WO2017082152A1 - Seedling transplanting device, mechanism for grasping seedling bed piece, and grasping member - Google Patents

Seedling transplanting device, mechanism for grasping seedling bed piece, and grasping member Download PDF

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Publication number
WO2017082152A1
WO2017082152A1 PCT/JP2016/082719 JP2016082719W WO2017082152A1 WO 2017082152 A1 WO2017082152 A1 WO 2017082152A1 JP 2016082719 W JP2016082719 W JP 2016082719W WO 2017082152 A1 WO2017082152 A1 WO 2017082152A1
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gripping
piece
seedbed
nursery
holding
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PCT/JP2016/082719
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French (fr)
Japanese (ja)
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豪 伊藤
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株式会社椿本チエイン
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Priority to JP2015221271A priority Critical patent/JP2017085988A/en
Priority to JP2015-221271 priority
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Publication of WO2017082152A1 publication Critical patent/WO2017082152A1/en

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    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01GHORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G9/00Cultivation in receptacles, forcing-frames or greenhouses; Edging for beds, lawn or the like
    • A01G9/08Devices for filling-up flower-pots or pots for seedlings; Devices for setting plants or seeds in pots
    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01GHORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G31/00Soilless cultivation, e.g. hydroponics
    • A01G31/02Special apparatus therefor
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02PCLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P60/00Technologies relating to agriculture, livestock or agroalimentary industries
    • Y02P60/20Reduction of greenhouse gas [GHG] emissions in agriculture, e.g. CO2
    • Y02P60/21Dinitrogen oxide [N2O], e.g. using aquaponics, hydroponics or efficiency measures

Abstract

A mechanism (14) for grasping a seedling bed piece, the mechanism (14) being provided to a seedling transplanting device (11) for separating a seedling bed piece (17) that constitutes a part of a seedling bed (15) from the seedling bed (15) and transplanting the seedling bed piece (17) to a planting panel (18), has a plurality of grasping members (20) that can grasp the seedling bed piece (17), the seedling bed piece (17) being moved while being grasped by the grasping members (20), whereby the seedling bed piece (17) can be separated from the seedling bed (15), protruding curved surface parts (40) being provided at the tips of the grasping members (20).

Description

苗移植装置、苗床片の把持機構及び把持部材Seedling transplanting device, seedling piece gripping mechanism and gripping member
 本発明は、苗移植装置と、前記苗移植装置に設けられた苗床片の把持機構と、前記把持機構に設けられた把持部材とに関する。 The present invention relates to a seedling transplanting apparatus, a seedbed piece gripping mechanism provided in the seedling transplanting apparatus, and a gripping member provided in the gripping mechanism.
 従来から、例えば特許文献1に記載の自動定植装置(以下、「苗移植装置」という。)が知られている。この苗移植装置は、苗床片の把持機構を有する。その把持機構は、ウレタンマットで構成された苗床を水平移動可能に支持するとともに、その苗床よりも下方位置に定植パネルを水平移動可能に支持し、移送用の挟み具及び挿入用の挟み具を含む。このような把持機構を用いて苗床から苗付きの苗床片を分離した後、その苗床片が定植パネルに形成された穴内に移植される。 Conventionally, for example, an automatic planting device (hereinafter referred to as “seedling transplanting device”) described in Patent Document 1 is known. This seedling transplanting apparatus has a seedbed holding mechanism. The gripping mechanism supports a nursery bed composed of urethane mats so that it can move horizontally, and supports a fixed planting panel so that it can move horizontally below the nursery bed. Including. After separating a seedbed piece with a seedling from a seedbed using such a gripping mechanism, the seedbed piece is transplanted into a hole formed in a fixed planting panel.
 ウレタンマットで構成された苗床は、格子状となるように形成された縦切目と横切目とで断続的に連結された多数の苗床片がマトリックスを形成している。苗床片を分離する際には、移送用の挟み具を構成する一対の両側挟み片(把持部材)の先端が、分離対象となる苗床片の両側面に沿う縦切目に上方から挿入される。次に、その移送用の挟み具が両側挟み片で分離対象の苗床片を挟持(把持)して水平方向に移動することにより、挟持した苗床片が苗床から分離される。 A nursery bed made of urethane mat has a matrix formed by a large number of seedbed pieces that are intermittently connected by vertical cuts and horizontal cuts formed in a lattice pattern. When separating the seedbed pieces, the tips of a pair of both-side pinching pieces (gripping members) constituting the transfer clip are inserted from above into vertical cuts along both side surfaces of the seedbed piece to be separated. Next, the holding clip piece is separated from the nursery bed by holding (gripping) the seed bed piece to be separated by the holding clip pieces on both sides and moving in a horizontal direction.
特開2000-4699号公報JP 2000-4699 A
 上記の苗床片の把持機構において苗床片を把持する把持部材として機能する両側挟み片は、開閉可能に設けられた直棒状の部材であり、その先端部分には何ら技術的特徴を有していない。すなわち、直棒状の両側挟み片は、その断面形状が長さ方向における基端から先端まで略同一の棒材であり、その先端は長さ方向と直交する端面を形成する。 The both-side pinching piece that functions as a gripping member for gripping the seedbed piece in the above-mentioned seedbed piece gripping mechanism is a straight bar-like member that can be opened and closed, and has no technical characteristics at its tip portion. . That is, the straight rod-shaped both-side sandwiching pieces are rod members whose cross-sectional shape is substantially the same from the base end to the tip end in the length direction, and the tip end forms an end face orthogonal to the length direction.
 そのため、分離対象となる苗床片の両側面に沿う縦切目に両側挟み片の先端を上方から挿入しようとするとき、その苗床片の表面における縦切目から側方へずれた位置に両側挟み片の先端が当接すると、その先端のエッジ部分が苗床片の表面に引っ掛かってしまい、縦切目内に両側挟み片を挿入することができなかった。その結果、移送用の挟み具の両側挟み片により分離対象となる苗床片を把持することができないため、苗床から苗床片を分離して定植パネルに移植することができなくなるという問題があった。 Therefore, when trying to insert the tip of the both-side sandwich piece from above into the longitudinal cut along the both sides of the seedbed piece to be separated, the both-side sandwich piece is located at a position shifted laterally from the longitudinal cut on the surface of the seedbed piece. When the tip contacted, the edge part of the tip was caught on the surface of the seedbed piece, and the both-side sandwich pieces could not be inserted into the vertical cut line. As a result, since the seedbed pieces to be separated cannot be gripped by the both-side pinching pieces of the transfer clip, there is a problem that the seedbed pieces cannot be separated from the seedbed and transplanted to the fixed planting panel.
 本発明は、このような実情に鑑みてなされたものであり、その目的は、分離対象となる苗床片を苗床から良好に分離でき、そのようにして分離した苗床片を他に移植することができる苗移植装置と、前記苗移植装置に設けられた苗床片の把持機構と、前記把持機構に設けられた把持部材とを提供することにある。 The present invention has been made in view of such circumstances, and its purpose is to be able to satisfactorily separate the seedbed piece to be separated from the seedbed and to transplant the seedbed piece thus separated to another. An object of the present invention is to provide a seedling transplanting device, a gripping mechanism for a seedbed piece provided in the seedling transplanting device, and a gripping member provided in the gripping mechanism.
 以下、上記課題を解決するための手段及びその作用効果について記載する。
 上記課題を解決する苗床片の把持機構は、苗床の一部を構成する苗床片を前記苗床から分離して他に移植する苗移植装置に設けられ、前記苗床片を把持可能な複数の把持部材を有し、前記把持部材により前記苗床片を把持したまま移動することにより前記苗床から前記苗床片を分離可能であり、前記把持部材の先端には凸曲面部が設けられている。
Hereinafter, means for solving the above-described problems and the effects thereof will be described.
A nursery piece gripping mechanism that solves the above problem is provided in a seedling transplanting device that separates a seedbed piece constituting a part of the nursery bed from the seedbed and transplants it to the other, and a plurality of gripping members that can hold the seedbed piece The nursery piece can be separated from the nursery by moving while holding the nursery piece by the holding member, and a convex curved surface portion is provided at the tip of the holding member.
 例えばウレタン等で構成された弾性変形可能な苗床において複数の切目により断続的に連結された苗床片を把持機構の複数の把持部材により把持して苗床から分離する場合には、複数の把持部材が開かれて、把持部材の先端が分離対象となる苗床片の側面に沿う切目に挿入される。このとき、把持部材の先端が苗床片の表面上の切目から側方へずれた位置に当接したとしても、上記構成によれば、把持部材の先端には凸曲面部が設けられているため、把持部材の先端が苗床片の表面に引っ掛かったりする可能性は低い。そのため、その後、把持部材の先端の凸曲面部が苗床片の表面に食い込む方向へ把持機構を移動させると、把持部材は、先端の凸曲面部が苗床片を弾性変形させつつ苗床片の表面を摺動して切目内まで到達し、ついには切目内に挿入される。その後、複数の把持部材を閉じれば、把持機構は把持部材により苗床片を把持することができる。したがって、分離対象となる苗床片を苗床から良好に分離でき、分離した苗床片を他に移植することができる。 For example, in a case where a seedbed piece intermittently connected by a plurality of cuts is gripped by a plurality of gripping members of a gripping mechanism and separated from the seedbed in an elastically deformable seedbed made of urethane or the like, the plurality of gripping members are Opened, the tip of the gripping member is inserted into a cut along the side surface of the seedbed piece to be separated. At this time, even if the tip of the gripping member comes into contact with a position shifted laterally from the cut on the surface of the seedbed piece, according to the above configuration, the tip of the gripping member is provided with the convex curved surface portion. The possibility that the tip of the gripping member is caught on the surface of the nursery piece is low. Therefore, when the gripping mechanism is moved in the direction in which the convex curved surface portion at the tip of the gripping member bites into the surface of the seedbed piece, the gripping member moves the surface of the seedbed piece while the convex curved surface portion at the tip elastically deforms the seedbed piece. It slides to reach the inside of the cut and is finally inserted into the cut. Thereafter, if the plurality of gripping members are closed, the gripping mechanism can grip the seedbed piece by the gripping members. Therefore, the seedbed piece to be separated can be satisfactorily separated from the seedbed, and the separated seedbed piece can be transplanted elsewhere.
