each of the transport mechanisms being configured to transport one row of the seedling mat to the seedling loading platform, the seedling loading platform has a plurality of compartments arranged in the left and right direction of the machine body, each of the compartments being configured to be able to place one row of the seedling mat, the detection unit is configured to detect the remaining seedling amount for each compartment, and the switching unit controls each of the transport mechanisms individually to determine the state of the seedling transport device, Each of the transport mechanisms is configured to be switchable between the driving state and the stopped state, and when the detection unit detects that the seedling remaining amount in one of the sections is equal to or less than the first remaining amount and then detects that the seedling remaining amount in a section different from the section in question becomes equal to or less than the first remaining amount while the seedling loading platform is moving back and forth the specified number of times, the switching unit preferably executes a position shift suppression control that drives each of the transport mechanisms so as to suppress an increase in position shift between the seedling loading platform and the seedling transport device due to the supply of the seedling mat to the seedling loading platform.

With this configuration, when seedling mats are replenished to multiple sections on the seedling platform, the weight of the seedling mats causes the seedling planting device to roll, preventing an increase in positional deviation between the seedling platform and the seedling transport device. This makes it easier to avoid situations where seedling mats are not replenished properly due to a positional deviation between the seedling platform and the seedling transport device.

In more detail, rice transplanters generally have errors in the row clutches and seedling removal amounts, which can result in uneven consumption of seedling mats per row.

With the above configuration, after the remaining seedling amount falls below the first remaining amount, by moving back and forth a predetermined number of times, if, for example, seedlings break in one row of the seedling carrying platform and then seedlings break in other rows during the predetermined number of back and forth movements, it is possible to determine which row should be given priority for seedling mat replenishment, taking into account the left and right weight balance of the seedling carrying platform. In other words, rather than mechanically replenishing seedlings from the row where seedling breakage was first detected, it becomes possible to replenish seedling mats from the central row, which is less likely to affect the left and right balance.

Furthermore, in the present invention, it is preferable that, in the posture shift suppression control, the switching unit drives each of the transport mechanisms so that the section to which the seedling mat is first replenished is the section located most centrally in the left-right direction of the machine body among the sections in which the seedling remaining amount is equal to or less than the first remaining amount.

With this configuration, when seedling mats are replenished to multiple compartments on the seedling platform, the seedling mats are first replenished to the compartment located most centrally in the left-right direction of the machine body. This makes it less likely for the seedling planting device to roll due to the weight of the seedling mats, compared to a configuration in which seedling mats are first replenished to the compartments located on the outer sides in the left-right direction of the machine body. As a result, it is easier to reliably suppress an increase in positional deviation between the seedling platform and the seedling transport device.

Furthermore, in the present invention, it is preferable that, after switching the state of the seedling transport device from the stopped state to the driven state, if the detection unit detects that the seedling remaining amount is greater than the first remaining amount, the switching unit switches the state of the seedling transport device from the driven state to the stopped state.

This configuration makes it easy to realize a configuration in which the seedling transport device switches from a driven state to a stopped state when the seedling carrying table is sufficiently replenished with seedling mats by the seedling transport device. In other words, it makes it easy to realize a rice transplanter in which the transport device switches from a driven state to a stopped state at the appropriate timing.

Furthermore, in the present invention, it is preferable that the detection unit has a first sensor that detects whether the seedling remaining amount is equal to or less than the first remaining amount, and a second sensor that detects whether the seedling remaining amount is equal to or less than a second remaining amount that is smaller than the first remaining amount.

According to this configuration, when the remaining amount of seedlings falls to or below a second remaining amount that is less than the first remaining amount, this can be detected by the second sensor. Therefore, for example, when seedling planting work is performed without a seedling mat being placed on the seedling transport device and seedling mats being replenished to the seedling carrying table even when the remaining amount of seedlings falls to or below the first remaining amount, and only a few seedlings remain on the seedling carrying table, a configuration can be realized in which, based on the detection result of the second sensor, an operator is notified that only a few seedlings remain on the seedling carrying table.

Furthermore, in the present invention, the first sensor and the second sensor are both switches that are provided on the seedling tray and contact the seedling mat placed on the seedling tray, and it is preferable that the first sensor is provided at a higher position than the second sensor.

This configuration makes it possible to realize a rice transplanter equipped with a first sensor and a second sensor with a relatively simple configuration.

FIG. FIG. 3A and 3B are diagrams illustrating configurations of a vertical feed mechanism and a horizontal feed mechanism. FIG. 4 is a rear view showing the configuration of the detection unit and the like. FIG. 4 is a left side view in vertical section showing the configuration of a first sensor and the like. FIG. 2 is a block diagram showing a configuration relating to a control unit. 4 is a flowchart of a transport control routine.

The embodiment of the present invention will be described with reference to the drawings. In the following description, the direction of arrow F shown in Figures 1, 2, and 5 is defined as "front", the direction of arrow B is defined as "rear", the direction of arrow L shown in Figures 2 to 4 is defined as "left", and the direction of arrow R is defined as "right". In addition, the direction of arrow U shown in Figures 1, 4, and 5 is defined as "up", and the direction of arrow D is defined as "down".

[Overall configuration of the rice transplanter]
As shown in Fig. 1, the riding type rice transplanter A is equipped with a traveling body C that has a pair of left and right steering wheels 10, 10 and a pair of left and right rear wheels 11, 11 and can travel in a field. As shown in Fig. 1 and Fig. 2, a riding section 23 where various driving operations are performed is provided in the center of the traveling body C. The riding section 23 is provided on the traveling body C across the width of the traveling body C.

