JPH11299360A - Device for potting - Google Patents

Abstract

PROBLEM TO BE SOLVED: To accurately detect seedlings taken out of a seedling tray with seedling takeout pawls and carry out good transplantation of normal seedlings. SOLUTION: This device for potting is capable of detecting a root ball part at a position separated from the tips of a pair of seedling takeout pawls 5 by prescribed dimensions when nipping and holding a seedling 61 with the pawls 5 and judging the nipping of the seedling 61 in the device for potting designed to nip and take out the seedling 61 from a tray 1 with the pair of forked seedling takeout pawls 5 and carry out the transplanting of the seedling 61. In this case, a photoelectric type seedling sensor 62 for detecting the root ball part of the seedling 61 is installed so as to freely regulate a mounting position according to the size of the root ball part and the moving direction of the seedling takeout pawls 5 is made coincident with the detecting direction of the detecting light of the seedling sensor 62.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a potting apparatus for transplanting seedlings from a nursery tray to a transplanting tray in order to grow germinated seedlings to an appropriate size.

[0002]

SUMMARY OF THE INVENTION Conventional seedling raising trays
When the seedlings were picked out by the pair of picking nails, the foliage of the picked-up seedlings and the root pot between the holding claws were detected by a seedling sensor to detect the presence of the picked-up seedlings. In the case, the position of the foliage was not determined due to the variety and seedling raising conditions, etc., and it was difficult to detect it. .

[0003]

SUMMARY OF THE INVENTION Accordingly, the present invention provides
In a pot-raising device in which a seedling is picked up from a seedling tray by a pair of forked seedling picking nails and the picked seedlings are transplanted, the root at a certain distance from the tip of the seedling picking nail when holding the seedlings with the seedling picking nails. The pot portion is detected to determine the pinching of the seedlings. The forked seedling removal claw allows the pinching of the seedlings irrespective of the condition of the root pot, and the lack of seeds or weak seedlings (poor root pots) Seedlings) are reliably detected, and only normal seedlings can be transplanted to improve work accuracy.

Further, a photoelectric type seedling sensor for detecting the root pot portion of a seedling is provided so as to be adjustable in mounting position according to the size of the root pot portion, so as to adjust the size of the pot shape of the seedling tray and the degree of weakness of the seedling. The purpose of the present invention is to make it possible to reliably detect a seedling by an adapted seedling sensor, thereby improving seedling detection accuracy.

Further, it is not necessary to make the moving direction of the seedling picking nail coincide with the detection direction of the detection light of the seedling sensor to move the seedling sensor integrally with the seedling picking nail as in the prior art. The purpose of the present invention is to improve the efficiency of the seedling transplanting operation by reducing the size and weight of the moving part of the nail (reducing the moving speed).

[0006]

Embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 1 is an explanatory view showing the lateral movement of the transplant nail, FIG. 2 is an overall front view, FIG. 3 is a side view thereof, and FIG. 4 is a plan view thereof, and a chain for transporting a seedling raising tray (1) as a seedling tray. A seedling raising tray conveyor (2) and a belt-type transplanting tray conveyor (4) for transporting a transplanting tray (3), which is a tray for raising pots, are arranged adjacently in parallel in plan view.
The seedling raising tray (1) holds seedlings, for example, 12 rows x 24
A row of 288 pots (1a) and a transplant tray (3) having, for example, 20 rows of 4 pots (3a) of 5 rows × 5 rows, and growing seedlings at predetermined positions on each conveyor (2) (4). The seedlings in the tray (1) are transplanted to the transplanting tray (3) by the transplanting nails (5), which are the seedling removing nails, so that the potting operation is performed.

As shown in FIG. 4, the tray conveyors (2) and (4) are intermittently conveyed in the direction of the arrow at every pitch (P1) (P2) of each pot (1a) (3a). The seedling raising tray (1) is operated by operating the nail swinging mechanism (7) of the transplanting nail (5) at a position below the lateral movement mechanism (6) of the transplanting nail (5) provided substantially orthogonally at the feed center of (4). And the planting of the seedlings into a transplant tray (3).

