WO2013190176A1

WO2013190176A1 - A planting machine and an apparatus for handling seedlings

Info

Publication number: WO2013190176A1
Application number: PCT/FI2013/050602
Authority: WO
Inventors: Jussi AIKALA
Original assignee: Upm-Kymmene Corporation
Priority date: 2012-06-21
Filing date: 2013-06-04
Publication date: 2013-12-27
Also published as: FI20125687A; UY34864A; FI126004B

Abstract

An apparatus (11) for handling seedlings, comprising at least one seedling storage (21), a feeding device (22) which is, for the simultaneous handling of several seedlings, equipped with two or more grippers (23) next to each other, wherein each gripper (23) is configured both to close and to open, and transfer devices (24) to which the feeding device (22) is connected and which are configured to convey the feeding device (22) to a seedling storage (21) and to position the feeding device at the seedlings, as well as to convey the feeding device (22) to a location (19) where the seedlings are delivered either one by one or simultaneously. In an example, the apparatus (11) is placed in a planting machine (10) equipped with planting devices (17) for conveying a seedling to a planting spot (18) and placing it there. In an example, the planting machine (10) is connected to a controllable articulated boom in a working machine which is an all-terrain vehicle.

Description

A PLANTING MACHINE AND AN APPARATUS FOR HANDLING SEEDLINGS

Field of the invention

The invention relates to a planting machine. The invention also relates to a working machine. The invention further relates to an apparatus for handling seedlings. The invention also relates to a planting machine apparatus for planting tree seedlings.

Background of the invention

In forest regeneration, various planting machines are utilized for planting tree seedlings in the ground. These are particularly spruce and pine seedlings with root balls.

For the planting, the soil can be prepared in various ways, wherein by e.g. spot mounding or reversal mounding, a mound is formed in the soil, in which the tree seedling with its root ball is planted and which is optimal in view of growth. Typically, the tree seedling is placed by a planting machine into a hole formed in a mound. Furthermore, it is advantageous that after the planting, the soil surface is packed around the tree seedling.

Publication Fl 94477 B presents a planting machine which is connected to the boom of a working machine. Publication Fl 1 19315 B also presents a planting machine which is connected to the boom of a working machine and by which two tree seedlings can be planted simultaneously.

In the examples presented above, the planting machines comprise devices, by means of which a mound can be formed for planting, as well as devices for packing the soil surface. The above mentioned planting machines also comprise a magazine for tree seedlings, consisting of a movable conveyor. The conveyor both stores the tree seedlings and feeds them to a predetermined location in the planting machine. In said location, devices are pro- vided, for example a planting tube, for guiding the tree seedling to the mound. The above mentioned planting machines have a limited capacity. The planting work has to be halted when the planting machine runs out of tree seedlings, and new tree seedlings have to be charged manually in order to con- tinue the planting work. The charging of tree seedlings may take as much as 15 to 20% of the total working time. To increase the capacity, attempts have been made to increase the quantity of seedlings stored in the planting machine, for example in the way presented in WO 96/04775. However, the planting apparatus becomes bulky and complex.

Brief summary of the invention

The solution for a planting machine according to the invention is presented in claim 1 . The solution for a working machine according to the invention is pre- sented in claim 1 1 . The solution for an apparatus for handling seedlings according to the invention is presented in claim 13. The solution for a planting machine apparatus according to the invention is presented in claim 19.

The planting machine comprises planting devices configured to convey and place a seedling in a planting spot, at least one seedling storage where several seedlings can be placed next to each other, and a feeding device. For handling several seedlings simultaneously, the feeding device is equipped with two or more adjacent grippers, each gripper being configured both to close for gripping a seedling and to open for releasing the seedling from the gripper. Furthermore, the planting machine comprises transfer devices to which the feeding device is connected and which are configured to transfer the feeding device to the seedling storage and to position the feeding device at the seedlings to be picked up. Furthermore, the transfer devices are configured to convey the feeding device to a predetermined location where the seedlings can be delivered either one by one or several seedlings at a time.

