JP4753858B2 - Transplanter seedling removal device - Google Patents

Description

  The present invention relates to a seedling extraction device for a transplanter that extracts and transplants soil block seedlings such as onions, lettuce, cabbage, and tobacco one by one from a pot portion of a seedling tray.

The transplanting machine has a seedling placing table on which a seedling tray having a large number of pot parts in the vertical and horizontal directions is placed on the traveling machine, a planting part for planting seedlings on the cocoon, and a seedling tray from the pot part of the seedling tray on the seedling placing table. A seedling picking device for taking out the seedlings one by one and feeding them to the planting part, and planting the seedlings automatically in order at intervals in the longitudinal direction of the cocoon while running along the cocoon.
This type of conventional technology is a method of making a reciprocating motion while drawing a substantially elliptical locus in a direction substantially opposite to the pot portion of the seedling tray, and a Reciprocating means for taking out the seedling by retracting the seedling catching claw from the pot part on one upper side after allowing the seedling catching claw to enter the pot part below the one end, and the seedling catching claw from the outside of the pot part to the substantially elliptical shape And a posture changing means for performing a substantially arc locus motion for changing the posture of the seedling claw from a posture facing the pot portion to a substantially downward posture when located between the other end side of the locus.

The reciprocating means includes a sun shaft, a sun gear concentric with the sun shaft, a gear case mounted on the sun shaft and supporting the idler gear and the planet gear, and a base mounted on the planet shaft supporting the planet gear. And a pivot arm rotatably supporting a seed claw base at the tip via a claw support shaft, and a center distance from the sun gear to the planetary gear and a center distance from the planet gear to the claw support shaft. Are different.
In this way, the planetary gear mechanism is used for the reciprocating movement of the claw support shaft to enable the seedling planting to be speeded up, and the seedling removing claw can be drawn so as to draw a substantially elliptical locus substantially along the direction facing the pot portion. By reciprocating, the seeds can be taken out with low resistance by entering from the lower center of the pot part from the lower side and withdrawing from the upper side.
JP 2004-81159 A

In the prior art, the planetary shaft of the planetary gear mechanism pushes and pulls the claw support shaft through the rotation arm, and the claw support shaft is added with the weight of the seedling claw and the seedling claw stand, and rotates. The arm is always in the state of gravity (rotational power) that the claw support shaft is about to hang around the planetary axis.
When the claw support shaft moves from the sun axis side to the end of the approximately elliptical locus, a tension resistance is applied to the rotating arm. At the point, the contact of the tooth surface of the planetary gear mechanism is on the opposite side.
Since the planetary gear mechanism has a backlash of the gear at two sets of meshing portions, when the tooth contact is reversed, the rotating arm swings by the amount of the backlash to rattle the seedling catching claw. In particular, if the tip of the seedling picking claw may swing downward when entering the pot portion, the root pot may be damaged and the seedling may be dropped during the supply to the planting portion.

It is an object of the present invention to provide a seedling removal device for a transplanter that can solve such problems of the prior art.
The present invention provides a transplanting machine in which the tooth contact of the planetary gear mechanism is always kept constant by constantly biasing the claw support shaft upward so that rattling of the tip of the seedling claw is eliminated. An object is to provide a seedling removal device.

Specific means for solving the problems in the present invention are as follows.
First, the seedling claw base 33 with the seedling claw 32 attached thereto and the seedling claw base 33 are reciprocated while drawing a substantially elliptic locus D in a direction substantially opposite to the pot portion P of the seedling tray T, and the abbreviation thereof. Reciprocating means 36 for removing the seedling N by retracting the seedling claw 32 from the pot portion P on one upper side after allowing the seedling collecting claw 32 to enter the pot portion P on the lower side of the elliptical locus D;
The reciprocating means 36 includes a sun shaft 43, a sun gear 42 concentric with the sun shaft 43, a gear case 47 attached to the sun shaft 43 and supporting the idler gear 44 and the planetary gear 45, and the planetary gear 45. A rotating arm 48 having a base attached to the supporting planetary shaft 46 and rotatably supporting the seedling claw base 33 via a claw support shaft 61 at the tip, and a center from the sun gear 42 to the planetary gear 45; The distance K1 is different from the center distance K2 from the planetary gear 45 to the claw support shaft 61.
It has urging means 76 for urging the claw support shaft 61 upward via the seedling claw stand 33.

Secondly, the seedling claw base 33 to which the seedling claw 32 is attached, and the seedling claw base 33 are reciprocated while drawing a substantially elliptic locus D in a direction substantially opposite to the pot portion P of the seedling tray T, and its abbreviation. The reciprocating means 36 for removing the seedling N by retracting the seedling claw 32 from the pot portion P on one upper side after the seedling collecting claw 32 has entered the pot portion P below the one end of the elliptical locus D, and the seedling removing When the claw 32 is between the outside of the pot portion P and the other end side of the substantially elliptical locus D, the substantially circular locus that changes the posture of the seedling collecting claw 32 from the posture facing the pot portion P to the substantially downward direction. Posture changing means 37 for exercising,
The reciprocating means 36 includes a sun shaft 43, a sun gear 42 concentric with the sun shaft 43, a gear case 47 attached to the sun shaft 43 and supporting the idler gear 44 and the planetary gear 45, and the planetary gear 45. A rotating arm 48 having a base attached to the supporting planetary shaft 46 and rotatably supporting the seedling claw base 33 via a claw support shaft 61 at the tip, and a center from the sun gear 42 to the planetary gear 45; The distance K1 is different from the center distance K2 from the planetary gear 45 to the claw support shaft 61.
It has urging means 76 for urging the claw support shaft 61 upward via the seedling claw stand 33.

Thirdly, the seedling claw base 33 projects an interlocking portion 33C on the opposite side of the seedling claw 32 attachment side with the claw support shaft 61 as a boundary,
The posture changing means 37 includes a cam member 50 having a substantially arc-shaped cam surface 50A that engages with the interlocking portion 33C and guides its movement when the seedling claw stand 33 performs the substantially elliptical locus motion. And
The biasing means 76 is provided between a stay 77 fixed to a gear box 58 that rotatably supports the sun shaft 43, and between the stay 77 and the seedling claw 32 attachment side of the seedling claw base 33. The claw base 33 has a spring 78 that urges the claw support shaft 61 upward.

