JP6411431B2 - Transplanting hand - Google Patents

Description

  The present invention relates to a transplantation hand included in a transplantation device for transplanting seedlings.

  Conventionally, for example, a transplant support device (transplant device) described in Patent Document 1 is known. In this transplantation support device, when transplanting a plant seedling planted in a sponge medium (seed bed piece) into a hole in a cultivation plate (panel), the sponge medium is first placed above the hole, and the inverted umbrella part in a closed state By passing the (transplantation hand) upward from the bottom of the hole to make it open, the sponge medium is arranged inside the open umbrella. Then, the reverse umbrella part in the open state is closed and this time, the sponge medium is wrapped in the reverse umbrella part, and the reverse umbrella part is passed downward from above the hole so that it is wrapped in the reverse umbrella part. The sponge medium is drawn into the hole of the cultivation plate.

Japanese Patent Laying-Open No. 2015-181465

  By the way, at the stage of transplanting, the roots of seedlings often extend so as to spread radially outward from the lower surface of the sponge medium. Therefore, when trying to place the sponge medium down from above the inside of the reverse umbrella portion that is open above the hole of the cultivation plate, the seedlings that extend radially outward from the lower surface of the sponge medium It is also possible that the tip of the root of the root protrudes outside the reverse umbrella. That is, the roots of the seedlings extending outward from the lower surface of the sponge medium are caught by the upper edge of the reverse umbrella part that is open above the hole of the cultivation plate, and the reverse umbrella part is closed. However, it was possible that the sponge medium could not be wrapped. Therefore, even if the reverse umbrella portion is passed from the upper side to the lower side while being changed from the open state to the closed state, there is a possibility that the sponge medium cannot be drawn into the hole.

  The present invention has been made in view of such circumstances, and the purpose of the present invention is to determine the root of the seedling even when the root of the seedling extends so as to spread radially outward from the lower surface of the seedbed piece at the time of transplantation. An object of the present invention is to provide a transplantation hand that can spread the spread and transplant a nursery piece into a hole of a transplant destination.

Hereinafter, means for solving the above-described problems and the effects thereof will be described.
A transplanting hand for solving the above-mentioned problem is a transplanting hand provided in a transplanting device for transplanting a seedling, which can hold a seedbed piece on which the seedling is planted and is provided in a hole provided in a panel of the seedling transplanting destination. Changes between a holding part movably provided for transplanting the seedbed piece, a closed state surrounding the seedling root extending downward from a lower surface of the seedbed piece, and an open state displaced outward from the closed state And a surrounding portion provided so as to be able to pass through the hole of the panel in the vertical direction, and the surrounding portion passes from the lower side to the upper side and then downwards from the lower surface of the seedbed piece. After extending from the open state to the closed state at a position above the root of the seedling root or the root that extends, and moving from the root side to the tip side of the seedling in the closed state, the clamping unit The seedlings sandwiched between Piece passes through the hole from top to bottom prior to being inserted from above while surrounding the roots of the seedling into the hole.

  According to this configuration, even if the root of the seedling extends radially outward from the bottom surface of the seedbed piece, the surrounding portion is located above the root of the seedling root or above the root of the seedling. By moving from the root side to the tip side of the seedling in the closed state changed from the open state, the roots of the seedling spreading outward are aligned so as to be gathered inside the surrounding portion. Then, before the seedbed piece is inserted into the transplant destination hole by the movement of the sandwiching portion from that state, the root of the seedling is surrounded by passing it from above the hole with the surrounding portion closed. The hole passes from the top to the bottom while being aligned inside the part. Therefore, even when the roots of the seedlings are extended so as to spread radially outward from the lower surface of the seedbed piece at the time of transplantation, the seedbed pieces can be transplanted into the hole of the transplant destination by gathering the spread of the roots of the seedlings.

  Further, in the transplanting hand, the surrounding portion is arranged point-symmetrically with respect to the central axis of the hole, and performs a closing operation that is symmetrically approached and an opening operation that is symmetrically separated from the central axis. It is preferable that it is provided on the hand member.

  According to this configuration, by closing the hand member, the root of the seedling extending so as to spread radially outward from the lower surface of the seedbed piece is formed in a hole through which the root of the seedling passes from above to below during transplantation. It can be aligned so as to be gathered toward the central axis.