When several seedlings, that is, two or more seedlings, are transferred simultaneously, the operation of the planting machine is faster than in a case where seedlings are transferred one by one. The grippers are suitable for the handling of seedlings, and they can be used for gripping a seedling. In a particular example, the seedlings in the seedling storage are placed in a regular order for the feeding device. The seedlings can thus be placed in one or more seedling boxes or corresponding storages or transport packages. As the seedling storage is capable of receiving entire seedling boxes, manual handling of single seedlings is avoided. When the same seedling boxes are also used in the transportation of seedlings from the tree nursery to the planting site, the manual handling of single seedlings can be avoided in connection with the transportation and the refilling of the seedling storage, as well as at the planting site. Damage to seedlings and their root balls are reduced when the number of times of their manual handling is reduced.

In an example, the distances between grippers can be increased and decreased by a predetermined length.

The transfer devices comprise fastening parts, articulated joints, guides, glides, transfer beams, carriages, bearings, and actuators, and if necessary, also e.g. electric, pneumatic or hydraulic control devices for implementing the functions of the transfer devices.

In an embodiment, the planting machine also comprises an intermediate storage in which several seedlings can be placed and which is configured to guide seedlings one by one to the planting devices. The intermediate storage is placed in a predetermined location, that is, in a place where the seedlings are brought by a feeding member; furthermore, the feeding device is configured to deliver several seedlings simultaneously to the intermediate storage, for refilling the same.

In an example, the intermediate storage is a movable magazine for seed- lings. The magazine is placed in a predetermined location, that is, in a place where the feeding member brings the seedlings and also delivers them to the magazine.

In the case of an embodiment, in which several seedlings are transported and delivered to the planting devices simultaneously, the operation of the planting machine becomes more effective. The feeding member can fetch new seedlings to the intermediate storage when planting is going on, so that no delays are caused by the fetching of seedlings during the planting.

In another example, the planting devices are placed in a predetermined loca- tion to which the feeding member brings the seedlings, and furthermore, the feeding device is configured to deliver seedlings one by one to the planting devices.

In the case of another embodiment in which the seedlings are delivered one by one from the feeding device to the planting devices, the structure of the apparatus can be made simpler and a separate intermediate storage can be omitted, because the feeding device is used as a kind of an intermediate storage. In an example, the planting machine comprises at least two adjacent seedling storages in which the seedlings of the planting machine are stored by utilizing, for example, seedling boxes. According to a second example, the planting machine comprises at least two seedling storages on top of each other, and according to a third example, the planting machine comprises seedling storages both on top of each other and next to each other. The transfer devices are configured to transport the feeding device to each seedling storage. Increasing the number of seedling storages and seedlings increases the share of time used for planting in the total working time. Also, the planting machine becomes more effective, because the larger number of seedlings will be sufficient for planting for a longer time. A planting machine comprising several seedling storages needs to be refilled with new seedlings less frequently than a planting machine equipped with a single seedling storage. Compared with the state of art, the total working time used for planting is reduced. Thus, the time taken for storing the seedlings to be planted and the seedling boxes at the planting site is reduced as well, wherein drying of the seedlings is avoided and the times of irrigating the seedlings can be reduced. In an example, the feeding device is connected to the transfer devices by means of an articulated joint in such a way that the feeding device with its grippers can swing around a vertical rotation axis. The swinging movement of the feeding device enables a more flexible placement of the seedling storages and a more versatile way of handling of the seedlings by the feeding device. In an example, the feeding device is placed between two adjacent seedling storages.

In another example, two grippers are connected to the feeding device, one after the other, in such a way that the successive grippers are configured to pick up seedlings from opposite sides of the feeding device. The feeding device is placed, for example, between two adjacent seedling storages. Thus, the feeding device can handle several seedlings simultaneously, or the swinging movement of the feeding device is not necessary, so that the feeding device can be constructed lower than in an alternative where the feeding device comprises an articulated joint.

In an example, the planting machine also comprises tilling devices for preparing the soil surface for the planting of a seedling, and packing devices for packing the soil surface around a planted seedling, and fastening devices for fastening the planting apparatus to a controllable articulated boom of a working machine.

