JP7596766B2 - Transplanter - Google Patents

Description

The present invention relates to a transplanter for transplanting vegetable seedlings such as onions, lettuce, and seed potatoes into farm fields.

As described in JP 2016-116529 A (Patent Document 1), the transplanter is equipped with a seedling supply device and a seedling transplanting device on a traveling body supported by four wheels at the front and rear, and the seedlings are automatically transplanted into the furrows by the seedling transplanting device while traveling in the field on the four wheels.

JP 2016-116529 A

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

In addition, by extending and retracting the rolling cylinder, which rotates only the travel transmission case on one side, the left and right tilt of the travel vehicle body can be adjusted, eliminating tilt caused by unevenness in the field and making the planting position of the planting device perpendicular to the field surface, stabilizing the planting depth and planting position of the seedlings, which also stabilizes the growth of the seedlings after planting.

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

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

The objective of this invention is to provide a transplanter that transplants seedlings into a field using a planting device mounted on a traveling vehicle body, and to automatically return the traveling vehicle body to a horizontal position even if it tends to tilt due to the unevenness or slope of the field, so that the planting position of the planting device is perpendicular to the field surface.

The above problem of the present invention is solved by the following technical means.

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

The second invention related to the present invention is a transplanter of the first invention related to the present invention, characterized in that when the inclination sensor (6) detects the left and right inclination of the running body (40), the extension and contraction of the left and right front wheel support legs (17L, 17R) and the inclination of the left and right running transmission cases (38L, 38R) are controlled to maintain the running body (40) level in the left and right direction.

The third invention related to the present invention is a transplanter according to either the first or second invention related to the present invention, characterized in that a course detection means (9) is provided for detecting the direction of travel of the running body (40), and when the course detection means (9) detects a deviation from a straight line, the left and right front wheel support legs (17L, 17R) are extended and retracted to tilt the running body (40) and correct the direction of travel to a straight line.

A fourth invention related to the present invention is a transplanter according to any one of the first to third inventions related to the present invention , characterized in that the telescopic parts of the left and right front wheel support legs (17L, 17R) are covered with boots (8).

The fifth invention related to the present invention is a transplanter of any of the first to fourth inventions related to the present invention, characterized in that the seedling supply device (43) that transports seedlings to the planting device (42) is composed of an endlessly wound seedling transport belt (32), and seedling holders (33, 34) that hold the seedlings and end clamping plates (35) that clamp or receive the ends of the seedlings are provided at predetermined intervals on this seedling transport belt (32) to hold the seedlings.

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

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

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

In the fourth invention related to the present invention, in addition to the effects of any one of the first to third inventions related to the present invention , the boots (8) prevent foreign matter from entering the sliding portions of the left and right front wheel support legs (17L, 17R), thereby ensuring the raising and lowering movement of the front wheels (45, 45).

The fifth invention related to the present invention has the effect of any one of the first to fourth inventions related to the present invention , and in addition, the seedling holder (33, 34) that holds the seedlings and the end clamping plate (35) that clamps or receives the end of the seedlings can prevent the position of the seedlings from changing during transport, thereby preventing the planting device (42) from failing to pick up the seedlings.

FIG. 2 is a right side view of the onion seedling transplanter as the transplanter of the present invention. FIG. FIG. 2 is a perspective view of a seedling planting device of the onion seedling transplanter. FIG. FIG. 2 is an enlarged side view of a front wheel support leg of the onion seedling transplanter. FIG. 11 is a partial side view of another embodiment of the front wheel support leg. FIG. 11 is a partial side view of another embodiment of the front wheel support leg. FIG. 2 is an automatic control block diagram of the onion seedling transplanter. FIG. 2 is a control flowchart of the onion seedling transplanter. FIG. 2 is a control flowchart of the onion seedling transplanter. FIG. 11 is a partially enlarged side view of another embodiment of the seedling supplying device of the onion seedling transplanter. FIG. 4 is a partially enlarged side view of another embodiment of the seedling supplying device.

The following describes a preferred embodiment of the present invention with reference to the drawings.

