JPH09224485A - Seedling sampling chuck - Google Patents

Abstract

PROBLEM TO BE SOLVED: To sow the seeds of flowers or vegetables into a cell formed seedling tray and to move germinatod cell formed seedlings into the pots of the other seedling tray or cups on a conveyer. SOLUTION: Concerning a chucking device for sampling cell formed seedlings reared in the seedling tray from the pots on one side and loading them into the other pots, seedling sampling chucks are arranged in the shape of columns, and chuck pawl 5 of seedling sampling chucks are opened/closed vertically to the direction of columns. The chuck pawls 5 are vertically arranged corresponding to the inclination of root pots for cell formed seedlings, and the chuck pawls are constituted so as to be vertically elongated contracted and opened/ closed. Supporting polse are protruded from guide bodies, with which the chuck pawls are guided in the direction of elongation/contraction, in parallel with the pawls, and the top ends of the chuck pawls are provided with seedling pressers 46 for guiding the top ends of the supporting poles and pressing the upper faces of root pots.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention sows seeds such as flowers and vegetables in a cell-forming seedling tray, and transfers the germinated cell-forming seedlings to a pot of another seedling tray or a cup on a conveyor. Therefore, the present invention relates to a configuration of a chuck device that extracts and releases seedlings.

[0002]

2. Description of the Related Art Conventionally, seeds such as flowers and vegetables are sown in each recess of a seedling tray in which recesses (pots) are formed in a grid pattern, and seedlings are cultivated to have a size of about 2 to 6 leaves after germination. Then, temporary planting was carried out in a temporary planting tray or a temporary planting pot (vinyl pot) having a recess slightly larger than the recessed part of the seedling tray, and further seedlings could be machine-planted or shipped in the temporary planting pot. The temporary planting device is, for example, JP-A-7-75450.
In the same way as the No. 1 technology, the cell-formed seedlings raised in the seedling trays are sequentially conveyed, and the seedling trays are projected from above each seedling tray by a CCD camera or the like, and the whole or half or one row of the seedling trays are subjected to image processing, Detecting missing seedlings and atrophic seedlings, take out only the proper cell-formed seedlings by the loading robot, temporarily plant one by one in a temporary planting pot, and store the temporary planting pots in a basket placed in a grid pattern. I was making up.

[0003]

The conventional technique of the temporary planting device does not disclose the structure of the chuck for grasping and transporting the cell-formed seedlings. However, since the size of the pot of the seedling tray is small, the jaws of the chuck are not formed. Even if you try to insert it along the side of the root pot of the cell-molded seedling (medium portion inserted in the pot of the seedling tray) and grab and lift it, the chuck's claws will move to the left and right.
The structure in which two claws are sandwiched by two is unstable, and when dropped and conveyed, it may be dropped or may be distorted and inserted into a pot or a cup.

[0004]

The problems to be solved by the present invention are as described above. Next, the means for solving the above problems will be described. That is, in a chuck device that extracts the cell-formed seedlings raised in the seedling tray from one pot and loads them into the other pot, the seedling extraction chucks are arranged in a row, and the chuck claws of the seedling extraction chucks are perpendicular to the row direction. It is configured to open and close.

Further, in the seedling extracting chuck, a plurality of chuck claws are opposed to each other and arranged vertically in accordance with the inclination of the root pot of the cell-forming seedling, and the chuck claws can be expanded and contracted vertically and can be opened and closed. In addition to the above, a guide body for guiding the chuck claw in the expansion and contraction direction is provided, and the seedling retainer for guiding the tip of the chuck claw and pressing the root pot upper surface is provided in the guide body.

Further, in a chuck device for extracting a cell-molded seedling grown in a seedling tray from one pot and loading it in the other pot, a pair of rod-shaped chuck claws are arranged facing each other in the vertical direction, and the chuck claws are arranged. A guide body is vertically slidably guided in accordance with the inclination of the root pot of the cell-forming seedling, and the upper part of the chuck claw is locked by a locking body so that the locking body can be moved up and down. .