Fourth, the stay end of the spring 78 on the stay 77 side is located in a direction substantially perpendicular to the center line Da of the substantially elliptic locus D from the sun shaft 43.
With such a configuration, the following operation is achieved.
The seedling claw base 33 is moved forward in a direction substantially opposite to the pot part P of the seedling tray T, and the seedling claw 32 is made to enter the pot part P below one end of the substantially elliptical trajectory D. When the seedling picking claw 32 is retracted from the pot portion P at one upper end of the substantially elliptical locus D and the seedling N is taken out, the rotating arm 48 having the base attached to the planetary shaft 46 is connected to the claw support shaft 61 of the seedling claw stand 33. Is supported so as to be stretched toward one end side of the substantially elliptical locus D while being supported from the lower side, and is turned back at one end thereof, the planetary shaft 46 is moved upward from the claw support shaft 61, and the rotating arm 48 is moved to the claw support shaft 61. Is moved to the sun axis 43 side.

The claw support shaft 61 is urged upward by the urging means 76 not only when the claw support shaft 61 is on the lower side of the substantially elliptical locus D for taking out the seedling N but also on the upper side. Therefore, the force of rotating the rotating arm from the claw support shaft 61 due to the weight of the seedling removing claw 32 does not work, and the sun gear 42, the idler gear 44, the idler gear 44, and the planetary gear 45 always have the same tooth contact. Thus, the backlash of the seedling picking claws 32 is free from rattling, and the downward swinging of the tips of the seedling picking claws 32 when entering the pot portion P is prevented.
When the seedling claw 32 is between the outside of the pot part P and the other end side of the substantially elliptical locus D, and the attitude of the seedling claw 32 is changed from a position facing the pot part P to a substantially downward direction, the planet The shaft 46 moves from the upper side to the lower side of the claw support shaft 61. When the claw support shaft 61 is stretched and moved from the state where the claw support shaft 61 is stretched while being hung from the planetary shaft 46 and is turned at the other end, the rotation arm 48 is turned. There is a change in the state of supporting the claw support shaft 61 from the lower side, but the claw support shaft 61 is also urged upward by the urging means 76 via the seedling claw base 33 at this time. No force to rotate the rotating arm from 61, the sun gear 42 and the idler gear 44, the idler gear 44 and the planetary gear 45 are always in the same surface, the seedling claw by backlash will not rattle, When the seedling is released, the tip of the seedling claw is prevented from swinging.

  The urging means 76 can be constituted by a simple member of a stay 77 and a spring 78, and even if the seedling claw 32 is changed to a posture facing the pot portion P and a posture substantially downward, the seedling claw base 33 is used. The claw support shaft 61 can be reliably urged upward, and the urging force can be applied substantially equally on one end side and the other end side of the substantially elliptical locus D.

  According to the present invention described in detail above, the gear tooth contact of the planetary gear mechanism can always be a constant surface, the backlash of the tip of the seedling claw can be eliminated, and the seedling removal operation can be performed accurately and reliably it can.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
In FIG. 4, the transplanter 1 illustrates a two-row planted four-wheel walking type having a transplanter 3 and a steering handle 4 at the rear part of the traveling machine body 2, and the longitudinal direction of the heel (see FIG. 4), a soil block seedling (a seedling with a root pot; hereinafter referred to as a seedling N) is automatically planted on the heel R at a predetermined interval.
The traveling machine body 2 has a gantry 6 fixed to the front portion of the transmission case 5 so as to protrude forward, and mounted on the gantry 6 with vehicle equipment such as an engine, a fuel tank, and a battery, and a pair of left and right front wheels 9 and rear wheels ( Drive wheel) 10 is mounted.

The front wheel 9 is provided on left and right ends of a front wheel support shaft 11 pivotally supported on the front portion of the gantry 6 via support arms 12, and the rear wheel 10 is projected outward from both left and right sides of the transmission case 5. It is provided at the outer end portion of the wheel support shaft 13 via a transmission case 14 inclined rearward and downward.
The front wheel support shaft 11 and the rear wheel support shaft 13 on the left and right sides are interlocked with each other via an interlocking rod 15 and an arm, and an actuator (hydraulic cylinder) 16 supported on the gantry 6 is operated to operate the interlocking portion. The front wheel support shaft 11 and the rear wheel support shaft 13 are rotated in conjunction with each other through the interlocking rod 15 and the like 17 so that the left and right front and rear wheels 9 and 10 are moved up and down at the same time. The height can be adjusted.

The power of the engine is transmitted from the transmission case 5 to the rear wheel 10 via a transmission shaft in the left and right rear wheel support shaft 13 and a transmission means in the transmission case 14. Further, from the mission case 5, power can be taken out from the first PTO shaft 18 protruding rearward and the second PTO shaft 19 protruding left and right.
The left and right sides or the left and right sides (right side) of the front wheel support shaft 11 and the left and right sides or the left and right sides of the rear wheel support shaft 13 are configured to be telescopic, and can be adjusted for tread according to the left and right width of the heel R. It is said that.

Therefore, the transplanter 1 extends the front wheel support shaft 11 and the rear wheel support shaft 13 on the left and right sides, so that the transplanter 3 is offset to the left and right other side (left side) of the heel R. In this state, the transplanter 1 By reciprocating the cocoon R in the longitudinal direction of the cocoon R, four seedlings are configured to be planted in the cocoon R.
The transplanting device 3 is provided on a transplanting frame 21 mounted on the rear part of the traveling machine body 2. A planting mechanism 22 for planting the seedling N on the ridge R and a seedling supply for placing the seedling tray T and feeding it vertically and horizontally. It mainly comprises a mechanism 23 and a seedling extraction mechanism 24 that extracts the seedling N from the seedling tray T on the seedling supply mechanism 23 and supplies it to the planting mechanism 22.

