JP6128078B2 - Seedling transplanter - Google Patents

Description

  The present invention relates to a seedling transplanter such as a riding rice transplanter.

  A rice transplanter equipped with a seedling planting tool for planting a seedling placed on a seedling stage using a driving force transmitted from an engine via an HST (Hydro Static Transmission) is known (for example, a patent) Reference 1).

  And the rice transplanter provided with the seedling stand which reciprocates in the left-right direction using the driving force transmitted via HST from an engine is known (for example, refer patent document 2).

  Now, the end approach for stopping the seedling stage by moving it to the left or right end is typically before planting work is performed in which the consumption of seedlings is required to be as uniform as possible in the left-right direction. Alternatively, it is performed after planting work in which large rice transplanters in which folding structures are adopted at the left and right ends of the seedling platform are loaded on a light truck bed or the like.

  When the operator wants to move the edge, perform the HST lever operation and the planting clutch on / off operation so that the seedling stage can be moved, and visually check the timing when the seedling stage is moved to the end. Thus, the reverse HST lever operation or planting clutch on / off operation must be performed so that the seedling platform is stopped.

  Since such a relatively troublesome operation is required, the end-to-end operation is a work that places a heavy burden on the operator and is likely to waste work time and fuel.

  Of course, a rice transplanter equipped with an automatic end alignment mechanism is also known (see, for example, Patent Document 3).

JP 2012-205504 A JP 2013-202011 A JP 2012-196155 A

  However, in the conventional rice transplanter described above, there is a case where a control operation with a decrease in convenience is performed against the operator's intention.

  For example, in a rice transplanter equipped with the above-described conventional automatic edge-alignment mechanism, there is a risk that edge-alignment will be performed against the operator's intention.

  In view of the conventional problems described above, an object of the present invention is to provide a seedling transplanting machine capable of performing a control operation with higher convenience in accordance with the intention of an operator.

The first aspect of the present invention includes a seedling platform (51) that reciprocates in the left-right direction using a driving force transmitted from the engine (20) via the main transmission (23),
A planting clutch mechanism (120) for selecting an on mode or an off mode as a transmission mode of the driving force to the seedling platform (51);
Wheels (11) that rotate using the driving force transmitted from the engine (20) via the main transmission (23);
An auxiliary transmission lever (100) for selecting a transmission mode of the driving force to the wheel (11) according to a lever operation position;
An end alignment mode selection member (150) for selecting an end alignment mode for stopping the seedling stage (51) toward the left or right end according to the operation of the operator;
A main transmission lever (111) for instructing an output value of the main transmission (23) according to a lever operating position;
With
When the end shift mode is selected, the output value of the main transmission (23) is the main transmission lever (111) unless the lever operating position of the auxiliary transmission lever (100) is a neutral position. The seedling transplanting machine is set to zero regardless of the lever operating position.

According to a second aspect of the present invention, when the end shift mode is selected, if the lever operating position of the auxiliary transmission lever (100) is a neutral position, the output value of the main transmission (23) is The seedling transplanter of the first aspect of the present invention, wherein the seedling transplanter is increased to a predetermined value in accordance with the lever operating position of the main transmission lever (111).

In the third aspect of the present invention, in the case where the end-alignment mode is selected, if the lever operating position of the auxiliary transmission lever (100) is a neutral position, the output value of the main transmission (23) is (A) Zero if the lever operating position of the main transmission lever (111) does not exceed a predetermined position, and (b) The lever operating position of the main transmission lever (111) exceeds the predetermined position. In this case, the seedling transplanting machine according to the first aspect of the present invention is increased to a predetermined value in accordance with the lever operating position of the main transmission lever (111).

  A first invention related to the present invention uses a driving force transmitted from the engine (20) through the main transmission (23) to reciprocate in the left-right direction,
  A planting clutch mechanism (120) for selecting an on mode or an off mode as a transmission mode of the driving force to the seedling platform (51);
  Wheels (11) that rotate using the driving force transmitted from the engine (20) via the main transmission (23);
  An auxiliary transmission lever (100) for selecting a transmission mode of the driving force to the wheel (11) according to a lever operation position;
  An end alignment mode selection member (150) for selecting an end alignment mode for stopping the seedling stage (51) toward the left or right end according to the operation of the operator;
  A main transmission lever (111) for instructing an output value of the main transmission (23) according to a lever operating position;
  With
  When the end shift mode is selected, the output value of the main transmission (23) is increased to a predetermined value in accordance with the lever operating position of the main transmission lever (111). It is a seedling transplanter.
  A second invention related to the present invention is characterized in that the end-alignment mode is executed when the end-alignment mode is selected and other predetermined conditions are satisfied. The seedling transplanting machine according to any one of the present invention from the third aspect or the first aspect related to the present invention.
  A third invention related to the present invention uses a driving force transmitted from the engine (20) via the main transmission (23) to plant a seedling placed on the seedling placing stand (51). A planting tool (54);
  A planting clutch mechanism (120) for selecting an on mode or an off mode as a transmission mode of the driving force to the seedling planting tool (54);
  Wheels (11) that rotate using the driving force transmitted from the engine (20) via the main transmission (23);
  A transmission mode of the driving force to the wheel (11), or an in-situ planting mode for causing the seedling planting tool (54) to plant the seedling on the spot without rotating the wheel (11), An auxiliary transmission lever (100) to be selected according to the lever operating position;
  With
  In the case where the in-situ planting mode has been selected at least until the predetermined time elapses, the output value of the main transmission (23) reaches the predetermined value until the predetermined time elapses. Increased, and the on mode is selected as the transmission mode of the driving force to the seedling planter (54),
  When the in-situ planting mode is not selected before the predetermined time elapses, the output value of the main transmission (23) is set to zero, and the on-mode is the seedling planting tool (54). The seedling transplanter is selected as it is as the transmission mode of the driving force.
  According to a fourth aspect of the present invention, the in-situ planting mode is selected, but before the on mode is selected as the transmission mode of the driving force to the seedling planting tool (54), Even when the in-situ planting mode is not selected, the on mode is selected as the transmission mode of the driving force to the seedling planting tool (54). It is a seedling transplanting machine of the 3rd invention.
  A fifth invention related to the present invention is characterized in that the in-situ planting mode is executed when the in-situ planting mode is selected and another predetermined condition is satisfied. It is a seedling transplanter of the 3rd or 4th invention related to the present invention.
  A sixth invention related to the present invention includes a seedling platform tilt detection member (191) for detecting the tilt of the seedling platform (51),
  A seedling platform tilt adjustment mechanism (192) for adjusting the tilt of the seedling platform (51) based on the detected tilt of the seedling platform (51);
  An abnormality occurrence determination mechanism (160) for determining that an abnormality has occurred when the detected inclination of the seedling platform (51) is out of a predetermined range until a predetermined time elapses;
  A seedling transplanter according to any one of the first to third aspects of the present invention or any one of the first to fifth aspects of the invention related to the present invention.