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

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

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

The traveling vehicle body 40 is equipped with an engine 41, a pair of left and right rear wheels 44 that are driven and rotated by the power of the engine 41, and a pair of left and right front wheels 45 that are supported in front of the rear wheels 44 so that they can roll freely.

A transmission case 39 is disposed behind the engine 41. The transmission case 39 has a case portion that extends from its left side toward the left side of the engine 41, and this case portion is connected to the left side of the engine 41. The output shaft of the engine 41 fits into this case portion, and power is transmitted to the transmission mechanism inside the transmission case 39.

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

The ends of the wheel drive shafts extending outward from the transmission case 39 on both the left and right sides fit into the pivot center position of the front of the left and right running transmission cases 38L, 38R, and the running power that passes through the running system speed change transmission part in the transmission case 39 is transmitted to the transmission mechanism in the left and right running transmission cases 38L, 38R. The running power is then transmitted to the rear end axle 12 of the left and right running transmission cases 38L, 38R via the transmission mechanism in the left and right running transmission cases 38L, 38R, and the rear wheels 44, 44 are driven to rotate.

The left and right rear wheels 44, 44 can be disconnected from drive by left and right side clutches (not shown) provided inside the transmission case 39. Therefore, when turning the vehicle, the left or right rear wheel 44 on the inside of the turn is deactivated by the side clutch, allowing the vehicle to turn smoothly.

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

When the lifting hydraulic cylinder is activated and its piston rod protrudes to the rear of the machine, the left and right arms 13 rotate backwards, causing the traveling transmission case 38 to rotate downwards and the machine to rise. Conversely, when the piston rod of the lifting hydraulic cylinder moves to the front of the machine and retracts into the cylinder, the left and right arms 13 rotate forwards, causing the traveling transmission case 38 to rotate upwards and the machine to descend.

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

When the hydraulic cylinder for left and right horizontal control expands and contracts, the left arm 13 connected to the hydraulic cylinder for left and right horizontal control rotates, moving only the left rear wheel 44 up and down and tilting the aircraft to the left and right. This hydraulic cylinder for left and right horizontal control operates based on the detection results of the sensor 6, which detects the left and right tilt of the aircraft based on the left and right horizontal, making the aircraft horizontal to the left and right.

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

The left and right front wheels 45 are therefore vertically adjustable relative to the running vehicle body 40, allowing the height of the front wheels 45 to be adjusted.

Figures 6 and 7 show another configuration of the left and right front wheel support legs 17L, 17R. On the left side, the front wheel 45 is supported by the front wheel axle 18 at the tip of the left front wheel support leg 17L, which is extended and retracted by a first link 52 and a second link 53 at the left and right ends of the horizontal frame 16 provided on the left and right sides of the transmission case 39. The front wheel axle 18 is elastically supported by a damper spring 54. With this configuration, the extension range of the left and right front wheel support legs 17L, 17R is larger.

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

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

The aircraft frame 19 extends rearward from the center of the aircraft's left and right sides, and extends diagonally upward and rearward from the center of the front-to-rear direction.

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

In addition, in FIG. 2, the grip portion is configured as separate left and right portions, but the left and right rear ends of the steering handle 47 may be connected to each other to form the grip portion.

The planting device 42 is equipped with multiple beak-shaped planting tools with downward-pointing tips, a vertical movement mechanism 21 that moves the planting tools up and down between positions where the bottom ends of the planting tools are above and below the field surface, and an opening/closing mechanism that opens and closes the planting tools 20 between a closed state where the bottom ends of the beak-shaped planting tools are closed to receive seedlings from above and store the seedlings inside, and an open state where the bottom ends of the planting tools open to the left and right to release the seedlings stored inside downward.

The planting device 42 of this embodiment 1 has a multiple row planting configuration, with multiple planting tools 20 arranged side by side. Four planting tools 20 are arranged side by side at set intervals, for a four row planting configuration, and these planting tools 20 are referred to as the first planting tool 20a, the second planting tool 20b, the third planting tool 20c, and the fourth planting tool 20d, from the left side of the machine body.