  Further, in the transplanting hand, the clamping part is a first hand member that is movable at least above the hole and performs a closing operation for clamping the seedbed piece and an opening operation for releasing the clamping. The surrounding portion is provided in a second hand member that opens and closes so that the surrounding portion can be changed between the closed state and the opened state so as to be able to pass through the hole and above and below the hole. It is preferable that

  According to this configuration, since the first hand member provided with the sandwiching portion and the second hand member provided with the surrounding portion can be operated independently, the size of the seedbed piece and the root of the seedling Even when the length is different, it can be flexibly dealt with. In addition, for example, when the first hand member is configured to move only above the hole, the first hand member is configured to pass through the hole in the vertical direction in conjunction with the second hand member. In comparison, the space occupied by the mechanism for moving the first hand member only needs to be above the hole, so that a space below the hole can be given a margin.

  Further, in the transplanting hand, the first hand member is in the closed state in the second hand member in a state in which the first hand member is closed to hold the seedbed piece in the holding portion. It is preferable that it is located inside.

  According to this configuration, while the seedbed piece is sandwiched by the sandwiching portion of the first hand member, the root of the seedling extending downward from the lower surface of the seedbed piece is surrounded by the surrounding portion, and the second state is maintained. The hand member can be moved to align the seedling roots.

  Further, in the transplanting hand, the clamping part is capable of passing through the hole and is closed close to the center axis of the hole and opened symmetrically at both above and below the hole. It is preferable that it is provided in the upper end part of the hand member which performs operation | movement, and the said surrounding part is provided in the position below the position in which the said clamping part in the said hand member was provided.

  According to this configuration, since the sandwiching portion and the surrounding portion are provided in a common hand member, the sandwiching portion and the surrounding portion are compared with the case where the sandwiching portion and the surrounding portion are provided in separate hand members. Since the mechanism for moving in the vertical direction can be shared, the device configuration can be simplified accordingly.

The perspective view which shows the schematic structure about one Embodiment of a transplant apparatus. The state which has the transplanting hand of a transplanting device in an initial position is shown, (a) is the whole side view, (b) is the whole front view. FIG. 2 shows a state in which the transplanting hand has been raised from the state shown in FIG. 2 to a position immediately before clamping and the first hand member and the second hand member are opened, and (a) is a side view of the main part thereof. (B) is a front view of the principal part. FIG. 3 shows a state in which the transplanting hand has been raised from the state shown in FIG. 3 to the clamping position and the first hand member is first closed, (a) is a side view of the main part, and (b) is that side. The front view of the principal part. FIG. 5 shows a state in which the transplanting hand closes the second hand member from the state shown in FIG. 4, wherein (a) is a side view of the main part, and (b) is a front view of the main part. The transplant hand shows the state which lowered | hung the 2nd hand member from the state shown in FIG. 5, (a) is a side view of the principal part, (b) is a front view of the principal part. FIG. 7 shows a state in which the transplanting hand has been lowered to the transplanting position from the state shown in FIG. 6, wherein (a) is a partially broken side view of the main part, and (b) is a partially broken front view of the main part. FIGS. 8A and 8B show a state where the transplanting hand is lowered to the initial position from the state shown in FIG. 7, wherein FIG. 7A is a partially broken side view of the whole, and FIG. The perspective view which shows the hand member in the transplant hand of a modification. The front view which shows the state which the transplant hand of the modification opened and operated the hand member in the clamping position. The front view which shows the state which closed the hand member from the state shown in FIG. The front view which shows the state which lowered | hung the hand member from the state shown in FIG. The front view which shows the state which the transplanting hand of another modification made the hand member close and operate | move in steps.

Hereinafter, an embodiment of a transplantation apparatus including a transplantation hand will be described with reference to the drawings.
As shown in FIG. 1, the transplant device 11 includes a transport mechanism 12 that transports a seed bed piece N in which the seedling S is planted, a fixed planting panel 13 into which the seed bed piece N is transplanted, and a seed bed piece transported by the transport mechanism 12. And a transplantation mechanism 14 for transplanting N to the fixed planting panel 13. In addition, the transplant apparatus 11 in this embodiment is an apparatus which transplants the seedling S planted by the seed bed piece N which is a sponge-like block comprised, for example with urethane etc. to the fixed planting panel 13 with the seed bed piece N together.

  The transport mechanism 12 illustrates a pair of gripping pieces 15 capable of gripping the seedbed piece N, a gripping drive unit 16 including an actuator that drives the pair of gripping pieces 15, and the gripping piece 15 via the gripping drive unit 16. And a support bracket 17 that is supported by the movable body that is not to be operated. The moving body is configured by a slider or the like that moves between an upper position of a seedbed panel (not shown) on which the seedbed piece N before transplantation is placed and an upper position of the fixed planting panel 13.