The tilling devices are, for example, particularly suitable for spot mounding. Alternatively, the tilling of the soil surface is performed in a separate step or by a separate apparatus. Alternatively, the packing is performed in a sepa- rate step or by a separate apparatus.

The fastening devices make it possible to fasten the planting machine, for example, to an articulated boom of a working machine. In a particular example, the planting devices of the planting machine comprise a vertical planting tube. The planting tube is inserted in a planting spot in a controlled manner, it prepares a hole for the seedling in the planting spot, delivers the seedling to the planting spot, and retracts to a standby position where it can receive a new seedling to be planted. Another presented solution is a working machine which is an all-terrain mobile vehicle and comprises a controllable articulated boom. The working machine also comprises the above presented planting machine fixed in the articulated boom.

The use of the working machine makes it possible to use the planting machine efficiently. The planting machine is connected to the control system of the working machine which is used for controlling, among other things, the actuators of the planting machine. The planting machine utilizes, for example, the hydraulic system of the working machine. The working machine is a working machine based on a tractor, a harvester, a forwarder, or an excavator.

A tractor can be equipped with an articulated boom, to whose end the plant- ing machine is connected. In a harvester and a forwarder, the planting machine is connected to an articulated boom, to replace a harvester head or a timber grapple. In an excavator, the planting machine is placed in an articulated boom to replace a shovel. In the excavator, the planting machine can be placed together with the shovel in the articulated boom, wherein the shovel can be used as a tilling device.

By means of a planting machine according to the presented solution, it is possible to make the use of said working machine more versatile. Furthermore, as the planting machine is further configured in such a way that it can be fastened to articulated booms of existing working machines, the use of an articulated boom with a special structure is avoided.

The presented solution also includes an apparatus for the handling of seedlings, comprising at least one seedling storage in which several seedlings can be placed next to each other, and a feeding device. For handling several seedlings simultaneously, the feeding device is equipped with two or more adjacent grippers, each gripper being configured both to close for gripping a seedling and to open for releasing the seedling from the gripper. Furthermore, the apparatus comprises transfer devices to which the feeding device is connected and which are configured to transfer the feeding device to the seedling storage and to position the feeding device at the seedlings to be picked up. Furthermore, the transfer devices are configured to convey the feeding device to a predetermined location where the seedlings can be delivered either one by one or several seedlings at a time. The presented solution also relates to a planting machine apparatus for planting tree seedlings. The planting machine apparatus comprises planting devices configured to convey a seedling to a planting spot and to place it there, and an intermediate storage in which several seedlings can be placed and which is configured to guide seedlings one by one to the planting devices.

According to an example, the planting machine apparatus further comprises a feeding device which is configured to transfer several seedlings simultaneously and to deliver the seedlings to the intermediate storage, for refilling the same. The feeding device delivers the seedlings either one by one or several seedlings at a time.

According to an example, the planting machine apparatus is connected to a working machine which is an all-terrain mobile vehicle and comprises a con- trollable articulated boom. The planting machine apparatus is fixed at the end of the articulated boom. The working machine is, for example, a working machine based on a tractor, a harvester, a forwarder, or an excavator.

The planting machine presented above can also be placed in various working machines which are vehicles capable of moving on the terrain. The planting machine can be connected to the working machine, or it constitutes a separate, towable or propellable planting machine equipped with devices to make the movement possible, such as wheels connected to the frame of the planting machine.

The planting machine and the apparatus according to the presented solutions are particularly suitable for seedlings with a root ball. In particular, they are pine or spruce seedlings. Description of the drawings

In the following, the presented solutions will be described in more detail with reference to the appended drawings, in which:

Fig. 1 shows a side view of an example, in which an apparatus according to the solution is implemented in a planting machine,

Fig. 2 shows the planting machine and apparatus of Fig. 1 in an end view,

Fig. 3 shows the planting machine and apparatus of Fig. 1 in a top view,

Fig. 4 shows the feeding device of the apparatus of Fig. 1 in more detail and in a top view.

Detailed description of the invention

In Figs. 1 to 4, the same parts are indicated with the same numerals in the different figures.

