JP2018068180A - Separating device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a separating device that can smoothly separate a seedbed piece from a seedbed divided into a plurality of seedbed pieces.SOLUTION: A separating device 11 separates a seedbed piece 12 from a seedbed 14 divided by the cut line 13 at a cut line 13 so that a plurality of seedbed pieces 12 make a matrix-shape. The separating device 11 has a plurality of grasping members 31 capable of grasping one seedbed piece 12, and a separation mechanism capable of separating the seedbed piece 12 from the seedbed 14 by relatively moving the grasping member 31 and the seedbed 14 in conditions that the grasping member 31 grips the seedbed piece 12. The separating mechanism separates at least two of the consecutive seedbed pieces 12 among the plurality of seedbed pieces 12 for one row in the seedbed 14, from the seedbed 14 at once.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a separation device for separating a seedbed piece from a seedbed divided into a plurality of seedbed pieces.

  Conventionally, as this type of separation device, for example, the one provided in the planting machine of Patent Document 1 is known. In such a separation device, a urethane mat with a seedling (nursery bed) with a grid cut formed on the upper surface is sandwiched with a grasping needle and then torn, thereby separating into a cubic nursery block (seedbed piece). Yes.

JP 2004-187661 A

  By the way, in the separating apparatus as described above, a plurality of seedbed blocks located in the first row in the urethane mat with seedlings are cut into pieces every two by the gripping needles. For this reason, since one nursery block to be shredded is connected to the other three nursery blocks adjacent thereto, it is necessary to shred from the other three nursery blocks adjacent to each other at once. Therefore, there is a possibility that the nursery bed block may not be cut off smoothly from the urethane mat with a seedling. That is, there is a problem that the nursery block cannot be smoothly separated from the urethane mat with seedling.

  The present invention has been made paying attention to such a situation. The object is to provide a separation apparatus that can smoothly separate a seedbed piece from a seedbed divided into a plurality of seedbed pieces.

Hereinafter, means for solving the above-described problems and the effects thereof will be described.
A separation device that solves the above-described problem is a separation device that separates the nursery bed piece at the cut from a nursery bed that is divided by a cut so that a plurality of nursery pieces form a matrix, and can hold one nursery piece. A separating mechanism capable of separating the seedbed piece from the seedbed by relatively moving the gripping member and the seedbed in a state where the grasping member grasps the seedbed piece. The mechanism separates at least two successive seedbed pieces from the seedbed at a time from among the plurality of seedbed pieces for a row in the seedbed.

  According to this configuration, since the separation mechanism separates at least two consecutive seedbed pieces among the plurality of seedbed pieces for one row in the seedbed from the seedbed at once, the plurality of seedbed pieces for one row in the seedbed is, for example, Patent Document As compared with the case where the same number is separated every other two as shown in FIG. Therefore, the seedbed piece can be smoothly separated from the seedbed divided into a plurality of seedbed pieces.

  In the separation apparatus, when the separation mechanism is a first separation mechanism, the gripping unit grips at least two continuous seedbed pieces separated from the seedbed at a time by the first separation mechanism and the adjacent seedbed pieces. It is preferable to include a second separation mechanism that separates the members individually by moving the members in directions away from each other.

According to this configuration, at least two continuous seedbed pieces separated from the seedbed by the first separation mechanism can be individually separated by the second separation mechanism.
In the separation apparatus, the second separation mechanism is configured such that one of the gripping members is movable in the first direction, and the other of the gripping members is orthogonal to the first direction. It is preferable to include a second moving unit that is movable in the second direction.

  According to this configuration, by moving the gripping members in the state of gripping the seedbed pieces respectively in the first direction and the second direction different from each other, the seedbed pieces gripped by the gripping members are more reliably Can be separated.

  In the separation apparatus, it is preferable that the separation mechanism separates the seedbed piece from the seedbed by moving the holding member upward in a state where the seedling piece is held by the holding member.

