JP6740971B2 - Work vehicle - Google Patents

Description

The present invention relates to a work vehicle.

2. Description of the Related Art Conventionally, some work vehicles are provided with an automatic steering device that assists straight running, and for example, one that performs automatic straight running by controlling the steered wheels of the steering device and holding it at a straight running position is known. (For example, see Patent Document 1). If the above-mentioned work vehicle capable of running straight ahead is applied to the seedling transplanter, unmanned automatic seedling planting work will be possible.

JP, 2016-24541, A

However, even if unmanned traveling is possible, for example, when the work vehicle is a seedling transplanter, the operator's seat for workers, work such as seedlings and fertilizers are still on the machine body of the traveling body connecting the seedling transplanting device. A work space for replenishing materials is provided. Therefore, there is a limit even if the material loading section for loading work materials such as seedlings and fertilizer is enlarged.

Therefore, it is conceivable to provide a seedling mounting area for loading seedlings even on the traveling vehicle itself, which does not require a cockpit or the like. However, in that case, it is desired that the seedlings can be easily replenished from the outside of the machine so that the labor for replenishing the seedlings having the increased load can be reduced. Further, it is desirable that the seedling transplanting device connected to the traveling vehicle body can be used as it is in terms of cost and usability.

The present invention has been made in view of the above, and provides a work vehicle capable of loading more work materials (seedlings, fertilizers, etc.) and easily carrying out work material loading work. The purpose is to

In order to solve the above-mentioned problems and to achieve the object, a working vehicle (10) according to claim 1 comprises a traveling vehicle body (1) having steered wheels (11) steered by a steering device (4). A working unit (2) connected to a rear portion of the traveling vehicle body (1) so as to be able to move up and down, a position information acquisition device (5) for acquiring position information, and a steering angle of the steered wheels (11), A control unit (3) for controlling the automatic traveling of the traveling vehicle body (1) by driving the steering device (4) based on the detected steering angle and the position information acquired by the position information acquisition device (5); A material storage section (13) which is provided over the entire upper part of the machine body from the front end portion to the rear end portion of the traveling vehicle body (1) and stores the work material to be fed to the working section (2). the material reservoir (13) is characterized that you have provided to be vertically movable relative to the machine body.

The work vehicle (10) according to claim 2 is the work vehicle (10) according to claim 1, wherein the material storage part (13) is a tank part (15) in which a material input port (131) is opened toward the front of the machine body, A material transfer mechanism (14) provided in the tank part (15) for transferring the work material to the work part (2).

The work vehicle (10) according to claim 3 is the work vehicle (10) according to claim 2, characterized in that the material transport mechanism (14) is provided in a plurality of stages in the height direction.

The work vehicle (10) according to claim 4 is the work vehicle (10) according to any one of claims 2 and 3 , wherein the work material includes at least a seedling (N) and a fertilizer (F), and the work unit (2) stores the material. A seedling placing table (20) for loading the seedling (N) sent from the section (13), and a seedling planting device for taking out the seedling (N) from the seedling placing table (20) and transplanting it to the field (100). (21) is a seedling planting part, wherein the material storage part (13) is located below the material transport mechanism (14) for feeding the seedlings (N) to the seedling planting part. A fertilizer storage unit (150) for storing fertilizer (F) is provided.

The work vehicle (10) according to claim 5 is the work vehicle (10) according to claim 4 , wherein the seedling placing table (20) is provided with a remaining amount detecting device (8) for detecting the remaining amount of the seedlings (N) to be loaded. The control unit (3) raises the seedling placing table (20) based on the detection signal from the remaining amount detection device (8), and at the same time, the material transfer mechanism (14) of the material storage unit (13). Is driven to replenish the seedling table (20) with seedlings (N) having a prescribed amount or less.

The work vehicle (10) according to claim 6 is the work vehicle (10) according to any one of claims 1 to 5 , wherein the receiving antenna (51) of the position information acquisition device (5) can be moved up and down. ).

The working vehicle (10) according to claim 7 is connected to a traveling vehicle body (1) having steered wheels (11) steered by a steering device (4) and a rear portion of the traveling vehicle body (1) so as to be vertically movable. The working unit (2), the position information acquisition device (5) that acquires position information, and the steering angle of the steered wheels (11) are detected, and the detected steering angle and the position information acquisition device (5) A control unit (3) for controlling the automatic traveling of the traveling vehicle body (1) by driving the steering device (4) based on the acquired position information, and a front end portion to a rear end portion of the traveling vehicle (1) body. And a material storage section (13) which is provided over the entire upper part of the machine body and stores the working material to be fed to the working section (2), and the working material includes at least seedling (N). The working unit (2) takes out the seedling placing table (20) on which the seedlings (N) sent from the material storage unit (13) are loaded, and the seedling (N) is taken out from the seedling placing table (20). A seedling planting unit including a seedling planting device (21) for transplanting to a field (100) by a seedling (N) carrying the material storage unit (13) and the seedling mounting table (20). The rail body (143) to be shared is integrally configured, and an elevating device (900) for integrally elevating the material storage section (13) and the seedling placing table (20) is provided. ..

According to the work vehicle of claim 1, the work seat can be eliminated and the work material can be stored on the entire surface of the traveling vehicle body. Therefore, the frequency of replenishment of the work material can be reduced during automatic traveling. it can.