Figure 1 shows an example of a planting machine 10 according to the solution, particularly a planting machine to be connected to an articulated beam of a working machine. Said planting machine comprises an apparatus 1 1 according to the solution, intended for the handling of seedlings.

In the example of Fig. 1 , the planting machine 10 can be connected to an articulated boom in a working machine. The planting machine 10 is connected to the articulated boom by using fastening devices 12, for example a quick coupling or a disengageable connection, by using e.g. bolts. The working machine is capable of moving on uneven terrain, and the driver of the working machine controls the planting machine 10 from the cabin of the working machine, or from elsewhere by means of remote control.

The planting machine 10 comprises a frame 13, to which the apparatus 1 1 , the fastening devices 12 and other devices are also fastened and which acts as a load-bearing structure. Tilling devices 14 are fastened to the frame 13 for preparing the soil surface for the planting of the seedling. In this example, the tilling devices 14 comprise a tilling blade which can also be tilted by an actuator (e.g. a cylinder). By means of the movements of the tilling devices 14 and the frame 13 of the planting machine, a mound is formed, in which the seedling is planted. The movements are generated by an articulated boom. The tilling devices are particularly suitable for spot mounding. The frame 13 is also provided with packing devices 15 for packing the soil surface around the seedling planted. In this example, the packing devices 15 are feet which are pushed onto the ground by an actuator (e.g. a cylinder), preferably two feet placed on two opposite sides of the seedling. In addition or alternatively, the lower surface of the frame 13 can also act as a packing device when the planting machine presses or is pressed onto the ground.

The frame 13 is also provided with planting devices 17 which convey the seedling down and place the seedling in the planting spot 18 in the soil . The planting spot is, for example, in a mound formed for planting in the soil. In the example of Fig. 1 , the planting devices 17 utilize gravity in moving the seedling, and comprise a vertical planting tube. The planting tube is pushed by an actuator (e.g. a cylinder) in a controlled manner in the planting spot 18 and makes a hole in it for the seedling. In this example, the lower end of the planting tube is provided with a flap 16 which closes the planting tube and is openable by an actuator (e.g. a cylinder). In this example, the planting tube lets the seedling drop to the planting spot by opening the flap 16, so that the seedling can be ready, for example, on the flap. After this, the planting tube retracts up to its standby position and leaves the seedling in position. In the standby position, the planting tube can receive a new seedling to be planted when the flap 16 is closed. In some examples, the planting tube consists of several parts and operates in a telescopic manner, as in the example of Fig. 1 .

The planting devices 17 receive a new seedling from a predetermined loca- tion, that is, a location 19 which is in the planting machine and to which the apparatus 1 1 brings the seedling. In the example of Fig. 1 , the planting tube belonging to the planting devices 17, and its upper end, are in the location 19 and receive a new seedling.

The apparatus 1 1 which is placed in the planting machine 10 comprises at least one seedling storage 21 . In the example of Fig. 1 , there are several seedling storages 21 , that is, two or more, next to each other and on top of each other. Preferably, several seedlings are provided next to each other in each seedling storage, so that several seedlings can be handled simultaneously. Moreover, in each seedling storage, the seedlings are preferably placed in a regular order, for example as a matrix with several seedlings in straight lines next to each other and one after the other.

Each seedling storage 21 consists of, for example, a seedling box containing several seedlings. Preferably, the seedling has a root ball. The seedling stor- age 21 comprises, for example, a shelf on which the seedling box can be placed.

In the example of Fig. 1 , the seedling storage 21 consists of a storage frame 20, for example a framework with shelves for seedling boxes. In this exam- pie, each shelf can accommodate four seedling boxes having the size of about 600 x 400 mm and a matrix of 12 ^χ 8 seedlings. In the example of Fig. 1 , three shelves are provided on top of each other and two shelves next to each other, so that the seedling storage accommodates a total of 24 seedling boxes and 2304 seedlings.

The seedling storage 21 can be equipped with a roof or a housing to protect the seedlings. Devices for irrigating the seedlings or for supplying water to the root balls can also be placed in the seedling storage 21 . In an example, a mat for irrigating the seedlings from below is placed under the seedlings, for example in the seedling box.