 上記把持機構は前記苗床片を両側から挟んで把持可能な少なくとも一対の把持部材を備え、少なくとも一対の前記把持部材は対をなす相手側の把持部材と対向する先端周辺の部分に、前記凸曲面部の頂点から基端付近まで延びる曲面領域を有することが好ましい。 The gripping mechanism includes at least a pair of gripping members capable of gripping the seedbed piece from both sides, and the at least one pair of gripping members is formed on the convex curved surface at a portion around the tip facing the paired gripping member. It is preferable to have a curved region extending from the top of the part to the vicinity of the base end.
 この構成によれば、一対の把持部材は、苗床片を両側から挟んで閉じるとき、凸曲面部の頂点から基端付近まで延びる曲面領域が苗床片の表面を摺動するため、閉じている途中で把持部材の先端が弾性変形している苗床片に引っ掛かる虞を低減できる。 According to this configuration, the pair of gripping members are in the middle of closing because the curved region extending from the top of the convex curved surface portion to the vicinity of the proximal end slides on the surface of the seedbed piece when the nursery piece is sandwiched and closed from both sides. Therefore, it is possible to reduce the possibility that the tip of the gripping member is caught by the nursery piece that is elastically deformed.
 上記把持機構において、各把持部材は、対をなす相手側の把持部材と対向し、かつ、前記曲面領域よりも基端に近い部分に、一対の把持部材で両側から前記苗床片を挟んだときに当該苗床片に圧接される接触部を有することが好ましい。 In the above gripping mechanism, each gripping member is opposed to the counterpart gripping member that makes a pair, and the nursery piece is sandwiched from both sides by a pair of gripping members in a portion closer to the base end than the curved surface region. It is preferable to have a contact portion that is pressed against the nursery piece.
 この構成によれば、一対の把持部材で両側から苗床片を挟んだときに各把持部材の接触部が苗床片に圧接されるため、しっかりと苗床片を把持することができる。
 上記把持機構において、前記接触部は、前記苗床片を挟んだときに当該苗床片に対して面接触可能であることが好ましい。
According to this structure, since the contact part of each holding member is press-contacted to a seedbed piece when a seedbed piece is pinched from both sides with a pair of holding members, the seedbed piece can be firmly held.
In the gripping mechanism, it is preferable that the contact portion can come into surface contact with the nursery piece when the nursery piece is sandwiched.
 この構成によれば、苗床片に点接触する接触部ではなく、面接触する接触部で苗床片を把持するため、より安定して苗床片を把持することができる。
 上記把持機構において、前記接触部は、前記苗床片を挟んだときに当該苗床片に対して複数箇所で接触可能であることが好ましい。
According to this configuration, since the seedbed piece is gripped not by the contact portion that makes point contact with the seedbed piece but by the contact portion that makes surface contact, the seedbed piece can be gripped more stably.
In the gripping mechanism, it is preferable that the contact portion can contact the nursery piece at a plurality of locations when the nursery piece is sandwiched.
 この構成によれば、苗床片に一点で接触する接触部ではなく、複数箇所で接触する接触部で苗床片を把持するため、より安定して苗床片を把持することができる。
 また、上記課題を解決する把持部材は、苗床の一部を構成する苗床片を前記苗床から分離して他に移植する苗移植装置に設けられた把持機構に設けられるとともに、その先端には凸曲面部が設けられ、複数の把持部材により前記苗床片を把持可能であるように構成されている。
According to this configuration, since the seedbed piece is gripped by the contact portions that are in contact with a plurality of places instead of the contact portion that contacts the seedbed piece at one point, the seedbed piece can be gripped more stably.
In addition, a gripping member that solves the above problem is provided in a gripping mechanism provided in a seedling transplanting apparatus that separates a seedbed piece constituting a part of the seedbed from the seedbed and transplants the seedbed, and has a convex at the tip thereof. A curved surface portion is provided, and the seedbed piece can be gripped by a plurality of gripping members.
 この構成によれば、把持部材において上記把持機構と同様の効果を享受することができる。
 また、上記課題を解決する苗移植装置は、苗床を支持する第1支持部と、定植パネルを支持する第2支持部と、上記構成の把持機構とを備え、前記把持機構により前記第1支持部に支持された前記苗床から分離された前記苗床片を前記第2支持部に支持された前記定植パネルに移植可能である。
According to this configuration, it is possible to enjoy the same effect as the gripping mechanism in the gripping member.
In addition, a seedling transplanting apparatus that solves the above problems includes a first support part that supports a seedbed, a second support part that supports a fixed planting panel, and a gripping mechanism configured as described above, and the first support by the gripping mechanism. The seedbed piece separated from the seedbed supported by the part can be transplanted to the fixed planting panel supported by the second support part.
 この構成によれば、苗移植装置において上記把持機構と同様の効果を享受することができる。 According to this configuration, the seedling transplanting device can enjoy the same effects as the gripping mechanism.
苗移植装置の一実施形態の概略構成を示す正面図。The front view which shows schematic structure of one Embodiment of a seedling transplanting apparatus. 苗移植装置の制御構成を示すブロック図。The block diagram which shows the control structure of a seedling transplanting apparatus. 苗床を模式的に示す斜視図。The perspective view which shows a nursery typically. 苗床の一部を拡大して示す平面図。The top view which expands and shows a part of nursery bed. 苗床支持パネルの斜視図。The perspective view of a seedbed support panel. 定植パネルの斜視図。The perspective view of a fixed planting panel. 一対の把持部材が閉じた状態にある苗床片の把持機構の斜視図。The perspective view of the holding mechanism of the seedbed piece in a state where a pair of holding members are closed. 一対の把持部材が開いた状態にある苗床片の把持機構の斜視図。The perspective view of the holding mechanism of the seedbed piece in a state where a pair of holding members are opened. 把持部材を示す図で、(a)は斜視図、(b)は正面図、(c)は平面図、(d)は底面図、(e)は右側面図、(f)は左側面図、(g)は背面図。It is a figure which shows a holding member, (a) is a perspective view, (b) is a front view, (c) is a top view, (d) is a bottom view, (e) is a right side view, (f) is a left side view. , (G) is a rear view. 図1の状態から苗床片の把持機構が上昇した状態を示す正面図。The front view which shows the state which the holding mechanism of the nursery piece rose from the state of FIG. 図10の状態から把持機構が開いた状態を示す正面図。FIG. 11 is a front view showing a state where the gripping mechanism is opened from the state of FIG. 10. 図11の状態から把持機構が更に上昇した場合の要部拡大断面図。The principal part expanded sectional view when a holding | grip mechanism raises further from the state of FIG. 図12の状態から把持機構が更に上昇した場合の要部拡大断面図。The principal part expanded sectional view when a holding | grip mechanism raises further from the state of FIG. 図13の状態から把持機構が更に上昇した場合の要部拡大断面図。The principal part expanded sectional view when a holding | grip mechanism raises further from the state of FIG. 図14の状態から把持機構が閉じた場合の要部拡大断面図。The principal part expanded sectional view when a holding | grip mechanism closes from the state of FIG. 図15の状態を別方向からの断面で示した要部拡大断面図。The principal part expanded sectional view which showed the state of FIG. 15 in the cross section from another direction. 図15の状態から把持機構が下降した状態を示す正面図。The front view which shows the state which the holding | grip mechanism lowered | hung from the state of FIG. 図17の状態から把持機構が更に下降した状態を示す正面図。The front view which shows the state which the holding | grip mechanism further lowered | hung from the state of FIG. 比較例の把持部材が苗床にずれて当接した場合の要部拡大断面図。The principal part expanded sectional view when the holding member of a comparative example slip | deviates and contacts the seedbed. 図19の状態から把持部材が更に上昇した場合の要部拡大断面図。The principal part expanded sectional view when a holding member raises further from the state of FIG. 実施形態の把持部材が苗床にずれて当接した場合の要部拡大断面図。The principal part expanded sectional view when the holding member of embodiment shift | deviates and contacts the seedbed. 図21の状態から把持部材が更に上昇した場合の要部拡大断面図。The principal part expanded sectional view when a holding member raises further from the state of FIG. 変形例の把持部材を示す図で、(a)は斜視図、(b)は正面図、(c)は平面図、(d)は底面図、(e)は一対の把持部材が閉じている図、(f)は一対の把持部材が開いている図。It is a figure which shows the holding member of a modification, (a) is a perspective view, (b) is a front view, (c) is a top view, (d) is a bottom view, (e) is a pair of holding member closed. FIG. 4F is a diagram in which a pair of gripping members are open. 変形例の把持部材を示す図で、(a)は斜視図、(b)は正面図、(c)は平面図、(d)は底面図、(e)は一対の把持部材が閉じている図、(f)は一対の把持部材が開いている図。It is a figure which shows the holding member of a modification, (a) is a perspective view, (b) is a front view, (c) is a top view, (d) is a bottom view, (e) is a pair of holding member closed. FIG. 4F is a diagram in which a pair of gripping members are open. 変形例の把持部材を示す図で、(a)は斜視図、(b)は正面図、(c)は平面図、(d)は底面図、(e)は一対の把持部材が閉じている図、(f)は一対の把持部材が開いている図。It is a figure which shows the holding member of a modification, (a) is a perspective view, (b) is a front view, (c) is a top view, (d) is a bottom view, (e) is a pair of holding member closed. FIG. 4F is a diagram in which a pair of gripping members are open. 変形例の把持部材を示す図で、(a)は斜視図、(b)は正面図、(c)は平面図、(d)は底面図、(e)は右側面図、(f)は左側面図、(g)は背面図。It is a figure which shows the holding member of a modification, (a) is a perspective view, (b) is a front view, (c) is a top view, (d) is a bottom view, (e) is a right side view, (f) is a side view Left side view, (g) is a rear view.