According to the work vehicle of the second aspect, the material storage portion and the material input port are opened toward the front of the machine body. Therefore, in addition to the effect of the first aspect, the work material is easily input from the outside of the machine body. be able to. In addition, since the material transport mechanism for transporting the work material to the work unit is provided, it is not necessary for the worker to get on the machine and set the work material to the work unit, and the work efficiency is improved.

According to the work vehicle of the third aspect, in addition to the effect of the invention of the second aspect, it is possible to further increase the storage amount of the work material and further reduce the replenishment frequency of the work material.

According to the working vehicle of the fourth aspect, in addition to the effect of the second or third aspect, since the material storage section is provided so as to be able to move up and down with respect to the machine body, maintainability is improved.

According to the working vehicle of the fifth aspect, in addition to the effect of the third or fourth aspect, even fertilizer as a working material can be easily put in from the outside of the machine body.

According to the work vehicle of claim 6, in addition to the effect of the invention of claim 5, the seedlings can be automatically replenished while more seedlings are stacked, so that the working field is long. However, it is possible to deal with it sufficiently.

According to the work vehicle of claim 7, in addition to the effect of the invention of any one of claims 4 to 6, the reception antenna of the position information acquisition device does not get in the way and the accurate position information is obtained. Easy to get. Further, since the material storage unit can be moved up and down, the maintainability of the receiving antenna is also improved.

According to the work vehicle described in claim 8, in addition to the effect of the invention described in any one of claims 1 to 3, more work materials can be loaded, and the work can be performed during automatic traveling. The frequency of replenishing materials can be further reduced. Moreover, the designability as a seedling transplanter can be improved.

FIG. 1 is an explanatory diagram showing an outline of a working state of a seedling transplanter which is a work vehicle according to the first embodiment. FIG. 2 is a functional block diagram centering on the controller of the above seedling transplanter. FIG. 3 is a partially cutaway side view of the above seedling transplanter. FIG. 4 is a perspective view of the above seedling transplanter. FIG. 5: is operation|movement explanatory drawing of the working part and material storage part of the seedling transplanting machine same as the above. FIG. 6 is an operation explanatory diagram of the material storage unit of the seedling transplanter that is the work vehicle according to the second embodiment. FIG. 7A is an explanatory diagram of a drug spraying device included in the seedling transplanter according to the third embodiment. FIG. 7B is an explanatory view showing a modified example of the above-mentioned drug spraying device. FIG. 8: is explanatory drawing by the side view of the seedling transplanter which concerns on 4th Embodiment. FIG. 9A is an explanatory diagram of a seedling transplanter according to the fifth embodiment. FIG. 9B is an explanatory diagram of a stock stall prevention device provided in the seedling transplanter of the above. FIG. 10: is explanatory drawing by the side view of the seedling transplanting machine which concerns on 6th Embodiment.

Hereinafter, a work vehicle according to an embodiment of the present invention will be described in detail with reference to the drawings as a seedling transplanter capable of performing rice planting work while automatically traveling unmanned. The constituent elements in the following embodiments include those that can be easily replaced by those skilled in the art, or those that are substantially the same, that is, those in the so-called equivalent range. Furthermore, the present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the gist of the present invention, or the embodiments can be combined and implemented. Further, hereinafter, the traveling vehicle body of the seedling transplanting machine or the entire seedling transplanting machine including the traveling vehicle body and the working unit may be referred to as a machine body.

(First embodiment)
FIG. 1 is an explanatory view showing an outline of a working state of a work vehicle according to the first embodiment, that is, an explanatory view showing an outline of automatic rice planting work of a seedling transplanter, and FIG. 2 mainly shows a controller of the seedling transplanter. 3 is a partially cutaway side view of the seedling transplanter.

As shown in FIG. 1, the seedling transplanter 10 can carry out the planting work of the seedlings N in a predetermined field 100 while automatically traveling along a previously taught teaching route L while being unmanned.

The seedling transplanter 10 is configured by connecting a seedling planting portion, which is a working portion 2, to a rear portion of a traveling vehicle body 1 including front wheels 11 and rear wheels 12 that are drive wheels so as to be vertically movable. The front wheels 11 function as steered wheels and are linked to a steering mechanism 41 shown in FIG.

As shown in FIG. 3, the traveling vehicle body 1 includes a power transmission device that is mounted on a vehicle body frame 16 and includes a prime mover and a transmission case, both of which are not shown. The power source may be an internal combustion engine such as a diesel engine or a gasoline engine, or an electric motor. The generated power is used not only for moving the traveling vehicle body 1 forward and backward, but also for driving each device of the working unit 2.

The power transmitted from the transmission case that constitutes the power transmission device to the front wheels 11 and the rear wheels 12 can be partially transmitted to the front wheels 11 via the left and right front wheel final cases 17, and the rest can be the left and right rear wheel gear cases. It can be transmitted to the rear wheel 12 via 18. The left and right front wheels 11 are connected to the left and right front wheel final cases 17 via axles 17a, and the left and right rear wheels 5 are connected to rear wheel gear cases 22 via axles 18a.

