JPH0833424A - Gripping of seedling and gripping device therefor - Google Patents

Abstract

PURPOSE:To provide a method for gripping seedlings, capable of surely holding seedlings one by one even in close culture of seedlings or in slant stems of the seedlings and to a gripping device therefor. CONSTITUTION:A pair of pawls 61a and 61b grip stem parts of seedlings cultured in a container and draw out the seedlings in the following order of: dropping the pawls to a position facing to a part of a seedling close to the soil, advancing the pawls to a position where the part of the seedling close to the soil is sandwiched with the pawls from both the sides, closing the pawls by one step and surrounding a part close to the soil with the pawls in a state leaving room between the seedling and the pawls, raising the pawls in one step to the stem part of the seedling, further closing the pawls by one step (two steps in total) to grip the stem part of the seedling, and further raising the pawls in one step (two steps in total) to draw out the seedling.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and a device for holding young plants. When transplanting seedlings cultivated in a container to another container, when washing roots, when grafting,
It is necessary to pull out the seedlings from the container and move them to a predetermined position. For example, when the seedlings cultivated in the plug tray are grafted as a scion, the seedlings are sequentially pulled out from each plug and moved to a position where grafting work is performed. The present invention relates to a grasping method and a grasping device for grasping a young plant cultivated in a container with a pair of claws, pulling out the grasped state and moving to a predetermined position in the above-mentioned case Is.

[0002]

2. Description of the Related Art Conventionally, as a means for gripping a young plant, there has been proposed a means provided with a moving actuator, a lifting actuator, an opening / closing actuator, a pair of claws, and a control device for controlling the operation of each of these actuators. (Japanese Patent Laid-Open Nos. 2-2111810 and 3-130015,
JP-A-4-187029). In any of these conventional means, a young plant cultivated in a container is grasped by a pair of nails, and the grasped state is pulled out or cut from the container and moved to a predetermined position. However, these conventional means have a drawback that, in fact, it often happens that individual plantlets cannot be grasped one by one.

When transplanting seedlings, washing roots, grafting, etc., it is necessary to grasp the stems of the seedlings with a pair of nails for convenience of the subsequent work. For example,
When grafting a seedling as a scion, it is necessary to grasp the stalk portion of the seedling at least above the cutting point with a pair of nails. Therefore, in any of the above-mentioned conventional means, the pair of nails is advanced from the beginning to the position where it is sandwiched from both sides aiming at the stem of the seedling and gripping the stem. However, for example, when the seedlings are cultivated relatively densely in the plug tray, even if the seedlings are near the center of each plug, the stems are often inclined, When the pair of claws advance toward the stem of the seedling that is supposed to be right above each plug from the beginning, there is no stem or there is a stem of the seedling grown in the adjacent plug. Therefore, the pair of nails cannot hold the seedlings or hold two or more seedlings at the same time.

[0004]

The problem to be solved by the present invention is that it is often the case that the conventional means cannot hold the individual plantlets one by one.

[0005]

SUMMARY OF THE INVENTION The present invention, however, relates to a method for gripping a young plant, which comprises the following first step, second step and third step. First step: The pair of claws supported by the moving actuator descends to a position facing the front part of the seedlings cultivated in the container, and then advances to a position where the front part of the seedling is sandwiched from both sides. Step 2): Step of advancing paired nails surrounding the edge part of the seedling, and then rising to the stem of the seedling 3rd step: Raised paired nails of the seedling Grip the part,
Next, the step of pulling out the seedlings