According to the first aspect of the present invention, when the end alignment mode is selected, the output value of the main transmission (23) is the main transmission lever (100) unless the lever operating position of the sub transmission lever (100) is the neutral position. 111), which is zero regardless of the lever operation position, it is possible to prevent the seedling transplanter from starting when the end-alignment mode is selected.

According to the second aspect of the present invention, in addition to the effects of the first aspect of the present invention, when the end shift mode is selected, if the lever operating position of the auxiliary transmission lever (100) is the neutral position, the main transmission Since the output value of (23) can be increased to a predetermined value in accordance with the lever operating position of the main transmission lever (111), the operability can be further improved.

According to the third aspect of the present invention, in addition to the effects of the first aspect of the present invention, when the end shift mode is selected, if the lever operating position of the auxiliary transmission lever (100) is the neutral position, the main transmission The output value of (23) is zero if (a) the lever operating position of the main transmission lever (111) does not exceed the predetermined position, and (b) the lever operating position of the main transmission lever (111) is the predetermined position. If it exceeds the upper limit, it can be increased to a predetermined value in accordance with the lever operating position of the main transmission lever (111), so that the operability can be further improved.

  According to the first invention related to the present invention, when the end shift mode is selected, the output value of the main transmission (23) increases to a predetermined value according to the lever operating position of the main transmission lever (111). Therefore, the seedling transplanter can be prevented from suddenly starting when the end-to-end mode is selected. In the case where the end alignment mode is selected, if the output value of the main transmission (23) increases to a predetermined value corresponding to the lever operating position of the main transmission lever (111), further increase is restricted. By doing so, the output value of the main transmission (23) does not rise above a predetermined value even when the main transmission lever (111) is operated in the high speed range during operation in the end alignment mode. When the running is started and the running is started, the seedling transplanter is prevented from suddenly starting.
  According to the second invention related to the present invention, in addition to the effects of any one of the first to third aspects of the present invention or the first invention related to the present invention, the end alignment mode is selected as the end alignment mode. In addition, since the process is executed when other predetermined conditions are satisfied, it is possible to perform a control operation with higher convenience in accordance with the intention of the operator.
  According to the third invention related to the present invention, when the in-situ planting mode is not selected before the predetermined time elapses, the output value of the main transmission (23) is set to zero and the on mode is set to the seedling. Since the driving force transmission mode to the planting tool (54) is selected as it is, the seedling transplanting machine is prevented from traveling without planting the seedling, and it is not necessary to plant the seedling manually. Time and effort required are reduced.
  In addition to the effects of the third invention related to the present invention, the in-situ planting mode is selected by the fourth invention related to the present invention, but the on mode is the driving force to the seedling planting tool (54). Even if the in-situ planting mode is not selected before being selected as the transmission mode, the on mode is selected as the transmission mode of the driving force to the seedling transplanter (54). Traveling without planting the seedling is prevented, so that it is not necessary to plant the seedling manually, and the time and labor required for the work are reduced.
  According to the fifth invention related to the present invention, in addition to the effects of the third or fourth invention related to the present invention, the in-situ planting mode is selected as the in-situ planting mode, and other predetermined conditions Therefore, it is possible to perform a control operation with higher convenience in accordance with the operator's intention.
  According to the sixth invention related to the present invention, in addition to the effects of any one of the first to third inventions or the first to fifth inventions related to the present invention, the detected seedling placement If the inclination of the table (51) is out of the predetermined range until the predetermined time elapses, it is determined that an abnormality has occurred. It is determined that an abnormality has occurred, and the operator does not interrupt the seedling planting work for confirmation, and the work efficiency is prevented from being lowered as a result. Note that it may be determined that an abnormality has occurred only when the detected inclination of the seedling platform (51) is out of the predetermined range until the predetermined time elapses.

Left side view of a rice transplanter according to an embodiment of the present invention The top view of the rice transplanter of embodiment in this invention Block diagram of power transmission system and control system of rice transplanter of embodiment of the present invention Schematic top view of the subtransmission lever vicinity of the rice transplanter of the embodiment in the present invention Schematic rear view of a rice transplanter according to an embodiment of the present invention Schematic front view of a rice transplanter according to an embodiment of the present invention (part 1) Schematic front view of a rice transplanter according to an embodiment of the present invention (part 2) Schematic front view of the rice transplanter according to the embodiment of the present invention (No. 3) Left side view of the vicinity of the lifting link mechanism of the rice transplanter according to the embodiment of the present invention The top view of the raising / lowering link mechanism vicinity of the rice transplanter of embodiment in this invention (A) Schematic left side view of the vicinity of the HST lever 111 of the rice transplanter 8 of the embodiment of the present invention, (b) Schematic rear view of the vicinity of the HST lever 111 of the rice transplanter 8 of the embodiment of the present invention.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  In the present specification, the front / rear / left / right direction reference defines the front / rear, left / right reference based on the traveling direction of the vehicle body as viewed from the driver's seat.

  First, the configuration of the rice transplanter 8 of the present embodiment will be specifically described with reference mainly to FIGS. 1 and 2.

  FIG. 1 is a left side view of the rice transplanter 8 according to the embodiment of the present invention, and FIG. 2 is a top view of the rice transplanter 8 according to the embodiment of the present invention.

  In FIG. 1, a state in a side view of a riding type 8-row rice transplanter 8 including a traveling vehicle body 2 is illustrated, and a state in a plan view is illustrated in FIG. 2.

  The rice transplanter 8 is an example of a seedling transplanter of the present invention.

  In the rice transplanter 8, a seedling planting portion 4 is mounted on the rear side of the traveling vehicle body 2 via the lifting link mechanism 3 so as to be movable up and down, and a main body portion of the fertilizer device 5 is provided on the rear upper side of the traveling vehicle body 2.

  The traveling vehicle body 2 is a four-wheel drive vehicle including a pair of left and right front wheels 10 and a pair of left and right rear wheels 11 as drive wheels, and a mission case 12 is disposed in the front part of the fuselage. A front wheel final case 13 is provided on the side, and left and right front wheels 10 are respectively attached to left and right front wheel axles that project outward from respective front wheel support portions that can change the steering direction of the left and right front wheel final case 13.