The seedling transplanter 10 is automatically driven by a controller 3 (see FIG. 2), which is a control unit mounted on the traveling vehicle body 1, performing steering control on the automatic steering device 4. That is, the controller 3 obtains its own position information by the radio wave received from the navigation satellite 300 orbiting over the sky, and based on the obtained position information and the steering angle of the front wheel 11 obtained by the steering angle detection device 42, the controller 3 The seedling transplanting machine 10 can be automatically driven.

The position information of the seedling transplanter 10 is acquired by the reception antenna 51 provided on the traveling vehicle body 2. Note that, as shown in FIG. 2, the reception antenna 51 constitutes a part of the position information acquisition device 5 such as a GNSS (Global Navigation Satellite System) control device or a GPS (Global Positioning System) control device.

By the way, the seedling transplanting machine 10 can be driven not only by automatic operation but also by remote operation by an operator. For example, from the hangar or the like to the field 100, the vehicle may be automatically driven, or the operator may remotely operate the farm road 200.

The controller 3 as a control unit included in the seedling transplanter 10 includes a processing unit having a CPU (Central Processing Unit) and the like, a storage unit such as a ROM (Read Only Memory) and a RAM (Random Access Memory), and an input/output unit. Equipped with. These are connected to each other and can exchange signals with each other, and a storage unit stores a computer program for controlling the seedling transplanter 10.

As shown in FIG. 2, the controller 3 drives a drive control device 6 for controlling a drive system including traveling of the seedling transplanter 10 and a material transport mechanism 14 provided in a seedling tank 13 described later. The material conveying motor 7 and other various actuators 400 are connected.

The various actuators 400 include, for example, a throttle motor that adjusts the intake amount of the engine, a trunnion drive motor that changes the rotation angle of the trunnion of the hydraulic continuously variable transmission, and a planted clutch motor that operates the planted clutch. There is.

Further, the controller 3 is connected to, for example, a seedling sensor 8 that detects the remaining amount of the seedling N included in the seedling transplanter 10 and a monitoring camera 9 that images the planting status of the field 100. For example, the person in charge of work visually recognizes the image data captured by the monitoring camera 9, so that it is possible to determine the presence of a stock absent or the work status of planting. Further, the monitoring camera 9 can be appropriately set in the installation position according to the purpose of use. Further, for example, various sensors 500 that acquire various information, such as a direction sensor that detects the orientation of the aircraft and an orientation sensor that detects the orientation of the aircraft, are connected.

Although not shown in FIG. 2, the remote device carried by the operator and the controller 3 can be wirelessly connected by a predetermined wireless communication standard. The remote device may be a mobile phone or a tablet terminal device.

Further, as described above, the seedling transplanter 10 includes the automatic steering device 4 controlled by the controller 3 and the position information acquisition device 5 which is a position information acquisition device.

The automatic steering device 4 includes a steering mechanism 41 including a steering motor whose drive is controlled by the controller 3, and enables the controller 3 to automatically steer the seedling transplanter 10. For example, when a start switch (not shown) is turned on, the controller 3 starts the automatic operation of the traveling vehicle body 2 via the automatic steering device 4 based on the position information acquired by the position information acquisition device 5 described later.

The position information acquisition device 5 has a reception antenna 51 that receives a signal from a navigation satellite 300 used in GNSS or GPS, acquires position information (coordinate information) of the seedling transplanter 10 on the earth, and acquires it. The position information is transmitted to the controller 3.

The controller 3 can also derive the actual speed of the seedling transplanter 10 from the position data of the machine acquired by the position information acquisition device 5. That is, the actual traveling speed can be sequentially calculated from the amount of movement of the aircraft within a fixed time. Therefore, the controller 3 can automatically run while maintaining the optimum speed for the work of planting the seedlings N. Further, even if the front wheels 11 and the rear wheels 12 slip, for example, the actual vehicle speed of the seedling transplanter 10 can be acquired regardless of the rotation amount of the rear wheels 12.

In this way, the seedling transplanter 10 controls the steering mechanism 41 on the basis of the steering angle of the front wheels 11 detected by the steering angle detection device 42 and the acquired position information by the controller 3, and determines the predetermined work route L. It is possible to automatically perform the planting work of the seedlings N, the fertilization work, the chemical spraying work, and the like described later while automatically traveling along the road.

As described above, the seedling transplanting machine 10 according to the present embodiment is a robotized seedling transplanting machine capable of performing unmanned automatic traveling and seedling transplanting work. For this reason, the pilot seat and the like are eliminated from the traveling vehicle body 1, and instead, a material storage portion is provided over the entire upper portion of the machine body from the front end portion to the rear end portion of the traveling vehicle body 1.

Here, mainly the material storage section of the seedling transplanter 10 will be specifically described with reference to the drawings. FIG. 3 is a partially cutaway side view of the seedling transplanting machine 10, FIG. 4 is a perspective view of the seedling transplanting machine 10, and FIG. 5 is an operation explanatory view of a working section and a material storage section of the seedling transplanting machine 10 of the same. .. In addition, in FIG. 4, details of the working unit 2 are omitted, and only the outline is shown by an imaginary line.

As shown in the figure, the material storage unit according to the present embodiment is a seedling tank 13 that includes, for example, a tank unit 15 having a shell structure with an open bottom surface, and a material transport mechanism 14 provided in an inner space of the tank unit 15. Composed. The tank portion 15 is provided on the vehicle body frame 16 so as to occupy the entire upper half of the traveling vehicle body 1.