According to this configuration, when the seedbed piece is separated from the seedbed by the holding member, it is possible to suppress the root of the seedling of the seedbed piece separated from the seedbed from being dragged.
The separation apparatus preferably includes a movement inhibition member that can inhibit movement of an adjacent seedbed piece that is another seedbed piece adjacent to the seedbed piece held by the holding member.

  According to this configuration, when separating the seedbed piece gripped by the gripping member by moving the gripping member and the seedbed relative to the seedbed, the movement inhibitory member inhibits the movement of the adjacent seedbed piece, thereby preventing the adjacent seedbed. Only the seedbed piece gripped by the gripping member in a state where the piece remains on the seedbed can be separated from the seedbed.

  According to the present invention, a seedbed piece can be smoothly separated from a seedbed divided into a plurality of seedbed pieces.

The perspective view of the separation apparatus of one Embodiment. The block diagram which shows the electric constitution of a separation apparatus. The perspective view which shows a state when a holding member and the nursery piece for holding | gripping are made to oppose. The perspective view which shows a state when the holding nursery piece is hold | gripped with a holding member. The perspective view which shows a state when isolate | separating the four seedling pieces for holding | grip of the state connected from the seedbed. The perspective view which shows a state when four seedling pieces for holding | grip of the connected state are isolate | separated separately. The perspective view which shows a state when the four holding members which hold | grip the seedbed piece for holding | grip are arranged in the left-right direction at equal intervals. The perspective view which shows a state when holding | griping the seedling piece for holding | grip and expanding the space | interval of the four holding members arranged in the left-right direction at equal intervals, maintaining the state of equal intervals.

Hereinafter, an embodiment of a separation device will be described with reference to the drawings.
As shown in FIG. 1, the separation device 11 separates the seedbed piece 12 at the cut 13 from the seedbed 14 divided by the cuts 13 so that the plurality of seedbed pieces 12 form a matrix. Are provided in a transplanter (not shown) that separates the seedbed piece 12 from the seedling 12 and transplants it into a fixed planting panel (not shown). The separation device 11 includes a support unit 15 that supports the seedbed 14, a separation unit 16 that separates the seedbed piece 12 from the seedbed 14 supported by the support unit 15, and movement inhibition that can inhibit the movement of some of the seedbed pieces 12. Part 17.

  In the following description, the width direction of the separation device 11 is “left-right direction X”, the depth direction of the separation device 11 is “front-rear direction Y”, and the height direction of the separation device 11 is “vertical direction Z”. The left-right direction X, the front-rear direction Y, and the vertical direction Z are directions orthogonal to each other.

  The support portion 15 supports the rectangular plate-shaped seedbed 14 and is disposed so as to be reciprocally movable in the front-rear direction Y, and a support base moving mechanism 19 that moves the support base 18 in the front-rear direction Y. And. The support base moving mechanism 19 is configured by, for example, a motor and a speed reducer. L-shaped positioning projections 20 for positioning the seedbed 14 are provided at positions corresponding to the four corners of the seedbed 14 on the support base 18.

  The nursery bed 14 is an elastically deformable planar mat body made of foamed resin such as urethane, for example, and a plurality of cut lines 13 extending in the left-right direction X and the front-rear direction Y form a lattice shape in plan view. Is formed. The nursery bed 14 is divided into a plurality of nursery bed pieces 12 having a substantially cubic shape by grid-like cuts 13. Incidentally, in the present embodiment, the grid-like cuts 13 are formed in the nursery bed 14 so as to form a matrix-like arrangement in which four nursery bed pieces 12 are arranged in the front-rear direction Y and five in the left-right direction X.

  The seedbed piece 12 divided into a matrix by the cut line 13 is a connecting portion (illustrated) in which a substantially central portion of a side that becomes a boundary with another seedbed piece 12 adjacent in plan view is partially connected to the other seedbed piece 12. Abbreviation). Accordingly, the plurality of seedbed pieces 12 constituting the seedbed 14 are adjacent in the left-right direction X and the front-rear direction Y by the cuts 13 and the connecting portions (not shown) alternately continuing in the left-right direction X and the front-rear direction Y. Is intermittently connected to the other nursery piece 12.