  The planting panel 13 is provided in a plate shape and has a hole 18 that penetrates in the vertical direction Z from the upper surface to the lower surface. In FIG. 1, the hole 18 opens in a circular shape. However, the shape is not limited to a circular shape as long as the seedbed piece N having a cubic shape can be held when inserted from above. Alternatively, a polygonal shape such as a square shape may be used. Further, in FIG. 1 and the like, only one hole 18 is provided in the planting panel 13 for simplification of the drawing, but in practice, the depth direction X and the width direction Y which are directions in which the planting panel 13 is horizontally moved. A plurality of holes 18 are arranged in a row.

  The transplant mechanism 14 includes a transplant drive unit 19 having a guide rail (not shown) along the vertical direction Z, a slider 20 movable up and down along the guide rail of the transplant drive unit 19, and a transplant drive unit 19 in the slider 20. And a base portion 21 fixed to the opposite surface. The base portion 21 is a quadrangular prism-like casing, and a support cylinder portion 22 in a form in which a pair of halved cylindrical members are opposed to each other on the upper surface thereof extends along the vertical direction Z. ing.

  A pair of first hand members 23 and a pair of a pair of first hand members 23 that perform a closing operation that is symmetrically approached and an opening operation that is symmetrically separated from the central axis P of the hole 18 of the planting panel 13 are provided inside the support cylinder portion 22. The second hand member 24 is provided such that the first hand member 23 is positioned above the second hand member 24. As the pair of first hand members 23 is driven by an actuator or the like included in the first drive unit 25 provided at the lower end portion thereof, the bifurcated sandwiching portion 26 provided at the upper end portion thereof extends in the width direction Y. It is configured to open and close. In addition, the shape of the clamping part 26 is arbitrary, and if it is a shape which can clamp the seedbed piece N and can pass the hole 18 of the fixed planting panel 13 when the 1st hand member 23 closes, it will be bifurcated. In addition, a simple plate shape or a round bar shape may be used.

  On the other hand, as the pair of second hand members 24 is driven by an actuator or the like included in the second drive unit 27 provided at the lower end portion thereof, the half ring-shaped surrounding portion 28 provided at the upper end portion thereof has a depth. It is configured to open and close in the direction X. That is, in a state where the first hand member 23 is closed, the second hand member 24 is closed at a position where the pair of surrounding portions 28 are combined in a ring shape and are lower than the holding portion 26. One hand member 23 is surrounded. The surrounding portion 28 is arranged point-symmetrically with respect to the central axis P of the hole 18 of the planting panel 13, and when the second hand member 24 is closed, the surrounding portion 28 is more than the pinching portion 26 in the first hand member 23. In addition to the semi-ring shape, a V shape or a U shape may be used as long as the shape can surround the lower portion and can pass through the hole 18 of the planting panel 13.

  In addition, a third drive unit 29 that allows the second hand member 24 and the second drive unit 27 to move in the vertical direction Z inside the support tube portion 22 is provided inside the base body 21. . That is, the second hand member 24 moves up and down together with the first hand member 23 when the base portion 21 moves up and down via the slider 20 in accordance with driving of the actuator or the like included in the transplantation drive unit 19. As the actuator of the third drive unit 29 is driven, it moves up and down so as to move relative to the first hand member 23 in the vertical direction Z. In the present embodiment, the transplanting hand 30 is configured by the base portion 21, the support tube portion 22, the first hand member 23, the second hand member 24, and the like as described above.

Next, the operation of the transplantation hand 30 configured as described above will be described.
First, as shown in FIGS. 2 (a) and 2 (b), when transplanting the seedbed piece N transported to the upper position of the fixed planting panel 13 by the transport mechanism 12 into the transplant destination hole 18, the hole The seedbed piece N is aligned with the 18 center axis P (which is also the center portion of the support cylinder portion 22 in the transplantation hand 30). Then, at the lower position of the fixed planting panel 13, the transplantation hand 30 of the transplantation mechanism 14 waits at the initial position directly below the hole 18 with the first hand member 23 and the second hand member 24 being closed. Be made. And if the base | substrate part 21 raises with the drive of the transplant drive part 19 from that state, both the 1st hand member 23 and the 2nd hand member 24 will pass the hole 18 upward from the downward direction in the transplant hand 30.