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

The vertical movement mechanism 21 is equipped with a lifting link with a front part that can rotate up and down based on the transmission case 26, and a planting tool 20 connected to the left and right sides of the rear part. A separately provided drive mechanism moves the lifting link up and down using power from inside the transmission case 26, and the first planting tool 20a and the second planting tool 20b, or the third planting tool 20c and the fourth planting tool 20d, which are connected to the left and right sides of the lifting link, move up and down.

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

The opening and closing mechanism of each planting tool 20a-20d is operated by power from within the transmission case 26, and is linked to the operation of the vertical movement mechanism 21. When each planting tool 20a-20d descends and reaches its lowest position, the lower side of that planting tool 20a-20d opens to the left and right, leaving it in an open state downward, and when each planting tool 20a-20d ascends and reaches its highest position, the lower side of that planting tool 20a-20d closes, leaving it in a closed state.

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

The seedling supply device 43 includes a plurality of seedling containers 22 that receive seedlings from above and store them inside, a moving mechanism 23 that moves the seedling containers 22 around by passing above the first planting tool 20a, the second planting tool 20b, the third planting tool 20c, and the fourth planting tool 20d, and a seedling dropping mechanism that opens the bottom of the seedling containers 22 above the first planting tool 20a, the second planting tool 20b, the third planting tool 20c, and the fourth planting tool 20d to drop the seedlings stored inside and supply the seedlings to one of the first planting tool 20a, the second planting tool 20b, the third planting tool 20c, and the fourth planting tool 20d.

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

The moving mechanism 23 moves the connected seedling containers 22 in a counterclockwise circular motion in a loop-like elliptical trajectory that is long from side to side when viewed from above the machine body, while each connected seedling container 22 passes near the top of each planting tool 20a to 20d.

The seedling dropping mechanism opens the bottom cover of the seedling container 22 at a position above the first planting tool 20a, the second planting tool 20b, the third planting tool 20c, or the fourth planting tool 20d that corresponds to that seedling container 22.

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

As a result, the distance between adjacent seedling containers 22 does not change whether they are in the linear portion 28 that moves in a straight line or in the arc-shaped portion 29 that moves in an arc, so that when seedlings are supplied from the seedling containers 22 to the planting tools 20a-20d, positional deviations of the seedling containers 22 based on the planting tools 20a-20d are less likely to occur, and seedlings can be supplied properly and planted accurately.

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

The path along which the seedling container 22 moves around is an ellipse with a straight section 28 extending left and right in a plan view and an arc-shaped section 29 that bends from the straight section 28 to the front or rear in an arc shape by a sprocket, and is located inside the machine body from the left and right rear wheels 44.

In addition, each planting tool 20a to 20d is positioned rearward of the rear wheel axle 12.

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

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

A seedling container 22 is provided for each planting tool 20a-20d to accommodate the seedlings that are dropped in. The bottom lid opens only when the seedling container 22 is above the corresponding planting tool 20a-20d, and does not open when the container 22 is above an uncorresponding planting tool 20a-20d.

In other words, the seedling container 22 corresponding to the first planting tool 20a opens its bottom cover only when it reaches the first drop-feed position 31a, the seedling container 22 corresponding to the second planting tool 20b opens its bottom cover only when it reaches the second drop-feed position 31b, the seedling container 22 corresponding to the third planting tool 20c opens its bottom cover only when it reaches the third drop-feed position 31c, and the seedling container 22 corresponding to the fourth planting tool 20d opens its bottom cover only when it reaches the fourth drop-feed position 31d, and seedlings are supplied only to the corresponding planting tools 20a to 20d.

The operating cycle of the moving mechanism 23 is set to be synchronized with the operating cycle of the vertical movement mechanism 21, and the seedling containers 22 corresponding to each planting tool 20a-20d are combined into one seedling container unit, and multiple seedling container units are connected together. This allows the seedling containers 22 to pass through the four drop-off supply positions 31a-31d in series, supplying seedlings to the four planting tools 20a-20d without missing any seedlings, and also allows seedlings to be supplied to all four planting tools 20a-20d without any leftovers, so that there are no seedling containers 22 that are not supplied with seedlings after passing through the four drop-off supply positions 31a-31d.