The seedling planting device W is supported and connected to the rear of the traveling body C so that it can rise and fall, and the seedling planting device W is configured to be able to plant seedlings in a field. A pair of left and right steering wheels 10 are provided at the front of the traveling body C so that the direction of the traveling body C can be freely changed, and a pair of left and right rear wheels 11 are provided at the rear of the traveling body C. The seedling planting device W is connected to the rear of the traveling body C via a planting link mechanism 17 so that it can rise and fall. As a result, the seedling planting device W is provided at the rear of the rice transplanter A. The planting link mechanism 17 rises and falls by the extension and contraction of the lifting hydraulic cylinder 16.

In FIG. 1, the seedling planting device W in the raised position is shown in solid lines. The seedling planting device W in the lowered position is shown in phantom lines. The position of the seedling planting device W changes between the raised and lowered positions due to the extension and contraction of the lifting hydraulic cylinder 16.

The seedling planting device W is also mounted so that it can roll relative to the traveling body C. That is, the seedling planting device W is mounted in a state in which it can sway left and right by rolling.

At the front of the traveling machine body C, there is an engine 13 capable of driving the traveling machine body C, and an openable bonnet 12. The bonnet 12 has an inclined surface that slopes upward toward the rear and is configured to be able to store the engine 13. Although not described in detail, the steering wheels 10 or the rear wheels 11, or both, are equipped with a known HST (hydrostatic stepless transmission, not shown) and a transmission TM (see FIG. 3) as a speed change mechanism for transmitting the power of the engine 13. The power of the engine 13 is transmitted to the steering wheels 10 and the rear wheels 11 via a speed change mechanism provided on the machine body, and the power after the speed change is transmitted to the seedling planting device W via an electric motor-driven planting clutch (not shown).

As shown in Figures 1 and 2, the seedling planting device W is provided with a plurality of (e.g., four) transmission cases 18, a plurality of (e.g., eight) rotating cases 19, a ground leveling float 21, and a seedling carrying platform 22. The rotating cases 19 are rotatably supported on the left and right sides of the rear of each transmission case 18. A pair of rotary planting arms 20 is provided at both ends of each rotating case 19. The ground leveling float 21 is used to level the rice field surface, and multiple ones are provided in the seedling planting device W. Seedling mats M (see Figure 5), which are mat-shaped seedlings for planting, are placed on the seedling carrying platform 22.

In this way, the rice transplanter A is equipped with a seedling planting device W located at the rear of the machine body and having a seedling carrying platform 22.

The seedling planting device W drives the seedling carrier 22 back and forth sideways while rotating each rotating case 19 with the power transmitted from the transmission case 18, so that the seedlings are taken out alternately from the bottom of the seedling carrier 22 by each planting arm 20 and planted on the rice field surface. In other words, the seedling planting device W is configured to plant seedlings using the planting arms 20 provided on multiple rotating cases 19.

[Configuration of the vertical feed mechanism and the horizontal feed mechanism]
As shown in FIG. 3 , the seedling planting device W has a vertical feed mechanism 82 and a horizontal feed mechanism 83 .

The lateral feed mechanism 83 has a lateral feed shaft 83a and a lateral feed member 83b. The lateral feed shaft 83a rotates by power from the transmission TM.

The lateral feed member 83b is attached to the lateral feed shaft 83a in a state in which it can rotate relative to the lateral feed shaft 83a and can slide relative to the lateral feed shaft 83a. The lateral feed member 83b is also connected to the seedling placement table 22.

When the lateral feed shaft 83a rotates, the lateral feed member 83b is reciprocated in the direction in which the lateral feed shaft 83a extends by the spiral feed groove formed in the lateral feed shaft 83a. As a result, the seedling placement table 22 is reciprocated left and right. With this configuration, the seedling planting device W reciprocates the seedling placement table 22 left and right while performing the seedling planting operation with the planting arm 20.

That is, the seedling planting device W is configured to reciprocate the seedling carrying platform 22 left and right while performing the seedling planting operation. As the seedling carrying platform 22 reciprocates left and right, the position of the seedling carrying platform 22 relative to the traveling body C changes left and right.

As shown in FIG. 3, the vertical feed mechanism 82 has a vertical feed shaft 82a, a first transmission arm 82b, a second transmission arm 82c, a passive arm 82d, a one-way clutch 82e, a drive shaft 82f, and a vertical feed belt 82g.

The rice transplanter A in this embodiment is capable of planting eight rows. That is, eight rows of seedling mats M can be placed on the seedling loading platform 22. Therefore, in this embodiment, eight vertical feed belts 82g are provided. However, the present invention is not limited to this, and the number of vertical feed belts 82g may be seven or less, or nine or more.

The vertical feed shaft 82a rotates due to power from the transmission TM. The first transmission arm 82b and the second transmission arm 82c are fixed to the vertical feed shaft 82a in a state where they cannot rotate relative to the vertical feed shaft 82a. The first transmission arm 82b is located to the left of the second transmission arm 82c.

The passive arm 82d is connected to the drive shaft 82f via a one-way clutch 82e. The vertical feed belt 82g is configured to rotate as the drive shaft 82f rotates.

When the seedling tray 22 reaches the left stroke end (corresponding to the "predetermined position in the left-right direction" according to the present invention), the passive arm 82d enters the rotation range of the first transmission arm 82b. This causes the first transmission arm 82b to come into contact with the passive arm 82d. The power of the vertical feed shaft 82a is then transmitted to the drive shaft 82f via the first transmission arm 82b, the passive arm 82d, and the one-way clutch 82e.