The transplant frame 21 has a fixed frame 21A whose front part is fixed to the transmission case 5, and a movable frame 21B whose front part is rotatably attached to the second PTO shaft 19 around its axis. Are provided with a seedling supply mechanism 23 and a seedling extraction mechanism 24 (both of which constitute a seedling supply section), the handle 4 is fixed, and the movable frame 21B is provided with a planting mechanism 22. A cover 28 covers the seedling extraction mechanism 24.
1, 2, and 4, the seedling tray T is made of plastic, has a thin wall, has flexibility, and includes a large number of pot portions P that are arranged in a grid pattern at a predetermined pitch vertically and horizontally. ing.

The seedling tray T is formed in a rectangular shape that is long in the pot portion vertical arrangement direction when viewed from the front, and the soil block seedling N is grown by filling the pot portion P with floor soil, sowing and raising seedlings there, The number of pot parts P is 10 × 20 = 200, 12 × 24 = 288, and the size of the seedling tray T is constant. Therefore, if the number of pot parts is different, one pot part P FIG. 7 shows two types of sizes.
The pot portion P has a substantially quadrangular pyramid shape (or conical shape) that gradually narrows toward the back, the corner portion is rounded with a chamfer, and a bottom hole Pa for ventilation and drainage is formed on the bottom wall. ing. Therefore, the upper and lower side walls Pb of the pot portion P when the seedling tray T is set to the feeding posture are narrowed and tapered surfaces. A center line of the pot portion P is indicated by a symbol S.

The seedling supply mechanism 23 includes a seedling mounting base 25 for mounting the seedling tray T in a state where the upper part is tilted backward, a supporting means for supporting the seedling mounting base 25 so as to be capable of reciprocating in the left-right direction, 25 which feeds the pots 25 intermittently in the horizontal arrangement direction (left and right direction) by one pot part P, and the vertical feed means which feeds the seedling trays T on the seedling table 25 vertically from top to bottom one row at a time. And have.
The seedling supply mechanism 23 takes out the seedling N from the pot portion P of the seedling tray T by the seedling extraction mechanism 24 while laterally feeding the seedling placing table 25, and takes out the seedling N from all the pot portions P in a horizontal row. Thereafter, the seedling tray T is vertically fed by one pitch of the pot portion P by the vertical feeding means, and the seedling N can be taken out from the next horizontal row of pot portions P.

The seedling extracting mechanism 24 is disposed on the front side of the seedling placing stand 25, and includes a pair of left and right seedling extracting devices 30 for one seedling tray T so as to correspond to double row planting. 30 are juxtaposed at intervals of a pitch that is half the number of pot portions P in the horizontal arrangement direction of one seedling tray T.
Each seedling extraction device 30 is driven by the power from the first PTO shaft 18, and has a pair of left and right seedling removal claws 32 (seedling extraction members) at the tip, and the seedling removal claws 32 are placed in the pot portion P. It is configured to pierce a seedling pot having a floor soil and hold the seedling N, take out the seedling N from the pot portion P, and supply it to the planting cup 26 of the planting mechanism 22.

The planting mechanism 22 includes a planting cup 26 that forms a planting hole in the ridge R and discharges the seedling N therein, a planting drive mechanism that moves the planting cup 26 up and down, and a seedling that is released into the planting hole. And soil covering means 27 that presses the soil from the left and right sides of the N to fill the floor soil of the seedling N, and the planting cup 26 is long in the vertical direction with the planting drive mechanism. Draw an elliptical trajectory and move up and down between the upper seedling supply position and the lower seedling discharge position.
1-9, one of the left and right seedling picking devices 30 has a gear box 58 mounted on a support base 57 mounted on the fixed frame 21A, and the power transmitted from the first PTO shaft 18 is transmitted to the gear box 58. The shaft 59 is supported, both ends of the transmission shaft 59 project from the gear box 58 and one end is used as a sun shaft 43, and the other end is connected to the sun shaft of the other seedling picking device 30 through gear transmission means or chain transmission means. The power transmitted to the seedling supply mechanism 23 is also taken out from the gear box 58.

  Each seedling extraction device 30 includes a pair of left and right seedling picking claws 32, a seedling picking aid 34 having a tip fitted to the left and right seedling picking claws 32, and a seedling picking nail that supports the seedling picking claws 32 and the seedling picking aid 34. A reciprocating means 36 for causing the seedling claw 32 to take out the seedling N in the pot part P by reciprocating the base 33 and the seedling claw base 33 along a direction substantially facing the pot part P of the seedling tray T; The seedling claw stand 33 has a posture changing means 37 for changing the posture of the seedling claw 32 from a posture facing the pot portion P to a substantially downward direction. By the operation of the reciprocating means 36 and the posture changing means 37, the seedling The tip 32a of the claw 32 is moved to draw a general trajectory M obtained by synthesizing a substantially elliptical trajectory D and a substantially arc trajectory E.

Each of the left and right seedling collecting claws 32 is pivotally supported by the seedling claw base 33 through a vertical axis 32B provided on the base 32AC of the claw member 32A so that the tip interval can be expanded and contracted. The claw member 32A is diametrically extended from the vertical axis 32B. The base part 32AC of the left and right claw members 32A is provided with a spring contraction member 60 that biases the tip thereof in the contraction direction.
The claw members 32A of the both seedling claw 32 are formed of a round bar material (needle shape) bent in the shape of S in plan view, and a front end portion 32AS from the front end 32a to the midway portion 32b, and a vertical axis 32B. And a contraction part 32AK from the midway part 32b to the base part 32AC.

The claw member 32A is bent at a midway part 32b between the tip part 32AS and the contraction part 32AK, and the tip part 32AS is positioned substantially parallel to the claw left and right center line H in plan view when the seedling is pierced, and the midway part 32b. The base portion 32AC is bent in a mountain shape in the outward direction, and an inclined portion connected to the tip portion 32AS is a diverging contraction portion 32AK.
The contraction part 32AK is a part of an inclined part, is a range in which the seedling removal aid 34 continues to slide from the midway part 32b, and refers to a part that imparts a contraction action to the left and right seedling removal claws 32.
The longitudinal direction length Q1 of the distal end portion 32AS of the left and right seedling picking claws 32 is longer than the length Q2 of the contraction portion 32AK and is about 2 to 3 times. However, the inclination angle of the contraction portion 32AK is set to an angle that does not hinder the sliding of the seedling removal aid 34.

