JPH09275807A - Seedling transplanter - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a seedling transplanter provided with a sensor capable of exactly detecting whether a transplanting claw appropriately holds a seedling or not. SOLUTION: This seedling transplanter is provided with a mobile body to be reciprocatively moved between a seedling take-out position to take the seedling out of a nursery tray and a seedling trans-planting position to plant the seedling into a transplant tray and a planting part 40 pivotally supported on the mobile body so as to take the seedling out of the nursery tray at the seedling take-out position and to plant it into the transplant tray at the seedling transplanting position while drawing an arcuate track and, inside the transplanting action track of the planting part 40, a seedling sensor 86 is provided for detecting the presence/absence of appropriate seedling by detecting the presence/absence of light having an optical axis almost in parallel to the reciprocative moving direction of the mobile body.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a seedling transplanting device for transplanting mainly seedlings germinated in a seedling raising tray to a transplanting tray in order to grow them to an appropriate size.

[0002]

2. Description of the Related Art Heretofore, this kind of seedling transplanting work has been performed manually by a worker who takes out seedlings one by one from a seedling raising tray and transplants them into a transplanting tray.

[0003]

However, since the work efficiency is poor in manual work, the inventors of the present invention have proposed a seedling transplanting device suitable for this kind of seedling transplanting work in order to improve the work efficiency (Patent application Hira 7-350328). This device arranges tray conveyors for transporting seedling raising trays and transplantation trays in parallel to each other, above the central portion in the feeding direction of these tray conveyors, in the direction orthogonal to the feeding direction of the tray conveyors, between these tray conveyors. At the claw moving mechanism that reciprocates the transplanting claw and the movement stop position above each tray conveyor, the transplanting claw is vertically swung in the same direction as the reciprocating direction of the claw moving mechanism to perform seedling picking and seedling planting. A nail swinging mechanism is provided, and the seedlings in the seedling raising tray are taken by the seedling picking operation of the transplanting nails by the nail swinging mechanism, and the transplanted nails that have been seeded are moved to the transplanting tray by the nail swinging mechanism. Later, seedlings will be planted.

However, if the seedlings taken out by the claw swing mechanism are not well grown, or if the seedlings are not properly grasped and the planting posture is poor at the time of planting, subsequent growth is not possible. If the transplant nail does not hold the seedlings, the pot on the transplant tray will be out of stock. A seedling sensor is installed to detect the presence or absence of a suitable seedling by detecting the presence or absence of light having an optical axis in a direction substantially orthogonal to the reciprocating direction of, and while the swinging operation of the transplant nail causes the seedling to Whether or not the seedlings are properly gripped is detected, and if the seedlings are not properly gripped, the normal seedlings are planted again in the pot in which the defective seedlings containing the defective plant were transplanted.

However, since the light received by the seedling sensor has an optical axis in a direction orthogonal to the reciprocating direction of the nail moving mechanism, in detecting the seedling, the optical axis intersects with the swing locus of the transplanted nail. Since it is performed only at the point, the seedling grasped by the transplanted nail is swiftly passed through this detection position due to the swing of the nail swing mechanism, and the seedling cannot be accurately detected.

Further, when the transplanted nail grips the bottom of the seedling, the light passes under the rocking locus of the transplanted nail, so that the seedling is not detected. I couldn't.

An object of the present invention is to provide a seedling transplanting device equipped with a sensor capable of accurately detecting whether or not a transplanted nail holds a seedling properly.

[0008]

In order to achieve the above object, the invention according to claim 1 is a seedling transplanting device, wherein a seedling transplanting device for planting seedlings into a transplanting tray T2 and a transplanting position where seedlings are taken out from the seedling raising tray T1. A moving body 10 that reciprocates between a position and
And a planting unit 40 pivotally supported by the moving body 10 to take out the seedlings from the seedling raising tray T1 at the seedling taking-out position while drawing an arc locus, and plant the seedlings on the transplanting tray T2 at the seedling transplanting position.
A seedling sensor 86 for detecting the presence or absence of an appropriate seedling by detecting the presence or absence of light having an optical axis in a direction substantially parallel to the reciprocating direction of the moving body 10 in the transplantation locus of the planting section 40 is provided.