The apparatus 1 1 also comprises a feeding device 22 for transporting several seedlings simultaneously. By means of the feeding device 22, seedlings are conveyed to the location 19. The feeding device 22 is equipped with several, i.e. two or more, grippers 23 next to each other. Each gripper 23 is capable of closing for gripping a seedling, and opening for releasing the seedling from the gripper. The opening and closing are controlled by means of e.g. one common actuator (e.g. a cylinder) and a mechanism, or by means of an actuator (an electric, pneumatic or hydraulic actuator) in each gripper. The gripper 23 is preferably a pair of jaws that grips the vertical stem of the seedling. The pair of jaws is equipped with e.g. a cushion to avoid damaging the seedling. The pair of jaws consists of, for example, two horizontal arms.

In the example of Fig. 1 , the grippers 23 operate simultaneously; in other words, they open and close simultaneously and they thereby handle several seedlings simultaneously; that is, the operation during gripping, transportation and delivering is simultaneous. Several seedlings at a time are trans- ported to the location 19.

The apparatus 10 also comprises transfer devices 24 to which the feeding device 22 is connected. The transfer devices 24 consist of devices and components moving the feeding device to the seedling and further to the location 19, and back. Thanks to the transfer devices 24, seedlings are continuously available for the planting devices 17. The transfer devices 24 comprise fastening parts, articulated joints, guides, glides, transfer beams, carriages, bearings, and actuators, and if necessary, also e.g. electric, pneumatic or hydraulic control devices for implementing the functions of the transfer devices 24, and the feeding device 22 is controlled by means of e.g. horizontal and/or vertical movements, for example linear movements.

The transfer devices 24 convey the feeding device 22 to the seedling storage 21 and position the feeding device 22 at the seedlings to be fetched. The seedling storage 21 and the seedlings remain stationary, and the feeding device 22 moves to them. Furthermore, the transfer devices 24 carry the feeding device 22 to the location 19 where the seedlings are delivered, either several seedlings at a time, as in the alternative of Fig. 1 , or one by one. In the example of Fig. 1 , the feeding device 22 delivers several seedlings simultaneously to the location 19 containing an intermediate storage 28 which is included in the apparatus 1 1 and in which several seedlings can be placed. In the example of Fig. 1 , the intermediate storage is an elongated magazine. Preferably, the magazine accommodates all the seedlings that fit in the feeding device 22, or a multiple of them.

In the example of Fig. 1 , there are 12 grippers and 12 seats for adjacent seedlings in the intermediate storage 28.

In the example of Fig. 1 , the seats for the seedlings in the intermediate stor- age 28 are more widely spaced than the seats for the seedlings in the seedling storage 21 . The feeding device 22 comprises, for example, one common actuator (e.g. a cylinder) or several separate actuators, by means of which the spaces between the grippers 22 can be increased and decreased by a predetermined distance. Preferably, all the spaces between the grippers 23 are changed by the same distance. The mutual position of the grippers 23 of the feeding device can be changed to correspond to those spacings of the seedlings which are applied in the seedling storage 21 and the intermediate storage 28. Changing the distances between the grippers 23 makes it possible to use seedling boxes of different types and alternative spacings of the seats of the seedlings. In another example, the spacing of the seats of the seedlings in both the seedling storage 21 and the intermediate storage 28 corresponds to the mutual location of the grippers 23 of the feeding device 22, which is unchangeable. The intermediate storage 28 guides seedlings one by one to the location 19 and further to the planting devices 17. In the example of Fig . 1 , the intermediate storage 28 and the magazine used as an intermediate storage is moved back and forth by an actuator (e.g. a cylinder). In the location 19, for example an opening is provided, to which a seedling is transferred by means of the intermediate storage 28 and through which the seedling drops into a planting tube. In the location 19 or the planting devices, controlled flaps, lids or other devices may also be provided for controlling the entry of the seedling to the planting devices 17 or their path in the planting devices 17, for example its dropping to the planting spot 18. The feeding device 22 according to the example of Fig. 1 refills the intermediate storage 28 with new seedlings after the intermediate storage 28 has become empty and preferably has also returned to e.g. its standby position. In another alternative of the presented solution, the grippers 23 are capable, if necessary, of operating nonsimultaneously at least during delivering; in other words, they open and, if necessary, also close each at a time and they thereby handle several seedlings nonsimultaneously; that is, the operation during delivering and, if necessary, also during gripping is nonsimultaneous. However, several seedlings are transported simultaneously to the location 19.

