JPH0144282B2 - - Google Patents

Description

[Detailed Description of the Invention] [Technical Field] The present invention relates to an automatic seeding device that is capable of picking and planting a single seed and is useful for cultivating a large number of plants to improve workability. It is something.

[Prior Art] For example, in the field of indoor cultivation of plants, it is necessary to process a large amount of plants in order to improve harvest and work efficiency. Furthermore, in order to prevent poor plant growth caused by planting multiple seeds at one planting location, it is desirable to plant one seed.

However, although there was a manual method of sowing seeds using vacuum tweezers, it was difficult to process large quantities or expect improvements in work efficiency with this method. Furthermore, the probability of using vacuum tweezers to pick up single irregularly shaped seeds is extremely low.
Conventionally, there has been a desire for a technology that can automate the processing of large quantities of tiny seeds by planting them individually.

[Object of the Invention] As explained above, the present invention was made primarily in response to technical demands in the field of indoor cultivation, and is a method for automatically picking out single, irregularly shaped, microscopic seeds without manual intervention. It is an object of the present invention to provide a seed sowing device capable of sowing seeds at a predetermined planting position.

[Structure of the Invention] In order to achieve the above object, the seed sowing device of the present invention includes a seed supply section, a seed placement section on which seeds taken out from the seed supply section are placed, and a seed placement section on the seed placement section. a seed pick-up station comprising a reading means for reading the position of the seeds in the seed pick-up station and outputting a position signal; and a seed pick-up station that takes out the seeds from the seed supply section and supplies them onto the seed placement section of the seed pick-up station; The present invention is characterized by comprising a seed sowing loader that takes out one of the seeds on the seed placement section and sets it at the seed planting position based on the position signal output by the reading means of the seed picking station.

[Example] Hereinafter, the present invention will be explained with reference to an illustrated example.

As shown in FIG. 1, this seed sowing device includes a seed tray 1 as a seed supply section provided at a seed extraction position.
and a seed picking station 5 which is provided next to the seed tray 1 and is used to temporarily place the seeds S taken out from the seed tray 1 thereon and pick up one seed.
and a seed sowing loader 11 equipped with a seed take-out nozzle 10 (one in the illustrated embodiment) that adsorbs the seeds S with the negative pressure generated by the vacuum device 23.

A seed tray 1 serving as a seed supply section provided at a seed removal position has a box-shaped structure with an open top. Nearby there is an automatic seed replenishment tray 3 that replenishes seeds into the seed tray 1 by the operation of the drive unit 3a.
and a seed leveling plate 4 for leveling the surface of the seed layer stored in the seed tray 1. Further, numeral 2 in the figure is a level meter that monitors the level of the upper surface of the seed layer stored in the seed tray 1 (this is called position A). The level meter 2, the drive unit 3a and the seed leveling plate 4 are connected and associated in operation, so that the level of the seeds in the seed tray 1 can be kept constant.

Next, the seed picking station 5 provided outside the seed tray 1 includes a seed placement plate 6 as a seed placement section and a reader 7 provided directly above the seed placement plate 6. have. A positional coordinate system (X-Y coordinate system) for indicating the position of seeds to be placed is set on the horizontally installed seed placement plate 6 which is rectangular in plan view. This X-Y coordinate system is stored in the reader 7 in advance, and the position of the seed S placed on the seed placement plate 6 is read and output as a position signal of the X-Y coordinate system. and read X-Y
A coordinate system position signal is supplied to a seed sowing loader 11, which will be described later, to operate it. Further, a wiper 8 is provided near the seed placement plate 6,
It is configured to be in contact with the upper surface of the seed placement plate 6 and to reciprocate at a predetermined angle in a horizontal plane by a driving means 8a. Although not shown, the reader 7 can also be provided with a wiper if necessary.

Next, as shown in FIG. 1, seeds are planted outside in a direction connecting the position of the seed tray 1 and the position of the seed picking station 5 (hereinafter referred to as the X direction). A planting position is set, and a seed planting member 9 is provided.