Further, the invention according to claim 2 is such that the moving body 10 reciprocates between a seedling taking-out position for taking out the seedlings from the seedling raising tray T1 and a seedling transplanting position for planting the seedlings in the transplanting tray T2.
And a planting unit 40 pivotally supported by the moving body 10 to take out the seedlings from the seedling raising tray T1 at the seedling taking-out position while drawing an arc locus, and plant the seedlings on the transplanting tray T2 at the seedling transplanting position.
Within the transplantation movement locus of the planting section 40, there is an optical axis that is substantially parallel to the reciprocating direction of the moving body 10 and intersects at the center between the start point and the end point of the transplantation movement locus in the planting section 40. A seedling sensor 86 for detecting the presence or absence of light to detect the proper presence or absence of seedlings was provided.

The invention according to claim 3 is a planting part 40.
A pair of openable and clawable nail bodies 42 and 44 for sandwiching the seedlings are provided on the seedlings, and the light detected by the seedling sensor 86 is supplied to these nail bodies 4.
The optical axis is offset from the closed position in the opening and closing loci of 2,44.

Further, in the invention according to claim 4, the seedling sensor 86 is attached to the moving body 10.

[0012]

According to the invention described in claim 1, the seedling sensor 86, in the transplantation locus of the planting section 40,
Since light having an optical axis in a direction substantially parallel to the reciprocating direction of the moving body 10 is detected, the detection of the seedling intersects with the optical axis and the transplanting operation locus in the transplanting operation of the planting section 40 that grips the seedling. In this part, the optical axis and the transplantation locus are not orthogonal to each other, and therefore, the crossover part has a certain predetermined width as compared with the case where the optical axis is orthogonal to each other. Therefore, it is possible to accurately detect whether or not the planting section 40 properly holds the seedling, and
Not only when the seedlings are not gripped, but also when the planting part 40 grips the seedling bottom, the planting part 40 passes through the optical axis in the vertical direction, so it is necessary to reliably detect the presence or absence of seedlings. You can

Further, according to the second aspect of the present invention, the light received by the seedling sensor 86 has an optical axis intersecting at the central portion between the start point and the end point of the transplanting operation locus in the planting section 40. , The light passes through the upper part of the arc locus in the transplanting operation, and therefore, when the planting part 40 passes through the optical axis in the vertical direction, it takes more time than when it passes through the lower part. The seedlings can be continuously detected for a longer period of time, and thus it is possible to more accurately detect whether or not the planting unit 40 properly holds the seedlings.

According to the third aspect of the invention, since the light detected by the seedling sensor 86 has an optical axis that is offset with respect to the closed position within the opening and closing loci of the claw bodies 42 and 44, The seedling sensor 86 can detect the presence or absence of seedlings at an appropriate position in the transplanting operation, and can improve the detection accuracy.

Further, according to the invention as set forth in claim 4, since the seedling sensor 86 is attached to the moving body 10 which pivotally supports the planting section 40, the positional relationship between the seedling sensor 86 and the planting section 40. Can be easily adjusted, and moreover, even if the moving body 10 moves in the transplanting operation, the positional relationship between the seedling sensor 86 and the planting section 40 can be maintained in a constant positional relationship at all times, so that the seedlings can be reliably detected. be able to.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS As shown in FIGS. 1 and 2, a seedling transplanting apparatus according to the present invention is a belt conveyor for raising seedling trays, which conveys a seedling raising tray T1 having a plurality of pots P1 for accommodating raised seedlings. 1 and a transplant tray transfer belt conveyor 2 for transferring a transplant tray T2 having a plurality of vinyl pots P2 inserted into a frame body such as an SS tray into which the seedlings are transplanted are arranged in parallel in a plan view to form a frame. 3 is supported in a vertically adjustable position, and the seedlings of the seedling raising tray T1 are transplanted in a direction orthogonal to the feeding direction of the belt conveyors 1 and 2 above the central portion of the belt conveyors 1 and 2 in the feeding direction. It has a transplanting part 4 for transplanting to T2.

Belt conveyor 1 for transporting the seedling raising tray
2, the intermittent feed mechanism 5 intermittently conveys the pots P1 at the pitches in the direction shown by the arrow in FIG. 2, and the transplantation in the transplanting section 4 is sequentially performed. Then, the transplant tray transfer belt conveyor 2 is also intermittently transferred at a pitch of each pot P2 in the direction shown by the arrow in FIG. I am trying to do it.