  Further, the front end portion of the main frame 15 is fixed to the rear portion of the transmission case 12, and a rear wheel gear case 18 is supported by a rear wheel rolling shaft provided horizontally in the front and rear at the center of the rear end of the main frame 15. The rear wheel 11 is attached to a rear wheel axle that is supported so as to be able to roll and projects outward from the rear wheel gear case 18.

  The engine 20 is mounted on the main frame 15, and the rotational power of the engine 20 is transmitted to the transmission case 12 via the belt transmission device 21 and the HST 23.

  The rotational power transmitted to the mission case 12 is shifted by the transmission in the mission case 12, and then separated into traveling power and external power to be extracted. A part of the traveling power is transmitted to the front wheel final case 13 to drive the front wheel 10, and the rest is transmitted to the rear wheel gear case 18 to drive the rear wheel 11.

  Further, the external take-out power is transmitted to a planting clutch case 25 provided at the rear part of the traveling vehicle body 2, and then transmitted to the seedling planting unit 4 by the planting transmission shaft 26 and to the fertilizer application device 5 by the fertilization transmission mechanism. Be transmitted.

  The upper part of the engine 20 is covered with an engine cover 30, and a driver's seat 31 is installed thereon. A front cover 32 incorporating various operation mechanisms is provided in front of the driver seat 31, and a steering handle 34 for steering the front wheels 10 is provided above the front cover 32.

  The engine cover 30 and the front cover 32 have horizontal floor steps 35 on the left and right sides of the lower end. The floor step 35 is partly grid-shaped (see FIG. 2), and mud on the shoe of the worker walking on the floor step 35 falls into the field.

  The elevating link mechanism 3 has a parallel link configuration and includes one upper link 40 and a pair of left and right lower links 41. The upper link 40 and the lower link 41 are pivotally attached to a rear-view portal-shaped link base frame 42 erected at the rear end of the main frame 15, and the vertical link 43 is connected to the front end side thereof. Has been. And the connecting shaft 44 rotatably supported by the seedling planting part 4 is inserted and connected to the lower end part of the vertical link 43, and the seedling planting part 4 is connected so as to be able to roll around the connecting shaft 44.

  An elevating hydraulic cylinder 46 is provided between a support member fixed to the main frame 15 and a tip of a swing arm (not shown) integrally formed with the upper link 40, and the elevating hydraulic cylinder 46 is expanded and contracted hydraulically. As a result, the upper link 40 rotates up and down, and the seedling planting part 4 moves up and down while maintaining a substantially constant posture.

  The seedling planting unit 4 has an eight-row planting structure, and includes a planting transmission case 50 that also serves as a frame, a mat seedling, and reciprocates left and right to supply seedlings one by one to the seedling outlet 51a of each row. When all the seedlings for one row are supplied to the seedling outlet 51a, the seedling stand 51 for transferring the seedlings downward by the seedling feeding belt 51b, and the seedling planting for planting the seedling supplied to the seedling outlet 51a in the field by the seedling planting tool 54 Attaching device 52 and the like are provided.

  The rear portion of the planting transmission case 50 is branched into four, and the planting drive shaft is rotatably supported at each branched rear end portion. The center part of 16 is fixedly attached by the structure which rotates integrally.

  Further, a planting rotation shaft is rotatably supported at both ends of the rotary case 16, and a seedling planting tool 54 is attached to each of these two planting rotation shafts.

  In the lower part of the seedling planting part 4, a center float 55 is provided in the center, and middle floats 57 and side floats 56 are provided on the left and right sides thereof. When the aircraft is advanced with these floats 55, 57, 56 in contact with the mud surface of the farm field, the floats 55, 57, 56 slide while leveling the mud surface, and the seedling planting device 52 is attached to the leveling trace. Seedlings are planted.

  Each of the floats 55, 57, and 56 is rotatably attached so that the front end side moves up and down corresponding to the unevenness of the soil surface of the field, and the vertical movement of the front part of the center float 55 controls the angle of attack during planting work. The planting depth of the seedling is always kept constant by switching the hydraulic valve that controls the lifting hydraulic cylinder 46 in accordance with the detection result and raising and lowering the seedling planting unit 4 according to the detection result. maintain.

  The fertilizer application device 5 feeds the granular fertilizer stored in the fertilizer tank 60 by a certain amount by the feeding unit 61, and applies the fertilizer to the left and right sides of the center float 55 and the side float 56 with the fertilizer hose 62 (see FIG. (Not shown) is guided to a fertilization structure formed in the vicinity of the side portion of the seedling planting line by a grooved body (not shown) provided on the front side of the fertilization guide. A configuration in which air generated by the blower 58 driven by the blower electric motor 53 is blown into the fertilizer hose 62 via the air chamber 59 that is long in the left-right direction, and the fertilizer in the fertilizer hose 62 is forcibly conveyed by wind pressure. It has become.

  A first leveling rotor 27a and a second leveling rotor 27b (the combination of the first leveling rotor 27a and the second leveling rotor 27b may be simply referred to as a leveling rotor) are attached to the seedling planting portion 4.

  The seedling mount 51 is configured to slide in the left-right direction on the rail using the support roller 65a of the rectangular support frame 65 that is full in the left-right direction and the up-down direction that supports the entire seedling planting unit 4. It is.

  In addition, a pair of spare seedling frames 38 on which replenishment seedlings are placed are provided on the left and right sides of the front portion of the traveling vehicle body 2.

  Next, the configuration and operation of the power transmission system and the control system of the rice transplanter 8 of the present embodiment will be specifically described with reference mainly to FIGS.

  FIG. 3 is a block diagram of the power transmission system and the control system of the rice transplanter 8 according to the embodiment of the present invention. FIG. 4 is a view showing the vicinity of the auxiliary transmission lever 100 of the rice transplanter 8 according to the embodiment of the present invention. FIG.

  In FIG. 3, the power transmission system is illustrated using a solid line, and the control system is illustrated using a dotted line. Further, in FIG. 4, the movement of the auxiliary transmission lever 100 is illustrated using arrows.

  As described above, the rotational power transmitted to the mission case 12 is separated into traveling power and external extraction power.

  The traveling power is used as follows.