The shape of the tip 32AS of the claw member 32A of each of the left and right seedling collecting claws 32 is such that the left-right width W gradually decreases toward the tip 32a, and the vertical width Z gradually increases from the middle between the contraction 32AK and the tip 32a to the tip 32a. It is small and flattened toward the tip 32a. The seedling claw 32 is formed by cutting a bar material to form a distal end portion 32AS and bending a base portion 32AC extending to the midway portion 32b.
The claw member 32A of the seedling claw 32 has a diameter that does not affect the cutting of the root (for example, a diameter of 3 to 6 mm, preferably 4 to 5 mm), and has two flat surfaces by shaving the outer circumferential arc surface. The contact area with the root is increased by forming the root, and the seedling N is retained by using the frictional force that is in contact with the root and the soil when inserted into the root pot. It is possible to take out even the seedling N which is easy to collapse the pot.

In the left and right seedling picking claws 32, the tip 32AS enters the pot portion P in parallel with the center line S in plan view, and the root pot of the seedling N is stabbed to the deepest part below the center line S in side view. And hold it so that it is forcibly inserted from both sides.
The seedling claw stand 33 is configured by providing a support block 33B on a base body 33A that is rotatably supported by a claw support shaft 61. The support block 33B is mounted on the base body 33A, and the position of the support block 33B can be adjusted in parallel with the longitudinal direction of the seedling picking claws 32. The vertical axis 32B of the both seedling catching claws 32 is pivotally supported by the support block 33B, and the distance from the pawl support axis 61 to the tip 32a of the seedling catching claws 32 can be adjusted by adjusting the front and rear positions.

A through hole is formed in the support block 33B of the seedling claw stand 33, and a pushing rod 34A of the seedling collecting aid 34 is slidably inserted and supported. The right and left claw members 32A are provided at the tip of the pushing rod 34A. A fitting member 34B that fits simultaneously is provided. The front end surface of the fitting member 34 </ b> B is an extrusion surface 34 a that pushes out the seedling N that has pierced the seedling picking claws 32.
The fitting member 34B has a pair of left and right holes 34b that fit into the left and right claw members 32A, and the interval between the holes 34b is set to be substantially the same as the interval between the left and right tip portions 32AS before entering. The distance between the contraction parts 32AK is set to be narrower than the distance between the contraction parts 32AK, and the distance L between the tips of the seedling catching claws 32 can be expanded and contracted when slidingly contacting the left and right contraction parts 32AK by moving the seedling removal aid 34 back and forth. Yes. When the fitting member 34B is positioned on the tip end 32AS side of the seedling catching claw 32, the distance L is enlarged to the maximum (L1), and when the fitting member 34B is located on the contraction portion 32AK side of the seedling catching claw 32, the distance L is reduced. To the minimum (L2).

A plurality of left and right claw members 32A and fitting members 34B having different distances L are prepared and replaced according to the size of the pot portion P so that the claw member 32A can properly enter the pot portion P. May be.
A swing arm 40 is swingably supported on the base body 33A of the seedling claw stand 33 via a support shaft 65, and the tip of the swing arm 40 is connected to the rear end of the push rod 34A via a link 66. A cam follower 67 that is connected and provided in the middle portion of the swing arm 40 is in contact with the cam surface on the outer periphery of the cam body 41.

Between the pin 73 provided on the base body 33A of the seedling claw stand 33 and the adjustment pin 75 provided on the bracket 74 fixed to the swing arm 40, a coil that repels the fitting member 34B toward the tip of the claw member 32A. A spring biasing means 62 is provided.
The bracket 74 has a plate material formed in an L-shape, and a plurality of the adjustment pins 75 formed of headed pins are provided at positions where the distance from the pin 73 is different at the tip side. The elasticity of the fitting member 34B can be changed by adjusting the tension of the biasing means 62.
That is, when the leaves of the seedling N to be transplanted are large or long, the tension of the urging means 62 is increased to increase the release power of the seedling N so that it deeply enters the planting cup 26. When the leaves are small or short, the discharge posture of the seedling N is easily changed at the time of discharge. Therefore, the tension of the urging means 62 is weakened so that it enters the planting cup 26 in a stable posture.

The plurality of adjustment pins 75 may be provided in the swing arm 40, or a plurality of spring engagement holes may be formed in the bracket 74 or the swing arm 40 instead of the headed pin. The pin 73 may be attached to the support block 33B via a bracket. Further, the biasing means 62 may be configured by fitting a coil spring to the push rod 34A between the support block 33B and the fitting member 34B.
The swing arm 40, the link 66, the cam body 41, the biasing means 62, and the like constitute auxiliary tool operating means 39 for driving the seedling collecting auxiliary tool 34. As a result of the relative rotation, the swing arm 40 reciprocally swings around the support shaft 65 to move the push rod 34A linearly.

When the seedling nail 32 pierces the seedling N of the pot part P, the fitting member 34B moves to the base side of the seedling collecting nail 32, and the auxiliary tool operating means 39 becomes a nail expansion / contraction means for contracting the distance L between the tips, When the seedling picking claw 32 releases the seedling N taken out from the pot portion P, the small diameter portion of the cam body 41 is rapidly shifted to the cam follower 67, and the fitting member 34B is seeded by the resilient force of the urging means 62. This is a seedling discharge means that moves rapidly toward the tip end of the claw 32.
The rising cam surface of the cam body 41 forms a rapidly swinging cam surface 41a that rises sharply in the latter half from the beginning of rising, and the seedling removal aid 34 when the seedling picking claws 32 enter the pot portion P. The moving speed is set to be more rapid at the end of entry than at the beginning of entry, and the seedling N is held when the seedling claw 32 reaches the end of entry.