  A concave portion (not shown) having a circular shape in plan view is formed in a substantially central portion on the upper surface of the seed bed piece 12, and a plant seedling N is planted in the concave portion. The bottom of the concave portion of the seedbed piece 12 is provided with a cut extending to the lower surface of the seedbed piece 12, and when the root of the seedling N planted in the concave portion extends, the root passes through the lower surface of the seedbed piece 12 through the cut. It comes out from the side.

  The movement hindering part 17 is arranged so as to be adjacent to the support base 18 in the left-right direction X, and can move the round-bar-like movement hindering member 21 and the movement hindering member 21 along the left-right direction X to the support base 18 side. And a possible movement-inhibiting actuator 22. The movement inhibition member 21 is driven by the movement inhibition actuator 22 to engage with the upper surface of the nursery bed 14 (position shown in FIG. 3) and the retreated position retracted from the upper surface of the nursery bed 14 (shown in FIG. 1). Position). In addition, the movement inhibition part 17 is comprised by the air cylinder, for example.

  The separation unit 16 is arranged so as to be adjacent to the support base 18 in the front-rear direction Y, and the separation unit 23 can be moved in the left-right direction X, the front-rear direction Y, and the vertical direction (up-down direction) Z. And a unit moving mechanism 24. The separation unit moving mechanism 24 includes, for example, a motor and a speed reducer. The separation unit 23 includes a plate-like base member 25 that is parallel to the left-right direction X and the vertical direction Z.

  A guide rail 26 extending in the left-right direction X is provided at the lower portion of the front surface that is the surface on the support base 18 side of the base member 25. A plurality (four in this embodiment) of gripping units 27 for gripping the seedbed piece 12 are supported on the guide rail 26 so as to be slidable along the left-right direction X. That is, the four gripping units 27 are arranged side by side in the left-right direction X, and are slidable in the left-right direction X while being guided by the guide rails 26.

  Each gripping unit 27 includes a support plate 28 slidably supported by the guide rail 26, a telescopic actuator 29 supported by the support plate 28, and an L that is supported by the telescopic actuator 29 so as to be movable substantially in the front-rear direction Y. A character-shaped connecting plate 30 and a holding member 31 that is connected to the tip of the connecting plate 30 and can hold one seedbed piece 12 are provided. The telescopic actuator 29 is constituted by, for example, an air cylinder that linearly moves the rod, and is disposed so as to be inclined in the vertical direction Z with respect to the front-rear direction Y.

  Therefore, the expansion / contraction actuator 29 can linearly move the gripping member 31 through the connecting plate 30 in the direction toward the front diagonally downward and the direction toward the rear diagonally upward by the drive. That is, the telescopic actuator 29 moves away from the support base 18 in the front-rear direction Y and the protruding position (position shown in FIG. 1) where the grip member 31 is moved closer to the support base 18 in the front-rear direction Y. It is possible to move between the return position (position shown in FIG. 7) moved to. A guide portion 32 that guides the connecting plate 30 along its moving direction is provided on the upper surface of the telescopic actuator 29.

  The gripping member 31 includes a pair of gripping pieces 33 arranged in the left-right direction X that grips the seedbed piece 12 from the side in the front-rear direction Y, and a gripping piece drive actuator 34 that drives while supporting the pair of gripping pieces 33. Yes.

  The gripping piece drive actuator 34 drives the pair of gripping pieces 33 so that the pair of gripping pieces 33 grips the seedbed piece 12 or releases the gripping state of the seedbed piece 12 by the pair of gripping pieces 33. That is, the gripping piece drive actuator 34 can move the pair of gripping pieces 33 so as to approach or move away from each other in the left-right direction X by driving.

  In the present embodiment, at least two seedbed pieces 12 continuous from the seedbed 14 can be separated at a time by relatively moving each gripping member 31 and the seedbed 14 with each holding member 31 holding the seedbed piece 12. A first separation mechanism (separation mechanism) is constituted by the gripping members 31 and the separation unit moving mechanism 24. Furthermore, in the present embodiment, at least two consecutive seedbed pieces 12 separated from the seedbed 14 at a time by the first separation mechanism are arranged in a direction in which the holding members 31 holding the adjacent seedbed pieces 12 in the left-right direction X are separated from each other. A second separation mechanism that separates them individually by relative movement is constituted by each telescopic actuator 29.