  The rear wheel 11 rotates using the driving force transmitted from the engine 20 via the HST 23 as the main transmission. The auxiliary transmission lever 100 is a lever for transmitting a driving force to the rear wheel 11 or an in-situ planting mode for allowing the seedling planting tool 54 to plant seedlings on the spot without rotating the rear wheel 11. Select according to the operation position.

  More specifically, a position corresponding to any of the planting travel mode, the neutral mode, the road travel mode, and the in-situ planting mode is selected as the lever operation position of the sub-shift lever 100 (see FIG. 4). Further, which lever operating position of the auxiliary transmission lever 100 is selected is detected by the auxiliary transmission lever sensor 101.

  The external take-out power is transmitted to the feed case 180 and then to the seedling planting tool 54 and also to the fertilizer application device 5 and is transmitted to a lateral feed screw shaft (not shown) for seedling placement platform 51. Is used to drive the seedling feeding belt 51b by being transmitted to a seedling feeding drive shaft (not shown).

  That is, the external extraction power is used as follows.

  Using the driving force transmitted from the engine 20 via the HST 23, the seedling placing table 51 reciprocates in the left-right direction, and the seedling planting tool 54 plants the seedling placed on the seedling placing table 51. Then, the planting clutch mechanism 120 selects the on mode or the off mode as the transmission mode of the driving force to the seedling platform 51, the seedling planting tool 54, and the like.

  More specifically, the seedling platform 51 is reciprocated in the left-right direction by a sliding mechanism such as a lead cam mechanism in which a lead metal is brought into contact with the lead cam shaft. Switching between connection and disconnection of the planting clutch mechanism 120 using a planting clutch on / off actuator such as a planting clutch servomotor is performed by a command from the planting clutch switch 121 based on the planting clutch on / off operation by the operator. Or in response to a command from the controller 160. Further, the planting clutch sensor 122 detects whether the planting clutch mechanism 120 is connected or disconnected.

  The HST lever 111 as the main transmission lever instructs the output value of the HST 23 according to the lever operating position.

  More specifically, the change of the opening degree of the HST trunnion shaft 112 using an HST output variable actuator such as an HST servo motor is changed by a command from the HST lever 111 based on the operator's operation of the HST lever, or from the controller 160. This is done according to the command. The HST lever operation amount is detected by the HST sensor 113 using a potentiometer or the like, and the opening degree of the HST trunnion shaft 112 is also detected by the HST sensor 113.

  The end alignment mode switch 150 as an end alignment mode selection member selects an end alignment mode for stopping the seedling stage 51 by moving it toward the left or right end according to the operator's operation.

  Whether or not the seedling stage 51 has been brought close to the end is detected by an end approach sensor 131 using a limit switch or the like.

  When the edge alignment, which will be described in detail later, is performed, the disconnection of the small number of clutches 181 that switches the on / off state of the transmission of the driving force to the left and right seedling planting tools 54 that the seedling planting device 52 has, is performed. It is desirable that the seedling planting unit 4 is raised in advance, based on the minority number of clutch lever operations.

  When the minority clutch 181 is disconnected, seedling feeding by the seedling feeding belt 51b and fertilization by the fertilizer application device 5 are also suspended in the corresponding planting suspension strip.

  Next, the configuration and operation of the rice transplanter 8 according to the present embodiment relating to (A) edge adjustment control, (B) in-situ planting control, and (C) seedling platform tilt adjustment control by the controller 160 will be described in detail in order. To do.

  (A) With reference mainly to FIG. 3, end-alignment control for stopping the seedling platform 51 toward the left or right end will be described.

  Edge alignment is executed when the edge alignment mode is selected by depressing the edge alignment mode switch 150.

  When the lever operating position of the HST lever 111 is the neutral position and the opening degree of the HST trunnion shaft 112 corresponds to the neutral position, the end alignment mode is turned on each time the end alignment mode switch 150 is pushed down. And the off state are alternately selected. If not, when the end alignment mode switch 150 is depressed, the end state of the end alignment mode is always selected.

  The edge alignment mode lamp (not shown) is turned on when the ON state of the edge alignment mode is selected, and is turned off when the OFF state of the edge alignment mode is selected. Further, an orange center mascot lamp (not shown) flashes with a period of, for example, 500 milliseconds and an on-time of 250 milliseconds when the edge-on mode on state is selected.

  In the present embodiment, in the end-alignment control, the end-alignment mode is selected, (1) the planting clutch mechanism 120 is connected, and (2) the transmission output amount of the HST 23 is the first. When all of the predetermined conditions of exceeding one reference value are satisfied, it is actually started. The transmission output amount of the HST 23 exceeds the first reference value means, for example, that the HST lever operation amount is 80% or more of the forward operation amount (BLVn (lever deployment value) exceeds 198). . The first reference value is set to a large value so that the edge adjustment control is accurately executed.

  With respect to the opening degree of the HST trunnion shaft 112, when end-shifting control is being executed, HST output control having different target values is executed depending on the on / off state of a sparse planting control switch (not shown). If not, normal HST output control according to the HST lever operation amount is executed.

  For example, when the adjustable range is 0 to 255, the default target value ha3a corresponding to the off state of the sparse vegetation check switch is 150, and the default target value ha3b corresponding to the on state of the sparse vegetation check switch is 190. . Of course, such a default target value is set according to the format of the rice transplanter 8 or the like. However, the default target value ha3b is set to a large value so that the edge adjustment control is accurately executed even when the sparse planting control in which the transmission output amount of the HST 23 is suppressed is executed.

  The buzzer (not shown) rings intermittently at a period of 1 second and an on-time of 300 milliseconds, for example, when the edge adjustment control is being executed. When terminated in response to detection, for example, it rings for one second.

  When the end alignment control is finished, the planting clutch mechanism 120 is disconnected, and the end alignment mode is turned off.

  The end-alignment control includes (1) the planting clutch mechanism 120 is disengaged, (2) the transmission output amount of the HST 23 is less than the second reference value, and (3) the end-alignment mode is turned off. If at least one of the three conditions is satisfied, it is interrupted or terminated. The fact that the transmission output amount of the HST 23 falls below the second reference value means, for example, that the HST lever operation amount is 75% or less of the forward operation amount (BLVn is less than 192). The second reference value is set slightly smaller than the first reference value so that the end-alignment control is not unnecessarily interrupted or terminated.

  Now, the end alignment for stopping the seedling stage 51 by moving it toward the left or right end is typically before a planting operation that requires the consumption of seedlings to be as uniform as possible in the left-right direction is performed. Alternatively, it is performed after the planting operation in which the large rice transplanter 8 in which the folding structure is adopted at the left and right ends of the seedling platform 51 is loaded on the loading platform of a light truck or the like.