Further, the present invention is a seedling holding device for holding a young plant cultivated in a container with a pair of claws, pulling out the held plant and moving it to a predetermined position. A substrate supported by the moving actuator, an elevating actuator attached to the substrate to move up and down in two steps, an advancing / retreating actuator attached to the elevating actuator, and an advancing / retreating actuator attached An opening / closing actuator that closes in two steps, a pair of pawls attached to the opening / closing actuator, and a control device that controls the operation of each of the actuators, and the pair of pawls that are lowered by the downward movement of the lifting actuator. Is moved forward and backward by the forward and backward movement actuators to the position of sandwiching the edge of the seedling from both sides, and the actuator for opening and closing continues. The pair of claws that surrounds the ground portion of the seedling by the closing operation of the first stage of the actuator rises up to the stem of the seedling by the raising operation of the first stage of the lifting actuator, and A pair of claws that grip the stem of the seedling by the second-stage closing operation so that the seedling is pulled out by the second-stage raising operation of the lifting actuator. It relates to a gripping device.

The important point in the present invention is that the pair of claws descends to a position facing the front part of the seedling body → advances to a position where the ground part of the seedling body is sandwiched from both sides → one stage closes and seedlings Surrounding the land area with a margin between the body and the body → rises by one step and rises up to the stem of the seedling → one step (total 2
Grasping the stems of the seedlings cultivated in the container in the above order, closing the stems of the seedlings and gripping the stems of the seedlings → further raising by one step (two stages in total) to pull out the seedlings, It is in the process of pulling out the seedlings.

Therefore, unlike the conventional means, the pair of claws do not advance from the beginning by advancing toward the stems of the seedlings, but initially by advancing toward the edge of the seedlings, Is surrounded, and the stalk is grasped after being raised to the stalk in the surrounded state. Thus, since the ground portion of the seedlings cultivated in the container is in a substantially predetermined position, even if the stem is inclined,
The pair of nails can securely grasp the stem portion and pull out the seedling from the container.

In the present invention, the moving actuator moves the pair of claws from the diagonally forward direction to the position where the seedlings cultivated in the container are faced, and the seedlings that are grasped and pulled out by the pair of nails are moved to a predetermined position. It is for moving to a position.
As such a moving actuator, it is possible to use a motor driven type or a cylinder driven type in which an arm having a pair of claws pivots or a type in which a base having a pair of claws moves laterally while being guided by a guide rod. Is a guide rod mounted on the machine frame, a ball screw pivotally supported on the machine frame, a drive motor connected to the ball screw, for example, a pulse motor, and the guide rod is slidably fitted to the ball screw. It is preferable that a base that is screwed is provided, and that a base on which a lifting actuator to be described later is mounted is supported on the base.

Specifically, for example, when a plug tray is placed on an intermittently driven conveyor and seedlings are cultivated on each plug of the plug tray, machine frames are erected on both sides of the conveyor. Then, two guide rods are mounted on the machine frame, one ball screw is rotatably supported, and the pulse motor is connected to the ball screw. Then, the two guide rods are slidably fitted to each other, and the substrate is supported on a base on which one ball screw is screwed, and an elevating actuator to be described later is attached to the substrate.

In the present invention, the elevating actuator lowers the pair of claws to the edge of the container in which the seedlings are cultivated, and the pair of claws surrounding the edge of the seedlings is used for the seedlings. This is for pulling up the seedlings by raising them to the stem part of the plant by one step and then further raising the pair of nails holding the seedlings by one step. As such an ascending / descending actuator, a type in which a pair of claws are moved up and down by a motor drive or a cylinder drive can be used. However, a main cylinder having a cylinder tube attached to a substrate, and a cylinder rod connected to a cylinder rod of the main cylinder. It is preferable that the auxiliary cylinder be provided with a sub cylinder, a receiving stand attached to the cylinder tube of the sub cylinder, and a guide rod that is installed upright on the receiving stand and slidably fitted into a guide cylinder attached to the substrate. . In this case, the pair of pawls are lowered by the lowering operation of the main cylinder and the sub cylinder, and the pair of pawls are raised by one step by the raising operation of the sub cylinder, and then the pair of pawls are further moved by one step by the raising operation of the main cylinder. To raise.