The arc cam surface following the quick swing cam surface 41a serves as a working surface 41b that holds the seedling removal aid 34 at a position moved to the base side of the seedling catching claw 32, and the rear end of this working surface 41b is abrupt. And a small-diameter cam recess 41c is formed, the holding of the seedling removal aid 34 on the base side of the seedling catching claw 32 is released, and the urging means 62 is elastically moved toward the distal end side of the seedling catching claw 32. I can do it.
A reciprocating means 36 is provided between the claw support shaft 61 and the gear box 58. The sun gear 42 is fixed to the support cylinder 83 protruding from the gear box 58, and the gear case 47 is rotatably supported via the bearing 84. The sun gear 43 is fixed to the outer end of the sun shaft 43 inserted therethrough in a non-rotating state. The plate 85 is fitted, the fixed plate 85 is fixed to the gear case 47, the gear case 47 is attached to the sun shaft 43 so as to be rotatable together, and the idler gear 44 and the planetary gear 45 meshed with the gear case 47 are rotated. The idler gear 44 is meshed with the sun gear 42.

The planetary gear 45 is fixed to the planetary shaft 46, and the planetary shaft 46 protrudes from the gear case 47, and one end of a rotating arm 48 is detachably attached to the end of the planetary shaft 46. The claw support shaft 61 is fixed to the end. The claw support shaft 61 is the rotation center of the seedling claw stand 33.
The reciprocating means 36 is a planetary gear mechanism. When the sun shaft 43 rotates by the power from the transmission shaft 59, the gear case 47 rotates integrally, and the idler gear 44 meshing with the sun gear 42 is the sun gear 42. The planetary gear 45 rotates in the reverse direction due to the rotation of the idler gear 44 and revolves around the sun gear 42 while rotating the planetary shaft 46 side end of the rotation arm 48. 48 is rotated about the planetary axis 46.

In FIG. 3, the distance from the planetary shaft 46 to the claw support shaft 61 (length of the rotating arm 48) K2 is shorter than the distance from the planetary shaft 46 to the sun shaft 43 (revolution radius of the planetary gear 45) K1. The movement trajectory of the claw support shaft 61 draws a substantially elliptical trajectory D in which the forward path and the backward path deviate vertically.
The distance K1 to distance K2 is set to 18 to 17, or a link ratio before and after the distance K1, and when the distance K1 to distance K2 is 1: 1 (conventional technology), the trajectory of the claw support shaft 61 is linear. However, when there is a difference in length, the point where the claw support shaft 61 passes is different between forward movement and backward movement, returning at both ends of the trajectory, moving up and down halfway, and flattening a thick ellipse at the center The trajectory looks like

  That is, when the gear case 47 rotates in the direction of the arrow (counterclockwise) in FIG. 3, the claw support shaft 61 passes through the lower locus Dd of the substantially elliptic locus D and reaches the end on the pot portion P side of the center line Da. From the line Da to the farthest end portion from the pot portion P of the center line Da through the upper locus Du. Thereby, the seedling claw 32 is given a motion of a substantially elliptic locus D in a direction substantially opposite to the pot portion P of the seedling tray T, and the seedling catching claw 32 is potted below one end of the motion of the substantially elliptic locus D. It enters the portion P and pierces the seedling N, and then returns to take out the pierced seedling N that has retreated from the pot portion P at one upper end of the substantially elliptical locus D.

The distance K1 can also be set shorter than the distance K2. In this case, if the sun gear 42 is rotated in the clockwise direction, the lower locus at the pot portion P side end portion of the substantially elliptic locus D on the claw support shaft 61. The movement can be performed so as to shift from Dd to the upper locus Du.
The center line Da of the substantially elliptical locus D is inclined rearward and downward by an angle J with respect to the horizontal line. This inclination angle J is arranged substantially parallel to the lower side wall Pb of the pot portion P at the seedling take-out position of the seedling tray T on the seedling supply mechanism 23, and the seedling picking claws 32 and the push rod 34A. Both are substantially parallel.

The center line Da is a center line when the sun axis 43, the planetary axis 46, and the claw support shaft 61 are aligned in a straight line. FIG. The inclination angle J is set in order to make the seedling collecting claw 32 substantially parallel to the lower side wall Pb of the pot portion P at the seedling removal position.
However, when the seedling claw 32 is inclined upward or downward with respect to the lower side wall Pb of the pot portion P at the seedling extraction position, the inclination angle is changed by changing the position or posture of the cam member 50 described later. J can be changed and set to the required angle.

1 to 3 and 5 to 8, the base body 33 </ b> A of the seedling claw base 33 has an interlocking portion 33 </ b> C projecting on the opposite side of the seedling claw 32 with the claw support shaft 61 as a boundary. The roller 49 </ b> A provided on the shaft 49 </ b> B at the tip of the interlocking portion 33 </ b> C is engaged with the cam member 50. This cam member 50 is formed with a substantially arc-shaped cam surface 50A for guiding the roller 49A, and the mounting plate 70 fixed to the gear box 58 can be adjusted to the front / rear position, the vertical position or the tilt angle via the mounting tool 69. It is fixed to.
This posture changing means 37 controls the posture of the seedling claw 32 via the seedling claw base 33, and the seedling claw 32 is located on the far end side of the reciprocating motion of the substantially elliptical locus D from the outside of the pot portion P. (The side far from the seedling tray T), the roller 49A at the tip of the interlocking portion 33C is guided by the substantially arc locus E, and the posture of the seedling claw 32 is substantially reduced from the posture facing the pot portion P. The posture of the seedling claw stand 33 is changed so that the posture is changed downward.

The cam surface 50A of the cam member 50 that forms the lower part of the substantially circular arc locus E also has a seedling claw 32 when the seedling claw 32 is on the side near the end of the reciprocating motion of the substantially elliptical locus D that enters the pot portion P. A portion 50Aa for controlling the posture of the base 33 is formed. The portion 50Aa is substantially linear and is formed substantially in parallel with the lower side wall Pb of the pot portion P, the seedling claw 32, the push rod 34A, and the like. Thus, when the tip 32a is in the pot portion P, the posture of the seedling collecting claw 32 is not changed as much as possible.
However, even if the shape of the portion 50Aa of the cam surface 50A is formed in a shape that controls the posture of the seedling catching claw 32 so that the lower edge 32b of the seedling catching claw 32 moves in the pot portion P with a more optimal locus. Good.