  In such a case, normally, the seedling is not loaded on the seedling platform 51, and the sub-transmission lever 100 is operated in advance and the traveling power is not transmitted to the rear wheel 11.

  Therefore, a typical procedure in the case where the operator wants to perform end alignment is that the engine 20 generates power, but the amount of operation of the sub-shift lever of the sub-shift lever 100 is zero and the driving power is the rear wheel. After confirming that it is not transmitted to 11, the end-to-end mode on / off operation, the planting clutch on / off operation and the HST lever operation as described in detail above are performed in this order.

  However, if the sub-shift lever operation amount of the sub-shift lever 100 is not confirmed for some reason and the sub-shift lever operation amount is not actually zero, the rice transplanter 8 starts rapidly. There is a risk.

  Because, conventionally, when the end alignment mode is selected, the output value of the HST 23 is (a) zero unless the lever operating position of the HST lever 111 exceeds a predetermined position, and (b) This is because HST output control is often employed in which if the lever operating position of the HST lever 111 exceeds a predetermined position, it is increased to a predetermined value in accordance with the lever operating position of the HST lever 111.

  Therefore, when the end-to-end mode is selected, the HST output control in which the output value of the HST 23 is increased to a predetermined value according to the lever operation position of the HST lever 111 is the HST output control of the present embodiment. Has been adopted as.

  That is, when the operator performs an end-to-end mode on operation and a planting clutch on operation and begins to perform an HST lever operation, the output value of HST 23 is gradually increased according to the lever operation position of HST lever 111.

  Then, even if the lever operating position of the auxiliary transmission lever 100 is not the neutral position, the rice transplanter 8 starts gradually without starting rapidly.

  For this reason, the operator immediately notices that the lever operation position of the auxiliary transmission lever 100 is not the neutral position, and can appropriately operate the auxiliary transmission lever 100 so that the rice transplanter 8 does not start.

  Therefore, there is almost no risk that the rice transplanter 8 will start rapidly when the end alignment mode is selected.

  Of course, when the end-alignment mode is selected, the output value of the HST 23 is set to zero regardless of the lever operation position of the HST lever 111, unless the lever operation position of the auxiliary transmission lever 100 is the neutral position. Other embodiments are also conceivable.

  Then, there is almost no possibility that the rice transplanter 8 will start when the end-to-end mode is selected.

  Then, when the HST output control of such another embodiment is adopted, if the end shift mode is selected, if the lever operating position of the sub-shift lever 100 is the neutral position, the output of the HST 23 The value may be increased to a predetermined value according to the lever operating position of the HST lever 111, or (a) if the lever operating position of the HST lever 111 does not exceed the predetermined position, it is set to zero, and (b) If the lever operation position of the HST lever 111 exceeds a predetermined position, it may be increased to a predetermined value according to the lever operation position of the HST lever 111.

  (B) In-situ planting control for planting seedlings in the seedling planting tool 54 on the spot without rotating the rear wheel 11 will be described with reference mainly to FIG.

  The in-situ planting is executed when a position corresponding to the in-situ planting mode is selected as the lever operating position of the auxiliary transmission lever 100 (see FIG. 4).

  Although an embodiment using a dedicated switch for selecting the in-situ planting mode is also conceivable, in this embodiment, the auxiliary transmission lever 100 is also used as such a switch. Therefore, there is almost no possibility that the rice transplanter 8 will start when the in-situ planting mode is selected.

  Of course, for example, when the stop pedal switch (not shown) is turned off, the seedling planting part 4 is lowered, and the floats 55, 56 and 57 are in the grounded state, the planting is performed in-situ. Embodiments are conceivable where the mode is selectable, otherwise the in-situ planting mode is not selectable.

  In the present embodiment, the in-situ planting control is performed by selecting the in-situ planting mode, and (1) HST safety control for performing the automatic operation of the HST 23 is not executed. The link mechanism automatic lift mode of the link mechanism 3 is executed, (3) the floats 55, 56 and 57 are in a grounded state, and (4) the lever operating position of the HST lever 111 is a neutral position, and the HST trunnion When all the predetermined conditions that the opening degree of the shaft 112 corresponds to the neutral position are satisfied, the operation is actually started.

  The HST safety control described above is performed when an abnormal state of the HST sensor 113 is detected due to interruption of energization due to disconnection or occurrence of abnormal energization due to failure, or when a stop pedal (not shown) performs in-situ planting control. This control is performed when the operation position is depressed to stop, the safety switch reacts, and the HST 23 is forcibly neutralized. While the HST safety control is being executed, the opening degree of the HST trunnion shaft 112 is not changed even if the HST lever 111 is operated.

  As for the opening degree of the HST trunnion shaft 112, when in-situ planting control is being executed, HST output control having different target values is executed according to the on / off state of the sparse planting control switch.

  This is the same as in the case of the end-alignment control described above.

  That is, for example, when the adjustable range is 0 to 255, the default target value ha3a corresponding to the off state of the sparse vegetation check switch is 150, and the default target value ha3b corresponding to the on state of the sparse vegetation check switch is 190. It is. Of course, such a default target value is set according to the format of the rice transplanter 8 or the like. However, the default target value ha3b is set to a large value so that the in-situ planting control is accurately performed even when the sparse planting control in which the transmission output amount of the HST 23 is suppressed is performed.

  When the in-situ planting control is executed, the buzzer rings intermittently with an on-time of, for example, 300 milliseconds, and green and orange center mascot lamps (not shown) blink in conjunction with the buzzer.

  Of course, the planting clutch mechanism 120 is automatically connected in response to a command from the controller 160.

  Then, for example, an in-situ planting control monitoring timer value of 10 seconds is set, and an in-situ planting control operation timer value of 1200 milliseconds is set. The in-situ planting control operation timer value is set according to the type of the seedling planting tool 54 so that the planting of the seedling at the time of dredging is performed only once by the planting rod rotation.

  Until 1200 milliseconds set as the in-situ planting control operation timer value elapses, the above-described HST output control is continuously executed, and the planting clutch mechanism 120 is continuously connected. This is for the same movement of the seedling platform 51 and the rotation of the seedling planting tool 54 in the seedling planting tool 54 as in the case of the end-adjustment control described above.