As a result, the drive shaft 82f rotates by the set rotation angle, and the vertical feed belt 82g rotates. The amount of rotation of the vertical feed belt 82g at this time corresponds to the specified feed distance.

When the seedling tray 22 reaches the right stroke end, the passive arm 82d enters the rotation range of the second transmission arm 82c. This causes the second transmission arm 82c to come into contact with the passive arm 82d. The power of the vertical feed shaft 82a is then transmitted to the drive shaft 82f via the second transmission arm 82c, the passive arm 82d, and the one-way clutch 82e.

As a result, the drive shaft 82f rotates by the set rotation angle, and the vertical feed belt 82g rotates. The amount of rotation of the vertical feed belt 82g at this time corresponds to the specified feed distance.

The vertical feed belt 82g is configured to come into contact with the seedling mat M (see FIG. 5) placed on the seedling placement table 22. Therefore, when the vertical feed belt 82g rotates, the seedling mat M placed on the seedling placement table 22 moves downward.

With the configuration described above, each time the seedling loading platform 22 reaches the left or right stroke end, the seedling mat M placed on the seedling loading platform 22 moves downward by a predetermined feed distance.

In FIG. 2, the seedling tray 22 at the left stroke end is shown in solid lines. The right end of the seedling tray 22 at the right stroke end is shown in phantom lines.

As shown in FIG. 2, when the seedling loading platform 22 is located at the left stroke end, the seedling loading platform 22 is located at a position in the left-right direction of the machine body that corresponds to the spare seedling transport device 30 described below. In other words, when the seedling loading platform 22 is located at the left stroke end, the position of the seedling loading platform 22 and the position of the spare seedling transport device 30 in the left-right direction of the machine body coincide.

[About the spare seedling transport device]
1 and 2, a spare seedling transport device 30 (corresponding to the "seedling transport device" of the present invention) is provided above the boarding section 23. The spare seedling transport device 30 is configured to transport a seedling mat M (see FIG. 5) to the seedling placement platform 22. The spare seedling transport device 30 will be described below.

The spare seedling transport device 30 overlaps with the passenger seat 23A of the passenger section 23 in a plan view. In addition, the spare seedling transport device 30 is located forward of the seedling loading platform 22.

In this way, the rice transplanter A is equipped with a spare seedling transport device 30 that is positioned in front of the seedling loading platform 22 and transports the seedling mat M to the seedling loading platform 22.

The spare seedling transport device 30 has an ascending section 31 and a descending section 32. The ascending section 31 is located at the front of the spare seedling transport device 30. The ascending section 31 is inclined so that it is positioned higher toward the rear. In other words, the ascending section 31 is provided in a state in which it is inclined upward toward the rear. The ascending section 31 is also configured to be able to swing up and down around the machine body lateral axis X1 at the rear end.

That is, the rising section 31 is located at the front of the spare seedling transport device 30 and is tilted upward toward the rear.

The descending portion 32 extends rearward from the rear end of the ascending portion 31. The descending portion 32 is also inclined so that it is positioned lower toward the rear. In other words, the descending portion 32 is provided in a state in which it is inclined downward toward the rear.

In this way, the descending section 32 extends rearward from the rear end of the ascending section 31 and is inclined downward toward the rear.

The ascending section 31 is provided with a plurality of transport mechanisms 40. The plurality of transport mechanisms 40 are arranged in a line in the left-right direction. That is, the spare seedling transport device 30 has a plurality of transport mechanisms 40 arranged in the left-right direction of the machine body. Here, as described above, the rice transplanter A in this embodiment is an eight-row planter. That is, eight rows of seedling mats M can be placed on the seedling placement platform 22. And in this embodiment, the number of transport mechanisms 40 provided matches the number of rows of seedling mats M that can be placed on the seedling placement platform 22. That is, in this embodiment, the number of transport mechanisms 40 provided is eight.

As shown in Figures 1 and 2, each conveying mechanism 40 has an endless rotating belt 41 and a belt conveying motor 42. The belt conveying motor 42 is configured to rotate the endless rotating belt 41. The belt conveying motor 42 is driven by power supplied from a battery (not shown) mounted on the rice transplanter A. When the endless rotating belt 41 is rotated, the endless rotating belt 41 rotates so that the upper surface of the endless rotating belt 41 moves to the rear side and the lower surface of the endless rotating belt 41 moves to the front side.

When the belt conveying motor 42 is driven with the seedling mat M placed on the upper surface of the endless rotating belt 41, the seedling mat M is conveyed to the rear by the endless rotating belt 41. As a result, the ascending section 31 conveys the seedling mat M to the rear and hands it over to the descending section 32.

The seedling mat M transferred from the ascending section 31 to the descending section 32 is guided to the seedling placement platform 22 below while sliding on the descending section 32. That is, the seedling mat M is supplied to the seedling placement platform 22 by sliding down the descending section 32.

In this way, the spare seedling transport device 30 is configured so that the seedling mat M transported rearward by the ascending section 31 slides down the descending section 32, thereby supplying the seedling mat M to the seedling loading platform 22. In addition, each transport mechanism 40 is configured to be capable of transporting one row of seedling mat M to the seedling loading platform 22.