  A ledge tong mechanism 35 that can be expanded and contracted in the left-right direction X is disposed above the guide rail 26 on the front surface of the base member 25. The ledge tong mechanism 35 has two long plate-like links 36 intersected in an X-shape, and an X link 38 is formed by pivotally connecting the central intersecting portions with a shaft 37 extending in the front-rear direction Y. And a plurality of X links 38 are connected in series so as to be rotatable by shafts 37 at their two ends. The storage tong mechanism 35 of the present embodiment employs a structure in which four X links 38 are connected in series by a shaft 37 so as to be rotatable.

  A link drive actuator 39 formed of, for example, an air cylinder is provided above one end portion (the right end portion in FIG. 1) of the storage tong mechanism 35 on the front surface of the base member 25. The link drive actuator 39 has a rod 40 that is reciprocated in the vertical direction Z by its drive. The tip of the rod 40 is rotatably connected to a shaft 37 positioned on the upper side at one end of the ledge tong mechanism 35, and the shaft 37 positioned on the lower side of the one end of the ledge tong mechanism 35 is rotatable on the base member 25. It is connected.

  The remaining four shafts 37 other than the shaft 37 located on the most end side (right side in FIG. 1) among the five shafts 37 arranged in the left-right direction X located at the lower end of the ledge tong mechanism 35 include four gripping units. 27 support plates 28 are rotatably connected to each other. When the link drive actuator 39 is driven to reciprocate the rod 40 along the vertical direction Z, the ledge tong mechanism 35 is expanded and contracted to move the shafts 37 in the left-right direction X at the same time. The interval between the 37 becomes wider or narrower.

  That is, when the link drive actuator 39 is driven and the rod 40 is moved downward along the vertical direction Z, the ledge tong mechanism 35 is in the extended state (the state shown in FIG. 8). In this extended state, the rod 40 is moved in the vertical direction Z. , The ledge tong mechanism 35 is in a contracted state (the state shown in FIG. 1).

  In this case, the interval between the shafts 37 in the left-right direction X is the same regardless of whether the ledge tong mechanism 35 is in the expanded state or in the contracted state. It becomes wider than the interval between the shafts 37. Therefore, by driving the link drive actuator 39, the spacing tong mechanism 35 is changed between the extended state and the contracted state, so that the intervals between the grip members 31 in the left-right direction X (the grip units 27) are all equal. While the state is maintained, the interval becomes wider or narrower.

Next, the electrical configuration of the separation device 11 will be described.
As illustrated in FIG. 2, the separation device 11 includes a control unit 41 that comprehensively controls the entire separation device 11. The control unit 41 includes a CPU 42 that executes various programs as a central processing unit, a ROM 43 that stores various information and a separation program that is used to control the operation of the entire separation device 11, and various information. Is provided so as to be writable and readable.

  When various types of information are input via an interface (not shown), the CPU 42 executes a separation program stored in the ROM 43. As a result, the CPU 42 performs various calculations necessary for controlling the operation of the separation device 11, reads various information used in the calculations from the ROM 43, and uses them in the calculations. Various kinds of information are read and written to the RAM 44.

  An operation unit 45 for a user to perform various operations is electrically connected to an input side interface (not shown) of the control unit 41. The output side interface (not shown) of the control unit 41 includes a support base moving mechanism 19, a separation unit moving mechanism 24, a movement inhibiting actuator 22, a telescopic actuator 29, a gripping piece driving actuator 34, and a link driving actuator 39. It is connected to the.

  Then, the control unit 41 drives the support base moving mechanism 19, the separation unit moving mechanism 24, the movement inhibition actuator 22, the telescopic actuator 29, the gripping piece drive actuator 34, and the link drive actuator 39 based on the operation of the operation unit 45. Control each one.