As shown in FIGS. 5 to 8, the transplanting claw (5) is made movable between the left and right conveyors (2) and (4) by a lateral moving mechanism (6), and a claw swinging mechanism (7). The moving mechanism (6) is a rail (9) that is orthogonal to the left and right direction of the machine frame (8) above each of the conveyors (2) and (4). A base (10), a table (12) for fitting a guide (11) slidably back and forth on the rail (9), and an endless inner periphery by fixing the table (12) on the outer surface side A timing belt (13) for winding the side gear surface (13a) around left and right timing pulleys (14) and (15) and a pulley shaft (16) of a right pulley (15) via a belt transmission mechanism (17) and the like. AC servo type claw moving motor (18) Belt has a table (12) by forward and reverse drive of the motor (18) (1
3) is reciprocated in the left-right direction, so that the transplanting nail (5) supported below the table (12) via the mounting frame (19) is moved left and right.

Further, the pawl swing mechanism (7) includes a pawl swing arm drive motor (2) fixed to the mounting frame (19).
0) and a swinging pawl arm (23) interlockingly connected to a motor shaft (21) of the motor (20) via a joint (22).
Input side inner shaft (24) and the arm (2) of the inner shaft (24).
3) A fixed connecting plate (25) for integrally connecting the arm (23) and the inner shaft (24) at the projecting end, and an arm (23) on the outer side of the arm (23) on the output side inner shaft (26) at the tip of the arm (23). )
And a mounting frame (19) rotatably fitted to the outside of the input-side inner shaft (24).
Input side outer shaft (28) fixed to the output side inner shaft (2)
Output side outer shaft (29) rotatably fitted to the outside of 6)
And a chain (32) wound between the fixed sprockets (30) and (31) of the input and output outer shafts (28) and (29), and the inner shaft (2) is driven by forward and reverse driving of the motor (20).
By rotating the arm (23) clockwise or counterclockwise by the rotation of 4), the mounting posture of the output side outer shaft (29) connecting the transplanting claw (5) to the protruding end of the arm (23) is changed to the arm (23). It is configured to maintain a constant value irrespective of the swing of the motor.

As shown in FIGS. 9 to 14, the implant nail (5) comprises a pair of fixed and movable nail bodies (5a) and (5b), and a pair of fixed and movable nail bodies (5a) and (5b). Bifurcation (3
3) is appropriately opened and closed by a claw opening / closing mechanism (34) to hold and release the seedling. The outer end of the outer shaft (29) is integrally fixed via a fixing pin (35) or a key. A fixed claw holder (36) for installing and fixing the base end of the claw body (5a) for fixing, and an open / close shaft (3) attached to the claw holder (36).
A movable claw holder (38) for pivotally connecting the lower end side via 7) and mounting the base end of the inner movable claw body (5b);
The outer shaft (2) on the side of the arm (23) of the claw holder (38)
9) A cam contact body (39) fixed at a position facing 180 degrees around the center, and the fixed and movable claw holder (36)
(38) Spring seat hole (40) opened opposite to the upper end side
A compression pawl opening / closing spring (42) interposed between (41) and swinging a movable pawl holder (38) about a shaft (37).
And the cam abutment (39) supported between the movable claw holder (38) and the arm (23) in the axial direction of the outer shaft (29) so as to be movable about the axis and supported on the outer shaft (29). An opening / closing cam (44) having a cam groove (43) on the side surface with which the arm (23) engages, and an arm (23) projecting from the opening / closing cam (44) side of the arm (23) about the axis (24). The claw opening / closing mechanism (34) includes a cam operating body (47) that comes into contact with the opening and closing cam levers (45) and (46) of the opening / closing cam (44) at the end of the swing of approximately 180 degrees. 23) When the right side of the seedling tray (1) is rotated 90 degrees to the right from the original position in the upright state, the cam lever (46) is brought into contact with the operating body (47) to rotate the cam (44). The cam contact body (39) is engaged and protrudes into the cam groove (43) of (44), and the shaft (37) Fixing claw holder by the upper-side spring (42) force the center to the movable pawl holder (38) (36)
The movable claw body (5b) is brought closer to the fixing claw body (5a).
While the arm (23) is turned approximately 180 degrees, the other cam lever (4) is attached to the operating body (47).
5), the cam contact body (39) is forcibly disengaged from the cam groove (43), and the pawl (5) is opened.