  After the time-up of the in-situ planting control operation timer after 1200 milliseconds have elapsed, for example, the HST trunnion axis neutral weight timer value of 500 milliseconds is set and the neutral position of the opening of the HST trunnion axis 112 is set. The HST output control having the corresponding default target value ha3 is executed, and the planting clutch mechanism 120 is continuously connected.

  For example, when the adjustable range is 0 to 255, the default target value ha3 is 101. Of course, such a default target value is set according to the format of the rice transplanter 8 or the like.

  Until 500 milliseconds set as the HST trunnion axis neutral wait timer value elapses, the HST output control having the default target value ha3 corresponding to the neutral position of the opening of the HST trunnion axis 112 is continuously executed. The planting clutch mechanism 120 is continuously connected. This is for the purpose of allowing the seedling planting tool 54 to rotate until the planting basket reaches a predetermined stop position.

  After the HST trunnion shaft neutral wait timer has expired after 500 milliseconds have elapsed, the HST output control having the default target value ha3 corresponding to the neutral position of the opening of the HST trunnion shaft 112 is continuously executed and planted. The clutch mechanism 120 is disconnected.

  When the lever operation position of the HST lever 111 is the neutral position and the opening degree of the HST trunnion shaft 112 corresponds to the neutral position, the controller 160 ends the in-situ planting control.

  When the in-situ planting control is finished, the planting clutch mechanism 120 is connected. This is because normal planting after in-situ planting is performed without requiring a command from the planting clutch switch 121 based on an operator's planting clutch on / off operation.

  The in-situ planting control is performed as follows: (1) The in-situ planting mode is not selected before the predetermined time has elapsed, that is, the lever operation position of the auxiliary transmission lever 100 is set to a position other than the position corresponding to the in-situ planting mode The operated (2) finger lever 111a (see FIG. 11) for manual operation of the elevating link mechanism 3 is operated for planting, (3) is set as an in-situ planting control monitoring timer value 10 seconds have passed since the in-situ planting control was started, (4) the lever operating position of the HST lever 111 is no longer the neutral position, (5) HST safety control is executed, (6 At least one of the seven conditions is fulfilled: (7) Link mechanism automatic lift mode is no longer executed, and (7) Floats 55, 56 and 57 are no longer in contact with ground. If that is interrupted.

  When the in-situ planting control is interrupted, the HST output control having the default target value ha3 corresponding to the neutral position of the opening of the HST trunnion shaft 112 is executed.

  However, in the planting clutch mechanism 120, (1) the in-situ planting mode is not selected before the predetermined time has elapsed, and (2) the finger lever 111a performs planting among the seven conditions described above. If at least one of the two conditions of being operated is satisfied, the connection is continued. Otherwise, the connection is disconnected.

  When the lever operation position of the HST lever 111 is the neutral position and the opening degree of the HST trunnion shaft 112 corresponds to the neutral position, the controller 160 ends the in-situ planting control.

  Now, in-situ planting for planting seedlings in-situ in the seedling planting tool 54 without rotating the rear wheel 11 typically does not require manual planting of complementary seedlings at the shore. Therefore, it is performed before normal planting work with vehicle running is performed.

  However, if the position corresponding to the in-situ planting mode is not selected for some reason as the lever operation position of the sub-shift lever 100, and the in-situ planting control is interrupted, there is a possibility that subsequent normal planting will not be performed. is there.

  This is because, conventionally, for example, when the in-situ planting mode is not selected before a predetermined time of 1 second elapses, the off mode is selected as the driving force transmission mode to the seedling planting tool 54. This is because the planting clutch driving force transmission mode selection control such as the above is often employed.

  The sub-shift lever 100 is energized, and when the operator's hand moves away from the sub-shift lever 100, the lever operating position of the sub-shift lever 100 changes from the position corresponding to the in-situ planting mode to the position corresponding to the neutral mode. (See FIG. 4).

  Therefore, in the case where the in-situ planting mode is selected at least until the predetermined time elapses, the output value of the HST 23 is increased to the predetermined value until the predetermined time elapses. Is selected as the transmission mode of the driving force to the seedling planting tool 54, but if the in-situ planting mode is not selected before the predetermined time has elapsed, the output value of the HST 23 is set to zero and turned on. The planting clutch driving force transmission mode selection control in which the mode is selected as it is as the driving force transmission mode to the seedling planting tool 54 is adopted as the planting clutch driving force transmission mode selection control of the present embodiment. Yes.

  For this reason, generation | occurrence | production of what is called idling which can perform only the vehicle driving | running | working of the rice transplanter 8 without planting can be suppressed.

  Of course, the in-situ planting mode is selected, but even if the in-situ planting mode is not selected before the on-mode is selected as the transmission mode of the driving force to the seedling planting tool 54, the on-mode is An embodiment in which the mode is selected as the transmission mode of the driving force to the seedling planting tool 54 is also conceivable.

  Then, there is almost no fear that the planting machine 8 will only be traveling without being planted.

  (C) The seedling platform tilt adjustment control for adjusting the tilt of the seedling platform 51 will be described with reference mainly to FIG.

  FIG. 5 is a schematic rear view of the rice transplanter 8 according to the embodiment of the present invention.

  In FIG. 5, the power transmission system is illustrated using a solid line, the control system is illustrated using a dotted line, and the movement of the seedling platform 51 is illustrated using an arrow. .

  The seedling table tilt detection member 191 is means for detecting the tilt of the seedling table 51.

  More specifically, the seedling table tilt detection member 191 is configured using a slope sensor that detects the amount of rotation of the seedling table 51 from the horizontal reference line H with reference to the farm scene.

  The seedling platform tilt adjustment mechanism 192 is a means for adjusting the tilt of the seedling platform 51 based on the detected tilt of the seedling platform 51.

  More specifically, the seedling platform tilt adjustment mechanism 192 is a rolling mechanism for maintaining the seedling platform 51 in a horizontal state, so that the detection result of the seedling platform tilt detection member 191 indicates the horizontal state. A rolling motor having a rotation actuator for rotating the table 51 is used.

  The controller 160 as an abnormality occurrence determination mechanism is a means for determining that an abnormality has occurred when the detected inclination of the seedling platform 51 is out of a predetermined range until a predetermined time elapses. .

  More specifically, the controller 160 uses a timer, for example, as an 8-bit A / D (Analog-to-Digital) slope sensor value over a predetermined time of 5 seconds, (1) disconnection determination value (= 7 ) It is determined that an abnormality has occurred when the following detection value is input, or (2) a detection value greater than or equal to the short determination value (= 248) is input.