Said second alternative corresponds to the apparatus 1 1 and the planting machine 10 of Fig. 1 , but the intermediate storage 28 is thus not necessary. Thus, the feeding device 22 delivers seedlings one by one to the planting devices 17, and the other seedlings of the feeding device 22 are held by the grippers 23. Preferably, each gripper 23 at a time feeds a seedling to the location 19. In the location 19 or the planting devices 17, controlled flaps, lids or other devices may also be provided for controlling the entry of the seedling to the planting devices 17 or their path in the planting devices 17, for example its dropping to the planting spot 18. Preferably, the gripper 23 feeds a seedling to the location 19, after which the seedling devices 17 receive the seedling, plant it, and after the planting they are ready to receive the next seedling from the next gripper 23, for the next new planting. In an example, the gripper 23 feeds the seedling directly to a planting tube acting as the planting devices 17. In an example, two grippers 23, one after the other, are fastened to the feeding device 22 in such a way that there are at least four grippers and preferably a total of 24 grippers in two rows. There are 12 grippers in each row. Preferably, successive grippers pick up the seedlings from opposite sides of the feeding device 22. The successive grippers are, for example, oriented in opposite directions. The grippers operate as presented in the dif- ferent alternatives above, with respect to simultaneity or nonsimultaneity, among other things.

Figure 2 shows the planting machine 10 and the apparatus 1 1 in a front view. Figure 2 shows particularly the seedling storages 21 on top of each other and next to each other. The seedling storages 21 are, for example, seedling boxes placed on shelves of a storage frame 20.

In the example of Fig. 2, the horizontal movements of the feeding device 22 are effected by a horizontal guide 26 belonging to the transfer devices 24, and the vertical movements of the feeding device 22 are effected by a vertical guide 27 belonging to the transfer devices 24. The guide is placed crosswise, preferably transversely, to the guide 26. In this example, the guide 27 moves along the guide 26, and the horizontal guide moves with the guide 27.

The feeding device 22 is connected to the transfer devices 24 by an articulated joint 25, and the feeding device 22 with its grippers is capable of swivelling around a vertical rotation axis. This is useful particularly in a situation in which the feeding device 22 is placed between two seedling storages 21 . The grippers 23 can be turned towards the seedling storage, from which the seedlings are picked up, and the grippers are placed next to the seedlings.

In that example of the apparatus 1 1 , in which the feeding device is provided with grippers both next to each other and one after the other, said swivelling or articulation 25 is not necessary.

Figure 3 shows the planting machine 10 and the apparatus 1 1 in a top view. Figure 3 shows particularly the seedling storages 21 next to each other, and the placement of the intermediate storage 28 between the seedling storages 21 . The total width of the seedling storages 21 is typically greater than the width of the frame 13. The intermediate storage 28 is provided with seats for adjacent seedlings in such a way that a row of seedlings is formed.

The intermediate storage may also include several, i.e. two or more rows, into which the feeding device 22 picks up seedlings or refills the intermediate storage. For example, the magazine contains two rows, each with a space for 12 seedlings. Thus, the intermediate storage 28 has, in addition to the movement in the longitudinal direction, also a movement in the cross direction, in order to be able to guide all the seedlings of the intermediate storage one by one to the location 19.

The feeding device 22 refills the intermediate storage 28 by using one or more pick-up cycles in the seedling storage 21 . In Fig. 3, the feeding device 22 has been transferred by means of the guide 26 of the transfer devices to the seedling storage, and the grippers 23 have gripped the seedlings.