 以下、苗移植装置の一実施形態について、前記苗移植装置に設けられた苗床片の把持機構と、前記把持機構に設けられた把持部材と共に、図を参照して説明する。
 図1に示すように、本実施形態の苗移植装置11は苗床を支持する第1支持部12と定植パネルを支持する第2支持部13と苗床片の把持機構14とを備えている。第1支持部12と第2支持部13は、苗移植装置11の幅方向(X方向)及び奥行方向(Y方向)の少なくとも一方向に沿って移動可能なコンベヤ機構やチェーン機構等でそれぞれ構成され、第1支持部12の下方に、第2支持部13が設けられている。第1支持部12上には、苗Nが植え付けられるマット状の苗床15が苗床支持パネル16を介して支持されている。第2支持部13上には、苗床15から苗床片の把持機構14により分離された苗床片17が移植される定植パネル18が支持されている。苗床15は苗床支持パネル16を介することなく第1支持部12上に直接支持されていてもよい。
Hereinafter, an embodiment of the seedling transplanting apparatus will be described with reference to the drawings together with a holding mechanism for a seedbed piece provided in the seedling transplanting apparatus and a holding member provided in the holding mechanism.
As shown in FIG. 1, the seedling transplanting apparatus 11 of this embodiment includes a first support portion 12 that supports a seedbed, a second support portion 13 that supports a fixed planting panel, and a seedbed piece gripping mechanism 14. The 1st support part 12 and the 2nd support part 13 are each comprised with the conveyor mechanism, the chain mechanism, etc. which can move along at least one direction of the width direction (X direction) and the depth direction (Y direction) of the seedling transplanting apparatus 11. The second support portion 13 is provided below the first support portion 12. On the first support portion 12, a mat-shaped seedbed 15 on which the seedling N is planted is supported via a seedbed support panel 16. On the 2nd support part 13, the fixed planting panel 18 by which the seedbed piece 17 isolate | separated by the holding mechanism 14 of the seedbed piece from the seedbed 15 is transplanted is supported. The nursery bed 15 may be directly supported on the first support part 12 without using the nursery bed support panel 16.
 苗床片の把持機構14は、基体部19と、基体部19の上端に少なくとも一対の把持部材20を有する。本実施形態では、基体部19の上端部に一対の把持部材20が開閉可能に設けられている。そして、苗床片17の左右両側に一対の把持部材20の各々を互いに対向するように配置した状態で開閉させることにより、一対の把持部材20で苗床片17を両側から挟んで把持することができる。 The nursery piece gripping mechanism 14 includes a base portion 19 and at least a pair of gripping members 20 on the upper end of the base portion 19. In the present embodiment, a pair of gripping members 20 are provided at the upper end of the base portion 19 so as to be opened and closed. Then, by opening and closing the pair of gripping members 20 on the left and right sides of the seedbed piece 17 so as to face each other, the pair of gripping members 20 can grip the seedbed piece 17 from both sides. .
 基体部19の基端周辺には、苗移植装置11の幅方向(X方向)及び奥行方向(Y方向)及び高さ方向(Z方向)のうち少なくとも高さ方向(Z方向)への移動が可能であるように把持機構14の基体部19を支持する第3支持部21が設けられている。第3支持部21は、基体部19をZ方向に沿って昇降させる昇降機構21aや、基体部19を例えばX方向やY方向に沿って移動可能に案内するスライド機構21b等を含む。 Around the proximal end of the base body 19, the seedling transplanting device 11 is moved in the width direction (X direction), the depth direction (Y direction), and the height direction (Z direction) in at least the height direction (Z direction). A third support portion 21 that supports the base portion 19 of the gripping mechanism 14 is provided so as to be possible. The third support portion 21 includes an elevating mechanism 21a that raises and lowers the base portion 19 along the Z direction, a slide mechanism 21b that guides the base portion 19 movably along the X direction and the Y direction, and the like.
 第1支持部12は苗床15を支持し、第2支持部13は定植パネル18を支持している。苗床15の一部の苗床片17が把持機構14により苗床15から分離されて定植パネル18内に設けられた穴22内に移植される。そのとき、その穴22と分離対象の苗床片17とがZ方向で位置合わせされるようにX方向及びY方向の少なくとも一方向に沿って移動する。すなわち、分離対象となる苗床片17の真下に定植用の穴22が位置合せされる。 The first support part 12 supports the nursery bed 15 and the second support part 13 supports the planting panel 18. A part of the seedbed piece 17 of the seedbed 15 is separated from the seedbed 15 by the gripping mechanism 14 and transplanted into a hole 22 provided in the fixed planting panel 18. At that time, the hole 22 and the seedbed piece 17 to be separated move along at least one of the X direction and the Y direction so as to be aligned in the Z direction. That is, the fixed planting hole 22 is aligned directly below the seedbed piece 17 to be separated.
 その場合において把持機構14を支持する第3支持部21は、分離された苗床片17が移植される定植パネル18の穴22の真下に把持機構14の把持部材20が位置合わせされるように把持機構14の基体部19を移動させる。あるいは、把持機構14の把持部材20の真上に定植パネル18の定植用の穴22と分離対象となる苗床片17とが位置合せされるように、第1支持部12と第2支持部13がX方向及びY方向の少なくとも一方向に沿って移動する。こうした場合の第1支持部12、第2支持部13及び第3支持部21の移動制御は、苗移植装置11に設けられた制御装置23により行われる。 In this case, the third support portion 21 that supports the gripping mechanism 14 grips the gripping member 20 of the gripping mechanism 14 so that the gripping member 20 is aligned directly below the hole 22 of the planting panel 18 into which the separated seedbed piece 17 is transplanted. The base portion 19 of the mechanism 14 is moved. Alternatively, the first support portion 12 and the second support portion 13 are positioned so that the planting hole 22 of the planting panel 18 and the seedbed piece 17 to be separated are aligned directly above the gripping member 20 of the gripping mechanism 14. Moves along at least one of the X and Y directions. Movement control of the 1st support part 12, the 2nd support part 13, and the 3rd support part 21 in such a case is performed by the control apparatus 23 provided in the seedling transplanting apparatus 11. FIG.
 図2に示すように、制御装置23は、論理演算機能を有するCPU24、所定の情報を読み出し可能に記憶するROM25、及び各種の情報を書き込み及び読み出し可能に記憶するRAM26を備えたデジタルコンピュータによって構成されている。CPU24は、インターフェース(図示略)を介して各種の情報が入力された場合、苗移植装置11の稼働状態を制御するために必要とされる各種の論理演算を行うと共に、その論理演算において使用される各種情報の読み出し及び書き込みを行う。ROM25には、苗移植装置11全体の稼動状態を制御するために用いられるプログラムが記憶されている。RAM26には、苗移植装置11の稼動中にCPU24による論理演算において使用されると共に書き換えられる各種の情報内容が適宜に記憶される。 As shown in FIG. 2, the control device 23 includes a CPU 24 having a logical operation function, a ROM 25 for storing predetermined information in a readable manner, and a digital computer having a RAM 26 for storing various types of information in a readable and readable manner. Has been. When various types of information are input via an interface (not shown), the CPU 24 performs various logical operations required for controlling the operating state of the seedling transplanting device 11 and is used in the logical operations. Various information is read and written. The ROM 25 stores a program used for controlling the operation state of the entire seedling transplanting apparatus 11. The RAM 26 appropriately stores various information contents that are used and rewritten in the logical operation by the CPU 24 during operation of the seedling transplanting apparatus 11.
 制御装置23の入力側インターフェース(図示略)には、外部端末の一種であるPC27と、この制御装置23に対して各種情報を手入力する場合に使用される操作パネル28とが接続されている。一方、制御装置23の出力側インターフェース(図示略)には、第1水平駆動部29、第2水平駆動部30、第3水平駆動部31、上下駆動部32及びアーム開閉駆動部33が接続されている。 An input side interface (not shown) of the control device 23 is connected to a PC 27 that is a kind of external terminal and an operation panel 28 that is used to manually input various information to the control device 23. . On the other hand, a first horizontal driving unit 29, a second horizontal driving unit 30, a third horizontal driving unit 31, a vertical driving unit 32, and an arm opening / closing driving unit 33 are connected to an output side interface (not shown) of the control device 23. ing.