A belt conveyor 1 for transporting the seedling raising tray
The seedling raising tray T1 on both sides in the width direction at the seedling take-out position.
In the transplanting section 4, a first guide body 6 that engages with both widthwise end portions of the seedling tray T1 to regulate the movement of the seedling raising tray T1 and a second guide body 7 that presses the seedling tray T1 from the upper side at the seedling take-out position are provided. When taking out the seedlings, the seedling raising tray T1 is fixed to the belt conveyor 1 to ensure a smooth seedling taking operation.

Numeral 8 is an operating section for operating this apparatus,
Reference numeral 9 is a control unit.

The transplanting section 4 includes a moving body 10 which reciprocates between a seedling taking-out position where the seedlings are taken out from the seedling raising tray T1 and a seedling planting position where the seedlings are planted in the transplanting tray T2, and the moving body 10 is pivoted to the moving body 10. The swing arm 11 is supported and vertically moves while drawing an arc locus between a seedling take-out position and a seedling planting position, and a planting section 40 supported by the arm 11.

As shown in FIGS. 2 and 3, the moving body 10 is located above the conveyors 1 and 2, and the conveyors 1 and
It is held by a rail 18 so as to reciprocate in a direction orthogonal to the feeding direction of No. 2. The rail 18 is provided with a pair of left and right timing pulleys 12a and 12b and a timing belt 13 wound around the timing pulleys 12a and 12b, and the moving body 10 has a table 17a attached to the timing belt 13. And a support 17 that is connected to the table 17a and pivotally supports the arm 11. The drive shaft 16 is interlocked with the pulley shaft 14 of the left pulley 12a via a belt 15,
By driving the motor 16 in the normal and reverse directions, the timing belt 1
3 by reciprocating left and right, this timing belt 1
The support 17 is reciprocated between the seedling take-out position and the seedling planting position via the table 17a attached to the table 3. As shown in FIG. 4, the support 17 is provided with a drive motor 18 for driving the arm 11, and the base of the arm 11 is pivotally supported by a motor shaft 19a of the drive motor 19 via a joint 19b. ing.

As shown in FIGS. 5 and 6, the arm 11 has an input side inner shaft 21 connected to the motor shaft 19a rotatably inserted into a base outer cylinder 20 provided at the base of the arm 11, The inner shaft 21 is connected to the arm 11 by a connecting plate 22.
The distal end outer cylinder 23 is provided at the distal end of the arm 11 while being integrally connected to the base, and the output side inner shaft 24 that is connected to the transplant portion 40 is rotatably inserted into the outer cylinder 23 to fit the inner shaft. 24
Is integrally connected to the tip of the arm 11 by a connecting plate 25, and fixed sprockets 26 and 27 are provided on the input side inner shaft 21 and the output side inner shaft 24, respectively, and a chain 28 is provided between the fixed sprockets 26 and 27. After winding, the input side inner shaft 21 is rotated by forward / reverse driving of the motor 19, and as shown in FIG. 7, the arm 11 is appropriately rotated right or left to move the seedling take-out position and the seedling planting position. While moving up and down while drawing an arc locus, the claws 42 and 44 of the planting portion 40 connected to the output side inner shaft 24 are always directed downward regardless of the swing of the arm 11.

As shown in FIGS. 5 and 6, the planting section 40 follows a claw section 40A for sandwiching and grasping the seedling at the seedling take-out position and releasing the seedling at the seedling planting position, and the claw section 40A. When the nail portion 40A is in the seedling planting position, the seedling holding portion 40B that holds the seedling from above is provided, and the nail portion 40A is a fork-shaped nail body in which the base end portion is supported by the fixed nail holder 41. 42
And a pair of fork-like claws 44 whose base ends are supported by the movable claw holder 43 and which can be opened and closed.
2 and 44, the fixed claw body holder 41 is fixed to the distal end outer cylinder 23 via a pin or the like, and the movable claw body holder 43 is provided on the arm 11 with respect to the fixed claw body holder 41. The fixed claw holder 41 at the side facing position.
The spring seats 46 and 47 are formed on the inner surfaces of the holders 41 and 43 facing each other above the holders 41 and 43, respectively. The movable pawl 44 is mounted between the seats 46 and 47 by the opening / closing shaft 45.
With respect to the fixed claw 42, that is, the claws 42, 4
A spring 48 for urging 4 in the closing direction is interposed.