Next, the operation of the separation device 11 will be described.
When separating the seedbed piece 12 from the seedbed 14, first, as shown in FIG. 3, the ledge tong mechanism 35 is brought into a contracted state and the four gripping members 31 arranged in the left-right direction X are moved to the protruding positions. The separation unit 23 is moved in the state, and the four gripping members 31 are arranged in one row (here, five) of the seed bed pieces 12 aligned in the left-right direction X located on the most front side (separation unit 23 side) of the seed bed 14. The four nursery-bed pieces 12A that are continuous in the left-right direction X of the holding nursery-piece pieces 12A are opposed to each other in the front-rear direction Y.

  Subsequently, when the movement-inhibiting member 21 is moved to the engagement position, the movement-inhibiting member 21 is engaged with the upper surface of each adjacent seedbed piece 12B, which is another seedbed piece 12 adjacent to each holding seedbed piece 12A in the front-rear direction Y. Combined. Thereby, the upward movement of each adjacent seedbed piece 12B is in a state where it is inhibited by the movement inhibiting member 21. In this case, the movement-inhibiting member 21 is engaged with a region avoiding the seedling N on the upper surface of each adjacent seedbed piece 12B, and thus does not damage the seedling N planted in each adjacent seedbed piece 12B.

  Subsequently, as shown in FIG. 4, the separation unit 23 is moved toward the seed bed 14, and the four holding seed bed pieces 12 </ b> A corresponding to the pair of holding pieces 33 of the four holding members 31 in the front-rear direction Y are provided. To hold each. At this time, the rod-shaped auxiliary engagement member 46 is engaged with a region avoiding the seedling N on the upper surface of the remaining one of the holding seedbed pieces 12A that is not held by the pair of holding pieces 33 of the holding member 31.

  As a result, the upward engagement of the one holding seedbed piece 12A is inhibited by the auxiliary engaging member 46 without damaging the seedling N of the one holding seedbed piece 12A. The auxiliary engagement member 46 is configured to be movable in the left-right direction X, the front-rear direction Y, and the vertical direction Z by a moving mechanism (not shown).

  Subsequently, as shown in FIG. 5, the separation unit 23 is lifted while the pair of gripping pieces 33 of the four gripping members 31 grips the four gripping seedbed pieces 12 </ b> A corresponding thereto, and the four grips are held. The member 31 is moved upward. Then, the four holding seedbed pieces 12A respectively held by the four holding members 31 include four holding seedbed pieces 12A, one holding seedbed piece 12A not held by the holding member 31, and the four holding pieces. The nursery bed piece 12A is cut off from the nursery bed 14 and separated at a cut 13 between four adjacent nursery bed pieces 12B.

  That is, the four holding seedbed pieces 12A are cut by the four holding members 31 between the four holding seedbed pieces 12A and the other five nursery pieces 12 adjacent in the left-right direction X and the front-rear direction Y. In FIG. 2, each of them is shredded from the nursery bed 14 and separated. At this time, the four holding nursery pieces 12A and the other five nursery pieces 12 adjacent in the left-right direction X and the front-rear direction Y, that is, one holding nursery piece 12A that is not held by the holding member 31, and four The adjacent seedbed piece 12B is pulled upward by the four gripping member 31 via the four gripping seedbed pieces 12A, but the upward movement is inhibited by the auxiliary engagement member 46 and the movement inhibiting member 21, respectively.

  For this reason, one holding seedbed piece 12A and four adjacent seedbed pieces 12B that are not held by the holding member 31 are not torn from the nursery bed 14 following the four holding seedbed pieces 12A. Therefore, by the four gripping members 31, only at least two (four in this case) continuous gripping seedbed pieces 12A out of a plurality (here, five) of gripping seedbed pieces 12A in one row of the seedbed 14 are provided. It is separated from the nursery bed 14 with high accuracy at a time.