On the cam surface 50A of the cam member 50 forming the upper part of the substantially circular arc locus E, when the seedling claw 32 is in a substantially downward posture, a portion 50Ab for maintaining the posture so as not to be changed as much as possible. This portion 50Ab has a shape close to a straight line through an arc that is bent in the reverse direction from the substantially arc locus E. The seedling claw 32 is preferably kept as stationary as possible on the far end side of the substantially elliptical locus D while keeping the downward posture, and the posture of the seedling claw 32 is controlled in this way by the portion 50Ab.
By the reciprocating motion of the substantially elliptical locus D by the reciprocating means 36 and the reciprocating motion of the substantially arc locus E by the posture changing means 37, the tip 32a of the seedling picking claw 32 performs a motion to draw a combined seedling taking locus M. To do.

A biasing means 76 is provided between the mounting plate 70 fixed to the gear box 58 and the seedling claw stand 33. The urging means 76 includes a stay 77 fixed to the mounting plate 70 and a spring 78 installed between the stay 77 and the seedling claw stand 33. Although the spring 78 is shifted from the seedling claw base 33 to the left and right, it is preferable that the spring 78 is disposed right above the seedling claw base 33.
The stay 77 is obtained by welding a bar 77b to a plate 77a. The stay 77 is provided on the mounting plate 70 through a long hole and a bolt so that the vertical position can be adjusted. A spring 78 has upper and lower connecting pieces 79 and 80 at both ends. And is swingably connected to the bar 77b and the seedling claw base 33, and always urges the claw support shaft 61 of the seedling claw base 33 upward. That is, the seedling claw 32 side of the seedling claw base 33 is elastically lifted by the urging means 76, and when the claw support shaft 61 is in the lower locus Dd, the end of the substantially elliptic locus D is moved by the spring 78. It is oppressed to.

An attachment end of the upper connecting piece 79 of the spring 78 on the stay 77 side is located in a direction Y substantially perpendicular to the center line Da of the substantially elliptical locus D from the sun shaft 43, and the claw support shaft 61 is taken out when the seedling is taken out. Even if it is in the position of the seedling or the position at the time of releasing the seedling, the upward biasing can be performed in substantially the same manner.
Next, a seedling extraction method in the seedling extraction device 30 described above will be described.
FIG. 9A (state A in FIG. 9) and FIG. 10 show a state immediately before the seedling claw 32 enters the pot portion P. The reciprocating means 36 operates and the sun gear 43 and the gear case 47 rotate to rotate the sun gear. The planetary shaft 46 revolves around 42 and revolves, and the claw support shaft 61 of the seedling claw base 33 to which the seedling catching claw 32 is attached is substantially elliptical locus D along the direction substantially facing the pot portion P of the seedling tray T. The reciprocating motion is performed while drawing, passing through the lower trajectory Dd of the substantially elliptical trajectory D, and being located at the approximate center in the longitudinal direction of the approximate elliptical trajectory D.

In addition, the posture changing means 37 is operated to change the posture of the seedling catching claw 32 from the substantially downward direction to the substantially horizontal pot portion P via the interlocking portion 33C and the cam member 50. In such a posture, the seedling claw 32 approaches the pot portion P at the removal position, and approaches the lower side of the foliage while ascending so as to scoop the foliage of the seedling N.
When the sun shaft 43 further rotates from such a state, the claw support shaft 61 enters the lower locus Dd of the end portion on the pot portion P side of the movement of the substantially elliptic locus D, and the roller 49A of the interlocking portion 33C moves to the cam member 50. 9B to 9D and 11, the posture of the seedling claw 32 is substantially parallel to the lower locus Dd of the substantially elliptic locus D, and the lower edge 32b is the lower side edge of the pot portion P. It becomes substantially parallel to Pb (slightly inclined) and begins to pierce the root pot of the seedling N in the pot part P (draws a partial trajectory M1).

At the same time, as shown in FIG. 9, the auxiliary tool operating means 39 has started to operate, and the cam body 41 swings against the swinging arm 40 against the biasing means 62, so 34 is moved away from the pot portion P, and the seedling-removing claw 32 is shifted to a state that does not hinder the seedling N from starting to pierce the root pot of the seedling N.
The fitting member 34B of the seedling removal assisting tool 34 reaches the state shown in FIGS. 9B to 9D and 11 or before and after that, that is, while it moves from the tip 32a of the seedling removal claw 32 to the middle part thereof. Since the tip portion 32AS is substantially parallel to the claw center line H, the distance L between the tips of the left and right seedling picking claws 32 is not reduced, and the seedling catching claws 32 are substantially straight in a posture facing the pot portion P. Enter the part P and pierce the seedling N.

  When the sun shaft 43 rotates from the state of FIG. 11, the state shifts to the states of FIGS. 1 to 3, 9 </ b> E, and 12. The side locus Dd is moved to the distal end side, and the roller 49A of the interlocking portion 33C moves within the portion 50Aa of the cam member 50. When the state shown in FIG. 11 or before and after that state is changed to the state shown in FIG. Then, the distance L between the tips of the left and right seedling removing claws 32 is greatly shrunk, and the seedling N is pinched to the bottom of the root pot.

  That is, when the seedling claw base 33 is moved and the seedling removal claw 32 is caused to enter the depth of the pot portion P of the seedling tray T, the fitting member 34B of the seedling removal aid 34 is moved from the front end side of the seedling removal claw 32. Move halfway. At this time, it is the tip portion 32AS of the left and right seedling picking claws 32 that is guided to the seedling picking aid 34, and this tip portion 32AS is substantially parallel to the nail left and right center line H. The action of contracting the tip interval L of the take-off claw 32 does not occur, and only the seedling take-off claw 32 is pierced on the surface of the seedling N, and no extra hole is formed. Sandwich the roots.

When the seedling claw stand 33 further moves and the seedling removal aid 34 moves from the midway portion 32b to the base portion 32AC side of the seedling removal claw 32, the diverging contraction portion 32AK becomes a fitting member 34B of the seedling removal aid 34. Since it is guided, the tip interval L of the seedling picking nail 32 is rapidly contracted, and a large amount of the roots of the seedling N is picked (state of FIG. 9E).
The entry start position of the tip 32a of the claw member 32A with respect to the top surface of the root pot of the seedling N is slightly lower on both the left and right sides with respect to the center of the top surface of the root pot, near the left and right corner portions of the quadrangular pot portion P, The entry completion position is near the center of the root of the root pot.