Further, in a chuck device for extracting a cell-formed seedling grown in a seedling tray from one pot and loading it in the other pot, a plurality of chuck claws are arranged facing each other in the vertical direction, and An upper part is pivotally supported by a shaft so that it can be opened and closed, and a spring is arranged at the upper end of the chuck claw above the shaft to urge the lower part of the chuck claw to close, and a pair is laterally provided from the chuck claw below the shaft. The cam rod is protruded, and the cam rod is arranged between the pair of cam rollers so that the cam rod can be inserted and removed.

Further, in a chuck device for extracting cell-formed seedlings raised in a seedling tray from one pot and loading the pot into the other pot, a pair of left and right holding hands each having a plate body formed in an L-shape in side view are provided. The hand is configured to be openable and closable, and the hypocotyl of the cell-shaped seedling is sandwiched and transferred by the sandwiching hand. Further, the chuck device is provided with a moving means for moving up and down and front and back or left and right.

[0009]

Next, examples will be described. 1 is an overall front view of a seedling filling device equipped with a seedling extraction chuck of the present invention, FIG. 2 is an overall plan view of the seedling filling device, FIG. 3 is a left side view of the seedling filling device, and FIG. 4 is a sensing conveyor. Front view, FIG. 5 is a side view partial cross-sectional view showing a first embodiment of the chuck device, FIG. 6 is a front view of the same, and FIG. 7 is a side view when the chuck device of the first embodiment is arranged in a seedling loading section. Partial sectional view, FIG. 8 is a perspective view showing the relationship between the chuck claw and the cup,
9 is a partial side sectional view showing a second embodiment of the chuck device, FIG. 10 is a front view of the same, and FIG. 11 is a front view of a third embodiment of the chuck device mounted on a pitch changing device.
12 is a side view of the same, FIG. 13 is a partial sectional view of a side view of the chuck device of the third embodiment arranged above the sensing conveyor, and FIG. 14 is a front view of the chuck device of the third embodiment.
FIG. 15 is a partial sectional view of a side view showing a fourth embodiment of the chuck device, and FIG. 16 is a front view of the same.

1, 2 and 3, the overall structure of the automatic seedling filling device equipped with the seedling extracting chuck of the present invention will be described. A caster wheel for movement is arranged in the lower part of the framed frame base H, and a pair of conveyors are arranged in parallel in the front-rear direction on the upper part of the frame base H, and one of them accommodates the cell-formed seedlings after seedling raising. The supply conveyor 10 for transporting the seedling tray P, and the complementary conveyor 1 for transporting the complementary tray S containing only normal cell-molded seedlings after the other is supplied.
It is arranged as 1. A controller is housed on the left side of the rear part of the supply conveyor 10 and a control panel 1 having an operation panel is arranged. The size of the seedling tray P and the size of the cell-forming seedlings can be set. Is controlled. At a substantially central portion in the front and rear of the frame base H, a sensing conveyor C is disposed so as to cross over both conveyors of the supply conveyor 10 and the complementary conveyor 11 in a right-angled (left-right) direction. A seedling discriminating device F is arranged.

The seedling tray P stores cell-formed seedlings G after raising seeds, and the seedling trays P are sequentially placed at the rear part of the supply conveyor 10 and synchronized with the driving of the seedling extracting part B forward. And then transported. The supply conveyor 10 and the complementary conveyor 11 are flat belts and are driven by a motor (not shown). The complementary conveyor 11 is a complementary tray S
Is placed and conveyed from the front to the rear in synchronization with the driving of the sensing conveyor C. In the seedling filling device, the seedling tray P and the complementary tray S are exactly the same, and the seedling tray P after the cell-molded seedling G is extracted can be used as the complementary tray S, but at that time, the infection of diseases is prevented. Need to be washed in order to do. Further, when transplanting to a temporary plant pot, the tray on which the temporary plant pot is placed is placed instead of the complementary tray S, and the pitch is also changed.