  Subsequently, as shown in FIG. 6, the separation unit 23 is moved to the side opposite to the support base 18 side in the front-rear direction Y, and the four holding members 31 arranged in the left-right direction X holding the holding seedbed pieces 12A. For example, only the odd-numbered two gripping members 31 (first and third gripping members 31 from the left in FIG. 6) are moved from the projecting position to the return position by driving the telescopic actuators 29 corresponding thereto. .

  That is, the gripping members 31 gripping the gripping seedbed pieces 12A adjacent in the left-right direction X are relatively moved in a direction away from each other. Thereby, four continuous seedbed pieces 12A for gripping separated from the seedbed 14 at once by the four gripping members 31 are individually chopped and separated at the cuts 13 between them. At this time, the movement inhibiting member 21 is moved from the engagement position to the retracted position by the movement inhibiting actuator 22, and the auxiliary engagement member 46 (see FIG. 5) is also retracted from the nursery bed 14.

  Subsequently, the even-numbered remaining two gripping members 31 at the protruding positions among the four gripping members 31 arranged in the left-right direction X each gripping the seedling piece 12A for gripping (second and fourth from the left in FIG. 6). The gripping member 31) is moved to the return position by driving the telescopic actuator 29 corresponding thereto.

  Then, as shown in FIG. 7, the four holding members 31 each holding the holding seedbed pieces 12A are arranged in the left-right direction X at equal intervals. Subsequently, as shown in FIG. 8, when the ledge tong mechanism 35 is moved from the contracted state to the extended state by driving the link drive actuator 39, the four gripping members 31 gripping the gripping seedbed pieces 12 </ b> A are arranged at equal intervals in the left-right direction X. The four gripping members 31 are widened so that the distance between the four gripping members 31 is a predetermined distance. Thereafter, the holding seedbed pieces 12A held by the four holding members 31 are transferred to a transplanting arm (not shown) and transplanted to a fixed planting panel (not shown).

According to the embodiment detailed above, the following effects are exhibited.
(1) The separation device 11 includes at least two (four in this embodiment) grasping nursery pieces that are continuous among a plurality (five in the present embodiment) of grasping seedbed pieces 12A for one row in the nursery bed 14. 12A is separated from the nursery bed 14 at a time. For this reason, for example, as compared with a case where a plurality of seedbed pieces for one row in the seedling bed are separated by the same number every other two pieces as in Patent Document 1, it is possible to reduce the number of places to be separated (parts to be cut). For example, when two seedbed pieces are opened and separated from the seedbed individually, there are 6 places to be shredded from other seedbed pieces (3 places × 2 per seedbed piece), but 2 When one nursery piece is separated from the nursery at a time, there are four places to be cut off from the other nursery pieces. Therefore, the seedbed piece 12 can be smoothly separated from the seedbed 14 divided into the plurality of seedbed pieces 12.

  (2) The separation device 11 includes at least two continuous nursery bed pieces 12A (four in this embodiment) separated at once from the nursery bed 14 by the holding member 31 in the left-right direction X. Only one of the gripping members 31 that grip 12A is moved in the front-rear direction Y to separate them individually. For this reason, at least two (four in this embodiment) continuous nursery bed pieces 12A separated from the nursery bed 14 can be separated more reliably using a shearing action.

  (3) The separation device 11 separates the holding seedbed piece 12 </ b> A from the seedbed 14 by moving the holding member 31 upward while holding the holding seedbed piece 12 </ b> A by the holding member 31. For this reason, when separating the holding seedbed piece 12 </ b> A from the seedbed 14 by the holding member 31, the roots of the seedling N of the holding seedbed piece 12 </ b> A separated from the seedbed 14 can be suppressed.

  (4) The separation device 11 includes a movement inhibition member 21 that can inhibit the upward movement of the adjacent seedbed piece 12B, which is another seedbed piece 12 adjacent to the holding seedbed piece 12A held by the holding member 31. Yes. For this reason, when separating from the seedbed 14 by moving the holding seedbed piece 12A held by the holding member 31 upward, the movement inhibition member 21 inhibits the upward movement of the adjacent seedbed piece 12B. Only the holding seedbed piece 12 </ b> A gripped by the holding member 31 with the adjacent seedbed piece 12 </ b> B left on the seedbed 14 can be separated from the seedbed 14. That is, the movement inhibiting member 21 can suppress separation of the adjacent nursery piece 12B from the nursery bed 14 following the holding nursery piece 12A separated from the nursery bed 14.