A cylindrical cam body 49, which is immovable in the axial direction and rotatable about the axis, is provided between the arm 11 and the holder 43 for the movable claw body in the outer cylinder 23 of the tip portion. A pair of cam attitude control projections 50, 50 are provided on the outer peripheral surface of the shaft 49 at positions separated from each other by 180 °, and a pair of cam attitude control projections 5 are provided on one axial end surface.
A pair of engaging grooves 51, 51 are provided at positions deviated from 0, 50 and separated from each other by 180 °, and the cam attitude control projection 5 is provided on the outer surface of the tip portion of the arm 11.
6 and 8 are provided with the cam operating body 54 that abuts 0 and 50, while the fixed claw holder 41 is provided with a pair of engaging bodies 53 and 53 that engage with the engaging groove. As described above, when the moving body 10 is located at the seedling take-out position,
The cam operating body 54 provided on the arm 11 is brought into contact with one of the cam attitude control projections 50 to rotate the cam body 49, and the fixed claw body holder 41 is inserted into the engaging grooves 51, 51 provided on the cam body 49. By engaging the engaging bodies 53, 53 provided in
The seedlings are grasped by the closing motion of the pair of claw bodies 42, 44 by the biasing force of the spring 48, and provided on the arm 11 when the moving body 10 is located at the seedling planting position as shown in FIGS. 5 and 8. The cam operating body 54 is brought into contact with the other cam attitude control projection 50 to rotate the cam body 48, and the engagement bodies 53, 53 engaged with the engagement grooves 51, 51 are disengaged. The seedlings are released by opening the pair of claws 42, 44 against the biasing force of the spring 48.

On the other hand, as shown in FIG. 9, the seedling holding portion 40B has a fixed frame body 63 for guiding the claw portion 40A so as to be relatively movable in the vertical direction, and a claw portion 40A on which the seedling is planted moves upward. Further, there is provided a locking body 70 that locks the seedling holding portion 40B and restricts the seedling holding portion 40B from moving upward together with the claw portion 40A.

The fixed frame 63 has three support rods 61.
a, 61b, 61c are installed between the upper plate 60a and the lower plate 60b.
4, a pair of pressers 64, 64 that surround each independently.
Is installed.

As shown in FIG. 9, the pressing members 64, 64 are frame-shaped linear members that cover the claw members 42, 44, respectively.
As shown in FIG. 6, the clearance 60c provided on the lower surface of the lower plate 60b is bent from the upper side to attach the pair of claw bodies 42 and 44 from the inner side facing each other, while the lower part thereof is attached to each claw body 42. , 44 are bent outward to form flat pressing surfaces 65, 65.

Then, in the fixed claw holder 41,
A movable frame body 66 is formed on the support rods 61a, 61b, 61c of the fixed frame body 63 so as to be relatively movable in the vertical direction, and the movable frame body 66 is inserted into the fixed frame body 63 and fixed. The movable frame 66 is provided between the upper plate 60a and the movable frame 66 on the support rods 61a and 61c on both sides of the frame 63.
A spring 69 for urging the fixed frame 63 downward with respect to the fixed frame 63, and the support rod 61b at the center of the fixed frame 63 is
A stopper member 67 that restricts the upper limit of the upward relative movement of the movable frame 66, and a latch lever 77 described below below the stopper member 67.
A latch engagement portion 68 that engages with is attached.

As shown in FIG. 7, the locking body 70 is arranged in the left-right direction via a pivot shaft 72 on the front right side of a sensor frame 71 having a frame shape in a plan view, which is attached to the lower portion of the support body 17. As shown in FIG. 9, the locking body 70 is provided so as to be swingable. Specifically, the locking body 70 includes a side plate 73 supported by the pivot shaft 72 and a vertical direction through a long hole 75 in the side plate 73. Support plate 74 with adjustable length attached to
And a latch lever 77 that is attached to the upper end of the latch support plate 74 via a latch pivot shaft 76 and engages with the latch engaging portion 68, and the lower surface of the side plate 73 has this lower surface. A leaf spring 78 that stands upright along the right side surface of the side plate 73 is supported via a mounting member 79.