A seedling extracting section B is provided above the intersection of the sensing conveyor C and the supply conveyor 10, and between the seedling tray P conveyed by the supply conveyor 10 and the cup 9 on the sensing conveyor C, seedlings are provided. The extracting part B moves back and forth and vertically at the same time to extract the cell-formed seedlings on the seedling tray P and transfer them to the cup 9. In addition, a seedling loading section E is provided above the intersection of the sensing conveyor C and the complementary conveyor 11, and the cup 9 and the complementary conveyor 11 are provided.
The seedling loading section E moves forward, backward, up and down simultaneously with the seedling supplementary tray S conveyed by, and holds the cell-formed seedling in the cup 9 and transfers it to the pot of the seedling supplementary tray S.

The seedling extracting section B is arranged so as to convey the cell-forming seedling G from the front process side of the supply conveyor 10 behind the sensing conveyor C to the cup 9, and the seedling loading section E is arranged from the cup 9 of the sensing conveyor C. The cell-formed seedlings G are arranged on the rear side supplement conveyor 11 on the rear side supplement conveyor 11 so that the cell-formed seedlings G are conveyed to the subsequent process side.
So that the cell-forming seedling G does not hit the bottom of the chain and the height of the upper part of the chain 20 is made as close as possible to the upper surfaces of the supply conveyor 10 and the complementary conveyor 11 so that the height is suppressed and the center of gravity is lowered. I am configuring.

As shown in FIGS. 1 to 4, the sensing conveyor C has a support frame 3 above the frame base H.
6 sideways, one side (left side) driven sprocket 34.
34 is rotatably supported, and a drive sprocket 35 and a driven sprocket 34 are arranged on the other side (right side). The drive sprocket 35 is rotationally driven by a motor 7 to drive the driven sprocket 34, 34, 34 and the drive sprocket 34. A chain (or belt) 20 is wound between 35, and the cups 9, 9 ... Are fixed on the outer periphery of the chain 20 at regular intervals. The sensing conveyor C is vertically arranged above both conveyors of the supply conveyor 10 and the complementary conveyor 11 so as to rotate in the left-right direction. Then, a discriminating device F is arranged between the supply conveyor 10 and the complementary conveyer 11, and the discriminating device F has two sets of CCDs.
A video signal from a camera 55 such as a camera is processed by an image processing device to determine the quality of the cell-molded seedling.

A cup 9 arranged around the chain 20
In the case of the first embodiment to be described later, the configuration of the above is as shown in FIG.
The upper portion 9a of the cell forming seedling G is formed with an insertion hole 9d for inserting the root pot Ga from above, and the chucks are provided on both side surfaces (front and rear surfaces) parallel to the conveying direction of the upper portion 9a from top to bottom. Notches 9e-9 matching the spacing and width of the claws 5.5
e is provided. In the case of the second, third and fourth embodiments which will be described later, the notches 9e and 9e are unnecessary. Further, as shown in FIG. 4, partition plates 6 are provided on the right and left side surfaces of the cup 9 at right angles to the transport direction, and when the seedling discriminating device F discriminates whether the cell molding seedling G is adjacent or not. The two cell seedlings are placed on the same cup so that two seedlings do not coexist so that one cell-forming seedling can be surely identified.

Columns 2, 2, ... Are erected up and down on the frame base H between the supply conveyor 10 and the complementary conveyor 11, and the horizontal frame 3 is provided between the upper ends of the columns 2, 2.・ 3
Is horizontally installed, the seedling extracting section B is arranged on the side surface of the left lateral frame 3, and the seedling loading section E is arranged on the side surface of the right lateral frame 3. Since the seedling extracting section B and the seedling loading section E have substantially the same configuration, the seedling extracting section B will be described. As shown in FIG. 3, the front-back raising / lowering mechanism of the seedling extracting section B is provided with a roller guide formed in an arc shape in a side view on a side surface of the horizontal frame 3 provided in the front-rear direction between the upper portions of the columns 2 and 2. A guide rail is arranged in the front-rear direction, a roller attached to the seedling picking support 21 is fitted to the roller guide, and a slider is fitted between the guide rail and the seedling picking support 21 so as to be slidable back and forth and up and down. However, a moving cylinder 16 is interposed between the seedling picking support 21 and the pillar 2.