(Example of change)
In addition, you may change the said embodiment as follows.
In the separation device 11, the second separation mechanism expands and contracts as an example of a first moving unit that can move one of the gripping members 31 adjacent in the left-right direction X in the front-rear direction Y as an example of the first direction. The link drive actuator 39 and the second moving part as an example of the second moving part capable of moving the actuator 29 and the other of the gripping members 31 in the left-right direction X as an example of the second direction orthogonal to the front-rear direction Y A ledge tong mechanism 35 as an example may be provided. By doing so, the gripping members 31 in the state of gripping the gripping seedbed pieces 12A are simultaneously moved in the front-rear direction Y and the left-right direction X, which are orthogonal to each other, thereby gripping the gripping members 31 with each other. The grasping nursery pieces 12A can be more reliably separated from each other.

  Specifically, in the operation of the separation device 11 of the above-described embodiment, for example, odd-numbered two gripping members 31 out of the four gripping members 31 sequentially arranged in the left-right direction X each gripping the seedbed piece 12A for gripping. Only the first and third gripping members 31 from the left in FIG. 6 are moved from the protruding position to the return position by driving the telescopic actuators 29 corresponding thereto, and the ranging tong mechanism 35 is driven by the link driving actuator 39. By changing from the contracted state to the extended state, the four gripping members 31 arranged in the left-right direction X are simultaneously moved in the left-right direction X so as to widen the interval between them. As a result, the adjacent ones of the four gripping members 31 that are continuously arranged in the left-right direction X are moved away from each other in the direction between the front-rear direction Y and the left-right direction X. The four holding nursery pieces 12A respectively held by the members 31 can be separated more reliably.

In the above-described separation device 11 in the modified example, the first direction and the second direction are not necessarily orthogonal.
-In the separation apparatus 11, the movement inhibition member 21 (movement inhibition part 17) may be omitted.

In the separation device 11, a plurality of movement inhibition members 21 (movement inhibition units 17) may be used.
The separation device 11 does not necessarily need to separate the holding seedbed piece 12A from the seedbed 14 by moving the holding member 31 upward while holding the holding seedbed piece 12A by the holding member 31. For example, the grasping seedbed piece 12A is separated from the seedbed 14 by moving the grasping member 31 to the side away from the seedbed 14 in the front-rear direction Y (horizontal direction) while the grasping seedling piece 12A is grasped by the grasping member 31. It may be. In this case, it is preferable to insert the movement-inhibiting member 21 into the cut 13 between the holding nursery piece 12A and the adjacent nursery piece 12B.

-Each expansion-contraction actuator 29 which comprises a 2nd separation mechanism may be abbreviate | omitted.
The separation device 11 includes at least two continuous nursery bed pieces 12A (four in the above embodiment) separated at once from the nursery bed 14 by the holding member 31, and the holding nursery bed pieces 12A adjacent in the left-right direction X. The gripping members 31 to be gripped may be individually separated by relatively moving in a direction away from each other in three dimensions. For example, one of the gripping members 31 that grip the gripping seedbed pieces 12A adjacent in the left-right direction X is moved upward or downward and the other is moved forward or backward, thereby holding the seedbed pieces for gripping. You may make it isolate | separate 12A separately. Alternatively, one of the gripping members 31 gripping the gripping seedbed pieces 12A adjacent in the left-right direction X is stopped and the other is moved upward, downward, forward, rearward, etc. You may make it isolate | separate 12A separately. Furthermore, one of the gripping members 31 gripping the gripping seedbed pieces 12A adjacent in the left-right direction X and the other are in different directions and in directions other than the left-right direction X, the front-rear direction Y, and the vertical direction Z. You may make it isolate | separate the seedbed pieces 12A for holding | grip individually by moving each toward a certain diagonal direction. In the case described above, the gripping members 31 that grip the gripping seedbed pieces 12A adjacent in the left-right direction X may be moved not only in a straight line but also in a curved line. For example, one of the gripping members 31 may be rotated clockwise and the other may be rotated counterclockwise. In other words, one and the other of the grip members 31 may be moved in different directions and so that their trajectories draw an arc.