The seedling holding portion 40B thus constructed is
At the seedling planting position, as shown in FIG. 9A, the movable frame 66 is urged downward by the spring 69 with respect to the fixed frame 63, and the claws 42, 44 are pressed by the presser 64. Since it protrudes downward, the nails 42 and 44 plant the seedlings in the pot P2, and the presser 64 holds the seedlings from above.

Next, when the claw portion 40A on which the seedlings are planted is moved upward, as shown in FIG. 9 (b), since the latch engaging portion 68 is engaged with the latch lever 77 at the seedling planting position. , The upward movement of the fixed frame 63 is restricted, while the spring 69
The movable frame body 66 moves upward relative to the fixed frame body 63 against the urging force until the stopper member 67 comes into contact with the fixed frame body 63, and the seedling pressing portion 40B is restricted from moving upward together with the claw portion 40A. .

When the claw portion 40A further moves upward, the engaging force between the latch lever 77 and the latch engaging portion 68 becomes the force for moving the movable frame 66 upward, as shown in FIG. 9 (c). The leaf spring 78 is bent and bent, the latch support body 74 swings around the pivot shaft 72 as a fulcrum, the engagement between the latch lever 77 and the latch engagement portion 68 is released, and the movable frame body 66 is fixed again. The frame body 63 is moved downward by the biasing force of the spring 69, and the claw bodies 42 and 44 come to a position where they are projected with respect to the pressing bodies 64 and 64.

As described above, since the seedling pressing portion 40B presses the seedling released from the nail portion 40A while the nail portion 40A is rising, the seedling released from the nail portion 40A is directly caught on the nail portion 40A. Even so, the seedlings are pressed by the seedling pressing portion 40B and are detached well from the claw portion 40A, and since the seedlings are pressed by the seedling pressing portion 40B at the seedling planting position, lifting of the seedlings is prevented, It is possible to realize the planting in a good planting posture in which the planting depth and the planting angle of the seedlings are stable, and therefore reliable transplantation can be performed with a simple configuration. In addition, in this seedling planting operation, each nail body 4
Since the flat pressing surfaces 65, 65 reliably press around the circumferences 2, 44, lifting of the seedlings is reliably prevented, and a good planting posture can be planted.

In the seedling transplanting device thus constructed, the operating section 8 is operated, and the planting section 40 of the transplanting section 4 is moved in the left-right direction under the control programmed by the control section 9, whereby the seedling raising tray T1. A plurality of pots P1 arranged in line
The seedlings in the seedlings are sequentially transplanted to a plurality of pots P2 arranged in a row in the transplantation tray T2 one by one, and after the transplantation in each row is finished, the seedling raising tray conveyor belt conveyor 1 and the transplantation tray conveyor are provided. The belt conveyor 2 is intermittently fed, and the seedlings in the plurality of pots P1 arranged in the next row are sequentially transplanted to the pot P2 of the transplant tray T2.

In the present apparatus, in such a series of transplanting operations, the seedlings taken out by the planting section 40 are not grown properly, or the seedlings are not grasped properly, and the planting posture at the time of planting. If the seedlings are poor, the subsequent growth is poor, and if the nail portion 40A does not hold the seedlings, the pot P2 of the transplantation tray T2 becomes a missing strain, so seedlings to be described in detail later. A sensor 86 is provided to detect whether or not the planting section 40 is properly gripping the seedlings during the transplanting operation, and if the planting section 40 is not properly gripping the seedlings, the planting section 40
However, the defective seedlings are discharged during the transplanting operation from the seedling take-out position to the seedling planting position.

The discharging means 90 for discharging such defective seedlings is
As shown in FIGS. 1 and 2, between the seedling raising tray conveying belt conveyor 1 for conveying the seedling raising tray and the transplant tray conveying belt conveyor 2 for conveying the transplant tray,
A dust shooter 91 for discharging defective seedlings is provided in front of the rail 18, that is, at a position below which the planting portion 40 passes.
And the dust box 92 is provided at the discharge port 91a of the dust shooter 91, and when the seedling sensor 86 detects a defective seedling as shown by the phantom line in FIG. At the position above the shooter 91, the claw portion 40 is operated by the same operation as the above-described planting operation.
This is so that A can be released.