The tank portion 15 has a base portion 15a and a dome portion 15b formed on the base portion 15a, and is formed in a hollow shape by the base portion 15a and the dome 15b. The base portion 15a is provided with the controller 3 described above, and the material input port 131 is formed in the front portion of the machine body (the forward direction side of the machine body).

On the other hand, in a side view, the dome portion 15b rises diagonally from a position slightly rearward of the front portion of the base portion 15a and horizontally extends rearward so that the rear end portion faces the working portion 2. The material discharge port 132 is formed. That is, in the tank portion 15, from the relatively lower material input port 131 to the relatively upper material discharge port 132, the material transfer mechanism has a curved wavy shape that is smoothly continuous from concave to convex. 14 are provided.

In this way, the material transport mechanism 14 provided inside the tank portion 15 accommodates a plurality of seedling mats M in which the seedlings N to be planted in the field 100 are arranged in multiple rows in a mounted state, and The seedling mat M can be sequentially fed to the seedling table 20 of the seedling planting section which is the working section 2.

Therefore, the seedling mat M can be easily loaded from the outside of the machine body, and the material carrying mechanism 14 for carrying the seedling mat M to the working unit 2 allows the worker to get on the traveling vehicle body 1 as before. Therefore, the work of setting the seedling mat M on the seedling mounting table 20 of the working unit 2 becomes unnecessary, and the working efficiency is improved.

It should be noted that the material transport mechanism 14 may be provided with a plurality of rows corresponding to the number of corresponding rows of the seedling transplanting machine 10. For example, if the seedling transplanting machine 10 is a six-row planting machine and six rows of seedling mats M can be placed on the seedling placing table 20 provided in the working machine 2, the material transport mechanism 14 is also stored in the tank portion 15. 6 rows are arranged.

Further, a disc-shaped mounting seat 15c is formed at the boundary between the tapered portion and the horizontal portion on the front side of the dome portion 15b, and the receiving antenna 51 of the position information acquisition device 5 is arranged on the mounting seat 15c. .. As described above, since the receiving antenna 51 is stably arranged at the substantially central position of the machine body, highly accurate position information can be stably acquired.

Further, the material transporting mechanism 14 includes an upper transporting mechanism 141 and a lower transporting mechanism 142 having a configuration suitable for transporting the seedling mat M. These are arranged vertically with a predetermined interval, and each of them can be easily transported in a state where a plurality of seedling mats M are placed, such as a motor-driven roller conveyor or belt conveyor. It is possible. In this way, by using the rollers, the seedling mat M can be conveyed in a stable state without being curled up at the ends thereof.

Further, for example, when the material transport mechanism 14 is a belt conveyor, a plurality of belt conveyors are arranged between the material input port 131 and the material output port 132, and the front side, that is, the material input side of the material discharge port 132 side The transport speed on the side of the mouth 131 can be increased. With such a configuration, it is possible to prevent useless gaps from being formed between the conveyed plurality of seedling mats M.

In this way, when the mat seedlings M are loaded from the material input port 131 opening to the front side of the tank portion 15, the mat seedlings M placed on the upper stage transport mechanism 141 are placed on the lower stage transport mechanism 142 by the upper stage transport mechanism 141. The mat seedlings M are sequentially sent to the inner side by the lower stage transport mechanism 142, and stopped at a position facing the material discharge port 132 opening to the rear side of the tank section 15.

At the start of work by the seedling transplanter 1 or at the time of seedling replenishment (when the seedling mat M is not in the tank portion 15 and the seedling mounting table 20), the operator fills the seedling N in the following manner. That is, the mat seedlings M are separately loaded into the tank portion 15 and the seedling placing table 20 of the working portion (seedling planting portion) 2, or the working portion 2 is slightly raised to raise the seedling placing table 20. With the upper end of the seedling and the material discharge port 132 of the tank portion 15 abutted against each other, the seedling mat M loaded into the lower stage transport mechanism 142 is sequentially fed. When the remaining amount of the seedling mat M in the seedling tank 15 becomes small, the seedling transplanting machine 1 is controlled to automatically move to the shore and stop.

As described above, the material transport mechanism 14 has a plurality of stages (two stages in this case), so that a larger amount of the seedling mat M can be stored, and the frequency of replenishing the seedling mat M during work is further reduced.

The tank portion 15 of the seedling tank 13 and the material transport mechanism 14 according to the present embodiment are independently supported by the vehicle body frame 16 via a support device (not shown) so as to be lifted and lowered. That is, as shown in FIG. 5, the seedling tank 13 is configured to be movable up and down with respect to the machine body (see arrow A1).

Therefore, the material transport mechanism 14 can be easily maintained by raising only the tank portion 15, and at least the material transport mechanism 14 is raised and lowered, the upper transport mechanism 141 or the lower transport mechanism 142 can be operated. It can be adjusted so as to face the upper end of the seedling mounting table 20. Further, if the tank portion 15 is configured to be further lowered, for example, the maintainability of the reception antenna 51 of the position information acquisition device 5 is also improved.

A suspension mechanism may be provided between the seedling tank 13 and the vehicle body frame 16. Alternatively, the material transport mechanism 14 is made of a flexible material instead of a rigid body, so that vibration transmitted from the traveling vehicle body 1 to the seedling tank 13 can be reduced and the durability of the seedling transplanting machine 10 can be enhanced.