Next, above the seed tray 1, the seed picking station 5, and the seed planting position, a seed sowing loader 11 equipped with a seed take-out nozzle 10 as a sowing nozzle is installed in the X direction and within the plane. (hereinafter referred to as the Y direction) and the direction perpendicular to the
It is installed so that it can move freely in a direction perpendicular to a plane made up of directions (hereinafter referred to as the Z direction). The drive mechanism in the X direction in the seed sowing loader 11 includes a first helical rod 12b in the X direction that is interlocked and connected to a first drive means 12a such as a motor, and a first nut member that is movably attached to the first helical rod 12b. 12c. Further, the drive mechanism in the Z direction includes a second helical rod 13 attached to the first nut member 12c and driven by a second drive means 13a, and a second nut member 13 screwed thereto.
It is roughly composed of C. Further, the driving mechanism in the Y direction includes a third helical rod 14b attached to the second nut member 13c and driven by a third driving means 14a.
and a third nut member 14c screwed thereto. A seed extraction nozzle 10 serving as a seed sowing nozzle is attached to one end of the spiral rod 14b of the drive mechanism in the Y direction, with the nozzle tip facing downward.

Next, the configuration of the seed take-out nozzle 10 provided in the seed sowing loader 11 will be described. As shown in FIG. 2, the lower half of the cylindrical main body 10a that forms the base of the seed extraction nozzle 10 is a small diameter cylinder 10b, and the base end of a substantially conical nozzle portion 15 is disposed within the lower end opening of the cylindrical main body 10a. The parts are tightly screwed together. Further, a substantially cylindrical seed cover 16 surrounding the nozzle portion 15 is screwed onto the lower end of the outer periphery of the narrow cylinder 10b. The outer periphery of the tip of the seed cover 16 is chamfered. Said small diameter cylinder 10b
Seed cover 1
The height of the tip end surface of the nozzle section 6 can be adjusted relative to the tip of the nozzle section 15. A conduit 15a is provided at the center of the nozzle portion 15, and extends through the conduit 15a in the axial direction, and an inclined portion 15b is provided at the rear end opening of the conduit 15a over the entire circumference. The guide tube 18 is slidably provided in the cylindrical main body 10a, and a nozzle push rod 17 is attached to the lower end surface of the guide tube 18. The guide tube 18 is
A nozzle push rod actuator 20 is driven by, for example, air pressure via a rod 19 provided on its upper surface.
It is driven vertically by sliding on the inner peripheral surface of the small-diameter cylinder 10b, and the outer diameter and height of the cylinder 10b are made small so that the sliding surface can be kept airtight from the outside. The diameter is set to be approximately the same as the inner diameter and height of the cylinder 10b. Further, the outer diameter and length of the nozzle push rod 17 are set to be approximately equal to the inner diameter and length of the conduit 15a of the nozzle portion 15. rod 19
A compression spring 19a is provided on the outer periphery of the nozzle push rod 19a, and when the nozzle push rod 17 is not applied, the nozzle push rod 17 is lifted upward by the spring force of the spring.
Further, a vacuum port 21 is provided on the side wall of the small diameter cylinder 10b.
A through hole is provided. This vacuum port 2
1 is connected to a vacuum device 23 via a vacuum valve 22 and an air tube 24 provided outside.
The air tube 24 is provided with a vacuum switch 25 on the suction side of the vacuum valve 22 for sending an operation command signal to the seeding loader 11.

In the above configuration, following the automatic operation procedure,
First, the tip of the seed take-out nozzle 10 of the seed sowing loader 11 is set on the upper surface of the seed S layer in the seed tray 1 (indicated by position A in FIG. 1). Subsequently, the vacuum equipment 23, vacuum valve 22, and vacuum switch 25 are automatically operated to generate negative pressure at the opening of the conduit 15a at the tip of the seed extraction nozzle 10, and the seeds S are adsorbed at the tip. let In this case, it goes without saying that the nozzle push rod 17 is not inserted into the conduit 15a as shown in FIG. The number of seeds adsorbed to the nozzle tip is one or more, and the adsorption is confirmed by the vacuum switch 25, and its output signal is used for the operation in the next step.

Next, the seed sowing loader 11 is operated by the output signal of the vacuum switch 25, and the tip of the seed take-out nozzle 10, which has absorbed the seeds, is placed above the coordinate origin 0 of the seed placement plate 6 (in FIG. 1). (indicated by position B). The position coordinates of position B on the seed placement plate 6 are X=0, Y=0, and Z= _z2 . Subsequently, the vacuum valve 22 is automatically operated to release the vacuum and drop the seeds S from a height z ₂ above the seed placement plate 6 onto the plate surface. Further, in conjunction with the release of the vacuum suction, the nozzle push rod actuator 20 is operated to insert the nozzle push rod 17 into the conduit 15a. This operation ensures that the seeds fall and at the same time cleans the nozzle pipe 15a.