With the configuration described above, the ascending section 31 can transport eight rows of seedling mats M to the rear side. The descending section 32 has a width sufficient to guide eight rows of seedling mats M to the seedling loading platform 22. As a result, the spare seedling transport device 30 in this embodiment can transport eight rows of seedling mats M to the seedling loading platform 22.

In addition, with the configuration described above, the spare seedling transport device 30 transports the seedling mat M when in a driven state. The driven state means that the spare seedling transport device 30 is in a driven state. More specifically, the driven state means that the endless rotating belt 41 is in a driven state.

In addition, with the configuration described above, the spare seedling transport device 30 does not transport the seedling mat M when it is in a stopped state. The stopped state means that the spare seedling transport device 30 is not driven. More specifically, the stopped state means that the endless rotating belt 41 is stopped.

In other words, the spare seedling transport device 30 is configured to transport the seedling mat M when it is in a driven state, and not to transport the seedling mat M when it is in a stopped state.

As shown in FIG. 1, the traveling vehicle body C is provided with left and right side frames 24, 24, which are erected upward on both the left and right sides of the passenger seat 23A. A rear support frame portion 25 is connected to the side frames 24, 24. The upper end of the rear support frame portion 25 extends along the vehicle body lateral axis X1.

The lower ends of the left and right ends of the rear support frame 25 are connected to the side frames 24, 24. The rear end of the ascending portion 31 is swingably connected to the upper end of the rear support frame 25. The front end of the descending portion 32 is supported by the rear support frame 25.

Front support frame sections 26, 26 are provided on both the left and right sides of the bonnet 12. An electric hydraulic cylinder 28 and a link mechanism 33 are connected to each of the front support frame sections 26, 26. The link mechanism 33 is pivoted to each of the front support frame sections 26 and the support receiving section 34 at the front of the ascending section 31. The electric hydraulic cylinder 28 is also pivoted to each of the front support frame sections 26 and the link mechanism 33, and the extension and contraction of the electric hydraulic cylinder 28 causes the link mechanism 33 to swing up and down, and the support receiving section 34 to move up and down. As a result, the ascending section 31 is configured to be able to swing up and down around the aircraft lateral axis X1.

[About the detection unit]
As shown in Fig. 4, the rice transplanter A is equipped with a detection unit 50. The detection unit 50 is configured to detect the remaining seedling amount. The remaining seedling amount is the amount of seedlings in the seedling mat M placed on the seedling placement table 22.

That is, the rice transplanter A is equipped with a detection unit 50 that detects the remaining seedling amount, which is the amount of seedlings in the seedling mat M placed on the seedling placement table 22.

The detection unit 50 is described below.

As shown in FIG. 4, the detection unit 50 has a plurality of first sensors 51 and a plurality of second sensors 52. Each of the first sensors 51 and each of the second sensors 52 are provided on the seedling placement table 22.

As shown in Figures 2 and 4, the seedling loading platform 22 is configured to have eight compartments 22a aligned in the left-right direction. That is, the seedling loading platform 22 has a plurality of compartments 22a aligned in the left-right direction of the machine body. The left-right width of each compartment 22a corresponds to the left-right width of the seedling mat M. As a result, each compartment 22a is configured to be able to accommodate one row of seedling mat M. Each compartment 22a is provided with a first sensor 51 and a second sensor 52.

As shown in FIG. 4, each first sensor 51 is provided at the top of the seedling tray 22 in the vertical direction of the machine body. Also, each second sensor 52 is provided at the bottom of the seedling tray 22 in the vertical direction of the machine body. In other words, the first sensor 51 is provided at a higher position than the second sensor 52.

As shown in FIG. 5, the first sensor 51 is a switch that contacts the seedling mat M placed on the seedling placement table 22. The first sensor 51 has a triangular portion in a side view. The first sensor 51 is biased by a biasing member so that this triangular portion protrudes upward from the surface on which the seedling mat M is placed on the seedling placement table 22.

As shown by the phantom lines in FIG. 5, when the seedling mat M steps on the first sensor 51, the first sensor 51 is displaced downward. This causes the first sensor 51 to turn ON. Also, as shown by the solid lines in FIG. 5, when the seedling mat M does not step on the first sensor 51, the first sensor 51 returns to its original position due to the biasing force of the biasing member. This causes the first sensor 51 to turn OFF.

In the above explanation, the structure of the first sensor 51 is described in detail, but the second sensor 52 has the same structure as the first sensor 51. Therefore, the explanation of the structure of the second sensor 52 is omitted.

In this way, the first sensor 51 and the second sensor 52 are both provided on the seedling placement table 22 and are switches that come into contact with the seedling mat M placed on the seedling placement table 22.

Here, FIG. 4 shows the first height position H1. When the seedling top end position in section 22a is higher than the first height position H1, the first sensor 51 located in that section 22a is turned ON. The seedling top end position is the position of the top end of the seedling mat M located at the top among the seedling mats M placed in section 22a.

In addition, in section 22a, when the upper end position of the seedlings is equal to or lower than the first height position H1, the first sensor 51 located in that section 22a is in the OFF state. In other words, when the amount of remaining seedlings is greater than the amount of seedlings corresponding to the first height position H1, the first sensor 51 is in the ON state. In addition, when the amount of remaining seedlings is equal to or lower than the amount of seedlings corresponding to the first height position H1, the first sensor 51 is in the OFF state.

Here, the amount of seedlings corresponding to the first height position H1 corresponds to the "first remaining amount" according to the present invention. That is, when the remaining amount of seedlings is greater than the first remaining amount, the first sensor 51 is in the ON state. Also, when the remaining amount of seedlings is equal to or less than the first remaining amount, the first sensor 51 is in the OFF state.