By the way, the working unit 2 of the seedling transplanting machine 10 according to the present embodiment uses the known configuration of the seedling planting unit as it is. That is, as shown in FIG. 5, the working unit 2 is provided with a pair of planting claws 22 on the lower side of the seedling placing table 20 for taking out the seedlings N from the seedling placing table 20 and transplanting them to the field 100. 21 is provided, and a float 23 and a rotor 24 for leveling the field 100 are provided. The working unit 2 is rotatably (see arrow A3) connected to the vehicle body frame 16 of the traveling vehicle body 1 by an elevating device 25 having a link mechanism.

A seedling sensor 8 (see FIG. 2) is provided on the seedling mounting table 20 of the working unit 2. Based on the detection signal from the seedling sensor 8, the controller 3 raises the seedling placing table 20 and drives the material transport mechanism 14 of the seedling tank 13 to bring the seedling N below the prescribed amount to the seedling placing table 20. Send to and replenish automatically. In addition, in the present embodiment, the seedling sensor 8 is also provided in the seedling tank 15, and the remaining amount of the seedling mat M in the seedling tank 15 is detected. Control 1 to automatically move to the shore.

Therefore, since more seedlings N can be stacked and the seedlings N can be automatically replenished, it is possible to sufficiently cope with the field 100 having a long working distance.

In the seedling tank 13, which is a material storage unit, a fertilizer storage unit 150 that stores the fertilizer F is provided below the material transport mechanism 14 that sends the seedling mat M to the seedling mounting table 20 of the seedling planting unit. .. That is, as shown in FIG. 4, the fertilizer storage part 150 is a drawer-shaped box, and is arranged so that it can be freely taken in and out from the material input port 131 formed in the tank part 15 (see arrow A2).

Although omitted in FIGS. 3 and 4, the bottom of the fertilizer storage unit 150 is provided with a mechanism capable of transferring the fertilizer F to the rear of the tank unit 15, and the material discharge port formed at the rear end of the tank unit 15. A fertilizer sprayer controllable by the controller 3 is provided near 132.

With such a configuration, the seedling transplanter 10 can easily put a sufficient amount of the fertilizer F into the tank portion 15 and store the fertilizer F therein, and at the same time, can supply the fertilizer to the field 100 during the planting operation of the seedling N. Alternatively, the fertilizer can be directly sprayed to the seedling N held on the seedling mat M.

As described above, according to the seedling transplanting machine 10 according to the present embodiment, work materials such as the seedling N and the fertilizer F are provided over the entire surface of the traveling vehicle body 1 by eliminating the operation seats and the like that are conventionally provided. Therefore, it is possible to remarkably reduce the frequency of replenishing work materials such as the seedling N when the seedling N is planted while the vehicle is running automatically.

Hereinafter, other embodiments of the seedling transplanting machine 10 will be described with reference to the drawings. FIG. 6 is an operation explanatory view of a material storage unit of the seedling transplanting machine 10 according to the second embodiment, FIG. 7A is an explanatory view of a chemical spraying device provided in the seedling transplanting machine 10 according to the third embodiment, and FIG. 7B. [Fig. 8] is an explanatory view showing a modified example of the above-mentioned drug spraying device, and Fig. 8 is an explanatory view from a side view of the seedling transplanting machine 10 according to the fourth embodiment. Moreover, FIG. 9A is an explanatory view of the seedling transplanting machine 10 according to the fifth embodiment, FIG. 9B is an explanatory view of a stock abscission prevention device included in the same seedling transplanting machine 10, and FIG. 10 is a sixth embodiment. It is explanatory drawing by the side view of the said seedling transplanting machine 10.

(Second embodiment)
As shown in FIG. 6, in the front part of the seedling tank 13, a lifting device 151 such as a hydraulic cylinder is provided between the seedling tank 13 and the vehicle body frame 16, and a support shaft 152 provided at the rear part of the seedling tank 13 is provided. The seedling tank 13 can be displaced to the front raised state together with the material transport mechanism 14 provided inside so as to be swingable around the center. With this configuration, the seedling mat M can be smoothly supplied to the seedling mounting table 20 of the working unit 2.

Further, when the material transport mechanism 14 provided in the tank portion 15 of the seedling tank 13 at this time is a belt conveyor, when the material transport mechanism 14 tilts to the front rising state, the end of the seedling mat M placed on In order to prevent the portion from being turned up, it is possible to perform control such that the belt is reversed and wound up.

In addition to the configuration in which the seedling tank 13 can be raised and lowered in the forwardly raised state, only the tank portion 15 of the seedling tank 13 can be configured to be rotatable about the support shaft 152 until it is substantially inverted. In this case, for example, the support shaft 152 may have a double cylinder structure, and one shaft connected to the tank portion 15 may be configured to be rotatable by a motor or the like.

(Third Embodiment)
Next, in the seedling transplanting machine 10 according to the third embodiment, as shown in FIG. 7A, the chemical spraying machine 600 can be arranged on the seedling tank 13.