  Next, as shown in FIGS. 3 (a) and 3 (b), when the transplanting hand 30 rises to a position immediately before clamping, which is directly below the seedbed piece N gripped by the gripping piece 15 of the transport mechanism 12, at that position In the transplanting hand 30, the first hand member 23 and the second hand member 24 are opened. Specifically, first, the second hand member 24 surrounding the first hand member 23 by opening the surrounding portion 28 in a ring shape is opened, and then the first hand member 23 is moved. Open operation. Further, in this case, the first hand member 23 opens to the opening angle at which the pinching portion 26 at the tip can pinch the seedbed piece N. On the other hand, the second hand member 24 opens to an opening angle at which the root Ne of the seedling S extending so that the surrounding portion 28 at the tip thereof radially spreads outward from the lower surface of the seedbed piece N can be surrounded from the outside. Operate.

  Next, as shown in FIGS. 4A and 4B, the transplantation hand 30 is in a state where the first hand member 23 and the second hand member 24 are opened and the first hand member 23 is opened. The holding part 26 of the hand member 23 is raised to a holding position where the seedbed piece N can be held. In the clamping position, the first hand member 23 closes in the transplanting hand 30 as the first driving unit 25 is driven. Then, the seedbed piece N gripped by the grip piece 15 of the transport mechanism 12 on both side surfaces in the width direction Y has a portion other than the part gripped by the grip piece 15 on both side surfaces of the first hand member. It is clamped by 23 clamping parts 26.

  Next, as shown in FIGS. 5A and 5B, the second hand member 24 is closed by the transplantation hand 30 as the second drive unit 27 is driven. Then, the grip piece 15 of the transport mechanism 12 is positioned above the root Ne of the seed bed piece N in a state of being held by the holding portion 26 of the first hand member 23, specifically, on the side surface of the seed bed piece N. The surrounding portion 28 of the second hand member 24 surrounds the seedbed piece N from the outside of the sandwiching portion 26 at a position below the gripping position. In this case, the second hand member 24 has the surrounding portion 28 at the root position of the root Ne of the seedbed piece N, specifically, the position just below the bottom surface of the seedbed piece N, and the root of the seedling S of the seedbed piece N. The closing operation may be performed so as to surround Ne from the outside of the clamping unit 26.

  Next, as shown in FIGS. 6A and 6B, the transplanting hand 30 is now driven by the second hand member 24 by the surrounding portion 28 as the third driving portion 29 is driven. In the closed state surrounding the root Ne of the seedling S of the piece N, the seedling S descends so as to move from the root side to the tip side. Then, the root Ne of the seedling S extending so as to spread outward from the lower surface of the seedbed piece N is gathered inside the surrounding portion 28 by the ring-shaped surrounding portion 28 that descends in a state of surrounding the root Ne. Are aligned as follows.

  Then, the transplantation hand 30 descends from the state together with the base unit 21 as the transplantation drive unit 19 is driven. Then, before the transplanting hand 30 is inserted into the hole 18 of the planting panel 13 from above the seedbed piece N sandwiched by the sandwiching portion 26 of the first hand member 23, the second hand member 24 is The surrounding portion 28 is passed from the upper side to the lower side of the hole 18 while the surrounding portion 28 is kept closed. Therefore, the root Ne of the seedling S passes from the upper side to the lower side while being aligned inside the surrounding portion 28. That is, the root Ne of the seedling S passes through the hole 18 from the upper side to the lower side without being caught by the peripheral edge of the upper end of the hole 18 of the planting panel 13.

  Then, as shown in FIGS. 7A and 7B, the seedbed piece N sandwiched by the sandwiching portion 26 of the first hand member 23 is inserted into the hole 18 of the fixed planting panel 13 from above. Then, as the transplantation drive unit 19 stops driving, the descending operation of the transplantation hand 30 is temporarily stopped. Then, from this state, the transplantation hand 30 is lowered while opening the first hand member 23 and the second hand member 24.

  Then, as shown in FIG. 8A and FIG. 8B, the seedbed piece N has been elastically deformed so that the holding state by the holding portion 26 of the first hand member 23 is released and contracted. The shape returns to the state where it is transplanted into the hole 18. At this time, the root Ne of the seedling S is in a state of hanging downward from the lower surface of the seedbed piece N. Then, the planting panel 13 is moved in the depth direction X or the width direction Y from that state, and the hole 18 that is a transplant destination into which the next seedbed piece N is transplanted is positioned immediately above the transplanting hand 30. The transplanting operation of the nursery piece N is repeated.