 第1水平駆動部29は、CPU24からの制御信号に基づき第1支持部12の水平方向(X方向、Y方向)の移動を制御する。第2水平駆動部30は、CPU24からの制御信号に基づき第2支持部13の水平方向(X方向、Y方向)の移動を制御する。第3水平駆動部31は、CPU24からの制御信号に基づき第3支持部21におけるスライド機構21bの水平方向(X方向、Y方向)の移動を制御する。上下駆動部32は、CPU24からの制御信号に基づき第3支持部21における昇降機構21aの上下方向(Z方向)の移動を制御する。アーム開閉駆動部33は、CPU24からの制御信号に基づき把持機構14において一対の把持部材20が装着されたアーム19aの開閉を制御する。 The first horizontal drive unit 29 controls the movement of the first support unit 12 in the horizontal direction (X direction, Y direction) based on a control signal from the CPU 24. The second horizontal drive unit 30 controls the movement of the second support unit 13 in the horizontal direction (X direction, Y direction) based on a control signal from the CPU 24. The third horizontal drive unit 31 controls the movement of the slide mechanism 21 b in the third support unit 21 in the horizontal direction (X direction, Y direction) based on a control signal from the CPU 24. The vertical drive unit 32 controls the vertical movement (Z direction) of the lifting mechanism 21 a in the third support unit 21 based on a control signal from the CPU 24. The arm opening / closing drive unit 33 controls the opening / closing of the arm 19 a to which the pair of gripping members 20 are attached in the gripping mechanism 14 based on a control signal from the CPU 24.
 図3及び図4に示すように、苗床15は、例えばウレタン等の発泡樹脂で構成された弾性変形可能な平面視矩形のマット体であり、XZ平面及びYZ平面に沿って延びる多数の切目34が平面視で格子状に形成されている。苗床15は、格子状の切目34により略立方体形状を形成する多数の苗床片17に区分されている。本実施形態では、苗床片17が幅方向(X方向)及び奥行方向(Y方向)に各々8つずつ並ぶマトリックス状の配置となるように格子状の切目34が苗床15に形成されている。 As shown in FIGS. 3 and 4, the nursery bed 15 is a mat body having a rectangular shape in a plan view and made of a foamed resin such as urethane, and extends along the XZ plane and the YZ plane. Are formed in a lattice shape in plan view. The seedbed 15 is divided into a large number of seedbed pieces 17 that form a substantially cubic shape by lattice-like cuts 34. In the present embodiment, the grid-like cuts 34 are formed in the seedbed 15 so that the seedbed pieces 17 are arranged in a matrix of eight rows each in the width direction (X direction) and the depth direction (Y direction).
 切目34によりマトリックス状に区分された苗床片17は、平面視において隣接する他の苗床片17との境界となる辺の略中央部に、当該他の苗床片17と部分的に連なる連結部35を有している。そのため、苗床15を構成する多数の苗床片17は、X方向及びY方向において切目34と連結部35が交互に連続することにより、X方向及びY方向において隣接する他の苗床片17と断続的に連結されている。また、苗床片17の上面における略中央位置には、平面視円形の凹部36が形成され、その凹部36内には植物の苗Nが植え付けられる。 The seedbed piece 17 divided into a matrix by the cut line 34 is connected to a part 35 that is partly connected to the other seedbed piece 17 at a substantially central portion of a side that becomes a boundary with the adjacent other seedbed piece 17 in plan view. have. Therefore, many seedbed pieces 17 constituting the seedbed 15 are intermittently connected to other seedbed pieces 17 adjacent to each other in the X direction and the Y direction by alternately connecting the cuts 34 and the connecting portions 35 in the X direction and the Y direction. It is connected to. A concave portion 36 having a circular shape in plan view is formed at a substantially central position on the upper surface of the seedbed piece 17, and a plant seedling N is planted in the concave portion 36.
 図5に示すように、苗床支持パネル16は、その外形が平面視正方形状の板材であり、その幅方向(X方向)に沿って平行に延びる複数(本実施形態では8つ)の長孔37が形成されている。長孔37は板材を貫通し、その長手方向(この場合、X方向)に沿う2つの長い内縁のうち一方の内縁(図5では奥行方向(Y方向)の奥側の内縁)が幅方向(X方向)に沿って直線状に延びている。他方の内縁(図5では奥行方向(Y方向)の手前側の内縁)からは、複数(本実施形態では7つ)の略三角形板状の突部38が奥側の一方の内縁に向かって突設されている。 As shown in FIG. 5, the seedbed support panel 16 is a plate having an outer shape square in plan view, and has a plurality of (eight in this embodiment) long holes extending in parallel along the width direction (X direction). 37 is formed. The long hole 37 penetrates the plate, and one of the two long inner edges along the longitudinal direction (in this case, the X direction) (the inner edge on the back side in the depth direction (Y direction in FIG. 5)) is the width direction ( (X direction) extends linearly. From the other inner edge (inner edge on the near side in the depth direction (Y direction in FIG. 5)), a plurality (seven in this embodiment) of substantially triangular plate-shaped protrusions 38 are directed toward one inner edge on the inner side. Projected.
 各突部38は苗床片17の幅方向(X方向)の寸法に対応した間隔をおいて突設されている。苗床支持パネル16上に支持された苗床15の苗床片17は、その四隅のうち、奥行方向(Y方向)で手前側の二つの隅角部が幅方向(X方向)で隣り合う二つの突部38の上面に支持され、奥行方向(Y方向)で奥側の二つの隅角部が長孔37の奥側で直線状に延びる内縁付近の上面に支持される。長孔37内において隣り合う突部38の間には、苗床15から定植パネル18に苗床片17が移植されるときに当該苗床片17が通過する通過領域39が形成されている。 The protrusions 38 are provided at intervals corresponding to the width direction (X direction) dimensions of the seedbed piece 17. Of the four corners, the nursery piece 17 of the nursery 15 supported on the nursery support panel 16 has two protrusions whose two corners on the near side in the depth direction (Y direction) are adjacent in the width direction (X direction). The two corners on the back side in the depth direction (Y direction) are supported on the top surface near the inner edge that extends linearly on the back side of the long hole 37. Between the protrusions 38 adjacent to each other in the long hole 37, a passage region 39 through which the seedbed piece 17 passes when the seedbed piece 17 is transplanted from the seedbed 15 to the fixed planting panel 18 is formed.
 図6に示すように、定植パネル18は、その平面形状が苗床支持パネル16より若干大きな正方形状であると共に、その厚さ寸法が苗床片17の高さ方向(Z方向)の寸法と対応した厚みのある板体であり、その複数箇所(本実施形態では64箇所)に定植用の穴22が形成されている。この穴22は板体を貫通し、平面視円形であり、その穴22の内周面に沿う円は、略立方体形状の苗床片17の一つの面(例えば、底面)が形成する正方形の内接円に相当する。そのため、この穴22内に苗床片17を挿入した場合、その苗床片17は平面視での四隅部分が弾性変形して穴22の内周面に圧接されることで、穴22内に保持される。本実施形態では、幅方向(X方向)に8つの穴22を並べた穴列が8列分、奥行方向(Y方向)に並んだ列配置となるように形成されている。 As shown in FIG. 6, the fixed planting panel 18 has a square shape whose planar shape is slightly larger than the seedbed support panel 16, and its thickness dimension corresponds to the height direction (Z direction) dimension of the seedbed piece 17. It is a thick plate body, and holes 22 for planting are formed at a plurality of locations (64 locations in the present embodiment). The hole 22 penetrates the plate body and has a circular shape in plan view. The circle along the inner peripheral surface of the hole 22 is a square inside formed by one surface (for example, the bottom surface) of the substantially cubic shaped seedbed piece 17. It corresponds to a tangent circle. Therefore, when the seedbed piece 17 is inserted into the hole 22, the seedbed piece 17 is held in the hole 22 by elastically deforming the four corner portions in plan view and being pressed against the inner peripheral surface of the hole 22. The In the present embodiment, the hole rows in which the eight holes 22 are arranged in the width direction (X direction) are formed so as to form a row arrangement in which eight rows are arranged in the depth direction (Y direction).