In the present invention, the advancing / retreating actuator is for advancing the pair of claws to a position where the ground portion of the seedling is sandwiched from both sides. As such an advancing / retreating actuator, a method of advancing / retreating a pair of claws by driving a motor or a cylinder can be used, but an advancing / retreating cylinder in which a cylinder tube is attached to the pedestal of the elevating actuator described above is preferable.

In the present invention, the opening / closing actuator encloses the ground portion of the seedling with a pair of claws, and with the pair of claws which is raised by one step to the stem of the seedling while being surrounded. This is for holding the stem of the plant. As such an opening / closing actuator, a type in which a pair of claws are opened / closed by a motor drive or a cylinder drive can be used. However, the case attached to the cylinder rod of the advance / retreat cylinder and the slidably housed in the case It is preferable that the pair of racks include a pair of racks, a pinion that engages with the pair of racks, and a drive motor that rotates the pinion, for example, a pulse motor. It is more preferable that both pinions have different numbers of teeth on the peripheral surface and that both pinions are attached to the same rotary shaft of the drive motor. The forward rotation of the first stage of the drive motor causes the pair of racks to be closed by one stage via the pinion, and the second stage of the drive motor.
The pair of racks is further 1 through the pinion by the positive rotation of the stage
The stage closes.

In the present invention, the pair of nails are for surrounding the edge of the seedling and gripping the stem of the seedling. When using a combination of a pair of racks and a pinion that engages with them as an opening / closing actuator, one pawl is attached to one rack and the other pawl is attached to the other rack. Although attached, in this case, it is preferable that the inner circumference of one claw is formed in an arc shape and the inner circumference of the other claw is formed in a V shape. This is because so-called center alignment is surely performed. By the closing operation of the first stage of the rack, the pair of claws surrounds the ground part of the seedling, and the enclosed pair of claws is raised to the stem of the seedling by the raising operation of the first stage of the lifting actuator. After that, the second pair of closing operations of the rack cause the pair of claws to grip the stem of the seedling.

In the present invention, the moving actuator, the lifting actuator, the advancing / retreating actuator, and the opening / closing actuator described above are all connected to a control device, and the operation of each actuator is a time-dependent command signal from the control device. Is controlled by.

[0016]

First, the pair of claws moves the diagonally upward position of the seedlings cultivated in the container by the operation of the moving actuator. Next, after the pair of claws descends to the ground part of the container by the descent operation of the lifting actuator, the pair of claws advances to the position where the pair of claws sandwich the ground part of the seedling by the forward operation of the advancing / retreating actuator. . Subsequently, the pair of claws surrounds the ground portion of the seedling by the first-stage closing operation of the opening / closing actuator, and then the first-stage raising operation of the lifting / lowering actuator causes the pair of claws to grow in the surrounded state. It rises to the stem of the body. Then, after the pair of claws grips the stem portion of the seedling by the second-stage closing operation of the opening / closing actuator, the pair of claws moves the second-stage ascending operation of the raising / lowering actuator in the gripped state. Pull out of the container.
The pair of claws moves the seedlings to a predetermined position by operating the movement actuator while holding the stem portion of the seedlings that was finally pulled out. The following is this repetition, but upon repeated operation, each actuator returns to its original position.

Even when seedlings are densely cultivated in a container such as a plug tray, since the ground portion of the seedlings is almost in the center of each plug, the target plug The pair of nails that have advanced with respect to each other can surely surround the ground portion of the seedling. Then, since the pair of claws ascends to the stalk in the surrounded state and grips the stalk, even if the stalk of the seedling is tilted and not directly above the target plug, or adjacent plugs Even if the stalks of the seedlings cultivated in the above are tilted and are directly above the target plug, it is possible to reliably grip only the stalks of the seedlings cultivated in the target plug. it can. According to the present invention, it is possible to surely grasp the seedlings one by one.