On the other hand, a ring-shaped seedling pressing body (48) is fitted around an outer periphery of the forked portion (33) of the claw bodies (5a) and (5b), and the upper extending ends of the seedling pressing bodies (48) are interconnected. The part (48a) is fixedly supported by the receiving plate (49), and is fixed to the upper end of the fixed claw holder (36).
0), the guide rod (51) of the receiving plate (49) is vertically guided and supported, and a pressing spring (52) is provided on the outer periphery of the rod (51) between the receiving plate (49) and the mounting plate (50). The pressing body (4) is provided by the pressing spring force of the spring (52).
8) is configured to always move down.

As shown in FIGS. 9 and 14, a lock arm (5) for holding the seedling pressing body (48) at the uppermost position.
3), and the arm (53) is interlockedly connected to the movable claw holder (38).
Is a lock plate (5) to be engaged with the bottom outside of the receiving plate (49).
4) at the lower end, with the middle supported by the fixed claw holder (36) via the pivot shaft (55) and the pivot plate (56), and the upper end via the slot (57) and the pin (58). The lock arm (53) holding the seedling pressing body (48) at the uppermost movement position in conjunction with the movable claw holder (38) is unlocked in synchronization with the opening operation of the claw holder (38). (52) The seedling pressing body (48) is moved downward by force to promote detachment of the seedling from the nail (5).

Further, as shown in FIGS. 10 and 14, when the arm (23) operating to return from the open state to the closed state of the claw (5) is rotated rightward from the left end of rotation, the seedling pressing body (48) is moved upward. A lock lever (59) for returning to the inner shaft (26) is provided. A base end of the lever (59) is fixed to the outer end of the inner shaft (26), and an upward movement return roller (60) provided at the upper end of the receiving plate (49). ), The tip of the lever (59) is brought into contact with the lower side, and the seedling pressing body (48) is moved upward in conjunction with the clockwise rotation of the arm (23), and the arm (23) is closed immediately before the end of clockwise rotation. When the cam operating body (47) comes into contact with the cam (46) and the movable claw holder (38) moves toward the cam (44) and the claw (5) is closed, the lock plate (49) is located below the receiving plate (49). 5
With 4) facing, the seedling pressing body (48) is locked at the uppermost movement position.

As shown in FIG. 17, a light emitting / receiving type photoelectric sensor for detecting a seedling (61) picked up from a seedling raising tray (1) with a transplanting nail (5) at the original position of the arm (23). A seedling sensor (62) is provided. The seedling sensor (62) includes a light emitting part (62a) such as a light emitting diode and a light receiving part (62b) such as a photodiode.
The direction of movement of the seedling sensor (62) is made to coincide with the direction of movement of the seedling, and the mounting height can be freely adjusted via a bolt (64) to the sensor mounting plate (63) of the right side machine frame (8) of the seedling raising tray conveyor (2). The light-emitting unit (62a) is installed, and the sensor mounting plate (6) of the left machine frame (8) of the transplant tray conveyor (4) is installed.
In 5), a light receiving section (62b) is provided via a bolt (66) so that the mounting height can be adjusted.

Then, the detection light from the light projecting portion (62a) is projected onto the root pot (61a) of the seedling (61), which is separated from the lower end of the transplant nail (5) by a certain distance (S), and the arm ( 2
The system is configured to reliably detect missing or frail seedlings (poorly rooted seedlings) when the transplanting nail (5) is at the original position of 3) and is at any position. When the size of the pot (1a) of the seedling raising tray (1) or the size of the root pot (61a) differs depending on the degree of weakness of the seedling, the height of the light projecting portion (62a) and the light receiving portion (62b) is increased. In addition to the above-mentioned adjustment, accurate detection corresponding to this is made possible, and the seedling sensor (62) provided at a fixed position as compared with the conventional means for moving the seedling sensor (62) integrally with the transplanting nail (5). The moving part of the claw (5) can be made compact and the weight can be reduced, and the moving speed can be increased, so that the efficiency of the seedling transplanting operation can be improved.