 図7及び図8に示すように、把持機構14において、基体部19の上部には、少なくとも一対(本実施形態では一対)のアーム19aが開閉可能に設けられている。そのアーム19aの先端には、長棒状の把持部材20の基端部を着脱可能に支持する着脱部19bが設けられている。把持部材20は、基体部19の着脱部19bに対して着脱されることにより、必要に応じて把持部材20の交換が可能である。把持機構14においては、図2に示すアーム開閉駆動部33の駆動により、一対の把持部材20が図7に示す閉じた状態と図8に示す開いた状態との間でその開閉態様を制御される。 7 and 8, in the gripping mechanism 14, at least a pair (in this embodiment, a pair) of arms 19a are provided on the upper portion of the base 19 so as to be openable and closable. At the distal end of the arm 19a, an attaching / detaching portion 19b for detachably supporting the base end portion of the long rod-shaped gripping member 20 is provided. The gripping member 20 can be exchanged as required by attaching / detaching the gripping member 20 to / from the attaching / detaching portion 19b of the base body portion 19. In the gripping mechanism 14, the opening / closing mode of the pair of gripping members 20 is controlled between the closed state shown in FIG. 7 and the open state shown in FIG. 8 by driving the arm opening / closing drive unit 33 shown in FIG. The
 本実施形態における把持部材20は、特に、先端部の形状に技術的特徴がある。以下、この把持部材20の技術的特徴に着目して、その具体的構成を説明する。
 図9(a)~(g)に示すように、本実施形態の把持部材20は、その先端(図9(a)では上端)に凸曲面部40を有している。把持部材20の先端部は、対をなす相手側の把持部材20と対向する側に向けて鉤状に形成され、その鉤状部分の上端が把持部材20の先端に相当し、円弧に沿った凸曲面部40を構成している。
The gripping member 20 in the present embodiment has technical characteristics particularly in the shape of the tip. Hereinafter, focusing on the technical features of the gripping member 20, the specific configuration will be described.
As shown in FIGS. 9A to 9G, the gripping member 20 of the present embodiment has a convex curved surface portion 40 at the tip (the upper end in FIG. 9A). The tip of the gripping member 20 is formed in a bowl shape toward the side facing the counterpart gripping member 20 that makes a pair, and the upper end of the hook-like portion corresponds to the tip of the gripping member 20 and extends along the arc. Convex curved surface portion 40 is configured.
 また、各把持部材20は、対をなす相手側の把持部材20と対向する側(例えば、図9(e)では左側)の先端(上端)周辺の部分に、この凸曲面部40の頂点41から基端まで滑らかに延びる曲面領域42を有している。凸曲面部40は、把持部材20において対をなす相手側の把持部材20とは対向しない側の先端周辺の部分も、その凸曲面部40の頂点41から基端まで滑らかに延びる曲面領域44を有している。 Further, each gripping member 20 has a vertex 41 of the convex curved surface portion 40 at a portion around the tip (upper end) on the side (for example, the left side in FIG. 9 (e)) facing the paired counterpart gripping member 20. A curved region 42 extending smoothly from the base end to the base end. The convex curved surface portion 40 also has a curved surface region 44 that smoothly extends from the apex 41 to the base end of the convex curved surface portion 40 on the side of the grip member 20 that is not opposed to the counterpart gripping member 20 that forms a pair. Have.
 把持部材20は、対をなす相手側の把持部材20と対向する側で曲面領域42よりも基端に近い部分に、一対の把持部材20で両側から苗床片17を挟んだときに苗床片17に圧接される接触部43を有している。この接触部43は、一対の把持部材20で両側から苗床片17を挟んだときに苗床片17に対して面接触可能な平面形状を有しており、図7に示すように、把持機構14で一対の把持部材20が閉じた場合には、平面形状の接触部43が互いに面接触するように構成されている。 The gripping member 20 has a pair of gripping members 20 sandwiching the seedbed piece 17 from both sides in a portion closer to the base end than the curved surface region 42 on the side facing the paired counterpart gripping member 20. It has the contact part 43 press-contacted to. The contact portion 43 has a planar shape that can come into surface contact with the nursery piece 17 when the nursery piece 17 is sandwiched between the pair of holding members 20 from both sides. As shown in FIG. When the pair of gripping members 20 are closed, the planar contact portions 43 are configured to be in surface contact with each other.
 次に、以上のように構成された苗移植装置11、把持機構14及び把持部材20の作用について、把持機構14により苗床15から苗床片17が分離されて定植パネル18に移植される場合の作用に着目して以下説明する。 Next, regarding the operation of the seedling transplanting device 11, the gripping mechanism 14, and the gripping member 20 configured as described above, the operation when the seedbed piece 17 is separated from the seedbed 15 by the gripping mechanism 14 and transplanted to the fixed planting panel 18. This will be described below with a focus on.
 苗床15から苗床片17を分離して定植パネル18に移植する際には、まず移植対象(すなわち、分離対象)となる苗床片17が特定され、その苗床片17の真下に定植パネル18において移植先の穴22が配置される。また同様に、その穴22の真下に把持機構14における把持部材20の先端が配置される。この場合、苗移植装置11は、制御装置23の制御により、第1水平駆動部29、第2水平駆動部30、及び第3水平駆動部31が駆動され、第1支持部12、第2支持部13、第3支持部21におけるスライド機構21bが水平方向において移動する。 When the seedbed piece 17 is separated from the seedbed 15 and transplanted to the fixed planting panel 18, the seedbed piece 17 to be transplanted (that is, the separation target) is first identified and transplanted in the fixed planting panel 18 directly below the seedbed piece 17. The previous hole 22 is arranged. Similarly, the tip of the gripping member 20 in the gripping mechanism 14 is disposed directly below the hole 22. In this case, in the seedling transplanting device 11, the first horizontal driving unit 29, the second horizontal driving unit 30, and the third horizontal driving unit 31 are driven by the control of the control device 23, and the first support unit 12 and the second support unit 31 are driven. The slide mechanism 21b in the part 13 and the third support part 21 moves in the horizontal direction.
 図1は、苗床15において奥行方向(Y方向)の最も奥で幅方向(X方向)に沿って並ぶ8つの苗床片17のうち左側から4番目の苗床片17が、定植パネル18において幅方向(X方向)に沿って並ぶ8つの穴22のうち左側から4番目の穴22に移植される場合の初期状態を例示している。初期状態では把持機構14の一対の把持部材20は閉じている(図1参照)。 FIG. 1 shows that the fourth seedbed piece 17 from the left side of the eight seedling pieces 17 arranged in the depth direction (Y direction) and along the width direction (X direction) in the seedling bed 15 is the width direction in the fixed planting panel 18. The initial state in the case of transplanting to the 4th hole 22 from the left side among the 8 holes 22 arranged along (X direction) is illustrated. In the initial state, the pair of gripping members 20 of the gripping mechanism 14 are closed (see FIG. 1).
 以下、この初期状態からの移植手順を説明する。
 まず、図10に示すように、把持機構14が、図1に示す状態から把持部材20を閉じたまま上昇する。すなわち、制御装置23の制御により上下駆動部32が駆動され、把持機構14の基体部19が上昇する。その後、把持機構14の閉じた把持部材20が、定植パネル18の穴22を下方から上方に通過し、苗床15を支持した苗床支持パネル16の直下位置に把持部材20の先端が到達する。
Hereinafter, the transplantation procedure from this initial state will be described.
First, as shown in FIG. 10, the gripping mechanism 14 is raised from the state shown in FIG. 1 while the gripping member 20 is closed. That is, the vertical drive unit 32 is driven by the control of the control device 23 and the base unit 19 of the gripping mechanism 14 is raised. Thereafter, the gripping member 20 closed by the gripping mechanism 14 passes through the hole 22 of the fixed planting panel 18 upward from below, and the tip of the gripping member 20 reaches a position directly below the seedbed support panel 16 that supports the seedling bed 15.
 次に、図11に示すように、把持機構14が、閉じていた把持部材20を開かせる。すなわち、制御装置23の制御によりアーム開閉駆動部33が駆動され、把持機構14において一対の把持部材20が図10に示す閉じた状態から図11に示す開いた状態へ変化する。一対の把持部材20においては、開いた場合の両把持部材20の先端間の距離が、苗床片17の幅方向(X方向)の寸法に略等しくなるように設定されている。図11に示す状態から制御装置23の制御により上下駆動部32が駆動され、把持機構14は把持部材20を開いたまま更に上昇する。 Next, as shown in FIG. 11, the gripping mechanism 14 opens the gripping member 20 that has been closed. That is, the arm opening / closing drive unit 33 is driven by the control of the control device 23, and the pair of gripping members 20 in the gripping mechanism 14 changes from the closed state shown in FIG. 10 to the open state shown in FIG. In the pair of gripping members 20, the distance between the tips of the gripping members 20 when opened is set so as to be approximately equal to the width direction (X direction) dimension of the seedbed piece 17. From the state shown in FIG. 11, the vertical drive unit 32 is driven by the control of the control device 23, and the gripping mechanism 14 further moves up with the gripping member 20 open.
 その後、図12に示すように、把持部材20の先端が苗床支持パネル16の長孔37に下方から進入し、その先端に設けられた凸曲面部40が苗床15の底面に当接する。通常の場合、把持部材20の凸曲面部40は、苗床15の底面において分離対象の苗床片17の両側面に沿う切目34が形成された位置に当接する。次に、図12に示す当接状態から、制御装置23の制御により上下駆動部32が駆動され、把持機構14は把持部材20を開いたまま更に上昇する。 Thereafter, as shown in FIG. 12, the tip of the gripping member 20 enters the elongated hole 37 of the seedbed support panel 16 from below, and the convex curved surface portion 40 provided at the tip contacts the bottom surface of the seedbed 15. In a normal case, the convex curved surface portion 40 of the gripping member 20 abuts on the bottom surface of the seedbed 15 at a position where cuts 34 are formed along both side surfaces of the seedbed piece 17 to be separated. Next, from the contact state shown in FIG. 12, the vertical drive unit 32 is driven by the control of the control device 23, and the gripping mechanism 14 is further raised while the gripping member 20 is open.