By providing such discharging means 90, the defective seedlings taken out at the seedling taking-out position are discharged by the discharging means 90 before reaching the seedling planting position, and the planting section 4
0 can go to the seedling picking operation again from the discharge position, and when the transplanting part 40 does not grip the seedling,
Similarly, since it is possible to quickly move from the discharging position to the seedling collecting operation again, it is possible to quickly discharge defective seedlings including a missing plant, and thus to perform efficient transplanting work.

Since the defective seedlings are discharged by the discharging means 90, the defective seedlings are not planted in the pot P2, and only the normal seedlings are always transplanted in the pot P2. If the seedlings were not properly gripped, the seedlings are transplanted to the pot P2 without being discharged, and the normal seedlings are planted again in the pot P2 into which the defective seedlings have been transplanted. That is, the problem that the planting depth of the planted seedling becomes shallow or the planting posture becomes poor does not occur.

Further, the discharging operation for discharging defective seedlings includes a seedling collecting operation for taking seedlings from the seedling raising tray T1 and a transplanting tray T.
Since the planting operation is performed on the same path as the planting operation for planting in 2, the series of transplanting operations can be performed at the minimum distance, and the planting operation and the discharging operation can be achieved by the same mechanism. While simplifying the configuration of (1), a series of transplant operations can be performed in a short time, and the efficiency of the transplant operation can be improved.

Since the discharging operation position by the discharging means 90 is between the seedling raising tray T1 and the transplanting tray T2, the space between the belt conveyors 1 and 2 can be effectively used to reduce the size of the apparatus. it can.

The seedling sensor 86 is used in the planting section 4
In the transplantation locus of 0, the presence or absence of light having an optical axis in a direction substantially parallel to the reciprocating direction of the moving body 10 is detected so that the presence or absence of an appropriate seedling can be detected.

Specifically, as shown in FIGS. 2, 3 and 7, the sensor frame 71 includes left and right side plates 81 and 82 protruding from both left and right sides of the support 17, and the left and right side plates 81 and 82. A front plate 83 laid on the free end side is configured to surround the arm 11 and the planting portion 40, and is substantially parallel to the reciprocating direction of the moving body 10 on one of the left and right side plates 81 and 82. Light emitting portion 84 which emits light having an optical axis in the direction
As shown in FIG. 4, the moving body 10 is attached via a mounting piece 85.
Seedling that receives the light from the light emitting portion 84 that emits light to the other left and right side plates 81 and 82 at a position facing the light emitting portion 84 while being mounted so that the position can be changed in the direction orthogonal to the reciprocating direction of the. The sensor 86, like the light emitting unit 84,
It is mounted via a mounting piece 87 so that its position can be changed in a direction orthogonal to the reciprocating direction of the moving body 10. Then, while adjusting the light emitting portion 84 in the mounting piece 85 to a position where the optical axis of the light emitted from the light emitting portion 84 intersects with the arc locus in the transplanting operation of the claw portion 40A holding the seedling, the seedling sensor 86 is adjusted. The mounting piece 87 is adjusted to a position where the light from the light emitting portion 84 can be received.

As described above, the seedling sensor 86 is used in the planting section 4
Since light having an optical axis in a direction substantially parallel to the reciprocating direction of the moving body 10 is detected within the transplantation locus of the claw 40A at 0, the seedling is detected by detecting the optical axis and the claw holding the seedling. It is performed at the portion where the transplantation movement locus in the transplantation movement of 40A intersects, and at such a portion, the optical axis and the transplantation movement locus do not intersect at right angles, and therefore, the intersecting portion has a certain width as compared with the case where they intersect at right angles. In addition, the time during which the seedlings can be continuously detected becomes long, and therefore it is possible to accurately detect whether or not the claw portions 40A are properly gripping the seedlings, and the claw portions 40A are not gripping the seedlings. Of course, even when the claw 40A grips the seedling bottom, the claw 40A passes through the optical axis in the vertical direction, so that the presence or absence of the seedling can be reliably detected. Further, since the seedling sensor 86 is attached to the moving body 10 that pivotally supports the planting section 40 via the arm 11 via the sensor frame 71, the positional relationship between the seedling sensor 86 and the planting section 40. Can be easily adjusted, and moreover, even if the moving body 10 moves in the transplanting operation, the positional relationship between the seedling sensor 86 and the planting section 40 can be maintained in a constant positional relationship at all times, so that the seedlings can be reliably detected. be able to.