By forming the transplanting nail (5) at the forked portion (33), the seedlings (61) irrespective of the condition of the root pot (61a) can be securely clamped, and the seedling removal accuracy can be improved. Can be improved.

In the above embodiment, the implant nail (5)
The direction of movement of the claw members (5a) and (5b) is made perpendicular to the opening / closing (clamping) direction of the claw members (5a) and (5b) so that the light emitting portion (62) is formed between the claw members (5a) and (5b).
FIG. 18 shows a configuration in which the detection light from a) passes, but as shown in FIG. 18, the moving direction of the implanted nail (5) and the nails (5a) (5
b) With the opening and closing (clamping) directions of b) matched, the claw body (5a)
The configuration may be such that the detection light from the light projecting section (62a) is projected from the opening and closing direction of (5b).

As shown in FIGS. 1, 4, 15, and 16, the seedling raising tray (1) is provided with various pots (1a).
The under tray (67) made of a rustproof material (stainless steel or the like) prepared for each tray is placed on the tray conveyor (4).
7) A bottom plate (68) on which the seedling raising tray (1) is placed, a right and left side frame (69) shaped to restrict right and left movement of the seedling raising tray (1) on the bottom plate (68), and a side frame (69). A regulating guide (70) having an L-shaped cross section, which is fixed on the upper surface and regulates the upward movement of the seedling raising tray (1) on the bottom plate (68), and an adjusting bolt (71) at one of the front and rear ends of the bottom plate (68). A tray abutment plate (72) fixedly attached to the front and rear mounting positions; and a seedling growing between left and right side frames (69) and between a bottom plate (68) and a regulating guide (70) from the opposite side of the abutment plate (72). Insert the tray (1) and place the seedling raising tray (1) in the under tray (67).
Is configured to be loaded.

Further, on the outer surface of the side frame (69), a plurality of detection holes (73), which are detection portions, corresponding to the row pitch of the pots (1a) are opened, and an under tray (67) is provided.
The proximity sensor (74), such as a proximity switch, which is a seedling tray sensor provided near the stop position of the sensor, detects the detection hole (73) and adjusts the movement direction of the under tray (67). By detecting the tray (67) with the sensor (74), the tray (67) is detected.
It is configured to perform accurate detection without being affected by mud or the like even if it adheres to the surface.

Further, the under tray (67) is provided on a pair of left and right transfer chains (76) between the driving and driven sprockets (75a) (75b) constituting the seedling raising tray conveyor (2), and the transfer friction plate (77). The friction plate (77) is formed of an elastic friction material such as a rubber material, and the width of the right and left sides is larger than the width of the chain (76). The friction plate (77) is placed on the chain (76) with the front and rear widths larger than the long side, and then the under tray (67) is placed on the friction plate (77).
And the seedling tray (1) is conveyed integrally with the undertray (67) by the friction of the conveying friction plate (77).
The friction plate (77) is also removed together with 7) so that it can be reused. The conveyor (2) is provided with a plate-shaped chain guide plate (78) for slidingly guiding the inner side surface of the chain (76) to be conveyed, so that the under tray (67) can be moved favorably by the chain (76). It is composed.

By simply setting the seedling raising tray (1) on the under tray (67) determined for each seedling tray (1), the positioning in the moving direction at the time of transportation by the conveyor (2) is properly performed, and transplantation is performed as in the prior art. There is no need to adjust at the stop position, and the work time can be shortened by exchanging various seedling raising trays (1) to improve workability, and the seedling raising tray (1) and the next tray ( Since the frequency of replacement with 1) is low (approximately one-twelfth for a 406-hole tray), the transplantation operation can be performed with good economy by reusing a small number (for example, three) of under trays (67). Can be done.