Therefore, by expanding and contracting the moving cylinder 16, the seedling picking support 21 is moved diagonally in the vertical direction along the seedling picking roller guide and the guide rail, and the seedling picking section B moves up and down and back and forth. The movements are performed at the same time so that they can reciprocate between above the sensing conveyor C and above the seedling tray P. The contracted position and the extended position of the moving cylinder 16 are detected by a sensor to detect when the seedling is taken out and when the seedling is temporarily placed.

The seedling picking support 21 is equipped with a pitch changing mechanism and a chucking device for picking seedlings. The chuck devices are laterally arranged by the same number or half or a fraction as the number of pots in a row of the seedling tray P, and the pitch changing mechanism 13 causes the pitch of the pots of the seedling tray P and the pitch of the cups 9 of the sensing conveyor C. It is configured to fit. The pitch changing mechanism 13 is moved up and down by an elevating cylinder 17, and the elevating cylinder 17
Is fixed to the seedling picking support 21. Further, mounting plates 41, 41 ... Are fixed to the respective head supports that slide in accordance with the pitch of the pitch changing mechanism 13, and the chuck device of the present invention is mounted on the mounting plates 41.

The chuck device of the present invention will be described in order from the first embodiment. The chuck device of the first embodiment is configured so that it can be used for both the seedling extracting section B and the seedling loading section E. In the seedling extracting section B, as shown in FIGS. The case of the chuck opening / closing cylinder 49 is directly fixed to the lower part, and in the seedling loading section E, the chuck elevating cylinder 19 is vertically fixed on the mounting plate 41 as shown in FIGS. The piston rod 19a is projected downward, and the chuck opening / closing cylinder 4 is attached to the tip of the piston rod 19a.
9 case is fixed, the chuck opening and closing cylinder 49
Guide rods 63, 63 are provided upright on both front and rear sides of the case, and the upper portions of the guide rods 63, 63 penetrate through the mounting plate 41 and are guided during lifting.

Opening / closing fulcrum shafts 50, 50 are provided on the front and rear sides of the lower part of the case of the chuck opening / closing cylinder 49,
Claw mounts 51, 51 are swingably supported on the opening / closing fulcrum shafts 50, 50. On the other hand, chuck opening / closing cylinder 4
The tip of the piston rod 49a of 9 has the above-mentioned claw mount 51.
One end of 51 is pivotally connected by pins 54, 54, and a spring 53 is housed in the case of the chuck opening / closing cylinder 49 to constantly urge the piston 49b in the contracting direction.

On the other side of the claw mounts 51, 51, that is, on the outer side in the front-rear direction, the claw upper and lower cylinders 42 are respectively provided.
42 is erected, and two chuck claws 5, 5 are integrally attached to the tips of the piston rods 42a, 42a of the claw upper and lower cylinders 42, 42, respectively, in parallel with the extension and contraction direction of the claw upper and lower cylinders 42. And 4 chuck claws 5
・ 5 ... is arranged. Also, the claw mount 51.5
A support plate 52, 52 is provided below the other side of the base plate 1, and a guide body 52a is provided below the support plate 52, 52.
-52a is provided to slidably support the middle part of the chuck claws 5,5. Then, the support rods 47, 47 are extended below the lower ends of the support plates 52, 52, and the support rods 47, 47 are extended.
A plate-shaped seedling retainer 46, 46 is provided at the lower end of 47 to support the lower part of the chuck claw 5, 5 so that it can slide up and down.

With such a construction, when the cell-molded seedling G is extracted from the seedling tray P, the chuck claws 5 are located above the cell-molded seedling G, and the opening / closing cylinder 49 is kept in the contracted state so that the lifting cylinder 17 is moved. When extended, the seedling retainer 46 is located at the upper part of the pot, and when the nail vertical cylinder 42 is extended, the chuck jaws 5, 5 guide the guide bodies 52a, 52a of the support plates 52, 52 and the seedling retainer 46.
Guided by 46, pierce the boundary between the root pot Ga of the cell-forming seedling G and the pot at an angle that matches the pot shape of the seedling tray P. When the lifting cylinder 17 is reduced in this state, It can be lifted while holding the side surface of the root bowl Ga, and the moving cylinder 16 can be extended and moved to above the cup 9 of the sensing conveyor C.