According to said embodiment, the following effects can be acquired.
(1) Even if the root Ne of the seedling S extends radially outward from the lower surface of the seedbed piece N, the surrounding portion 28 is located at the root of the root Ne of the seedling S or above the hole 18 at the transplant destination. The root Ne of the seedling S spreading outwardly is gathered inside the enveloping portion 28 by moving from the root side to the tip side of the seedling S with the closed state changed from the open state at the upper position. To be aligned. Then, before the seedbed piece N is inserted into the transplant destination hole 18 by the movement of the sandwiching portion 26 from that state, when the surrounding portion 28 is kept in the closed state, it passes from above the hole 18 downward, The root Ne of the seedling S passes through the hole 18 from the upper side to the lower side while being aligned inside the surrounding portion 28. Therefore, even when the root Ne of the seedling S extends so as to spread radially outward from the lower surface of the seedbed piece N at the time of transplantation, the spread of the root Ne of the seedling S is put together into the hole 18 at the transplant destination. Can be transplanted.

  (2) By closing the second hand member 24, the root Ne of the seedling S extending radially outward from the lower surface of the seedbed piece N is brought closer to the inside of the ring-shaped enclosure 28. Therefore, it is possible to align the root Ne of the seedling S toward the central axis P of the hole 18 through which the root Ne passes from the upper side to the lower side at the time of transplantation.

  (3) Since the first hand member 23 provided with the clamping part 26 and the second hand member 24 provided with the surrounding part 28 can be operated independently, the size of the seedbed piece N and the seedling S Even when the roots Ne have different lengths, the drive states of the first drive unit 25 and the second drive unit 27 can be controlled flexibly.

  (4) The closed state in which the root Ne of the seedling S extending downward from the lower surface of the seedbed piece N is surrounded by the surrounding portion 28 while the seedbed piece N is held by the holding portion 26 of the first hand member 23. The second hand member 24 can be moved as it is, and the root Ne of the seedling S can be aligned.

In addition, you may change the said embodiment as follows. Moreover, you may combine the following modified examples suitably.
As shown in FIGS. 9 and 10, the transplanting hand may be a transplanting hand 30 </ b> A in which the holding part 26 and the surrounding part 28 are provided in the same hand member 31. That is, the clamping part 26 in the transplanting hand 30A is capable of passing through the hole 18 of the planting panel 13 and is symmetrically approaching and symmetrically approaching the central axis P of the hole 18 both above and below the hole 18. It is provided in the upper end part of the hand member 31 which performs the opening operation | movement which spaces apart. On the other hand, the surrounding portion 28 is provided at a position below the position where the holding portion 26 of the hand member 31 is provided. In the case of this configuration, only one drive unit is required to open and close the clamping unit 26 and the surrounding unit 28 in the transplanting hand 30A.

  As shown in FIG. 11, when the hand member 31 in the transplanting hand 30 </ b> A is closed, the holding portion 26 provided at the distal end portion of the hand member 31 grips the side surface on the far side in the depth direction X by the gripping piece 15. The nursery piece N thus formed is sandwiched from both sides in the width direction Y. At this time, the surrounding portion 28 provided on the base end side of the sandwiching portion 26 in the hand member 31 surrounds the root Ne of the seedling S at a position just below the lower surface of the seedbed piece N.

  Then, as shown in FIG. 12, the hand member 31 descends from the state (state of FIG. 11) as the third drive unit 29 is driven. That is, the sandwiching portion 26 moves downward while sliding on both side surfaces in the width direction Y of the seedbed piece N, and the surrounding portion 28 moves downward while surrounding the root Ne of the seedling S. Then, in the same manner as in the case shown in FIGS. 7 and 8 described above, prior to inserting the nursery bed piece N into the hole 18 of the fixed planting panel 13 from above, the hand member 31 defines the surrounding portion 28. The enclosure 28 is passed from the upper side to the lower side of the hole 18 in the closed state.

  In the case of this transplantation hand 30A, since the clamping part 26 and the surrounding part 28 are provided in the common hand member 31, the clamping part 26 and the surrounding part 28 are separate hand members (for example, the first hand member 23). Unlike the case where the second hand member 24) is provided, a mechanism for moving the sandwiching portion 26 and the surrounding portion 28 in the vertical direction can be shared. Therefore, in addition to the effect of (1) in the above-described embodiment, the configuration of the transplantation device 11 can be simplified to the extent that the mechanism for moving the clamping portion 26 and the surrounding portion 28 in the vertical direction can be shared.