As shown in FIG. 19, a panel unit (79) having a pressure reduction operation button, various operation buttons, and the like.
A transmission type under and transplant tray sensor (80) (81) for detecting the presence or absence of the under and transplant tray (67) (3) on each of the conveyors (2) and (4); And (3) a nursery tray stop proximity sensor (74) and a transmission type tray stop position sensor (82) for detecting the respective stop positions, and the original position of the arm (30) after the transplanting claw (5) picks up the seedling. The right, center and left rotation positions of the arm (23) are detected by the seedling sensor (62) for detecting the seedling (61) of the arm (23) and the detection cam (83) of the joint (22) provided on the mounting frame (19). Arm rotation right / center / left sensor (84) (85) (86)
Claw left, original point, right movement position sensors (87), (88), (89) for detecting left, center original point, and right movement positions of the table (12) in the horizontal movement mechanism (6), respectively; Seedling and transplanting tray conveyor motors (90) (9) for intermittently and continuously driving the tray conveyors (2) and (4)
1) and a pressure-reducing device (92) for forming a transplanting hole on the surface of the soil of the transplanting tray (3) by means of a pressure-reducing device, and the panel unit (79) and various sensors are provided to a controller (93) composed of a computer. (62) ・ (74) ・
(80) to (89) are connected for output, and the motors (18), (20), (90), (91) and the pressure reducing device (92) are connected.
The controller (93) is connected to the output to perform automatic pot picking control work based on various sensors (62), (74), (80) to (89) and a program preset in the controller (93). It is configured to do so.

The present embodiment is constructed as described above, and as shown in FIG. 20, in the automatic control, the under and transplantation trays (67) and (3) are at predetermined seedling collecting and seedling transplanting positions. When the tray sensors (74) and (82) detect, the conveyor motors (90) and (91) are stopped and the table (12) at the original position is moved toward the seedling raising tray (1) by a predetermined distance set in the program. Then, the arm (23) is rotated clockwise to move the claw (5) downward, and the claw (5) is changed from open to closed.
Take the seedling (61) in a). Thereafter, the arm (23) is rotated counterclockwise to stop at the center position, the seedling (61) is lifted to the uppermost position, the seedling is detected by the seedling sensor (62), and the seedling (5) is placed on the nail (5). In order to normally hold the pin 61), the arm is moved to the transplant tray (3) side by a predetermined distance set by the program and stopped, and the arm (23) is rotated counterclockwise to lower the pawl (5). The seedling is planted in the pot (3a) with (5) being closed to open, and after planting, the arm (23) is rotated clockwise to stop at the center position. When the seedling is not detected when the seedling sensor (62) detects the seedling, the seedling is immediately returned to the pot (1a) position where the next seedling removal is performed, and the same pot specified on the transplant tray (3) side is set. Planting seedlings (61) in (3a) and transplanting tray (3)
To prevent stock outs at

Then, the seedlings are planted on the transplant tray (3),
When the arm (23) is stopped at the center position and the horizontal 12 rows of the pot (1a) of the seedling raising tray (1) or the horizontal 4 rows of the pot (3a) of the transplant tray (3) are not completed, the table (12) is again moved to the seedling tray (1) side by a predetermined distance, returned to the pot (1a) position where the next seedling is to be picked up, and the seedling picking operation is performed again, while 12 rows of the trays (1) and (3). Alternatively, when the picking or planting of four rows is completed, the conveyors (2) and (4) of the trays (1) and (3) that have been completed are driven to feed these trays (1) and (3) by one line pitch. After that, 12 rows or 4 rows of seedlings or seedlings in this row are to be picked or planted in the same manner as the previous time.
When all the operations of (3) are completed, the conveyors (2) and (4) are continuously driven until the next tray (1) (3) comes to the seedling collecting or seedling placement position.

Further, as shown in FIG. 21, during the automatic control without operating the suppression control button of the panel unit (79), the number of pots (1a) of one seedling raising tray (1) is set (for example, 406) or less. When selected, the crushing device (92) is driven and controlled to form a transplanting hole on the surface of the soil of the transplanting tray (3) with a crushing tool, so that the seedling (61) with a good planting posture is transplanted. When the condition that the number of seedlings (61) whose number of pots (1a) is equal to or larger than a set value (for example, 406) is small and the resistance at the time of transplantation is small is selected, the pressure suppression device (9
By stopping the drive control of 2), without forming a transplant hole on the surface of the soil of the transplant tray (3) (the transplant hole is a seedling (61)
If it is bigger, it will be easier to collapse)) Seedling (61)
It is intended to be transplanted.