  When the controller 160 determines that an abnormality has occurred, the occurrence of the abnormality is notified by a buzzer or the like, so the operator must stop the work and inspect the seedling table 51 or the like. .

  However, the operator confirms that an abnormality has occurred even though no abnormality such as a disconnection in the slope sensor or a 5V short that causes the slope sensor voltage value to exceed 5V has actually occurred. For this reason, the seedling planting operation must be temporarily interrupted, which may result in a reduction in work efficiency.

  This is because, in the current configuration of the rice transplanter 8, when the high-speed turning in the right direction is performed in a state where the seedling platform 51 is brought close to the right end, the detection is less than the disconnection judgment value or more than the short judgment value. This is because the value may occur instantaneously.

  Therefore, the abnormality occurrence determination control such as determining that an abnormality has occurred when the detected inclination of the seedling platform 51 is out of the predetermined range until the predetermined time elapses. It is adopted as a form abnormality determination control.

  Then, even though no abnormality actually occurs, it is determined that an abnormality has occurred, and there is almost no possibility that the work efficiency will eventually decrease.

  In the following, rice transplantation of the present embodiment related to (D) backlift control, (E) fertilizer discharge warning control, (F) automatic rear marker automatic storage and deployment control, and (G) link mechanism automatic lifting control by controller 160 The configuration and operation of the machine 8 will be specifically described.

  (D) Backlift control for automatically raising the seedling planting unit 4 during reverse travel will be described with reference mainly to FIG.

  FIG. 11A is a schematic left side view of the vicinity of the HST lever 111 of the rice transplanter 8 according to the embodiment of the present invention. FIG. 11B is a rice transplantation according to the embodiment of the present invention. 7 is a schematic rear view of the vicinity of the HST lever 111 of the machine 8. FIG.

  11 (a) and 11 (b), the planting clutch switch 121, the finger lever 111a, the seedling planting part minute lowering button 111b, the seedling planting part raising button 111c, and the seedling planting part lowering button 111d are provided. The upper end of the HST lever 111 is shown.

  When the seedling planting part micro-lowering button 111b for performing manual operation so as to slightly lower the seedling planting part 4 is pushed down, the seedling planting part 4 is not automatically raised even during reverse travel. Backlift regulation is started, but when the floats 55, 56 and 57 are in a grounded state, the backlift regulation is released.

  More specifically, after the seedling planting part minute lowering button 111b is pushed down and the backlift regulation is started, the finger lever 111a is operated to raise or lower the lifting link mechanism 3 or to plant. Not only when the floats 55, 56, and 57 are brought into a grounded state as the seedling planting portion 4 is slightly lowered, the backlift restriction is released.

  This is because if the seedling planting part 4 does not rise due to backlift regulation even after the float touches the ground, the seedling planting part 4 will continue to contact the field scene and become resistance during reverse travel. Will fall. In addition, the floats 55, 56 and 57 and the seedling planting device 52 are damaged due to contact with the field scene, and the seedling planting operation is interrupted.

  In the present embodiment, when the floats 55, 56 and 57 are in a grounded state, the backlift restriction is released, so that the work efficiency is improved.

  (E) The fertilizer discharge warning control for giving a warning when discharging the fertilizer remaining after the work from the fertilizer tank 60 into a fertilizer bag or the like will be described with reference mainly to FIG.

  When the lever operation position of a fertilizer discharge lever (not shown) for discharging the fertilizer is in a position corresponding to the ON state, the planting clutch mechanism 120 is disconnected.

  More specifically, although the lever operation position of the fertilizer discharge lever is a position corresponding to the ON state, a feeding roll (not shown) for guiding the fertilizer to the feeding fertilizer guide by the feeding portion 61 is provided. If the planting clutch switch 121 that is to be driven is turned on, the buzzer sounds three times, for example, with a period of 300 milliseconds and an on-time of 150 milliseconds.

  This is because a command from the planting clutch switch 121 based on the planting clutch on operation by the operator is regarded as a command due to an erroneous operation and is ignored.

  The fertilizer discharge warning control is started when the planting clutch mechanism 120 is connected and the lever operation position of the fertilizer discharge lever is in a position corresponding to the on state, and the lever operation position corresponds to the off state. It ends when it reaches the position to do

  Further, while the fertilizer discharge warning control is being executed, a fertilizer discharge lamp (not shown) may blink at a cycle of 500 milliseconds and an on-time of 250 milliseconds, for example.

  In the present embodiment, when the fertilizer is discharged, only the fertilizer discharge motor (not shown) is driven so that the fertilizer is not fed to the fertilizer guide by the feeding portion 61, so Fertilizer clogging due to fertilizer outflow to the fertilizer application guide in the vicinity of the portion 4 is unlikely to occur.

  (F) The electric rear marker automatic storage and deployment control of the electric rear markers 200R and 200L for forming a linear mark on the field scene as a standard for the next planting row will be described with reference mainly to FIGS.

  6-8 is a typical front view (the 1-the 3) of the rice transplanter 8 of embodiment in this invention here.

  In the present embodiment, any one of the planting travel mode, the neutral mode, the road travel mode, and the in-situ planting mode, in which the storage and deployment of the electric rear markers 200R and 200L is selected as the lever operation position of the auxiliary transmission lever 100 Is automatically performed based on the position corresponding to (see FIG. 4).

  More specifically, it is as follows.

  First, when the on-road travel mode is selected as the lever operating position of the auxiliary transmission lever 100, the electric rear markers 200R and 200L are electrically driven so that the rotation amounts θR and θL from the reference line H are approximately 90 degrees. Both rear markers 200R and 200L are stored (see FIG. 6). This is because in such a case, the electric rear markers 200R and 200L are not used.

  Next, when the planting travel mode, the neutral mode, or the in-situ planting mode is selected as the lever operating position of the auxiliary transmission lever 100, the electric motor is controlled so that one of the rotation amounts θR and θL is approximately 0 degrees. One of the rear markers 200R and 200L is deployed, and the other of the electric rear markers 200R and 200L is semi-deployed so that the other of the rotation amounts θR and θL is at an angle of 70 degrees (see FIG. 7). This is because in such a case, one of the electric rear markers 200R and 200L is used or about to be used to form a linear mark on the field scene, and the other of the electric rear markers 200R and 200L is the next. It is because it should be made to wait for the work of.

  When vehicle turning is detected by a vehicle turning sensor (not shown) or the like, both electric rear markers 200R and 200L are semi-deployed so that the rotation amounts θR and θL are at an angle of 70 degrees. (See FIG. 8). This is because in such a case, the electric rear markers 200R and 200L should be put on standby for the next operation.