Next, the position coordinates of the seeds S scattered on the seed placement plate 6 are instantaneously read by the reader 7. Reader 7
Using the seed position signal outputted by
Set to move automatically. The positional coordinates of the C position on the seed mounting plate 6 are X=x, Y=
y, Z= _z1 .

Next, the vacuum valve 22 is operated, and one seed at position C is attracted to the tip of the seed removal nozzle 10. Then, by the command signal of the vacuum switch 25,
The seed sowing loader 11 is operated and the seed planting position (first
It is shown at position D in the figure. ) to seed removal nozzle 10
Set the tip of. After the seed sowing loader 11 has taken out one seed, when the tip of the seed take-out nozzle 10 reaches a Z value that does not come into contact with the wiper on the seed placement plate 6, the wiper 8 is automatically operated and the seed The mounting surface of the mounting plate 6 is cleaned.

Next, when the tip of the seed removal nozzle 10 is set to the D position, the vacuum valve 25 is activated and the vacuum suction is released. At the same time, the nozzle push rod 17
a, and the seeds are implanted into the seed implantation member 9. In this case, the seed removal nozzle 10
The seed cover 16 has a tip end surface that is connected to the nozzle portion 15.
Since it is set substantially on the same plane as the tip of the seed implanting member 9, the implanting surface of the seed implanting member 9 is kept flat during implantation, and furthermore, the seeds are prevented from scattering when the vacuum suction is released.

In addition, in the operation process of the above-mentioned device, after the seed take-out nozzle 10 adsorbs and takes out seeds from the seed tray 1, when the tip of the nozzle 10 reaches a Z value that does not come into contact with the leveling plate 4, the leveling plate 4 is automatically operated to keep the upper surface of the seed layer in the seed tray 1 flat. Furthermore, when the level of the upper surface of the seed layer decreases, the automatic seed supply tray 3 is activated in response to a command signal from the level meter 2, and the seeds are transferred to the seed tray 1.
After that, the leveling plate 4 is operated several times.
This keeps the upper surface of the seed layer flat at a constant level.

In the embodiment described above, the operation of taking out seeds from the seed tray 1 and the operation of taking out individual seeds once placed on the seed placement plate 6 are performed sequentially by the only seed take-out nozzle 10. It was configured as follows. However, if, for example, two seed take-out nozzles are provided on the seed sowing loader so that they can move independently of each other, the operation of taking out seeds from the seed tray and the operation of taking out one seed from the seed placement plate can be performed easily. It is also possible to configure so that each operation is repeatedly performed by one nozzle at a time.

[Operations and Effects of the Invention] As explained above, according to the seed sowing device of the present invention, the seeds taken out by the seed sowing loader are once dropped onto the seed placement part of the seed picking station,
Since the structure is configured such that one seed is taken out from above the seed placement part and set at the planting position, it is possible to reliably plant one minute seed without relying on human hands. Furthermore, in the present invention, if a seed take-out nozzle is provided as a means for taking out seeds, which adsorbs seeds with negative pressure, the adsorption of seeds can be made more reliable, and the seed take-out operation If the single-seed pick-up operation on the seed placement plate is performed continuously by one seed pick-up nozzle, there is an effect that the entire structure of the seed sowing device can be made compact.

[Brief explanation of drawings]

FIG. 1 is a perspective view showing the overall structure of a seed sowing device according to an embodiment of the present invention, and FIG. 2 is an enlarged longitudinal cross-sectional view of the seed extraction nozzle shown in FIG. 1. DESCRIPTION OF SYMBOLS 1... Seed tray as a seed supply part, 5... Seed pick-up station, 6... Seed placement board as a seed placement part, 7... Reader, 10... Seed take-out nozzle, 11... Seed sowing Loader, 15...Nozzle part, 1
7... Nozzle push rod, 23... Vacuum device, 25...
Vacuum switch.

Claims (1)

[Scope of Claims] 1. A seed supply section, a seed placement section on which seeds taken out from the seed supply section are placed, and a position signal for reading the position of the seeds on the seed placement section. a seed picking station comprising a reading means; a position signal outputted by the reading means of the seed picking station; A seed sowing device comprising: a seed sowing loader that takes out one of the seeds on the seed placement section based on the above and sets it at a seed planting position. 2. The seed sowing device according to claim 1, wherein the seed sowing loader includes a seed take-out nozzle that adsorbs seeds with negative pressure. 3. According to claim 2, the seed taking-out operation from the seed supply section and the seed taking-out operation from the seed mounting section in the seed picking station are performed by a single seed taking-out nozzle. Seeding device.