Then, when the elevating cylinder 17 is extended above the cup 9, the cell-forming seedling G is lowered into the cup 9, and when the nail vertical cylinder 42 is contracted in this state, the chuck pawl 5 is raised. At this time, the root pot Ga of the cell-shaped seedling G adheres to the chuck claws 5 and tries to rise, but is pressed by the seedling retainer 46, and the cell-shaped seedlings G remain in the cup 9 and the chuck claws 5/5. Exit.
Next, when the open / close cylinder 49 is extended, the chuck claws 5
5 opens back and forth, is completely separated from the root bowl Ga, and the temporary placement is completed. The opening / closing operation of the chuck claws 5, 5 is in the front-rear direction. When the direction of the arrow shown in FIG. 8 is the carrying direction of the cup 9, the chuck devices are opened and closed in a direction perpendicular to the carrying direction, and the chuck devices are arranged in a line. It also opens and closes at right angles to the direction. By opening and closing the chuck claws 5, 5 in the front-rear direction in this way, the chuck devices arranged in a row can be arranged with a narrow left-right interval, and may interfere with the adjacent chuck claws when opening and closing. There is no. Then, the lifting cylinder 17 is reduced and the same operation as described above is repeated to transfer the cell-formed seedlings from the seedling tray P to the cup 9 of the sensing conveyor C.

When transferring the proper cell molding seedling G from the sensing conveyor C to the complementary tray S,
The moving cylinder is extended to position the seedling loading section E above the sensing conveyor C, the opening / closing cylinder 49 is extended to open the chuck claws 5, 5, and the claw up / down cylinder 42 is also extended to project the chuck claws 5/5. In this state, the chuck elevating cylinder 19 is extended to position the lower part of the chuck claws 5 on the side of the cup 9, and the opening / closing cylinder 49 is opened.
Is reduced, the chuck claws 5 are rotated in the sandwiching direction so that the lower ends of the chuck claws 5 are cut out from the cutouts 9e.
The root pot Ga of the cell-shaped seedling G is grasped by passing through 9e. Then, when the lifting cylinder 19 is contracted, the cell molding seedling G is lifted.

When the cell-molded seedlings are gripped by all the chuck devices in the row direction, the moving cylinder is contracted to be positioned above the complementary tray S, and the chuck elevating cylinder 19 is extended again to make the cells in the pots of the complementary tray S. When the molding seedling G is inserted and the nail upper and lower cylinders 42 are contracted, the chuck claws 5 and 5 are extracted, the root pot Ga of the cell molding seedling G is pressed by the seedling holder 46, and the cell molding seedling G is a complementary tray. It is loaded in the S pot.

Next, a second embodiment of the chuck device will be described. The chuck device of the second embodiment is also the seedling extracting section B.
As shown in FIGS. 9 and 10, the nail lifting cylinder 42 is vertically fixed on the mounting plate 41, and the nail lifting cylinder 42 can be used for the seedling loading section E.
The locking body 43 is fixed to the tip of the piston rod 42a of
Recesses 43a and 43a are provided on both front and rear surfaces of the locking body 43 so as to open outward, and sliding bodies 65 and 65 are inserted into the recesses 43a and 43a so as to be slidable forward and backward and rotatable. The bases of the chuck claws 5, 5 are fixed to the moving bodies 65, 65, respectively.

On the other hand, guide rods 44, 44 are vertically provided below both front and rear sides of the mounting plate 41, and the locking body 43 is slidably inserted and penetrated under the guide rods 44, 44 to form a guide rod. 44 ・ 44 Guide body 6 at the lower end
5 is fixed horizontally. Guide holes 65a and 65a are formed on both front and rear sides of the guide body 65 at an angle according to the inclination of the pot side surface of the seedling tray.
-The chuck claws 5 are inserted in 65a. Then, the guide rod 66 is projected downward from between the guide holes 65a on the one side in accordance with the inclination of the chuck claw 5, and the seedling retainer 46 is provided at the tip of the guide rod 66 to provide the chuck claw 5.
・ The lower part of 5 is supported so that it can slide up and down.