The seedling supply device 43 shown in Figures 11 and 12 is different from the seedling container 22 described above, in that it is configured with seedling holders 33, 34 consisting of clamping rubber and clamping brushes and end clamping plates 35 on a rotating seedling transport belt 32, and the seedling holders 33, 34 clamp the stems of string-shaped seedlings such as sweet potato seedlings, and the end clamping plates 35 clamp the ends of string-shaped seedlings such as sweet potato seedlings and receive them with the end clamping brushes 36 for transport. The seedling holders 33, 34 and end clamping plates 35 release and drop the string-shaped seedlings at the first drop supply position 31a, the second drop supply position 31b, the third drop supply position 31c, and the fourth drop supply position 31d of each planting tool 20a to 20d.

The onion seedling transplanter 10 of this embodiment 1 is provided with soil-covering compression wheels 37 at the rear left and right sides of the seedling planting area of each of the planting tools 20a to 20d, which are used to compress the soil cover according to the seedlings planted by each of the planting tools 20a to 20d.

In addition, an operator's seat 46 is provided so that an operator can sit on the seedling supply device 43 to supply seedlings and perform seedling supply work. Specifically, the operator's seat 46 is located facing backwards in the center of the left and right of the machine body, which is in front of the seedling supply device 43. The operator sitting on the operator's seat 46 sits in a rearward facing position toward the front part of the seedling supply device 43 and performs seedling supply work by corresponding to the front part of the seedling supply device 43, particularly the front straight portion 28 of the circular movement path of the seedling container 22.

Seedling carriers 50 capable of accommodating seedlings to be supplied to the seedling supply device 43 are provided above the rear wheel axle 12 of the rear wheel 44 on both the left and right sides of the operator's seat 46 when viewed from the side of the machine.

Next, we will explain the configuration and operation of the up-down movement mechanism 21 of the onion seedling transplanter 10.

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

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

Here, we will explain the vertical movement mechanism 21 located on the left side of the machine body. The vertical movement mechanism 21 located on the right side of the machine body, which moves the third planting tool 20c and the fourth planting tool 20d up and down, has a similar configuration.

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

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

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

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

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

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

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

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

As shown in FIG. 3, the first operating trajectory 15a and the second operating trajectory 15b are figure-8 trajectories that intersect at the top of the trajectories in the vertical direction. In other words, the first operating trajectory 15a and the second operating trajectory 15b both intersect at a position above the midpoint between the top and bottom points of the respective trajectories.

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

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

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

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

When stopping the planting device 42, each of the planting tools 20a-20d is stopped at a position in the center of its vertical movement range. In other words, each of the planting tools 20a-20d is stopped at a position where the tips of the planting tools 20a-20d are aligned in the vertical direction.

By stopping each planting tool 20a-20d in the center of the vertical movement section, it is possible to prevent each planting tool 20a-20d from interfering with the soil when stopped.

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

In addition, the first planting tool 20a and the second planting tool 20b can be positioned along the circular movement path of the seedling container 22, not just the straight section 28, so the front-to-rear length of the machine can be reduced.

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

In addition, by setting the spacing 70 between the planting tools to p x plant spacing, rows of trees can be planted using the four planting tools, the first planting tool 20a, the second planting tool 20b, the third planting tool 20c, and the fourth planting tool 20d.

Figure 8 is a control block diagram of the left and right lifting cylinders 7L, 7R. The control device 5 receives the inclination angles in the forward and backward directions and the left and right directions of the traveling vehicle body 40 from an angular velocity sensor 6, which is an example of an inclination sensor of the present invention, information on the direction of travel from the path detection sensor 9, and the planting depth of the seedlings from the planting sensor 4. The path detection sensor 9 is a magnetic direction sensor 9A, a GPS device 9B, a ground sensor 9C, etc.