The chemical spraying machine 600 stores the chemicals Q and includes a sprayer main body 610 provided with a feeding device (not shown) that pressure-feeds the stored chemicals Q, and a plurality of vertically spreaders at the bottom of the sprayer main body 610 (here 6) nozzles 616. That is, the chemical spraying machine 600 applies the chemicals Q to the six seedling mats M in the same manner as the six rows of the material transport mechanism 14 arranged in the tank portion 15 with a width substantially the same as the width of the seedling tank 13. Can be sprayed.

Further, the chemical spraying machine 600 includes a rail part 620 that is installed between the front and rear columns 630 and 630 standing on the tank part 15 of the seedling tank 13, and the rail part 620 allows the circumference of the sprayer main body 610 to be surrounded. The rolling wheels 615 provided on the surface are nipped and rolled to move the spreader main body 610 back and forth (see arrow A6).

By the way, when the front and rear columns 630 are provided so as to penetrate the inside of the tank portion 15, they may be appropriately configured so as not to obstruct the seedling transport path formed by the material transport mechanism 14. For example, the tank unit 15 is formed with a transfer mechanism installation surface for arranging the plurality of material transfer mechanisms 14, and the column 630 is provided on the section screen formed in a slope between adjacent transfer mechanism installation surfaces. Can be erected. It is also possible to form the front and rear columns 630 in a pipe shape and use this to supply the fertilizer F to a fertilizer spreader (not shown) provided in the vicinity of the material discharge port 132. It is also possible to provide a through hole in the middle of the front and rear columns 630 and insert a fertilizer pipe for feeding the fertilizer F into the through hole.

The rolling wheels 615 are configured to be rotatable by a motor (not shown) driven by the controller 3.

With such a configuration, when performing a chemical spraying operation of spraying the chemicals Q on the seedling mat M, the sprayer main body 610 stays at the work position P1 set on the front side of the seedling tank 13 and sprays the chemicals. An opening 15d is formed in the tank portion 15 at a position corresponding to the work position P1, and the medicine Q is sprayed onto the seedling mat M through the opening 15d.

Since the medicine Q sprayed from the nozzle 616 is directly ejected from the opening 15d into the tank portion 15, it can be reliably sprayed onto the seedling N without being laterally blown by wind or the like.

On the other hand, when the sprayer main body 610 is filled with the medicine, the sprayer main body 610 is moved to the medicine input position P2 set at the front position of the machine. As described above, when replenishing the medicine, the sprayer main body 610 moves to the front side of the machine, so that the medicine replenishing work becomes easy.

The controller 3 moves the sprayer main body 610 from the rear of the machine to the front of the machine as the chemicals are sprayed and the amount of the chemical in the main body 610 of the sprayer decreases. By controlling the position of the spraying machine main body 610 in this way, the weight balance of the seedling transplanting machine 10 can be maintained, and the traveling performance of the seedling transplanting machine 10 can be kept good.

Further, the controller 3 moves the spreader main body 610 to the front of the machine while the machine is turning. That is, when the working unit 2 rises and turns, the spreader body 610 moves forward. This is because the seedling tank 13 rises and the front-rear balance is disturbed. In this way, the spreader main body 610 moves toward the front of the machine body, so that the weight is added to the front wheels 11, the driving force is increased, and the turning performance can be improved.

Further, when the chemical spraying work is not performed, the controller 3 can move the sprayer main body 610 in accordance with the front-back inclination of the machine body to appropriately balance it.

Next, a modification of the drug spraying device 600 will be described. As shown in FIG. 7B, the medicine spraying machine 600 according to the modified example is basically the same as the configuration shown in FIG. 7A, but extends from the sprayer main body 610 and guides the hose portion 640 that guides the medicine to be pumped. And a nozzle portion 650 provided at the tip of the hose portion 640.

The hose portion 640 is configured to be expandable and contractible by, for example, a bellows, and here, the nozzle portion 650 is directed to the seedling mat M held on the seedling mounting table 20 of the working unit 2.

With such a configuration, when the medicine sprayer main body 610 is filled with the medicine, it suffices to move the sprayer main body 610 to a convenient place, and the medicine refilling work becomes easy.

It is also conceivable that, for example, the rail portion 620 is extended in a curved shape along the seedling placing table 20 of the working portion 2 so that the spreader main body 610 can be moved to the working portion 2. With such a configuration, it is possible to perform a chemical replenishing work or the like to the spreader main body 610 at a low position and improve workability.

Also in this modified example, as the amount of chemicals in the sprayer main body 610 decreases, the controller 3 moves the sprayer main body 610 from the rear of the machine to the front of the machine to maintain the weight balance of the seedling transplanter 10, The running performance of the transplanting machine 10 is maintained well.

By the way, it is preferable that the nozzle portion 650 provided so as to face the seedling placing table 20 of the working unit 2 be provided in an upper portion of the seedling placing table 20 at a portion having a large degree of curvature. In this way, in the seedling mat M located at a portion having a large degree of curvature, the seedling mat M itself is also curved and the leaf between the seedling N and the leaf of the seedling N is greatly expanded, so that the medicine reaches the root portion. Can be sprayed up to.

(Fourth Embodiment)
As shown in FIG. 8, the seedling transplanting machine 10 according to the fourth embodiment includes a work frame 700 that is extendable and retractable in front of the machine body (see arrow A8). The work frame 700 includes a main frame 710 and a sub-frame 720 attached to the tip of the main frame 710 so as to be tiltable (see arrow A7). As shown in the drawing, the work frame 700 is pulled out from the machine body side to move the sub-frame 720. When tilted to the front side, a step for boarding is formed (see a chain double-dashed line in FIG. 8).