  Further, the operation of the auxiliary tool operating means 39 is such that the quick swing cam surface 41a of the cam body 41 swings the swing arm 40, and the seedling collecting support tool 34 is rapidly moved away from the pot portion P. The tip 32a of the right and left seedling claw 32 contracts against the contraction member 60 slightly before the seedling claw 32 pierces the root pot of the seedling N, and the distance L between the tips contracts by the distance. L1 and the root pot of the seedling N will be pinched. That is, the seedling removal assisting tool 34 is moved faster at the end of entry than at the beginning of entry into the pot portion P by the seedling removal claw 32, and the seedling removal claw 32 is rapidly contracted at the almost final stage of piercing. The clamping is performed reliably and stably.

After the seedling claw 32 is completely inserted into the root pot of the seedling N, the movement of the claw support shaft 61 of the seedling claw base 33 by the operation of the reciprocating means 36 causes the end of the elliptical locus D on the pot part P side. As shown in FIGS. 12 and 13, by moving from the lower trajectory Dd of the substantially elliptical trajectory D to the upper trajectory Du in a substantially V shape in a side view (drawing the partial trajectory M2), as shown in FIGS. ), The seedling removing claws 32 are pulled out of the pot portion P while being lifted up slightly while keeping the posture substantially facing the pot portion P.
The partial trajectory M2 is substantially parallel to the upper side wall Pb on the back side of the pot part P, and approaches the center in the vertical direction on the mouth side of the pot part P. Therefore, the root pot of the seedling N is the pot part. There is almost no sliding contact with the lower side wall Pb and no sliding contact with the upper side wall Pb, and the upper side wall Pb can be separated while being separated upward from the lower side wall Pb.

Thereby, the resistance when the seedling N comes out of the pot portion P is reduced, and the seedling N can be taken out from the pot portion P without the soil of the root pot being collapsed. Then, when the claw support shaft 61 comes to the center of the substantially elliptical locus D, the posture change is started by the action of the substantially arcuate cam surface 50A of the posture changing means 37.
In the reciprocating means 36, the seedling claw base 33 is moved forward in a direction substantially opposite to the pot portion P of the seedling tray T, and the seedling claw 32 enters the pot portion P below one end of the substantially elliptical locus D. After that, when the seedling claw base 33 is retracted from the pot portion P and the seedling N is taken out by moving the seedling claw base 33 on one upper side of the substantially elliptical trajectory D (FIGS. 10 to 12), the rotation of the planet shaft 46 with the base attached. The moving arm 48 moves so as to stretch toward one end of the substantially elliptical locus D while supporting the claw support shaft 61 of the seedling claw stand 33 from below, and the planetary shaft 46 is located above the claw support shaft 61 when folded back at one end. The rotation arm 48 pulls the claw support shaft 61 and moves it to the sun shaft 43 side (FIGS. 12 to 14).

The claw support shaft 61 is urged upward by the urging means 76 not only when the claw support shaft 61 is on the lower side of the substantially elliptical locus D for taking out the seedling N but also on the upper side. Therefore, the force for rotating the rotating arm from the claw support shaft 61 does not act, and the sun gear 42, the idler gear 44, the idler gear 44, and the planetary gear 45 are always in the same surface, and the seedling removal claw 32 due to backlash is obtained. The seedling claw tip 32a is prevented from swinging downward when it enters the pot portion P.
14-16, while the nail | claw support shaft 61 moves from the center of the substantially elliptical locus | trajectory D to the edge part far from the pot part P (drawing partial locus | trajectory M3), the attitude | position change means 37 makes the seedling removal nail | claw 32 When the posture is changed greatly and abruptly and the seedling catching claw 32 is substantially downward, or before and after that, the cam follower 67 is detached from the action surface 41b of the cam body 41 and falls into the cam recess 41c, and the swinging arm 40 returns to the back. Accordingly, the seedling removal assisting tool 34 of the assisting tool actuating means 39 protrudes toward the distal end side of the seedling removing claw 32 by the elastic force of the urging means 62, and the seedling removal claw 32 is projected by the pushing surface 34a. The pierced seedling N is discharged to the planting cup 26 waiting downward.

At this time, the roller 49A of the interlocking portion 33C moves in the portion 50Ab of the cam member 50, and the seedling claw 32 is stopped from moving in the direction away from the seedling tray T, and is in a substantially downward posture. When the roller 49A moves on the substantially circular arc locus E of the cam member 50, the inertia force of posture change (forward movement) is reduced and the seedling picking claw 32 takes out. In the state where the inertial force is reduced, N can be released downward by the seedling removal aid 34.
The planting cup 26 that has received the supply of the seedling N descends from the seedling receiving standby position to the ridge R, and plantes the seedling N while opening a hole.

When the seedling claw 32 is between the outside of the pot part P and the other end side of the substantially elliptical locus D, and the attitude of the seedling claw 32 is changed from a position facing the pot part P to a substantially downward direction, the planet The shaft 46 moves from the upper side to the lower side of the claw support shaft 61. Then, the pivot arm 48 is moved from the state in which the claw support shaft 61 is stretched while hanging from the planetary shaft 46 so as to be pulled while being supported from the lower side (FIGS. 15 to 17).
When the claw support shaft 61 is folded back at the other end of the substantially elliptical locus D shown in FIG. 16, there is a change in the state in which the claw support shaft 61 is supported from the lower side by the rotating arm 48. Since the claw support shaft 61 is urged upward by the elastic suspension by the urging means 76, the force for rotating the rotation arm from the claw support shaft 61 does not work, and the sun gear 42 and the idler gear 44, the idler gear 44, and the planetary gear 45 are always in the same surface, and the seedling claw 32 due to backlash is not rattled, and the seedling claw tip 32a is moved up and down when it enters the pot portion P. Movement is prevented.