With this configuration, the first sensor 51 detects whether the remaining seedling amount is equal to or less than the first remaining amount.

Figure 4 also shows the second height position H2. In section 22a, when the seedling top end position is higher than the second height position H2, the second sensor 52 located in that section 22a is in the ON state. In addition, in section 22a, when the seedling top end position is equal to or lower than the second height position H2, the second sensor 52 located in that section 22a is in the OFF state. In other words, when the amount of remaining seedlings is greater than the amount of seedlings corresponding to the second height position H2, the second sensor 52 is in the ON state. In addition, when the amount of remaining seedlings is equal to or lower than the amount of seedlings corresponding to the second height position H2, the second sensor 52 is in the OFF state.

Here, the amount of seedlings corresponding to the second height position H2 corresponds to the "second remaining amount" according to the present invention. That is, when the seedling remaining amount is greater than the second remaining amount, the second sensor 52 is in the ON state. Also, when the seedling remaining amount is equal to or less than the second remaining amount, the second sensor 52 is in the OFF state.

With this configuration, the second sensor 52 detects whether the seedling remaining amount is equal to or less than the second remaining amount. Note that the second height position H2 is lower than the first height position H1. In other words, the second remaining amount is a value less than the first remaining amount.

Thus, the detection unit 50 has a first sensor 51 that detects whether the remaining seedling amount is equal to or less than a first remaining amount, and a second sensor 52 that detects whether the remaining seedling amount is equal to or less than a second remaining amount that is less than the first remaining amount.

In addition, with this configuration, the detection unit 50 is configured to detect the remaining seedlings for each section 22a.

[About the switching section]
As shown in Fig. 6, the rice transplanter A includes a control unit 53. The control unit 53 includes a switching unit 60.

The switching unit 60 is configured to be able to control the drive state of each belt conveying motor 42. Specifically, the switching unit 60 is able to start the drive of each belt conveying motor 42. The switching unit 60 is also able to stop the drive of each belt conveying motor 42.

With this configuration, the switching unit 60 can switch the state of the spare seedling transport device 30 between a driven state and a stopped state.

Thus, the rice transplanter A is equipped with a switching unit 60 that switches the state of the spare seedling transport device 30 between a driven state and a stopped state.

The control unit 53 also has an apparatus control unit 62. The apparatus control unit 62 is configured to be able to control the drive state of the seedling planting device W. The apparatus control unit 62 is also configured to be able to control the extension and contraction of the lifting hydraulic cylinder 16. As a result, the apparatus control unit 62 is configured to be able to control the lifting and lowering of the seedling planting device W.

The control unit 53 and each element included in the control unit 53, such as the switching unit 60, may be a physical device such as a microcomputer, or may be a functional unit in software.

As shown in FIG. 6, the control unit 53 is configured to acquire information indicating whether each first sensor 51 is in an ON state or an OFF state from each first sensor 51. The control unit 53 may also be configured to acquire information indicating whether each second sensor 52 is in an ON state or an OFF state.

The rice transplanter A is also equipped with a left-right position sensor 61. As described above, the seedling carrying platform 22 is transported back and forth left and right, causing the position of the seedling carrying platform 22 relative to the traveling body C to change in the left-right direction. The left-right position sensor 61 is configured to detect the position of the seedling carrying platform 22 relative to the traveling body C in the left-right direction.

The left-right position sensor 61 is not particularly limited, but may be, for example, a contact sensor that detects the position of the lateral feed member 83b in the left-right direction.

The detection results from the left/right position sensor 61 are sent to the control unit 53.

The control unit 53 is configured to switch the state of the spare seedling transport device 30 between a driven state and a stopped state by a transport control routine shown in FIG. 7 based on the information acquired from each first sensor 51 and the detection results by the left and right position sensors 61. This transport control routine is stored in the control unit 53. The control unit 53 repeatedly executes this transport control routine at regular time intervals.

The transport control routine is explained below with reference to Figure 7.

When the transport control routine is started, step S01 is executed. In step S01, it is determined whether at least one of the first sensors 51 is in the OFF state.

If all of the first sensors 51 are ON, step S01 is judged as No and the process ends. If at least one of the first sensors 51 is OFF, step S01 is judged as Yes and the process proceeds to step S02.

With this configuration, if the first sensor 51 in the detection unit 50 detects that the remaining seedling amount is equal to or less than a predetermined first remaining amount, the result in step S01 will be Yes.

In step S02, counting the number of times the seedling placement tray 22 is moved back and forth to the left and right is started. This counting is performed by the control unit 53 based on the detection results of the left and right position sensor 61. Then, the process proceeds to step S03.

In step S03, it is determined whether the count started in step S02 has reached a predetermined number. If the count has not reached the predetermined number, step S03 returns No, and the process returns to step S03. In other words, step S03 is repeated from the time the process moves to step S03 for the first time until the count reaches the predetermined number.

When the count reaches the predetermined number, step S03 returns Yes and processing proceeds to step S04.

In addition, this specified number of times may be, specifically, four times, or any number other than four times.

With this configuration, after step S01 is judged as Yes, if the seedling placement tray 22 moves back and forth a predetermined number of times, step S03 is judged as Yes.

In step S04, when the seedling tray 22 reaches the left stroke end, the device control unit 62 controls the device to stop driving the seedling planting device W. This stops the left and right reciprocating movement of the seedling tray 22. At this time, the rice transplanter A may also automatically stop traveling. Then, the process proceeds to step S05.