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

Figure 9 is a control flow chart for the left and right lift cylinders 7L, 7R that control the forward and backward tilt of the traveling body 40. In step S01, the angular velocity sensor 6 detects the forward and backward tilt of the traveling body 40, in step S02 the forward and backward tilt angle is determined, if the tilt angle is slight the process returns, if the traveling body is tilted forward the left and right lift cylinders 7L, 7R are extended in step S03 to raise the front side of the traveling body 40 and return the traveling body 40 to a horizontal state, if the traveling body is tilted backward the left and right lift cylinders 7L, 7R are contracted in step S04 to lower the rear side of the traveling body 40 and return the traveling body 40 to a horizontal state.

Figure 10 is a control flow chart for the left and right lifting cylinders 7L, 7R that control the left and right tilt of the traveling body 40. In step S11, the angular velocity sensor 6 detects the left and right tilt of the traveling body 40, and in step S12, the left and right tilt angle is determined. If the tilt angle is slight, nothing is done and the process returns. If the tilt angle is to the upper right, the right lifting cylinder 7R is contracted in step S13. In step S14, the planting depth of the planting sensor 4 is determined. If the planting depth is appropriate, the process returns. If the planting depth is deep, the left and right lifting cylinders 7L, 7R are contracted in step S15 and the process returns. If the planting depth is shallow, the left and right lifting cylinders 7L, 7R are extended in step S16 and the process returns.

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

When the path detection sensors 9, such as the magnetic orientation sensor 9A, GPS device 9B, and ground sensor 9C, detect a deviation from straight-ahead driving, the left and right lift cylinders 7L, 7R are controlled so that the direction of travel is corrected by contracting the left and right lift cylinders 7L, 7R on the side that corrects the direction of travel, thereby tilting the vehicle body 40 and correcting the direction of travel to straight-ahead driving.

6 Tilt sensor (angular velocity sensor)
8 Boot 9 Path detection means 17L Left front wheel support leg 17R Right front wheel support leg 32 Seedling transport belt 33 Seedling holder 34 Seedling holder 35 End clamp plate 38L Left running transmission case 38R Right running transmission case
40 Traveling vehicle body 42 Seedling transplanting device 43 Seedling supply device 44 Rear wheel 45 Front wheel

Claims (3)

A transplanter having a seedling planting device (42) mounted on a traveling body (40) supported by left and right front wheels (45, 45) journaled on left and right front wheel support legs (17L, 17R) and left and right rear wheels (44, 44) journaled on left and right traveling transmission cases (38L, 38R),
The left and right front wheel support legs (17L, 17R) are made extendable and retractable, and the inclination of the left and right traveling transmission cases (38L, 38R) is made changeable, and the extension and contraction of the left and right front wheel support legs (17L, 17R) and the inclination of the left and right traveling transmission cases (38L, 38R) are controlled by the fore-and-aft inclination angle of the inclination sensor (6) that detects the inclination of the traveling body (40), thereby maintaining the traveling body (40) horizontal in the fore-and-aft direction;
When the tilt sensor (6) detects the left/right tilt of the traveling body (40), the extension/contraction of the left/right front wheel support legs (17L, 17R) and the tilt of the left/right traveling transmission cases (38L, 38R) are controlled to keep the traveling body (40) horizontal in the left/right direction;
This transplanter is characterized in that it is provided with a course detection means (9) for detecting the traveling direction of a traveling body (40), and when the course detection means (9) detects a deviation from a straight traveling direction, it extends and retracts the left and right front wheel support legs (17L, 17R) to tilt the traveling body (40) and correct the traveling direction to a straight direction . 2. The transplanter according to claim 1 , wherein the extendable portions of the left and right front wheel support legs (17L, 17R) are covered with boots (8). The transplanter according to claim 1, characterized in that the seedling supply device (43) for transporting the seedlings to the planting device (42) is composed of an endlessly wound seedling transport belt (32), and the seedlings are held on the seedling transport belt (32) by seedling holders (33, 34) for holding the seedlings and end clamping plates (35) for clamping or receiving the ends of the seedlings, which are provided at predetermined intervals on the seedling transport belt (32 ).

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