Figure 4 shows a more detailed example of the feeding device 22 which is utilized in the planting machine 10 and the apparatus 1 1 . The grippers 23 of the feeding device 22 are controlled by a common actuator so that all the grippers 23 operate simultaneously; in other words, they open and close simultaneously. Therefore, they grip the seedlings, carry the seedlings and deliver the seedlings simultaneously. The feeding device 22 moves in the horizontal guide of the transfer devices 24, to which it is fastened by means of an articulated joint 25. The actuators used are, according to an example, hydraulic cylinders or pneumatic cylinders. The actuators are driven by pressurized medium, and they are connected to a control circuit consisting of e.g. a source of pressurized medium, channels for the medium, valves, and control devices. The valves of the control circuit are controlled either manually or by an electric control system, by using, for example, a control stick as the control device. Manual operation refers to e.g. controlling the valves of the control circuit manually by means of a lever. The control circuit used can be the hydraulic or pneumatic system of the working machine. As the control devices, it is possible to use the control devices belonging to the working machine. The electronic control system can also be equipped with automatic functions to take care of the operation of the planting machine 10 and the apparatus 1 1 .

The various embodiments of the solution according to the invention are not limited solely to the examples presented in the appended drawings or partic- ularly discussed in the above specification, or referred to in the specification. The above presented particular features of the solution can also be combined and implemented in various combinations which are not presented in the above examples. These combinations are in accordance with the appended claims.

Claims

Patenttivaatimukset:

A planting machine for planting seedlings, the planting machine compris-

- planting devices configured to guide and to place a seedling to a planting spot,

- at least one seedling storage, in which several seedlings can be placed next to each other,

- a feeding device which is, for the simultaneous handling of several seedlings, equipped with two or more adjacent grippers, each gripper being configured both to close for gripping a seedling and to open for releasing the seedling from the gripper, and

- transfer devices, to which the feeding device is coupled and which is configured to convey the feeding device to the seedling storage and to place the feeding device to the seedlings to be picked up, as well as to convey the feeding device to a predetermined location, to which the seedlings can be delivered, either one by one or several seedlings at a time.

2. The planting machine according to claim 1 , the planting machine further comprising an intermediate storage in which several seedlings can be placed and which is configured to guide seedlings one by one to the planting devices, said intermediate storage being placed in the above-mentioned location, and the feeding device being further configured to deliver several seedlings simultaneously to the intermediate storage, for refilling the same.

3. The planting machine according to claim 1 , said planting devices being placed in the above-mentioned location, and the feeding device being further configured to deliver seedlings one by one to the planting devices.

4. The planting machine according to any of the claims 1 to 3, the planting machine comprising at least two seedling storages on top of each other, or at least two seedling storages next to each other, or seedling storages both next to each other and on top of each other, and the transfer devices being configured to convey the feeding device to each of the seedling storages.

5. The planting machine according to any of the claims 1 to 4, the feeding device being connected to the transfer devices by means of an articulated joint in such a way that the feeding device with its grippers can swing around a vertical rotation axis.

6. The planting machine according to any of the claims 1 to 4, in which two grippers are also connected to the feeding device, one after the other, in such a way that the successive grippers are configured to pick up seedlings from opposite sides of the feeding device.

7. The planting machine according to any of the claims 1 to 6, the planting machine further comprising:

- tilling devices for preparing the soil surface for the planting of a seedling,

- packing devices for packing the soil surface around the seedling planted, and

- fastening devices for fastening the planting machine to a controllable articulated boom of a working machine.

8. The planting machine according to any of the claims 1 to 7, the planting devices comprising a vertical planting tube which is inserted to a planting spot in a controlled manner, delivers a seedling to the planting spot, and is retracted to a standby position in which it can receive a new seedling to be planted.

9. The planting machine according to claim 1 , wherein the planting devices are configured to convey seedlings one by one to the planting spot and placing them in the planting spot in the ground, and wherein the feeding device is configured to deliver the seedlings either one by one or several seedlings at a time to said predetermined location.

10. The planting machine according to claim 2, wherein the intermediate storage is an elongated magazine configured to move back and forth by means of an actuator, and wherein the planting machine is provided with an opening, at which each seedling is transferred by means of the intermediate storage and through which the seedling drops into a planting tube used as said planting devices.