In step S05, the seedling planting device W is raised under the control of the device control unit 62. Then, the process proceeds to step S06.

In step S06, the switching unit 60 controls the belt conveying motors 42 to start driving. This switches the state of the spare seedling conveying device 30 from a stopped state to a driven state.

As can be understood from the above explanation, when the detection unit 50 detects that the remaining seedling amount is equal to or less than a predetermined first remaining amount (Yes in step S01), the switching unit 60 switches the state of the spare seedling transport device 30 from a stopped state to a driven state (step S06).

More specifically, after the detection unit 50 detects that the remaining seedling amount is equal to or less than the first remaining amount (Yes in step S01), if the seedling placement table 22 has reciprocated left and right a predetermined number of times (Yes in step S03), the switching unit 60 switches the state of the spare seedling transport device 30 from the stopped state to the driven state (step S06). Also, after the detection unit 50 detects that the remaining seedling amount is equal to or less than the first remaining amount (Yes in step S01), if the seedling placement table 22 has reached the left stroke end (step S04), the switching unit 60 switches the state of the spare seedling transport device 30 from the stopped state to the driven state (step S06).

After step S06, the process proceeds to step S07. In step S07, it is determined whether all of the first sensors 51 are in the ON state.

If at least one of the first sensors 51 is in the OFF state, step S07 is determined as No, and the process returns to step S07. That is, step S07 is repeated from the time the process moves to step S07 for the first time until all of the first sensors 51 are in the ON state.

When all the first sensors 51 are in the ON state, step S07 is judged as Yes and the process proceeds to step S08.

With this configuration, if the first sensor 51 in the detection unit 50 detects that the remaining seedling amount is greater than the first remaining amount after the processing in step S06, the result in step S07 will be Yes.

In step S08, the switching unit 60 controls the belt conveying motors 42 to stop driving. This switches the state of the spare seedling conveying device 30 from a driven state to a stopped state. Note that the state of the spare seedling conveying device 30 remains in the driven state from the time the processing in step S06 is performed until the processing in step S08 is performed.

As can be understood from the above explanation, after switching the state of the spare seedling transport device 30 from a stopped state to a driven state (step S06), if the detection unit 50 detects that the remaining seedling amount is greater than the first remaining amount (Yes in step S07), the switching unit 60 switches the state of the spare seedling transport device 30 from a driven state to a stopped state (step S08).

After step S08, the process proceeds to step S09. In step S09, the seedling planting device W is lowered under the control of the device control unit 62. Then, the process ends for the time being.

According to the configuration described above, when the remaining amount of seedlings falls below a predetermined first remaining amount, the spare seedling transport device 30 switches to a drive state. This causes the seedling mat M to be transported to the seedling loading platform 22 by the spare seedling transport device 30. Therefore, when the number of seedlings placed on the seedling loading platform 22 becomes low to a certain extent, the spare seedling transport device 30 automatically replenishes the seedling mat M to the seedling loading platform 22, realizing a rice transplanter A.

Therefore, with the configuration described above, it is possible to realize a rice transplanter A that can reduce the labor required for supplying seedling mats M to the seedling loading platform 22.

Other embodiments
(1) The rice transplanter A may be configured to be capable of automatic travel or may be configured to be unable to automatically travel. If the rice transplanter A is capable of automatic travel, the operator does not need to ride on the riding section 23.

(2) The number of planting rows of the seedling planting device W may be seven rows or less, or nine rows or more. The number of seedling mats M that can be placed on the seedling loading platform 22 may be the number of rows of seven rows or less, or nine rows or more. The number of seedling mats M that can be transported by the spare seedling transport device 30 may be the number of rows of seven rows or less, or nine rows or more.

(3) The switching unit 60 may be configured to control each belt conveying motor 42 so that the driving state of each belt conveying motor 42 is consistent, or may be configured to control each belt conveying motor 42 individually.

In a configuration in which the switching unit 60 controls each belt conveying motor 42 individually, the switching unit 60 may be configured to start driving only the belt conveying motor 42 that corresponds to the position of the first sensor 51 among the multiple belt conveying motors 42 when a single first sensor 51 detects that the seedling remaining amount is equal to or less than a predetermined first remaining amount. As a result, when a single first sensor 51 detects that the seedling remaining amount is equal to or less than the predetermined first remaining amount, only the portion of the spare seedling conveying device 30 that corresponds to the position of the first sensor 51 is switched from a stopped state to a driven state.

In other words, in this configuration, the switching unit 60 is configured to be able to switch the state of the spare seedling transport device 30 between a driven state and a stopped state for each transport mechanism 40 by individually controlling each transport mechanism 40.

In this configuration, after the detection unit 50 detects that the seedling remaining amount in one section 22a is equal to or less than the first remaining amount, if the detection unit 50 detects that the seedling remaining amount in a section 22a other than the section 22a becomes equal to or less than the first remaining amount while the seedling loading platform 22 moves back and forth a predetermined number of times, the switching unit 60 executes posture shift suppression control. The posture shift suppression control is a control that drives each transport mechanism 40 so as to suppress an increase in posture shift between the seedling loading platform 22 and the spare seedling transport device 30 due to the supply of seedling mats M to the seedling loading platform 22.