As shown by the phantom line in FIG. 7, the seedling sensor 86 detects the presence or absence of light having an optical axis intersecting at the center between the start point and the end point of the transplantation locus in the planting section 40. In the case of being configured as described above, that is, when the sensor frame 71 is positioned at a position facing the upper side of the arm 11 and the planting part 40 and supported by the support body 17, The light received by the sensor 86 passes through the upper part of the arc locus in the transplanting operation of the claw 40A, and therefore, when the claw 40A passes through the optical axis in the vertical direction, it is more than when it passes through the lower part. Since it takes time, the seedling sensor 86 can continuously detect the seedling for a longer time, and thus it is possible to more accurately detect whether or not the claw portion 40A properly holds the seedling.

Further, as shown by the phantom line in FIG. 6, the light emitting portion 84 is arranged such that the optical axis of the light emitted from the light emitting portion 84 is the nail body 4.
When the seedling sensor 86 is positioned so as to be able to receive this light while being positioned so as to be offset from the closed position within the opening and closing loci of 2, 44, when the seedling is not grasped in the transplanting operation, the nail The body 44 is unlikely to block such light, and therefore it is possible to reliably detect whether or not the claw portion 40A is gripping the seedling, thereby improving the detection accuracy.

[Brief description of drawings]

FIG. 1 is a side view of a seedling transplanting device.

FIG. 2 is a plan view of a seedling transplanting device.

FIG. 3 is a front view illustrating a moving body.

FIG. 4 is a partial cross-sectional side view illustrating a transplant portion.

FIG. 5 is a partial cross-sectional side view of the transplanted part in which the claw part is in an open state.

FIG. 6 is a partial cross-sectional side view of the transplanted portion with the claw portion closed.

FIG. 7 is an enlarged front view illustrating the operation of the swing arm.

FIG. 8 is an explanatory diagram for explaining the operation of the cam body.

FIG. 9 is an enlarged front view illustrating the operation of the seedling holding portion.

[Explanation of symbols]

10; moving body, 40; planting part, 42, 44; nail body, 8
6; seedling sensor, T1; seedling raising tray, T2: transplanting tray

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Tadashi Tanimoto 739-6 Yamate, Yoshida-cho, Takada-gun, Hiroshima Prefecture Keibunsha Manufacturing Co., Ltd. Keibunsha Manufacturing Co., Ltd.

Claims (4)

[Claims] 1. A moving body (10) which reciprocates between a seedling taking-out position where the seedlings are taken out from the seedling raising tray (T1) and a seedling transplanting position where the seedlings are planted in the transplanting tray (T2), and the moving body (10). ), And a seedling raising tray (T1) at the seedling picking position.
The planting part (40) for taking out the seedlings from the planting part and planting them in the transplanting tray (T2) at the seedling transplanting position is provided.
0) A seedling transplanting device comprising a seedling sensor (86) for detecting the presence or absence of light having an optical axis in a direction substantially parallel to the reciprocating direction of 0) and detecting the presence or absence of an appropriate seedling. 2. A moving body (10) which reciprocates between a seedling taking-out position for taking out the seedlings from the seedling raising tray (T1) and a seedling transplanting position for planting the seedlings in the transplanting tray (T2), and the moving body (10). And a planting section (40) for taking out the seedlings from the seedling raising tray (T1) at the seedling taking-out position while drawing an arc locus, and planting the seedlings on the transplanting tray (T2) at the seedling transplanting position. Within the transplantation locus of (40), the moving body (1
Suitable seedlings are detected by detecting the presence or absence of light having an optical axis that is substantially parallel to the reciprocating direction of (0) and intersects at the center between the start point and the end point of the transplantation locus in the planting part (40). A seedling transplant device comprising a seedling sensor (86) for detecting the presence or absence of 3. The planting section (40) comprises a pair of openable and clawable nail bodies (42, 44) for sandwiching the seedling, and the seedling sensor (8).
The seedling transplanting device according to claim 1 or 2, wherein the light detected in (6) has an optical axis that is offset with respect to the closed position in the opening and closing loci of these nail bodies (42, 44). 4. The seedling sensor (86) is a moving body (10).
The seedling transplanting device according to any one of claims 1 to 3, which is attached to the seedling transplanting device.