  In the case where the holding seedbed piece 12A is separated from the nursery bed 14, the holding member 31 is stopped without moving the holding member 31 while holding the holding seedbed piece 12A, and the nursery bed 14 is moved in the front-rear direction Y. It may be moved away from the gripping member 31. Alternatively, with the holding member 31 holding the holding seedbed piece 12A, both the holding member 31 and the seedbed 14 are moved away from each other in the front-rear direction Y so as to separate the holding seedbed piece 12A from the nursery bed 14. May be.

  When separating the holding nursery piece 12A from the nursery bed 14, the holding member 31 is stopped without moving the holding member 31 while holding the holding nursery piece 12A, and the nursery bed 14 is moved in the vertical direction Z. It may be moved downward. In this case, it is preferable to move the movement-inhibiting member 21 (movement-inhibiting part 17) together with the nursery bed 14 in the vertical direction Z. Alternatively, with the holding member 31 holding the holding seedbed piece 12A, both the holding member 31 and the seedbed 14 are moved away from each other in the vertical direction Z to separate the holding seedbed piece 12A from the nursery bed 14. May be.

  The number of gripping members 31 (grip units 27) provided in the separation device 11 may be arbitrarily changed according to, for example, the number of the seedbed pieces 12 that constitute the seedbed 14 in the left-right direction X. That is, for example, the number of gripping members 31 provided in the separation device 11 may be the same as the number of the seedbed pieces 12 that constitute the seedbed 14 in the left-right direction X.

  DESCRIPTION OF SYMBOLS 11 ... Separation device, 12 ... Nursery piece, 12A ... Grasp nursery piece, 12B ... Adjacent nursery piece, 13 ... Cut, 14 ... Nursery bed, 21 ... Movement inhibition member, 24 ... First separation mechanism (separation mechanism) Separation unit moving mechanism, 29... Telescopic actuator as an example of a first moving part constituting the second separation mechanism, 31... Holding member constituting the first separation mechanism (separation mechanism), 35. Raging tong mechanism as an example of the second moving part, 39 ... Link drive actuator as an example of the second moving part constituting the second separation mechanism, X ... Left and right direction as an example of the second direction, Y ... in the first direction Front-back direction as an example.

Claims (5)

A separation device for separating the seedbed pieces at the cuts from a seedbed separated by the cuts so that a plurality of seedbed pieces form a matrix,
A plurality of gripping members capable of gripping one seedbed piece are provided, and the seedbed piece can be separated from the seedbed by relatively moving the gripping member and the seedbed while the gripping member grips the seedbed piece. Equipped with a separation mechanism
The separation mechanism separates at least two continuous seedbed pieces among the plurality of seedbed pieces for one row in the seedbed from the seedbed at a time.   When the separation mechanism is the first separation mechanism, at least two continuous seedbed pieces separated from the seedbed by the first separation mechanism at a time are separated from the holding members that hold the adjacent seedbed pieces. The separation apparatus according to claim 1, further comprising a second separation mechanism that separates by moving in a direction relative to each other.   The second separation mechanism is configured to move a first moving part capable of moving one of the gripping members in a first direction and a second of the gripping members in a second direction orthogonal to the first direction. The separation apparatus according to claim 2, further comprising a second movable unit capable of moving.   The said separation mechanism isolate | separates the said seedbed piece from the said seedbed by moving the said holding member upwards, in the state which hold | gripped the said seedbed piece by the said holding member, Among Claim 1-Claim 3 characterized by the above-mentioned. The separation device according to any one of the above.   The movement inhibiting member which can inhibit the movement of the adjacent nursery piece which is the other nursery piece adjacent to the nursery piece held by the holding member is provided. The separation device according to any one of the above.

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