In other words, in this configuration, after the detection unit 50 detects that the seedling remaining amount in one section 22a is equal to or less than the first remaining amount, if the detection unit 50 detects that the seedling remaining amount in a section 22a other than the section 22a in question has become equal to or less than the first remaining amount while the seedling loading platform 22 is moving back and forth a predetermined number of times, the switching unit 60 executes posture shift suppression control, which is control to drive each transport mechanism 40 so as to suppress an increase in posture shift between the seedling loading platform 22 and the spare seedling transport device 30 due to the replenishment of seedling mat M to the seedling loading platform 22.

In addition, in this configuration, it is desirable to position the first sensor 51 with a relatively large margin in preparation for multiple round trips of the seedling loading platform 22.

In addition, in this configuration, for example, the switching unit 60 may be configured to drive each transport mechanism 40 so that the section 22a to which the seedling mat M is first replenished in the posture shift suppression control is the section 22a located at the most central position in the left-right direction of the machine body among the sections 22a in which the seedling remaining amount is equal to or less than the first remaining amount. In this case, for example, if the seedling remaining amount in the section 22a located at the most left side of the machine body and the section 22a that is fourth from the left side of the machine body is equal to or less than the first remaining amount, the switching unit 60 drives each transport mechanism 40 so that the seedling mat M is first replenished in the section 22a that is fourth from the left side of the machine body in the posture shift suppression control, and then the seedling mat M is replenished in the section 22a located at the most left side of the machine body.

However, in the posture shift suppression control, it is also possible to imagine a case where the increase in the posture shift described above can be suppressed if the section 22a to which the seedling mat M is first replenished is a section 22a other than the section 22a located most centrally in the left-right direction of the machine among the sections 22a in which the seedling remaining amount is equal to or less than the first remaining amount. In such a case, the switching unit 60 may be configured to drive each transport mechanism 40 so that the seedling mat M is first replenished to a section 22a other than the section 22a located most centrally in the left-right direction of the machine among the sections 22a in which the seedling remaining amount is equal to or less than the first remaining amount.

For example, if the remaining seedling amounts in the section 22a located on the leftmost side of the machine, the second section 22a from the leftmost side of the machine, and the fourth section 22a from the rightmost side of the machine are equal to or less than the first remaining amount, the switching unit 60 may drive each transport mechanism 40 in the posture shift suppression control so that first, seedling mat M is supplied to the second section 22a from the leftmost side of the machine, then seedling mat M is supplied to the fourth section 22a from the rightmost side of the machine, and finally seedling mat M is supplied to the section 22a located on the leftmost side of the machine.

The system may also be provided with a tilt detection unit that detects the tilt of the seedling loading platform 22 relative to the traveling body C. Furthermore, in the posture shift suppression control, the switching unit 60 may drive each transport mechanism 40 so as to eliminate the tilt of the seedling loading platform 22 relative to the traveling body C based on the detection result by the tilt detection unit.

(4) The second sensor 52 does not have to be provided.

(5) The switching unit 60 may be configured to switch the state of the spare seedling transport device 30 from a stopped state to a driven state when the detection unit 50 detects that the seedlings are out of stock. In this case, being out of seedlings corresponds to "the remaining amount of seedlings is equal to or less than a predetermined first remaining amount" according to the present invention.

(6) The detection unit 50 may be a high-precision seedling-out sensor provided at the lower end of the seedling-mounting platform 22. This seedling-out sensor may be configured to detect whether or not the seedlings are out by detecting, for example, the vertical feed width of the seedling mat M by the vertical feed belt 82g.

(7) The detection unit 50 may be configured as a magnetic switch.

(8) The detection unit 50 may include a camera capable of capturing an image of the seedling mat M placed on the seedling placement table 22, and may be configured to detect whether or not the seedlings are out of stock based on the image captured by the camera.

(9) The detection unit 50 may be configured as a pressure sensor that detects the pressure caused by the seedling mat M placed on the seedling placement table 22.

(10) The detection unit 50 may be configured as an optical sensor provided on the surface of the seedling placement table 22 on which the seedling mat M is placed.

(11) One or more steps may not be included in the transport control routine shown in FIG. 7.

For example, the transport control routine does not need to include step S04. That is, the switching unit 60 may be configured to switch the state of the spare seedling transport device 30 from the stopped state to the driven state before the seedling loading platform 22 reaches the left stroke end when the seedling loading platform 22 has reciprocated a predetermined number of times to the left and right after the detection unit 50 detects that the seedling remaining amount is equal to or less than the first remaining amount.

Also, for example, the transport control routine does not have to include steps S02 and S03. That is, the switching unit 60 may be configured to switch the state of the spare seedling transport device 30 from a stopped state to a driven state when the seedling loading platform 22 first reaches a predetermined position in the left-right direction after the detection unit 50 detects that the seedling remaining amount is equal to or less than the first remaining amount.

Also, for example, the transport control routine does not have to include steps S02, S03, S04, and S05. That is, the switching unit 60 may be configured to immediately switch the state of the spare seedling transport device 30 from a stopped state to a driven state when the detection unit 50 detects that the remaining seedling amount is equal to or less than a predetermined first remaining amount.

(12) The switching unit 60 may be configured to switch the state of the spare seedling transport device 30 from a stopped state to a driven state when the seedling loading platform 22 reaches the right stroke end after the detection unit 50 detects that the seedling remaining amount is equal to or less than the first remaining amount.

(13) The switching unit 60 may be configured to switch the state of the spare seedling transport device 30 from a stopped state to a driven state when the seedling loading platform 22 reaches a predetermined position between the left stroke end and the right stroke end after the detection unit 50 detects that the seedling remaining amount is equal to or less than the first remaining amount.