  Moreover, when the planting clutch mechanism 120 is connected, the electric rear markers 200R and 200L may be housed. This is because, in such a case, the seedling stage 51 may be reciprocated in the left-right direction, so that the stored electric rear markers 200R and 200L of the water wheel blades are extended grids of the seedling stage 51. This is because it is easy to interfere with the part, and there is a concern about the occurrence of damage to the device due to such interference.

  Further, when (1) the end-alignment mode switch 150 is pressed down, or (2) when the end-alignment control is terminated in response to detection by the end-alignment sensor 131, the electric rear markers 200R and 200L may be stored. Good. The reason for this is that the edge alignment is often performed after the planting operation in which the rice transplanter 8 is loaded on the platform of a light truck or the like. Of course, since the end alignment may be performed before the planting operation is performed, the planting clutch mechanism 120 is disconnected so that the electric rear markers 200R and 200L are not unnecessarily stored. The electric rear markers 200R and 200L may be accommodated only when a rear wheel pulse signal indicating the rotation state of the wheel 11 is detected.

  (G) The link mechanism automatic lifting control of the lifting link mechanism 3 will be described with reference mainly to FIGS.

  9 is a left side view of the vicinity of the lifting link mechanism 3 of the rice transplanter 8 according to the embodiment of the present invention, and FIG. 10 is the vicinity of the lifting link mechanism 3 of the rice transplanter 8 according to the embodiment of the present invention. FIG.

  In the present embodiment, the lifting / lowering of the lifting / lowering link mechanism 3 is automatically performed using the lifting / lowering link mechanism potentiometer 300 instead of using a limit switch that can detect only an upper limit or a lower limit.

  More specifically, it is as follows.

  First, the elevating link mechanism potentiometer 300 includes an upper link fulcrum P where the base side of the upper link 40 is attached to the link base frame 42 and a lower link fulcrum Q where the base side of the lower link 41 is attached to the link base frame 42. In addition, it is arranged inside the column of the link base frame 42 having a rear view portal shape.

  Then, the scattered mud, fertilizer and the like are blocked by the link base frame 42 and are not easily attached to the lifting link mechanism potentiometer built-in auxiliary wheel 301. Therefore, the occurrence of failure in the lifting link mechanism potentiometer 300 due to rust or the like is suppressed. .

  Next, the lowest position of the lifting / lowering link mechanism 3 is set to be before the stroke end that is the lowest position of the lifting / lowering hydraulic cylinder 46 in the structure.

  Then, the internal pressure of the elevating hydraulic cylinder 46 is prevented from becoming too low, and the link mechanism is raised without a time lag according to the link mechanism ascent command signal from the controller 160. Attachment accuracy is improved.

  A collision impact caused by lowering of the lifting / lowering link mechanism 3 to the stroke end of the lifting / lowering hydraulic cylinder 46 is not caused, and the impact generated when the link mechanism is fully lowered is sufficiently obtained using an accumulator. Since it is absorbed, occurrence of breakage in the elevating hydraulic cylinder rod 311 and other parts is suppressed.

  In addition, the raising / lowering position of the raising / lowering link mechanism 3 designated by the operator corresponding to the lowest position and the highest position of the seedling planting unit 4 may be stored in a memory included in the controller 160. Then, since the stored lift position of the lift link mechanism 3 is easily reproduced using the lift link mechanism potentiometer 300 according to the operator's button depression or the like, the lift link mechanism 3 optimal for seedling replenishment and drug replenishment is provided. Adjustment of the raising / lowering position is performed without requiring troublesome manual operation.

  The seedling transplanter according to the present invention can perform a control operation with higher convenience in accordance with the intention of the operator, and is useful for the purpose of being used in a seedling transplanter such as a riding type rice transplanter.

5 Fertilizer 8 Rice transplanter 11 Rear wheel 20 Engine 23 HST
51 Seedling stand 51b Seedling feed belt 52 Seedling planting device 54 Seedling planting tool 100 Sub-shift lever 101 Sub-shift lever sensor 111 HST lever 111a Finger lever 111b Seed-planting part minute lowering button 111c Seed-planting part raising button 111d Seedling planting part lowering button 112 HST trunnion shaft 113 HST sensor 120 planting clutch mechanism 121 planting clutch switch 122 planting clutch sensor 131 edge alignment sensor 150 edge alignment mode switch 160 controller 180 feed case 181 minority number of clutches 191 seedling mount Tilt detecting member 192 Seedling stand tilt adjusting mechanism 200R, 200L Electric rear marker 300 Lifting link mechanism potentiometer 301 Lifting link mechanism potentiometer internal auxiliary wheel 311 Lifting hydraulic cylinder rod

Claims (3)

Using a driving force transmitted from the engine (20) via the main transmission (23), a seedling platform (51) that reciprocates in the left-right direction;
A planting clutch mechanism (120) for selecting an on mode or an off mode as a transmission mode of the driving force to the seedling platform (51);
Wheels (11) that rotate using the driving force transmitted from the engine (20) via the main transmission (23);
An auxiliary transmission lever (100) for selecting a transmission mode of the driving force to the wheel (11) according to a lever operation position;
An end alignment mode selection member (150) for selecting an end alignment mode for stopping the seedling stage (51) toward the left or right end according to the operation of the operator;
A main transmission lever (111) for instructing an output value of the main transmission (23) according to a lever operating position;
With
When the end shift mode is selected, the output value of the main transmission (23) is the main transmission lever (111) unless the lever operating position of the auxiliary transmission lever (100) is a neutral position. The seedling transplanting machine is set to zero regardless of the lever operating position. When the end shift mode is selected, the output value of the main transmission (23) is the main transmission lever (111) if the lever operating position of the sub transmission lever (100) is a neutral position. The seedling transplanting machine according to claim 1 , wherein the seedling transplanting machine is increased to a predetermined value according to the lever operation position. When the end-shift mode is selected, if the lever operating position of the auxiliary transmission lever (100) is in the neutral position, the output value of the main transmission (23) is (a) the main transmission If the lever operating position of the lever (111) does not exceed the predetermined position, it is zero. (B) If the lever operating position of the main transmission lever (111) exceeds the predetermined position, the main speed change is performed. The seedling transplanter according to claim 1 , wherein the seedling transplanter is increased to a predetermined value in accordance with the lever operating position of the lever (111).

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