Therefore, although the seedling transplanter 10 operates by unmanned operation, the worker can get on the traveling vehicle body 1 and perform predetermined work by using the work frame 700 as needed.

On the other hand, when the work frame 700 is not used, as shown by the solid line in FIG. 8, the work frame 700 is stored on the side of the traveling vehicle body 1 and the subframe 720 is tilted in the standing direction (see arrow A7) to maintain its posture. While functioning as a bumper, by closing the material input port 131 formed in the front portion of the tank portion 15, it is possible to protect the seedling N, the fertilizer F, etc. and prevent them from falling. Further, the designability of the seedling transplanting machine 10 can be improved by devising the shape of the subframe 720.

(Fifth Embodiment)
As shown in FIG. 9A, the seedling transplanting machine 10 according to the fifth embodiment is provided with a stapling prevention device 800 below the seedling mounting table 20 in the working unit 2. As shown in FIG. 9A and FIG. 9B, a streak prevention device 800 includes a rail member 840 installed between stays 850, 850 connected to the left and right side surfaces of the seedling mounting table 20, and a rail member 840 on the rail member 840 in the left-right direction of the machine body. It comprises a spare seedling accommodation box 820 arranged slidably and a planting auxiliary device 830 excreted on the front end side of the preliminary seedling accommodation box 820. A spare seedling N is stored in the spare seedling storage box 820, and the planting auxiliary device 830 includes a nail body similar to the planting nail 22 included in the seedling planting device 21 of the working unit 2.

In the seedling transplanting machine 10 according to the present embodiment, the camera 810 is provided at the lower center of the rail member 840 extending in the left-right direction of the machine body. During the planting work of the seedling N, the planting situation of the field 100 is imaged by the camera 810. Then, the captured image data is transmitted to the controller 3 (see FIG. 2), and the controller 3 determines whether or not there is a stock-out. When it is determined that there is a stockout, the position is identified, and the planting auxiliary device 830 is driven to plant an auxiliary seedling N in the stockout portion.

As described above, in the seedling transplanting machine 10 according to the present embodiment, the seedling transplanting machine 10 itself determines whether or not there is a stockout, and the auxiliary seedling N is planted at the stockout location based on the determination result, thereby eliminating the stock. Can be automatically resolved.

(Sixth Embodiment)
As shown in FIG. 10, the seedling transplanting machine 10 according to the sixth embodiment conveys a seedling N, that is, a seedling mat M, between a seedling tank 15 which is a material storage unit and a seedling mounting table 20 of the working unit 2. The rail body 143 is shared and integrally configured. Further, an elevating device 900 for integrally elevating the seedling tank 15 and the seedling mounting table 20 is provided.

The lifting device 900 connects the working unit 2 that shares one rail body 143 and the traveling vehicle body 1 with a coupling frame 910, and the coupling frame 910 and a plurality of hydraulic cylinders 920 provided on the vehicle body frame 16. It is configured by connecting.

In this way, the raising/lowering device 900 integrally integrates the seedling tank 15 and the seedling mounting table 20 as needed, for example, when maintenance of the machine body is required, including turning when performing seedling planting work. It can be vertically moved (see arrow A9).

The seedling transplanting machine 10 is not limited to the above-described embodiment, but for example, with respect to the material transporting mechanism 14 provided in a plurality of rows in the tank portion 15, the placed seedling mats M are set in the machine width direction. It can be configured so that it can be handed over, such as by sliding it on. With such a configuration, in the seedling mounting table 20 and the tank portion 15, it becomes possible to replenish the insufficient seedling mats M from a large number of rows.

The following seedling transplanting machine 10 is realized from the embodiment described above.

(1) A traveling vehicle body 1 having front wheels 11 steered by an automatic steering device 4, a working unit 2 that is connected to a rear portion of the traveling vehicle body 1 so as to be vertically movable, and a position information acquisition device 5 that acquires position information. A controller 3 that detects the steering angle of the front wheels 11 and drives the automatic steering device 4 based on the detected steering angle and the position information acquired by the position information acquisition device 5 to control the automatic travel of the traveling vehicle body 1. A seedling transplanting machine 10 provided with a seedling tank 13 for storing seedlings N (seedling mat M) to be fed to the working section 2, which is provided over the entire upper part of the machine body from the front end portion to the rear end portion of 1.

(2) In the above (1), the seedling tank 13 is provided in the tank portion 15 in which the material inlet 131 is opened toward the front of the machine body, and is provided in the tank portion 15, and the seedling N (seedling mat M) is placed in the working portion. A seedling transplanter 10 including a material transporting mechanism 14 for transporting the material to the seedling 2.

(3) In the above (2), the material transfer mechanism 14 is the seedling transplanter 10 provided in a plurality of stages in the height direction.

(4) The seedling transplanter 10 according to any one of (1) to (3) above, wherein the seedling tank 13 is provided to be movable up and down with respect to the machine body.