(14) The detection unit 50 may detect the amount of seedlings in all seedling mats M placed on the seedling placing table 22. In other words, the detection unit 50 may detect the amount of seedlings in the seedling mats M placed on all sections 22a on the seedling placing table 22. In this case, the amount of seedlings in all seedling mats M placed on the seedling placing table 22 and the amount of seedlings in the seedling mats M placed on all sections 22a on the seedling placing table 22 both correspond to the "remaining seedling amount" according to the present invention.

(15) The detection unit 50 may detect the amount of seedlings in the seedling mat M placed in one section 22a. In this case, the amount of seedlings in the seedling mat M placed in one section 22a corresponds to the "remaining seedling amount" according to the present invention.

The configurations disclosed in the above-mentioned embodiments (including other embodiments, the same applies below) can be applied in combination with configurations disclosed in other embodiments, so long as no contradiction occurs. Furthermore, the embodiments disclosed in this specification are merely examples, and the present invention is not limited to these embodiments, and can be modified as appropriate within the scope of the purpose of the present invention.

The present invention can be used in rice transplanters equipped with a seedling planting device that has a seedling carrying platform.

22 seedling loading platform 22a section 30 spare seedling transport device (seedling transport device)
40: conveying mechanism 50: detection unit 51: first sensor 52: second sensor 60: switching unit A: rice transplanter M: seedling mat W: seedling planting device

Claims (7)

A seedling planting device located at the rear of the machine body and having a seedling carrying platform;
a seedling transport device located in front of the seedling tray and transporting a seedling mat to the seedling tray,
The seedling transport device is configured to transport the seedling mat when in a driving state, and not to transport the seedling mat when in a stopped state,
A switching unit that switches a state of the seedling transport device between the driving state and the stopped state;
A detection unit that detects the amount of seedlings remaining, which is the amount of seedlings in the seedling mat placed on the seedling placement table,
The seedling planting device is configured to reciprocate the seedling carrier to the left and right while performing a seedling planting operation,
The switching unit switches the state of the seedling transport device from the stopped state to the driven state when the seedling placement table reaches a predetermined position in the left-right direction after the detection unit detects that the seedling remaining amount is equal to or less than a predetermined first remaining amount,
The specified position is the left or right stroke end of the reciprocating movement of the seedling carrying table of a rice transplanter. A seedling planting device located at the rear of the machine body and having a seedling carrying platform;
a seedling transport device located in front of the seedling tray and transporting a seedling mat to the seedling tray,
The seedling transport device is configured to transport the seedling mat when in a driving state, and not to transport the seedling mat when in a stopped state,
A switching unit that switches a state of the seedling transport device between the driving state and the stopped state;
A detection unit that detects the amount of seedlings remaining, which is the amount of seedlings in the seedling mat placed on the seedling placement table,
The switching unit switches the state of the seedling transport device from the stopped state to the driven state when the detection unit detects that the seedling remaining amount is equal to or less than a predetermined first remaining amount,
The seedling planting device is configured to reciprocate the seedling carrier to the left and right while performing a seedling planting operation,
The switching unit of this rice transplanter switches the state of the seedling transporting device from the stopped state to the driven state when the seedling carrying table moves back and forth a predetermined number of times after the detection unit detects that the remaining seedling amount is less than the first remaining amount. The seedling planting device is provided in a state in which it can be swung left and right by rolling,
The seedling transport device has a plurality of transport mechanisms arranged in the left-right direction of the body,
Each of the transport mechanisms is configured to transport one row of the seedling mat to the seedling tray,
The seedling tray has a plurality of compartments arranged in the left-right direction of the machine body,
Each of the sections is configured to be able to accommodate one row of the seedling mat,
The detection unit is configured to detect the seedling remaining amount for each section,
The switching unit is configured to individually control each of the transport mechanisms to switch the state of the seedling transport device between the driving state and the stopped state for each of the transport mechanisms,
The rice transplanter of claim 2, wherein after the detection unit detects that the remaining amount of seedlings in one of the sections is less than the first remaining amount, if the detection unit detects that the remaining amount of seedlings in a section other than the section in question has become less than the first remaining amount while the seedling loading table is moving back and forth back and forth the predetermined number of times, the switching unit executes posture deviation suppression control, which is control to drive each of the transport mechanisms so as to suppress an increase in posture deviation between the seedling loading table and the seedling transport device due to the replenishment of the seedling mat to the seedling loading table. The rice transplanter according to claim 3, wherein the switching unit drives each of the transport mechanisms so that the section to which the seedling mat is first replenished during the posture shift suppression control is the section located at the most central position in the left-right direction of the machine body among the sections in which the seedling remaining amount is equal to or less than the first remaining amount. A rice transplanter as described in any one of claims 1 to 4, wherein the switching unit switches the state of the seedling transporting device from the driven state to the stopped state when the detection unit detects that the remaining amount of seedlings is greater than the first remaining amount after switching the state of the seedling transporting device from the stopped state to the driven state. The rice transplanter described in any one of claims 1 to 5, wherein the detection unit has a first sensor that detects whether the seedling remaining amount is equal to or less than the first remaining amount, and a second sensor that detects whether the seedling remaining amount is equal to or less than a second remaining amount that is less than the first remaining amount. The first sensor and the second sensor are both switches provided on the seedling tray and contact the seedling mat placed on the seedling tray,
The rice transplanter according to claim 6 , wherein the first sensor is provided at a higher position than the second sensor.

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