As shown in FIG. 17, the seedling claw 32 after the seedling discharge performs a return operation (draws a partial trajectory M4) that approaches the pot portion P through the lower trajectory Dd of the substantially elliptical trajectory D, and the posture changing means 37. Thus, the posture is changed from a substantially downward posture to a horizontal posture (a backward downward inclined posture with a gentle angle), and the state returns to the state shown in FIG. 10, and the tip 32a of the seedling catching claw 32 completes one cycle of completing the general locus M.
In the present invention, it is best to configure the shape and structure of each member and the positional relationship between the front, rear, left, and right in the above embodiments as shown in FIGS. However, the present invention is not limited to the configuration of each embodiment, and various modifications and combinations of configurations can be made.

  For example, the stay 77 that connects the spring 78 of the urging means 76 is mounted on the mounting plate 70 fixed to the gear box 58 that rotatably supports the sun shaft 43, but may be mounted on the gear box 58 itself. Good.

1 is an overall side view showing an embodiment of the present invention. It is a side view of the principal part at the time of completion of seedling sticking. It is explanatory drawing of a reciprocating means. It is a side view which shows the whole transplanter. It is a side view of a seedling extraction device. It is a top view of a seedling extraction device. It is a top view of a seedling removing nail. It is a partial cross section front view of a seedling extraction device. It is plane explanatory drawing which shows operation | movement of a seedling removal nail | claw and a seedling removal auxiliary tool. It is a side view of the principal part of the seedling extraction device before seedling sticking. It is a side view of the principal part of the seedling picking device during seedling piercing. It is a side view of the principal part of the seedling picking apparatus at the time of seedling piercing and clamping completion. It is a side view of the principal part of the seedling extraction device at the time of starting seedling extraction. It is a side view of the principal part of the seedling extraction device at the time of seedling extraction movement. It is a side view of the principal part of the seedling extraction device just before seedling discharge. It is a side view of the principal part of the seedling extraction device at the time of seedling discharge. It is a side view of the principal part of the seedling extraction device immediately after seedling discharge.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 transplanting machine 30 seedling picking device 32 seedling picking claw 32A claw member 32B vertical axis 32AS tip 32AK contraction part 33 seedling claw stand 36 reciprocating means 37 posture changing means 38 posture control means 39 auxiliary tool operating means 40 swing arm 41 cam Body 42 Sun gear 43 Sun shaft 44 Idler gear 45 Planetary gear 47 Gear case 48 Rotating arm 61 Claw support shaft 76 Energizing means 77 Stay 78 Spring D Substantially elliptic locus M Seedling takeout locus N Seedling

Claims (4)

A seedling claw stand (33) with a seedling picking claw (32) attached thereto and a substantially elliptical locus (D) drawn in a direction substantially opposing the seedling claw base (33) to the pot portion (P) of the seedling tray (T) The seedling claw (32) is moved into the pot part (P) at one lower side of the substantially elliptical locus (D) and then the seedling claw (32) is moved to the pot part (P) at one upper side. And reciprocating means (36) for taking out the seedling (N) by retreating from
The reciprocating means (36) includes a sun shaft (43), a sun gear (42) concentric with the sun shaft (43), a sun shaft (43) and an idler gear (44) and a planetary gear (45 ) And a planetary shaft (46) supporting the planetary gear (45), and a base is mounted on the tip, and the seedling claw stand (33) is rotated via a claw support shaft (61) at the tip. A pivot arm (48) supported freely, and a center-to-center distance (K1) from the sun gear (42) to the planetary gear (45) and from the planetary gear (45) to the claw support shaft (61). The distance between the centers (K2) is different.
The seedling claw block via (33) have a biasing means (76) for upwardly biasing the pawl support shaft (61),
The biasing means (76) includes a stay (77) fixed to a gear box (58) that rotatably supports the sun shaft (43), and a seedling claw for the stay (77) and the seedling claw stand (33). (32) of the transplanter, characterized by chromatic and a spring (78) for biasing upward the pawl support shaft (61) to Naetsumedai (33) provided between the mounting side seedlings Take-out device. A seedling claw stand (33) with a seedling picking claw (32) attached thereto and a substantially elliptical locus (D) drawn in a direction substantially opposing the seedling claw base (33) to the pot portion (P) of the seedling tray (T) The seedling claw (32) is moved into the pot part (P) at one lower side of the substantially elliptical locus (D) and then the seedling claw (32) is moved to the pot part (P) at one upper side. Between the reciprocating means (36) for taking out the seedling (N) by retreating from the outside and the other end side of the substantially elliptical locus (D) from the outside of the pot portion (P) At a certain time, it has posture changing means (37) for making a substantially arc trajectory movement that changes the posture of the seedling picking nail (32) from a posture facing the pot portion (P) substantially downward,
The reciprocating means (36) includes a sun shaft (43), a sun gear (42) concentric with the sun shaft (43), a sun shaft (43) and an idler gear (44) and a planetary gear (45 ) And a planetary shaft (46) supporting the planetary gear (45), and a base is mounted on the tip, and the seedling claw stand (33) is rotated via a claw support shaft (61) at the tip. A pivot arm (48) supported freely, and a center-to-center distance (K1) from the sun gear (42) to the planetary gear (45) and from the planetary gear (45) to the claw support shaft (61). The distance between the centers (K2) is different.
The seedling claw block via (33) have a biasing means (76) for upwardly biasing the pawl support shaft (61),
The biasing means (76) includes a stay (77) fixed to a gear box (58) that rotatably supports the sun shaft (43), and a seedling claw for the stay (77) and the seedling claw stand (33). (32) of the transplanter, characterized by chromatic and a spring (78) for biasing upward the pawl support shaft (61) to Naetsumedai (33) provided between the mounting side seedlings Take-out device. The seedling claw stand (33) projects the interlocking part (33C) on the opposite side of the seedling claw (32) mounting side with the claw support shaft (61) as a boundary,
The posture changing means (37) has a substantially arc-shaped cam surface (50A) that engages with the interlocking portion (33C) and guides its movement when the seedling claw stand (33) performs the substantially elliptical locus motion. transplanter seedlings extraction device according to claim 2, characterized in that it comprises a cam member (50) having. Claim 1, characterized in that the position attachment end of the stay (77) side from the sun axis (43) in a direction substantially perpendicular centerline and (Da) of the substantially elliptical trajectory (D) of the spring (78) The seedling extraction device for a transplanter according to any one of -3.

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