 すると、図13に示すように、把持部材20の先端に設けられた凸曲面部40が苗床片17の表面(この場合は底面)に食い込む方向へ移動し、分離対象の苗床片17の両側面に沿う切目34内に、苗床片17を弾性変形させながら切目34を押し広げるようにして入り込む。このとき、把持部材20は、先端に滑らかな形状の凸曲面部40を有しているため、苗床片17の切目34の内面等に引っ掛かる可能性は低い。 Then, as shown in FIG. 13, the convex curved surface portion 40 provided at the tip of the gripping member 20 moves in a direction to bite into the surface (in this case, the bottom surface) of the seedbed piece 17, and both side surfaces of the seedbed piece 17 to be separated The cut line 34 is pushed and expanded while elastically deforming the seedbed piece 17 into the cut line 34 extending along the line. At this time, since the holding member 20 has the convex curved surface portion 40 having a smooth shape at the tip, the possibility of being caught by the inner surface of the cut 34 of the seedbed piece 17 is low.
 その後、図14に示すように、把持部材20の先端が苗床片17の凹部36の底部付近の高さまで上昇すると、その高さ位置で、把持機構14は上昇を停止する。次に、制御装置23の制御によりアーム開閉駆動部33が駆動され、一対の把持部材20が閉じられる。このとき、把持部材20は、凸曲面部40の頂点41から基端付近まで延びる曲面領域42が苗床片17の表面を摺動するため、閉じている途中で把持部材20の先端が弾性変形している苗床片17に引っ掛かる虞も低減される。 Then, as shown in FIG. 14, when the tip of the gripping member 20 rises to a height near the bottom of the concave portion 36 of the seedbed piece 17, the gripping mechanism 14 stops rising at that height position. Next, the arm opening / closing drive unit 33 is driven under the control of the control device 23, and the pair of gripping members 20 are closed. At this time, since the curved surface region 42 extending from the apex 41 of the convex curved surface portion 40 to the vicinity of the proximal end slides on the surface of the seedbed piece 17, the distal end of the gripping member 20 is elastically deformed while it is closed. The possibility of being caught by the nursery piece 17 is also reduced.
 その後、図15に示すように、苗床片17は、把持部材20が閉じることで、把持機構14の一対の把持部材20により、両側から挟むように把持される。このとき、一対の把持部材20は、互いの接触部43で苗床片17に両側から圧接される。その場合において、把持部材20は、苗床片17に対して点接触ではなく面接触状態で、弾性変形させた苗床片17を把持する。 Thereafter, as shown in FIG. 15, the seedbed piece 17 is gripped by the pair of gripping members 20 of the gripping mechanism 14 so as to be sandwiched from both sides when the gripping member 20 is closed. At this time, the pair of gripping members 20 are pressed against the seedbed piece 17 from both sides at the contact portions 43 of each other. In this case, the gripping member 20 grips the elastically deformed seedbed piece 17 in a surface contact state with respect to the seedbed piece 17 instead of being in point contact.
 この場合、図16に示すように、一対の把持部材20は、苗床片17の中央部から側方へ偏った位置において苗床片17を両側から挟んで把持する。そのため、図16に示すように、苗床片17の中央にある凹部36に植え付けられている苗Nから下方に延びた根Neが閉じた把持部材20により圧迫される可能性も低い。 In this case, as shown in FIG. 16, the pair of gripping members 20 grips the seedbed piece 17 from both sides at a position biased laterally from the center of the seedbed piece 17. Therefore, as shown in FIG. 16, the possibility that the root Ne extending downward from the seedling N planted in the recess 36 in the center of the seedbed piece 17 is compressed by the closed gripping member 20 is low.
 次に、図17に示すように、把持機構14は、把持部材20で苗床片17を把持したまま下降し、その苗床片17が定植パネル18の穴22内まで到達すると、その位置で下降を停止させ、その後、閉じていた把持部材20を開かせる。苗床片17を把持した把持機構14が下降することで、把持された苗床片17は下方へ引っ張られ、隣接する他の苗床片17から連結部35が千切られて分離される。このとき、例えば把持部材20が苗床片17の底面の一部だけを下方から掴んで下降する場合には、その掴まれた一部だけが引き千切られ、移植対象(分離対象)の苗床片17が苗床支持パネル16上に残ってしまう可能性がある。しかしながら、本実施形態では一対の把持部材20が苗床片17を両側から挟んで把持するため、そのような虞もない。 Next, as shown in FIG. 17, the grasping mechanism 14 descends while grasping the seedbed piece 17 with the grasping member 20, and when the seedbed piece 17 reaches the inside of the hole 22 of the planting panel 18, the grasping mechanism 14 descends at that position. Then, the gripping member 20 that has been closed is opened. When the gripping mechanism 14 that grips the seedbed piece 17 is lowered, the gripped seedbed piece 17 is pulled downward, and the connecting portion 35 is shredded and separated from the other adjacent seedbed pieces 17. At this time, for example, when the gripping member 20 grips only a part of the bottom surface of the seedbed piece 17 from below and descends, only the gripped part is torn off and the seedbed piece 17 to be transplanted (separation target). May remain on the nursery support panel 16. However, in this embodiment, since the pair of gripping members 20 grips the seedbed piece 17 from both sides, there is no such a possibility.
 この場合における把持機構14の下降動作及び停止動作、把持部材20の開き動作は、制御装置23の制御に基づき行われる。把持部材20が閉じた状態から開いた状態に変化したことにより、それまで把持された箇所において圧縮されて弾性変形していた苗床片17は、その箇所が弾性復元して膨張し、四隅部分が穴22の内周面に圧接される。 In this case, the lowering and stopping operations of the gripping mechanism 14 and the opening operation of the gripping member 20 are performed based on the control of the control device 23. By changing the gripping member 20 from the closed state to the open state, the nursery bed piece 17 that has been compressed and elastically deformed at the portion that has been gripped so far is elastically restored at that location and expanded, and the four corner portions are expanded. It is press-contacted to the inner peripheral surface of the hole 22.
 次に、図18に示すように、把持機構14は、把持部材20を開いたまま下降し、把持部材20の先端が定植パネル18の穴22から下方へ抜け出たところで、その下降を停止させる。把持部材20による把持から解放されて穴22内に残された苗床片17は、その四隅部分が穴22の内周面に摩擦係止しているため、下方へ落下することなく穴22内に保持される。その後、制御装置23の制御に基づき把持部材20が閉じられると、把持機構14は図1に示す初期状態に戻り、これにより苗移植装置11における苗Nの移植が完了する。 Next, as shown in FIG. 18, the gripping mechanism 14 is lowered while the gripping member 20 is opened, and when the tip of the gripping member 20 is pulled out from the hole 22 of the planting panel 18, the gripping mechanism 14 stops the descending. The seedbed piece 17 released from the gripping by the gripping member 20 and remaining in the hole 22 has its four corners frictionally locked to the inner peripheral surface of the hole 22, so that it does not fall down into the hole 22. Retained. Thereafter, when the gripping member 20 is closed based on the control of the control device 23, the gripping mechanism 14 returns to the initial state shown in FIG. 1, whereby the transplanting of the seedling N in the seedling transplanting device 11 is completed.
 分離対象となる苗床片17を把持部材20により把持するために把持機構14を上昇させたとき、把持部材20の先端が苗床15の切目34が形成された箇所から側方へずれて当接する場合がありうる。こうした場合、その把持部材20の先端部分に凸曲面部40が設けられていないと、次のような不具合が生じる。 When the grasping mechanism 14 is raised to grasp the seedbed piece 17 to be separated by the grasping member 20, the tip of the grasping member 20 abuts laterally from the position where the cut 34 of the seedling 15 is formed. There can be. In such a case, if the convex curved surface portion 40 is not provided at the tip portion of the gripping member 20, the following problem occurs.
 図19及び図20に示す比較例の把持部材120のように、先端に凸曲面部40がなく、その先端が長さ方向と直交する端面を形成している場合には、その端面と長さ方向に沿う側面とが交差してできるエッジ部分121が苗床15(苗床片17)の底面に対して最初に当接する。その後、把持機構14を上昇させても、エッジ部分121が苗床片17の表面に引っ掛かってしまい、苗床片17の表面に食い込んで苗床片17を弾性変形させるだけで、把持部材120は苗床15の切目34まで到達しない。 19 and 20, in the case of the grip member 120 of the comparative example having no convex curved surface portion 40 at the tip and forming an end face perpendicular to the length direction, the end face and the length The edge portion 121 formed by intersecting the side surfaces along the direction first comes into contact with the bottom surface of the seedbed 15 (the seedbed piece 17). After that, even when the gripping mechanism 14 is raised, the edge portion 121 is caught on the surface of the seedbed piece 17, and the gripping member 120 of the seedbed 15 is simply cut into the surface of the seedbed piece 17 and elastically deforms the seedbed piece 17. The cut 34 is not reached.