1 1 . A working machine which is an all-terrain vehicle and comprises a con- trollable articulated boom, at whose end a planting machine according to any of the claims 1 to 10 is connected.

12. The working machine according to claim 1 1 , the working machine being based on a tractor, a harvester, a forwarder, or an excavator.

13. An apparatus for handling seedlings, the apparatus comprising:

14. The apparatus according to claim 13, the apparatus further comprising an intermediate storage, in which several seedlings can be placed and which is placed in the above-mentioned location, the feeding device being further configured to deliver several seedlings simultaneously to the intermediate storage, for refilling the same.

15. The apparatus according to claim 13 or 14, the apparatus comprising at least two seedling storages on top of each other, or at least two seedling storages next to each other, or seedling storages both next to each other and on top of each other, and the transfer devices being configured to convey the feeding device to each of the seedling storages.

16. The apparatus according to any of the claims 13 to 15, the feeding device being connected to the transfer devices by means of an articulated joint in such a way that the feeding device with its grippers can swing around a vertical rotation axis, or two grippers being further connected to the feeding device, one after the other, in such a way that the successive grippers are configured to pick up seedlings from opposite sides of the feeding device.

17. The apparatus according to any of the claims 13 to 16, the apparatus being placed in a planting machine equipped with planting devices configured to convey a seedling to a planting spot and to place it in the planting spot.

18. The apparatus according to claim 13, wherein the feeding device is configured to deliver the seedlings either one by one or several seedlings at a time to said predetermined location, and wherein at least two of said seedling storages are provided on top of each other, or at least two next to each other, or seedling storages are provided both next to each other and on top of each other, wherein the transfer devices are further configured to convey the feeding device to each of the seedling storages for picking up seedlings.

19. A planting machine apparatus for planting seedlings, the planting machine apparatus comprising:

- planting devices configured to convey a seedling to a planting spot and to place it there, and

- an intermediate storage in which several seedlings can be placed and which is configured to guide seedlings one by one to the planting devices.

20. The planting machine apparatus according to claim 19, wherein the intermediate storage is an elongated magazine, in which several seedlings can be placed next to each other in such a way that at least one row of seedlings is formed, and which magazine is configured to receive several seedlings simultaneously for refilling, to move back and forth in the longitudinal direction by means of an actuator, and to guide seedlings one by one to the planting devices.

21 . The planting machine apparatus according to claim 20, wherein several seedlings can be placed next to each other in the intermediate storage in such a way that only one row of seedlings is formed.

22. The planting machine apparatus according to claim 20 or 21 , wherein the planting machine apparatus further comprises an opening, at which a seedling is transferred by means of the intermediate storage and through which the seedling drops to a planting tube in the planting devices.

23. The planting machine apparatus according to any of the claims 19 to 22, wherein the planting devices are configured to receive a seedling and to convey one seedling at a time to a planting spot and to place it there.

24. The planting machine apparatus according to any of the claims 19 to 23, wherein the planting machine apparatus further comprises a feeding device which is configured to convey several seedlings at a time and to deliver the seedlings to an intermediate storage for refilling the same, either one by one or several seedlings at a time.

25. The planting machine apparatus according to claim 24, wherein the planting machine apparatus further comprises at least one seedling storage in which seedlings are placed in a regular order for the feeding device.

26. The planting machine apparatus according to any of the claims 19 to 25, wherein the planting machine apparatus further comprises a frame in which said planting device are placed and which is also provided with fastening devices, by means of which the planting machine apparatus can be connected to an articulated boom in a working machine.

27. The planting machine apparatus according to any of the claims 19 to 26, the planting machine apparatus further comprising:

- tilling devices for preparing the soil surface for the planting of a seedling, and

- packing devices for packing the soil surface around the seedling planted.

28. The planting machine apparatus according to any of the claims 19 to 27, the planting devices comprising a vertical planting tube which is inserted to a planting spot in a controlled manner, delivers a seedling to the planting spot, and is retracted to a standby position in which it can receive a new seedling to be planted.