With such a construction, when the cell-formed seedling G is extracted from the seedling tray P, the chuck claws 5 are positioned above the cell-formed seedling G, the elevating cylinder 17 is extended, and the seedling holder 46 is potted. When the upper and lower cylinders 42 are extended, the chuck jaws 5 are guided by the guide holes 65a of the guide body 65 and the seedling retainer 46 at an angle according to the pot shape of the seedling tray P. The cell molding seedling G is pierced at the boundary between the root pot Ga and the pot, and at this time, the sliding body 64 slides from the outside to the inside. If the lifting cylinder 17 is reduced in this state,
The cell-shaped seedling G can be lifted while holding the side surface of the root pot Ga between them, and the moving cylinder 16 can be extended to move the cup 9 of the sensing conveyor C to above.

Then, the elevating cylinder 17 is extended above the cup 9, and the sandwiched seedling is inserted into the cup 9,
When the nail upper and lower cylinder 42 is contracted, the chuck jaws 5 are raised, and at this time, the root pot Ga of the cell-forming seedling G adheres to the chuck nails 5 and tries to rise. The seedling G remains in the cup 9, and the chuck claws 5 and 5 come off. Also, the sensing conveyor C
The same operation is performed when the appropriate cell-molded seedling G is transferred from the tray to the complementary tray S.

Next, a third embodiment of the chuck device will be described. The chuck device of the third embodiment is a seedling extracting section B.
As shown in FIGS. 11 to 14, the pawl lifting cylinder 70 and the pawl opening / closing cylinder 71 are vertically fixed to the plate 87 fixed to the support of the pitch changing mechanism 13, as shown in FIGS. Support rods 72, 72, ... are arranged at the tip of the piston rod 70a of the pawl lifting cylinder 70 so as to be slidable left and right, and cam rods 73, 73 ... are slidable by the left and right at the tip of the piston rod 71a of the pawl opening and closing cylinder 71. The pitch changing mechanism 13 slides to the left and right when the pitch is changed. The support rod 72 and the cam rod 73 are guided by a guide body 74 so that they can move in parallel as a pair. A bracket 75 is fixed to the lower end of the support rod 72, and a pair of front and rear claw supports 76.
6 is a shaft 77.7 provided at the upper and lower central portions of the bracket 75
The chuck claws 5, 5 are fixed to the lower part of the claw support members 76, 76 and are projected downward.

And, springs 78, 78 are interposed between the upper part of the claw supports 76, 76 and the bracket 75,
The chuck claws 5, 5 are always urged in the closing direction by the springs 78, 78. Further, the roller shafts 79a, 79a are projected from the side surfaces of the claw supports 76, 76 toward the cam rod 73 side, and the cam roller 7 is placed on the roller shafts 79a, 79a.
9 and 79 are rotatably supported, and cam rollers 79 and 79 are arranged so as to contact the cam rod 73.

In this structure, when the cell-molded seedling G is extracted from the seedling tray P, the chuck claws 5, 5 are positioned above the cell-molded seedling G, the elevating cylinder 17 is extended, and the chuck claws 5, 5. When the pawl lifting cylinder 70 is extended with the tip positioned above the pot,
The chuck claws 5, 5 are inserted along the inner surface of the pot of the seedling tray P, and when the claw opening / closing cylinder 71 is then contracted, the cam rod 73 rises and there is nothing to stop and support the cam rollers 79, 79. The claw supports 76, 76 are spread by the urging force of the springs 78, 78, and the chuck claws 5
5 is closed and the root pot Ga of the cell-shaped seedling G is clamped. When the elevating cylinder 17 is contracted in this state, the cell molding seedling G is lifted, the moving cylinder 16 is extended, and it can be moved above the cup 9 of the sensing conveyor C.

Then, the elevating cylinder 17 is extended above the cup 9, the root pot Ga of the cell-forming seedling G is inserted into the cup 9, and the nail opening / closing cylinder 71 is extended in this state. Descends and the cam roller 79
The space between 79 is widened to open the chuck claws 5, 5, the seedling holding cylinder 90 attached to the bracket 89 fixed to the conveyor support 88 (FIG. 13) is extended, and the seedling holding pins 91 are connected to the cell forming seedling G. When the claw lifting cylinder 70 is contracted and the chuck claws 5 are raised, the cell forming seedlings G that are attached to the chuck claws 5 and are going to rise are pressed into the cup and the cell forming is performed. The root pot Ga of the seedling G remains in the cup 9. Then, the lifting cylinder 17 and the seedling holding cylinder 90 are reduced.