 これに対し、図21及び図22に示すように、本実施形態の把持部材20の場合は、先端の凸曲面部40が苗床15(苗床片17)の底面に対して最初に当接する。その後、把持機構14を上昇させた場合には、凸曲面部40が苗床片17を弾性変形させつつ、その苗床片17の表面に引っ掛かることなく摺動する。更に、把持部材20の先端の凸曲面部40が苗床片17の表面に食い込む方向へ把持機構14を上昇させると、把持部材20の先端の凸曲面部40は弾性変形した苗床片17の表面を摺動して切目34内まで到達し、ついには切目34内に挿入される。そのため、比較例の把持部材120とは異なり、良好に苗床片17を把持できる。 On the other hand, as shown in FIGS. 21 and 22, in the case of the gripping member 20 of the present embodiment, the convex curved surface portion 40 at the tip first comes into contact with the bottom surface of the seedbed 15 (the seedbed piece 17). Thereafter, when the gripping mechanism 14 is raised, the convex curved surface portion 40 slides without being caught on the surface of the seedbed piece 17 while elastically deforming the seedbed piece 17. Further, when the gripping mechanism 14 is raised in a direction in which the convex curved portion 40 at the tip of the gripping member 20 bites into the surface of the seedbed piece 17, the convex curved portion 40 at the tip of the gripping member 20 causes the surface of the seedbed piece 17 to be elastically deformed. It slides into the cut 34 and is finally inserted into the cut 34. Therefore, unlike the gripping member 120 of the comparative example, the seedbed piece 17 can be gripped satisfactorily.
 上記の実施形態によれば、以下のような効果を得ることができる。
 (1)一対の把持部材20が開かれ、それらの先端が分離対象となる苗床片17の両側面に沿う切目34に挿入されるときに切目34から側方へずれた位置に当接したとしても、凸曲面部40の先端は苗床片17の表面に引っ掛かったりする可能性は低い。そのため、凸曲面部40が苗床片17の表面に食い込む方向へ把持機構14を移動させて把持部材20の先端を切目34内に挿入することができ、把持部材20を閉じて苗床片17を両側から挟んで把持できる。したがって、分離対象となる苗床片17を苗床15から良好に分離でき、分離した苗床片17を定植パネル18に移植することができる。
According to said embodiment, the following effects can be acquired.
(1) When the pair of gripping members 20 are opened and their tips are inserted into the cuts 34 along the both side surfaces of the seedbed piece 17 to be separated, they come into contact with the positions shifted laterally from the cuts 34. However, the possibility that the tip of the convex curved surface portion 40 is caught on the surface of the seedbed piece 17 is low. Therefore, the gripping mechanism 14 can be moved in a direction in which the convex curved surface portion 40 bites into the surface of the seedbed piece 17, and the tip of the gripping member 20 can be inserted into the cut line 34. Can be held between Therefore, the seedbed piece 17 to be separated can be satisfactorily separated from the seedbed 15, and the separated seedbed piece 17 can be transplanted to the fixed planting panel 18.
 (2)一対の把持部材20は、苗床片17を両側から挟んで閉じるとき、凸曲面部40の頂点41から基端付近まで延びる曲面領域42が苗床片17の表面を摺動し、閉じている途中で把持部材20の先端が弾性変形している苗床片17に引っ掛かることを抑制するため、良好に苗床片17を把持することができる。 (2) When the pair of gripping members 20 is closed with the seedbed piece 17 sandwiched from both sides, the curved surface region 42 extending from the vertex 41 of the convex curved surface portion 40 to the vicinity of the proximal end slides on the surface of the seedbed piece 17 and closes. In order to prevent the tip of the gripping member 20 from being caught by the seedbed piece 17 that is elastically deformed, the seedbed piece 17 can be gripped satisfactorily.
 (3)一対の把持部材20で両側から苗床片17を挟んだときに互いの接触部43で苗床片17に圧接されるため、しっかりと苗床片17を把持することができる。
 (4)接触部43が苗床片17に点接触する構成ではなく面接触する構成を有しているため、より広い面積で苗床片17を保持でき、より安定して苗床片17を把持することができる。
(3) Since the seedbed piece 17 is sandwiched between the pair of gripping members 20 from both sides and is pressed against the seedbed piece 17 by the contact portion 43, the seedbed piece 17 can be firmly held.
(4) Since the contact portion 43 has a configuration in which the contact portion 43 is not in point contact with the seedbed piece 17 but in surface contact, the nursery piece 17 can be held in a wider area, and the nursery piece 17 can be gripped more stably. Can do.
 (5)苗床支持パネル16において、苗床片17の移植時に苗床片17が通過する通過領域39は、複数の突部38で奥行方向(Y方向)の手前側が区切られているが、奥側においては隣り合う通過領域39が長孔37で繋がっているため、開いた把持部材20でも通過させることができ、苗床片17を両側から挟んで把持させることができる。 (5) In the seedbed support panel 16, the passing region 39 through which the seedbed piece 17 passes when transplanting the seedbed piece 17 is divided by a plurality of protrusions 38 on the near side in the depth direction (Y direction). Since the adjacent passing regions 39 are connected by the long holes 37, even the open gripping member 20 can be passed, and the seedbed piece 17 can be gripped by being sandwiched from both sides.
 (6)把持機構14において把持部材20は着脱可能であるため、必要に応じて把持部材20を交換することができる。
 上記の実施形態は以下のように変更してもよい。
(6) Since the gripping member 20 is detachable in the gripping mechanism 14, the gripping member 20 can be exchanged as necessary.
The above embodiment may be modified as follows.
 上記の実施形態において、図23A~図26Gに示す各変形例の把持部材20を使用することもできる。各変形例の把持部材20は、図9A~図9Gに示す実施形態の把持部材20とは先端部分の一部の構成が相違し、他の部分の構成はほぼ同一である。そのため、以下では図9A~図9Gに示す実施形態の把持部材20と相違する点について主に説明し、その他の同一構成部分については同一の符号を付すことにして重複説明は省略する。 In the above embodiment, the gripping member 20 of each modified example shown in FIGS. 23A to 26G can be used. The gripping member 20 of each modification is different from the gripping member 20 of the embodiment shown in FIGS. 9A to 9G in a part of the configuration of the tip portion, and the configuration of the other portions is substantially the same. Therefore, the following mainly describes differences from the gripping member 20 of the embodiment shown in FIGS. 9A to 9G, and the same components are denoted by the same reference numerals, and redundant description is omitted.
 ・図23(a)~図23(f)の変形例の把持部材20は、その先端に半球面の凸曲面部40を有しており、その凸曲面部40から基端付近まで延びる側面部が接触部43を形成している。したがって、このような凸曲面部40でも苗床片17の表面に引っ掛かることが抑制され、接触部43で苗床片17を両側から挟んで把持できるので、上記実施形態の(1)~(3)と同様の効果を享受できる。 The gripping member 20 of the modified example of FIGS. 23A to 23F has a hemispherical convex curved surface portion 40 at the tip, and a side surface portion extending from the convex curved surface portion 40 to the vicinity of the proximal end. Forms the contact portion 43. Therefore, even such a convex curved surface portion 40 is restrained from being caught on the surface of the seedbed piece 17, and the seedbed piece 17 can be sandwiched and held from both sides by the contact portion 43, so that (1) to (3) of the above embodiment The same effect can be enjoyed.
 ・図24(a)~図24(f)の変形例の把持部材20は、その先端に球体で構成された凸曲面部40を有しており、その球体において頂点41よりも基端に近い周面の一部に接触部43を有している。したがって、このような球体による凸曲面部40でも苗床片17の表面に引っ掛かることが抑制され、接触部43で苗床片17を両側から挟んで把持できるので、上記実施形態の(1)~(3)と同様の効果を享受できる。 The gripping member 20 of the modified example of FIGS. 24A to 24F has a convex curved surface portion 40 formed of a sphere at the tip, and is closer to the base end than the vertex 41 in the sphere. A contact portion 43 is provided on a part of the peripheral surface. Therefore, even the convex curved surface portion 40 of such a sphere is restrained from being caught on the surface of the seedbed piece 17, and the seedbed piece 17 can be sandwiched and grasped from both sides by the contact portion 43, so that (1)-(3 ) Can enjoy the same effect.
 ・図25(a)~図25(f)の変形例の把持部材20は、その先端に二つの球体のうち先端に近い球体で構成された凸曲面部40を有しており、それぞれの球体において対となる相手側の把持部材20と対向する側の周面の一部に接触部43を有している。したがって、このような球体による凸曲面部40でも苗床片17の表面に引っ掛かることが抑制され、接触部43で苗床片17を両側から挟んで把持できるので、上記実施形態の(1)~(3)と同様の効果を享受できる。また、苗床片17を二つの球体が夫々有する合計二箇所の接触部43で苗床片17を把持するため、安定して苗床片17を把持することができる。 The gripping member 20 of the modified example of FIGS. 25 (a) to 25 (f) has a convex curved surface portion 40 formed of a sphere close to the tip of two spheres at the tip, and each sphere 2 has a contact portion 43 on a part of the peripheral surface facing the counterpart gripping member 20. Therefore, even the convex curved surface portion 40 of such a sphere is restrained from being caught on the surface of the seedbed piece 17, and the seedbed piece 17 can be sandwiched and grasped from both sides by the contact portion 43, so that (1)-(3 ) Can enjoy the same effect. In addition, since the seedbed piece 17 is gripped by the contact portions 43 in total of two locations where the two spheres each have the seedbed piece 17, the seedbed piece 17 can be stably held.