[0018]

1 is a perspective view showing an embodiment of the present invention, FIG.
3 is a side view showing the same embodiment as FIG.
FIG. 2 is a perspective view showing a relationship between an opening / closing actuator and a pair of claws in the same embodiment as in FIG. In the illustrated embodiment, a moving actuator is a system in which a base screwed with the ball screw rotates laterally while being guided by a guide rod, and a main actuator in which both cylinder rods are connected as an elevating actuator is used. A cylinder and a sub-cylinder are used as an advancing / retreating actuator, an advancing / retreating cylinder is used as an opening / closing actuator, and a combination of a pair of racks and a pinion screwed to these is used. The control device to operate is omitted.

Two guide rods 11a are provided on a machine frame (not shown),
11b is mounted, and one ball screw 11c is rotatably supported by the machine frame.
A pulse motor (not shown) is connected to. The guide rods 11a and 11b are slidably fitted to the base 11, and the base 1
A ball screw 11c is screwed into the screw 1.

A substrate 21 is supported on the base 11,
The cylinder cylinder 31 a of the main cylinder 31 is attached to the substrate 21. The cylinder rod 31b of the main cylinder 31 is connected to the cylinder rod 32b of the sub cylinder 32, and the pedestal 33 is attached to the cylinder tube 32a of the sub cylinder 32. Two guide rods 33 are provided on the pedestal 33.
a and 33b are provided upright, and guide rods 33a and 33b are provided.
Is slidably fitted into guide cylinders 21a and 21b attached to the substrate 21.

A cylinder cylinder 41a of a cylinder 41 for advancing and retreating is attached to the receiving table 33, and a case 51 is attached to a cylinder rod 41b of the cylinder 41 for advancing and retracting. Two guide rods 51a and 51b are extended from the case 51, and the guide rods 51a and 51b are slidably fitted to a guide cylinder (not shown) attached to the pedestal 33.

A pair of racks 52a and 52b guided by rails (not shown) are housed in the case 51, and the racks 52a and 52b have pinions 53 having different numbers of teeth on their peripheral surfaces.
a and 53b are engaged with each other, and the pinion 53
The a and 53b are attached to the same rotary shaft 54a of the pulse motor 54.

One rack 61a is mounted on the rack 52a, and the other rack 61b is mounted on the rack 52b.
The claw 61b is composed of two claws provided with a gap, and the pair of claws 61a and 61b are taken out of the case 51. One claw 61a has an arcuate inner circumference, and the other claw 61b has a V-shaped inner circumference so that the claw 61a can fit into the gap between the two claws 61b. ing.

In the illustrated embodiment, the base 11 is moved laterally.fwdarw.the main cylinder 31 and the sub-cylinder 32 are moved downward. The forward / backward movement cylinder 41 is moved forward. To the position where it is sandwiched from both sides) → Closing operation of the first stage of the racks 52a and 52b (paired claws 61a and 61a)
b surrounds the ground portion of the seedling) → the raising operation of the sub-cylinder 32 (the paired claws 61a and 61b rise to the stem portion of the seedling in the enclosed state) → the second stage of the racks 52a and 52b Closing operation (paired claws 61a, 61b grip the stem of the seedling)
→ Ascending operation of the main cylinder 31 (the pair of claws 6 while gripped)
1a and 61b pull out the seedling from the container) → Base 1
1 lateral movement (moving the extracted seedlings to a predetermined position)
The operating order is.

[0025]

EFFECTS OF THE INVENTION As apparent from the above, according to the present invention described above, even if seedlings are densely cultivated and the stems of the seedlings are inclined, There is an effect that it is possible to surely grip each one.

[Brief description of drawings]

FIG. 1 is a perspective view showing an embodiment of the present invention.

FIG. 2 is a side view showing the same embodiment as FIG. 1 with a part thereof omitted.

FIG. 3 is a perspective view showing a relationship between an opening / closing actuator and a pair of claws in the same embodiment as in FIG. 1 with a part of the relationship omitted.