Next, a fourth embodiment of the chuck device will be described. The chuck device of the fourth embodiment is a seedling extracting section B.
It can also be used for the seedling loading section E, as shown in FIG.
As shown in FIG. 16, the support plate 8 is attached to the mounting plate 41.
0 is fixed, and guide rods 81, 81 are attached to the support 80.
Are horizontally crossed in the front-rear horizontal direction, and the guide rods 81, 81
A slide type cylinder 82 is arranged on the upper side so as to be slidable back and forth. A bracket 83 is fixed to the lower surface of the cylinder 82, and a parallel opening / closing type clamping cylinder 84 is fixed to the lower portion of the bracket 83. The clamping cylinder 84
The operating arms 84a, 84a are fixedly provided with sandwiching hands 85, 85 each having a plate body formed in an L shape in a side view, and the sandwiching hands 85, 85 can move in parallel to the left and right to be opened and closed. Then, elastic bodies 86, 86 are attached to the inside of the lower part of the holding hands 85, 85 so as to surely hold the stem (hypocotyl) of the cell-forming seedling G without damaging it.

With such a structure, when the cell-formed seedling G is taken out from the seedling tray P, the gripping hands 85.8
5 is located above the tray without seedlings, the elevating cylinder 17 is extended, and the clamping hands 85 are located at the upper rear portion of the pot, the cylinder 82 is operated to move forward, and the clamping cylinder 84 is moved. When actuated and closed, the elastic bodies 86, 86 of the clamping hands 85, 85 clamp the stem of the cell-forming seedling G. When the lifting cylinder 17 is contracted in this state, the cell molding seedling G is lifted and the moving cylinder 16 is moved.
Can be extended and moved above the cup 9 of the sensing conveyor C.

Then, the elevating cylinder 17 is extended above the cup 9, the root pot Ga of the cell-forming seedling G is inserted into the cup 9, and the nipping cylinder 84 is operated in this state to open the nipping hand 85. When 85 is opened to open the cell molding seedling G, and the cylinder 82 is operated to retract, the lifting cylinder 17 is contracted away from the cell molding seedling G.

[0037]

As described above, the present invention has the following advantages. That is, the seedling extraction chucks are arranged in a row, and the chuck claws of the seedling extraction chucks are configured to be opened and closed in the direction perpendicular to the row direction. In addition, it does not interfere with the adjacent chuck claws at the time of opening and closing, and when a plurality of chuck devices are arranged in a row, they can be arranged at narrow intervals, and the entire device can be made compact.

Since a plurality of chuck claws are arranged so as to be opposed to each other, the cell-forming seedlings are clamped by several on both sides, so that they are not unstable like two claws and can be clamped stably and reliably. Cell-molded seedlings can be reliably transferred without dropping during movement while being clamped.

Further, since the chuck claws are arranged vertically in accordance with the inclination of the root pot, the root pot is not damaged when the chuck claws are inserted, and the growth after transplantation is not adversely affected.

Since the guide body for guiding the tip of the chuck claw is provided with a seedling retainer for pressing the upper surface of the root pot, the root pot is pressed when the chuck nail is removed, and the cell-forming seedling is extracted together with the chuck nail. It can be separated surely and transferred to a pot or a cup without fail.

Further, since the holding hands are opened and closed to hold and transfer the hypocotyls of the cell-shaped seedlings, the opening / closing mechanism can be made small and downsized, the structure can be simplified, and the cost can be reduced. Can be achieved.

Further, since the chuck device can be moved up and down, forward and backward, or left and right, it is possible to easily transfer from a pot at any position to another pot.

[Brief description of drawings]

FIG. 1 is an overall front view of a seedling filling device equipped with a seedling extracting chuck of the present invention.