(5) In (3) or (4) above, the work material includes at least seedling N and fertilizer F, and the working unit 2 loads the seedling N (seedling mat M) fed from the seedling tank 13. A seedling planting section including a seedling platform 20 and a seedling planting device 21 that takes out the seedling N from the seedling platform 20 and transplants the seedling N into the field 100. The seedling transplanter 10 including a fertilizer storage unit 150 that stores the fertilizer F below the material transport mechanism 14 that supplies the fertilizer F to the plant.

(6) In the above (5), the seedling mounting table 20 is provided with the seedling sensor 8 for detecting the remaining amount of the seedling N to be loaded, and the controller 3 sets the seedling mounting table 20 based on the detection signal from the seedling sensor 8. The seedling transplanter 10 that drives the material transport mechanism 14 of the seedling tank 13 and replenishes the seedling mounting table 20 with the seedling N that has fallen below a specified amount.

(7) The seedling transplanter 10 according to any one of (4) to (6) above, in which the receiving antenna 51 of the position information acquisition device 5 is arranged in a vertically movable seedling tank 13.

(8) In any one of the above (1) to (3), the work material includes at least seedling N, and the working unit 2 is a seedling platform 20 on which the seedling N sent from the seedling tank 13 is loaded, A seedling planting unit that includes a seedling planting device 21 that takes out the seedlings N from the seedling mounting table 20 and transplants the seedlings N to the field 100, and a rail on which the seedling N is transported between the seedling tank 13 and the seedling mounting table 20. A seedling transplanting machine 10 including a raising and lowering device 900 that integrally shares a body 143 and that raises and lowers the seedling tank 13 and the seedling stand 20 integrally.

The embodiments described above are merely examples, and are not intended to limit the scope of the invention. The embodiment can be implemented in various other forms, and various omissions, replacements, combinations, and changes can be made without departing from the spirit of the invention. Also, the specifications (structure, type, direction, shape, size, length, width, thickness, height, number, arrangement, position, material, etc.) of each configuration, shape, display element, etc. are changed appropriately. Can be carried out.

1 Running vehicle 2 Working section (planting section)
3 controller (control unit)
4 Automatic steering device 5 Position information acquisition device 8 Seedling sensor (remaining amount detection device)
10 Seedling transplanter (work vehicle)
11 front wheels (steering wheels)
13 Seedling tank (material storage section)
14 Material Transport Mechanism 15 Tank Section 20 Seedling Stand 51 Reception Antenna 100 Field 131 Material Inlet 143 Rail Body 150 Fertilizer Storage Section 900 Lifting Device F Fertilizer M Seedling Mat N Seedling

Claims (7)

A traveling vehicle body having steered wheels steered by a steering device,
A working unit connected to the rear part of the traveling vehicle so as to be able to move up and down,
A position information acquisition device for acquiring position information,
A control unit that detects the steering angle of the steered wheels, drives the steering device based on the detected steering angle and the position information acquired by the position information acquisition device, and controls the automatic traveling of the traveling vehicle body;
A material storage unit that is provided over the entire upper portion of the machine body from the front end portion to the rear end portion of the traveling vehicle body and stores the work material to be fed to the working unit,
Equipped with
The material storage section is
A work vehicle, characterized in that that provided to be vertically movable relative to the machine body. The material storage section is
A tank part with a material inlet opening toward the front of the aircraft,
A material transfer mechanism which is provided in the tank section and transfers the work material to the work section,
The work vehicle according to claim 1, further comprising: The material transport mechanism is
The work vehicle according to claim 2, wherein the work vehicle is provided in a plurality of stages in the height direction. The working material includes at least a seedling and a fertilizer, the working unit, a seedling mounting table for loading the seedling sent from the material storage unit, and a seedling to be taken out from the seedling mounting table and transplanted to the field A seedling planting unit comprising a planting device,
The material storage section is
The work vehicle according to claim 2 or 3 , further comprising: a fertilizer storage unit that stores the fertilizer below the material transport mechanism that feeds the seedlings to the seedling planting unit. The seedling mounting table is provided with a remaining amount detecting device for detecting the remaining amount of seedlings to be loaded,
The control unit is
Based on the detection signal from the remaining amount detection device, while raising the seedling mounting table, drive the material transport mechanism of the material storage unit, replenish the seedling mounting table with seedlings having a prescribed amount or less. The work vehicle according to claim 4 , wherein: The work vehicle according to any one of claims 1 to 5 , wherein the receiving antenna of the position information acquisition device is arranged in the material storage unit that can be moved up and down. A traveling vehicle body having steered wheels steered by a steering device,
A working unit connected to the rear part of the traveling vehicle so as to be able to move up and down,
A position information acquisition device for acquiring position information,
A control unit that detects the steering angle of the steered wheels, drives the steering device based on the detected steering angle and the position information acquired by the position information acquisition device, and controls the automatic traveling of the traveling vehicle body;
A material storage unit that is provided over the entire upper portion of the machine body from the front end portion to the rear end portion of the traveling vehicle body and stores the work material to be fed to the working unit,
Equipped with
The working material includes at least seedlings,
The working unit is a seedling planting unit including a seedling platform on which the seedlings sent from the material storage unit are loaded, and a seedling planting device that takes out the seedlings from the seedling platform and transplants the seedlings to a field. ,
The material storage unit and the seedling mounting table are integrally configured by sharing a rail body for transporting seedlings, and an elevating device for integrally raising and lowering the material storage unit and the seedling mounting table is provided. work vehicle shall be the feature.

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