[Explanation of symbols]

11 ... Base, 11a, 11b, 33a, 33b, 5
1a, 51b ... Guide rod, 11c ... Ball screw, 21 ... Substrate, 31 ... Main cylinder, 32 ...
-Sub-cylinder, 33 ... Cradle, 41 ... Advance / retract cylinder, 51 ... Case, 52a, 52b ... Rack, 53a, 53b ... Pinion, 61a, 61b.
··nail

Front page continuation (72) Inventor Katsutoshi Hosoi, 23, Ando-cho, Kuroiso City, Tochigi Prefecture 69 (72) Inventor Hideo Akutsu, Nishinasuno-cho, Nasu-gun, Tochigi Prefecture 2557-6

Claims (9)

[Claims] 1. A method for gripping a young plant, which comprises the following first step, second step and third step. First step: The pair of claws supported by the moving actuator descends to a position facing the front part of the seedlings cultivated in the container, and then advances to a position where the front part of the seedling is sandwiched from both sides. Step 2): Step of advancing paired nails surrounding the edge part of the seedling, and then rising to the stem of the seedling 3rd step: Raised paired nails of the seedling Grip the part,
Next, the step of pulling out the seedlings 2. A seedling-holding device for holding a young plant cultivated in a container with a pair of claws, pulling out the held plant and moving it to a predetermined position, which comprises a moving actuator and the moving unit. A substrate supported by an actuator, a lifting actuator attached to the substrate for raising and lowering in two steps, an advancing / retreating actuator attached to the elevating actuator, and two steps attached to the advancing / retreating actuator. An opening / closing actuator that closes, a pair of claws attached to the opening and closing actuator, and a control device that controls the operation of each of the actuators are provided, and the pair of claws that are lowered by the lowering operation of the lifting actuator are used for advancing and retracting. By the forward movement of the actuator, it moves forward to the position where the ground part of the seedling is sandwiched from both sides, and then the first stage of the opening and closing actuator After the closing operation, the pair of claws surrounding the ground portion of the seedling plant moves up to the stem portion of the seedling plant by the raising operation of the first stage of the lifting actuator, and then the closing action of the second stage of the opening / closing actuator. The device for gripping a young plant is characterized in that the pair of claws holding the stem of the young plant is pulled out by the second-stage raising operation of the lifting actuator. 3. The substrate according to claim 2, wherein the moving actuator moves while the base screwed with the moving actuator is guided by the guide rod by the rotation of the ball screw, and the substrate is attached to the base. Grasping device for young plants. 4. An elevating actuator includes a main cylinder having a cylinder tube attached to a substrate, and a sub-cylinder having a cylinder rod connected to a cylinder rod of the main cylinder.
And a pedestal attached to a cylinder tube of the sub-cylinder, the pedestal being lifted and lowered while being guided by a guide rod with respect to the substrate by a lifting operation of the main cylinder and / or the sub-cylinder. Item 2. A device for grasping a young plant according to item 2 or 3. 5. The seedling holding apparatus according to claim 4, wherein the advancing / retreating actuator is an advancing / retreating cylinder having a cylinder tube attached to a pedestal. 6. A case in which an opening / closing actuator is attached to a cylinder rod of a forward / backward cylinder, a pair of racks slidably accommodated in the case, a pinion engaged with the pair of racks, and the pinion. The holding device for a young plant according to claim 5, further comprising a drive motor for rotating the. 7. A pair of racks are respectively engaged with pinions, both pinions having different numbers of teeth on their peripheral surfaces, and both pinions are attached to the same rotary shaft of a drive motor. A device for holding a young plant described in the above. 8. The seedling according to claim 6, wherein among the pair of claws and racks, one claw is attached to one rack and the other claw is attached to the other rack. Body gripping device. 9. The grasping device for a young plant according to claim 8, wherein one of the inner circumferences of the pair of claws is formed in an arc shape and the other is formed in a V shape.