[0026]

As is apparent from the above examples, the present invention holds a seedling (61) from a seedling tray (1) with a pair of forked seedling removing claws (5). In a pot raising device adapted to be transplanted, a root pot (61a) portion located at a distance of a predetermined size (S) from the tip of the seedling extraction nail (5) at the time of holding the seedling by the seedling extraction nail (5) is detected. Since the clamping of (61) is determined, the forked seedling (5) can reliably clamp the seedling (61) irrespective of the condition of the root basin (61a) by using the forked seedling removal claw (5), and also the lack of stock or weakness. It is possible to reliably detect a seedling (a poorly rooted seedling) and make it possible to transplant only a normal seedling (61), thereby improving the working accuracy.

Also, the photoelectric type seedling sensor (62) for detecting the root pot (61a) of the seedling (61) is provided so that the mounting position can be freely adjusted according to the size of the root pot (61a). A seedling sensor (6) adapted to the size of the pot (1a) of the seedling tray (1), the degree of weakness of the seedling (61), and the like.
This makes it possible to reliably detect the seedling (61) according to 2) and improve the seedling detection accuracy.

Further, since the moving direction of the seedling removal nail (6) and the detection direction of the detection light of the seedling sensor (62) are matched, the seedling is integrally formed with the seedling removal nail (5) as in the prior art. There is no need to have a structure to move the sensor, and the seedling removal nail (5)
Therefore, it is possible to improve the efficiency of the seedling transplanting operation by reducing the size and weight of the moving section (to increase the moving speed).

[Brief description of the drawings]

FIG. 1 is an explanatory view showing lateral movement of a transplant nail.

FIG. 2 is an overall front view.

FIG. 3 is an overall side view.

FIG. 4 is an overall plan view.

FIG. 5 is an explanatory view of a laterally moving portion of a transplant nail.

FIG. 6 is an explanatory diagram of a claw swing mechanism.

FIG. 7 is an explanatory sectional view of an arm portion.

FIG. 8 is an explanatory diagram showing a swing state of an arm.

FIG. 9 is an explanatory view of a transplant nail portion.

FIG. 10 is an explanatory view of a transplant nail portion.

FIG. 11 is an explanatory diagram of a claw holder.

FIG. 12 is an explanatory diagram of a movable claw holder.

FIG. 13 is an explanatory view of an opening / closing cam.

FIG. 14 is an explanatory plan view of a seedling pressing body.

FIG. 15 is an explanatory perspective view of an under tray.

FIG. 16 is an explanatory rear view of the under tray.

FIG. 17 is an explanatory diagram of detection by a seedling sensor.

FIG. 18 is an explanatory diagram of another detection of the seedling sensor.

FIG. 19 is an explanatory diagram of a control circuit.

FIG. 20 is a flowchart of transplant control.

FIG. 21 is a flowchart of the suppression control.

[Explanation of symbols]

 (1) Tray (5) Transplant nail (61) Seedling (61a) Root pot (62) Seedling sensor (S) Dimensions

Continued on the front page (72) Inventor Minoru Yukino 739, Yamate, Oda, Yoshida-cho, Takada-gun, Hiroshima Prefecture Inside the Keibunsha Works (72) Inventor Tsuyoshi Kado, 739, Yamate, Oda, Yoshida-cho, Takada-gun, Hiroshima 6 Inside Keibunsha Works

Claims (3)

[Claims] 1. A pot picking device in which a pair of forked seedling picking nails hold a seedling from a seedling tray and transplant the picked seedlings, a fixed distance from the tip of the seedling picking nail when the seedling is picked up by the seedling picking nails. A pot picking device characterized in that a root pot portion located at a distance from a dimension is detected to determine the holding of a seedling. 2. The pot raising device according to claim 1, wherein a photoelectric seedling sensor for detecting a root pot portion of the seedling is provided so as to be adjustable in mounting position according to the size of the root pot portion. 3. The method according to claim 2, wherein the moving direction of the seedling removal claw and the detecting direction of the detection light of the seedling sensor are matched.
The pot raising device as described in the above.