FIG. 2 is a plan view of the seedling filling device.

FIG. 3 is a left side view of the seedling filling device.

FIG. 4 is a front view of a sensing conveyor.

FIG. 5 is a partial sectional view of a side view showing a first embodiment of the chuck device.

FIG. 6 is a front view of the same.

FIG. 7 is a partial cross-sectional view of a side view when the chuck device of the first embodiment is arranged in the seedling loading section.

FIG. 8 is a perspective view showing a relationship between a chuck claw and a cup.

FIG. 9 is a partial cross-sectional view of a side view showing a second embodiment of the chuck device.

FIG. 10 is a front view of the same.

FIG. 11 is a front view showing a state in which a third embodiment of the chuck device is attached to a pitch changing device.

FIG. 12 is a side view of the same.

FIG. 13 is a partial cross-sectional side view showing the chuck device of the third embodiment arranged above the sensing conveyor.

FIG. 14 is a front view of a chuck device according to a third embodiment.

FIG. 15 is a partial cross-sectional side view showing a fourth embodiment of the chuck device.

FIG. 16 is a front view of the same.

[Explanation of symbols]

 B Seedling Extracting Part E Seedling Loading Part G Cell Forming Seedling Ga Root Pot P Seedling Tray 5 Chuck Claw 9 Cup 10 Supply Conveyor 11 Complementary Conveyor 46 Seedling Holding 47 Support Rod 52a Guide Body 65 Guide Body 66 Support Rod 73 Cam Rod 79 Guide Roller 85 clamping hand

Claims (9)

[Claims] 1. In a chuck device for extracting cell-formed seedlings grown in a seedling tray from one pot and loading the seed into the other pot, seedling extraction chucks are arranged in a row, and chuck claws of the seedling extraction chucks are arranged in a row direction. Seedling extraction chuck, which is configured to open and close vertically in a vertical direction. 2. A plurality of chuck claws are arranged so as to face each other in a vertical direction in accordance with the inclination of the root pot of the cell-forming seedling, and the chuck claws are vertically expandable and contractable and can be opened and closed. 2. The seedling extraction chuck according to claim 1, further comprising a guide body that guides the nail in the expanding and contracting direction, the guide body being provided with a seedling retainer that guides the tip of the chuck nail and presses the upper surface of the root pot. 3. A seedling extracting chuck, wherein the chuck device according to claim 1 or 2 is provided with moving means for moving up and down and front and back or left and right. 4. A chuck device for extracting a cell-formed seedling grown in a seedling tray from one pot and loading it in the other pot, in which a pair of rod-shaped chuck claws are arranged facing each other in the vertical direction, and the chuck claw is The guide body is slidable vertically according to the inclination of the root pot of the cell-forming seedling, and the upper part of the chuck claw is locked by the locking body so that the locking body can be moved up and down. Seedling extraction chuck. 5. The seedling extraction chuck according to claim 4, further comprising moving means for moving up and down and front and back or left and right. 6. A chuck device for extracting a cell-molded seedling grown in a seedling tray from one pot and loading it into the other pot, wherein a plurality of chuck claws are arranged facing each other in the vertical direction, and An upper part is pivotally supported by a shaft so that it can be opened and closed, and a spring is arranged at the upper end of the chuck claw above the shaft to urge the lower part of the chuck claw to close, and a pair is laterally provided from the chuck claw below the shaft. The seedling extraction chuck, characterized in that the cam roller of (1) is projected, and the cam rod is arranged between the pair of cam rollers so that the cam rod can be inserted and removed. 7. A seedling extraction chuck, wherein the chuck device according to claim 6 is provided with moving means for moving up and down and front and back or left and right. 8. A chuck device for extracting a cell-molded seedling grown in a seedling tray from one pot and loading it in the other pot, by providing a pair of right and left sandwiching hands each having a plate body in an L-shape when viewed from the side, The hand can be opened and closed,
A seedling extraction chuck, wherein the cell-shaped seedling hypocotyl is sandwiched and transferred by the sandwiching hand. 9. A seedling extraction chuck, wherein the chuck device according to claim 8 is provided with moving means for moving up and down and front and back or left and right.