  As shown in FIG. 13, in the case of the transplanting hand 30B in which the sandwiching portion 26 and the surrounding portion 28 are provided in the common hand member 31, the position of the surrounding portion 28 provided in each of the paired hand members 31 is the hand. The lengths of the members 31 may be different. That is, when the open state indicated by the two-dot chain line in FIG. 13 is changed to the closed state indicated by the solid line, the surrounding portions 28 of the paired hand members 31 do not touch each other's tip surfaces, but The front end portions may pass each other and overlap each other. According to this configuration, the surrounding surrounding portions 28 forming a pair are staggered, so that the surrounding state of the root Ne of the seedling S by the surrounding portion 28 can be maintained even when the opening portion is slightly opened from the closed state. .

  In the above embodiment, the first hand member 23 may move only above the fixed planting panel 13. For example, the grip piece 15 in the transport mechanism 12 may function as the first hand member and its clamping portion. In this case, the space occupied by the mechanism for moving the first hand member as compared to the case where the first hand member is configured to pass through the hole 18 in the vertical direction in conjunction with the second hand member 24. However, since only the upper part of the hole 18 is required, a space below the hole 18 can be provided with a margin.

  In the above embodiment, when the first hand member 23 moves only above the planting panel 13, the second hand member 24 closes and the surrounding portion 28 surrounds the root Ne of the seedling S. In this case, the first hand member 23 is positioned above the surrounding portion 28 and may not be positioned inside the surrounding portion 28.

  -If the surrounding part 28 is the structure arrange | positioned point-symmetrically with respect to the central axis P of the hole 18, in addition to the structure which is a pair of surrounding part 28, several surrounding parts, such as three and four, are centered. A configuration in which the closing operation and the opening operation are performed symmetrically with respect to the axis P may be employed.

  If the surrounding portion 28 can be changed between a closed state surrounding the root Ne of the seedling S extending downward from the lower surface of the seedbed piece N and an open state displaced outward from the closed state, the central axis of the hole 18 A configuration in which a plurality of surrounding portions 28 having an asymmetrical shape with respect to P is opened and closed is also possible.

  DESCRIPTION OF SYMBOLS 11 ... Transplantation device, 13 ... Fixed planting panel (panel), 18 ... Hole, 23 ... 1st hand member, 24 ... 2nd hand member, 26 ... Clamping part, 28 ... Enveloping part, 30, 30A, 30B ... Transplantation Hand, 31 ... hand member, N ... nursery bed piece, Ne ... root, P ... central axis, S ... seedling.

Claims (5)

A transplanting hand included in a transplanting device for transplanting seedlings,
A sandwiching portion that is capable of sandwiching a seedbed piece in which the seedling is planted and is movably provided to transplant the seedbed piece into a hole provided in a transplant destination panel of the seedling;
It is possible to change between a closed state surrounding the seedling root extending downward from the lower surface of the seedbed piece and an open state displaced outward from the closed state, and is provided so as to be able to pass through the hole of the panel in the vertical direction. Enveloping part,
With
The surrounding portion changes from the open state to the closed state at the root of the seedling that extends downward from the lower surface of the seedbed piece or the root, after passing through the hole from below to above, After moving from the root side to the tip side of the seedling in the closed state, the seedling root piece clamped in the clamping part is inserted into the hole from above, and the root of the seedling is moved. A transplantation hand which passes through the hole from the top to the bottom while being surrounded.   The surrounding portion is arranged point-symmetrically with respect to the central axis of the hole, and is provided on a hand member that performs a closing operation that is symmetrically approached and an opening operation that is symmetrically separated from the central axis. The transplantation hand according to claim 1 characterized by things.   The sandwiching portion is provided in a first hand member that is movable at least above the hole and performs a closing operation for sandwiching the seedbed piece and an opening operation for releasing the sandwiching, and the surrounding portion is The second hand member is provided in a second hand member that opens and closes to change the enclosure portion between the closed state and the open state so as to be able to pass through the hole and above and below the hole. The transplantation hand according to claim 1 or 2.   The first hand member is positioned inside the surrounding portion that is in the closed state in the second hand member in a state in which the first hand member is closed to hold the seedbed piece in the holding portion. The transplantation hand according to claim 3, wherein   The upper end of the hand member that is capable of passing through the hole and performing a closing operation that is symmetrically approaching the center axis of the hole and an opening operation that is symmetrically separated from both above and below the hole. The transplantation hand according to claim 1 or 2, wherein the surrounding portion is provided at a position below a position where the clamping portion of the hand member is provided.

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