 ・図26(a)~図26(g)の変形例の把持部材20において、凸曲面部40は実施形態の場合と同様であるが、苗床片17に面接触する接触部43が対をなす相手側の把持部材20と対向する側の複数箇所(図26(a)~図26(g)では6箇所)に形成されている。したがって、その凸曲面部40の場合は苗床片17の表面に引っ掛かることが抑制され、接触部43で苗床片17を両側から挟んで把持できるので、上記実施形態の(1)~(4)と同様の効果を享受できる。また、苗床片17に一点で接触する接触部43ではなく、複数箇所で接触する接触部43で苗床片17を把持するため、より安定して苗床片17を把持することができる。 In the holding member 20 of the modified example of FIGS. 26A to 26G, the convex curved surface portion 40 is the same as in the embodiment, but the contact portion 43 that makes surface contact with the seedbed piece 17 makes a pair. It is formed at a plurality of locations (six locations in FIGS. 26 (a) to 26 (g)) on the side facing the counterpart gripping member 20. Therefore, in the case of the convex curved surface portion 40, it is suppressed from being caught on the surface of the seedbed piece 17, and the seedbed piece 17 can be sandwiched and grasped from both sides by the contact portion 43, so that (1) to (4) of the above embodiment The same effect can be enjoyed. In addition, since the seedbed piece 17 is gripped by the contact portions 43 that are in contact with a plurality of places instead of the contact portion 43 that contacts the seedbed piece 17 at a single point, the seedbed piece 17 can be gripped more stably.
 ・苗床15から分離した苗床片17を定植パネル18の穴22に移植するのではなく、単に苗床15から苗床片17を分離するためだけに把持機構14を用いてもよい。
 ・第1支持部12の上方に第2支持部13を配置し、把持機構14により苗床15から分離した苗床片17を上方に位置する定植パネル18の穴22内に下方から挿入して移植してもよい。
The gripping mechanism 14 may be used only for separating the seedbed piece 17 from the seedbed 15 instead of transplanting the seedbed piece 17 separated from the seedbed 15 into the hole 22 of the fixed planting panel 18.
The second support part 13 is arranged above the first support part 12, and the seedbed piece 17 separated from the seedbed 15 by the gripping mechanism 14 is inserted into the hole 22 of the fixed planting panel 18 located above from the bottom and transplanted. May be.
 ・把持機構14において、把持部材20は基体部19の上部に開閉自在に設けられる構成を有していれば、着脱可能でなくてもよい。
 ・把持部材20の接触部43を複数箇所に設ける場合、図26A~図26Gの変形例における6箇所以外の複数箇所(例えば2箇所や7箇所など)に設けてもよい。
In the gripping mechanism 14, the gripping member 20 may not be detachable as long as the gripping member 20 has a configuration that can be freely opened and closed above the base portion 19.
When the contact portions 43 of the gripping member 20 are provided at a plurality of locations, they may be provided at a plurality of locations (for example, 2 locations, 7 locations, etc.) other than the 6 locations in the modified examples of FIGS.
 ・把持部材20の先端の凸曲面部40は、把持部材20の先端において長さ方向と直交する端面のエッジ部分が大きなアール形状に面取りされることにより滑らかに形成された凸曲面部であってもよい。 The convex curved surface portion 40 at the tip of the gripping member 20 is a convex curved surface portion that is smoothly formed by chamfering the edge portion of the end surface perpendicular to the length direction at the tip of the gripping member 20 into a large round shape. Also good.
 ・把持機構14において把持部材20は、一対に限らず、二対や三対等の複数対の把持部材20であってもよい。対をなす把持部材20に限らず、例えば三つの把持部材20で三方向から苗床片17を取り囲んで把持するなど、複数の奇数の把持部材20を有していてもよい。 The gripping member 20 in the gripping mechanism 14 is not limited to a pair, and may be a plurality of pairs of gripping members 20 such as two pairs or three pairs. Not only the paired gripping members 20, but also a plurality of odd-numbered gripping members 20 such as three gripping members 20 surrounding and gripping the seedbed piece 17 from three directions may be provided.
 11…苗移植装置、12…第1支持部、13…第2支持部、14…把持機構、15…苗床、17…苗床片、18…定植パネル、20…把持部材、40…凸曲面部、41…頂点、42…曲面領域、43…接触部。 DESCRIPTION OF SYMBOLS 11 ... Seedling transplanting device, 12 ... 1st support part, 13 ... 2nd support part, 14 ... Holding mechanism, 15 ... Seedling bed, 17 ... Seedling bed piece, 18 ... Fixed planting panel, 20 ... Holding member, 40 ... Convex curved surface part, 41 ... vertex, 42 ... curved surface area, 43 ... contact portion.

Claims (7)

  1.  苗床の一部を構成する苗床片を前記苗床から分離して他の位置に移植する苗移植装置に設けられた苗床片の把持機構であって、前記苗床片を把持可能な複数の把持部材を有し、前記把持部材により前記苗床片を把持したまま移動することにより、前記苗床から前記苗床片を分離可能であり、前記把持部材の先端には凸曲面部が設けられていることを特徴とする苗床片の把持機構。 A mechanism for holding a seedbed piece provided in a seedling transplanting device for separating a seedbed piece constituting a part of the seedbed from the seedbed and transplanting it to another position, wherein a plurality of holding members capable of holding the seedbed piece are provided. The nursery piece can be separated from the nursery by moving while holding the nursery piece by the holding member, and a convex curved surface portion is provided at the tip of the holding member. A gripping mechanism for the nursery piece.
  2.  前記把持部材は、前記苗床片を両側から挟んで把持可能な少なくとも一対の把持部材であって、対をなす相手側の把持部材と対向する側の先端周辺の部分に、前記凸曲面部の頂点から基端付近まで延びる曲面領域を有することを特徴とする請求項1に記載の苗床片の把持機構。 The gripping member is at least a pair of gripping members that can be gripped by sandwiching the seedbed piece from both sides, and the apex of the convex curved surface portion is formed at a portion around the tip on the side facing the paired counterpart gripping member. The nursery piece gripping mechanism according to claim 1, further comprising a curved region extending from the base to the vicinity of the base end.
  3.  前記把持部材は、対をなす相手側の把持部材と対向する側で前記曲面領域よりも基端に近い部分に、一対の把持部材で両側から前記苗床片を挟んだときに当該苗床片に圧接される接触部を有することを特徴とする請求項2に記載の苗床片の把持機構。 The gripping member is pressed against the seedbed piece when the pair of gripping members sandwich the seedbed piece from both sides at a portion closer to the proximal end than the curved surface region on the side facing the counterpart gripping member that makes a pair. 3. The nursery piece gripping mechanism according to claim 2, further comprising a contact portion to be operated.
  4.  前記接触部は、前記苗床片を挟んだときに当該苗床片に対して面接触可能であることを特徴とする請求項3に記載の苗床片の把持機構。 4. The nursery piece gripping mechanism according to claim 3, wherein the contact portion is capable of surface contact with the nursery piece when the nursery piece is sandwiched.
  5.  前記接触部は、前記苗床片を挟んだときに当該苗床片に対して複数箇所で接触可能であることを特徴とする請求項3に記載の苗床片の把持機構。 4. The nursery piece gripping mechanism according to claim 3, wherein the contact portion can contact the nursery piece at a plurality of locations when the nursery piece is sandwiched.
  6.  苗床の一部を構成する苗床片を前記苗床から分離して他の位置に移植する苗移植装置に設けられた苗床片の把持機構に設けられた把持部材であって、その先端には凸曲面部が設けられ、複数の把持部材により前記苗床片を把持可能であるように構成されていることを特徴とする把持部材。 A holding member provided in a holding mechanism of a seedbed piece provided in a seedling transplanting device for separating a seedbed piece constituting a part of the seedbed from the seedbed and transplanting it to another position, a convex curved surface at the tip The gripping member is provided with a portion and configured to be able to grip the seedbed piece by a plurality of gripping members.
  7.  苗床を支持する第1支持部と、
     定植パネルを支持する第2支持部と、
     請求項1~請求項5のうち何れか一項に記載の苗床片の把持機構と
    を備え、
     前記苗床片の把持機構により前記第1支持部に支持された前記苗床から分離された前記苗床片を、前記第2支持部に支持された前記定植パネルに移植可能であることを特徴とする苗移植装置。
    A first support for supporting the nursery;
    A second support for supporting the planting panel;
    A nursery piece gripping mechanism according to any one of claims 1 to 5,
    A seedling capable of transplanting the seedbed piece separated from the seedbed supported by the first support part by the holding mechanism of the seedbed piece into the fixed planting panel supported by the second support part. Transplant device.
PCT/JP2016/082719 2015-11-11 2016-11-03 Seedling transplanting device, mechanism for grasping seedling bed piece, and grasping member WO2017082152A1 (en)

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Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6421215B1 (en) * 2017-06-02 2018-11-07 株式会社椿本チエイン Transplant device
EP3777518A1 (en) 2018-05-28 2021-02-17 IMA Co., Ltd. Seedling transplantation device
JP6865472B2 (en) * 2018-10-09 2021-04-28 株式会社大橋製作所 Gripping device and splitting device, and transplanting device and transplanting system using them

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JPS459546Y1 (en) * 1965-06-24 1970-05-04
JPS5293665U (en) * 1976-01-09 1977-07-13
JP2000032850A (en) * 1999-07-15 2000-02-02 Kanzaki Kokyukoki Mfg Co Ltd Mechanism for planting seedling in temporary planting device
JP2001299103A (en) * 2000-04-20 2001-10-30 Keibunsya Seisakusho:Kk Potting apparatus
US20090158650A1 (en) * 2007-12-19 2009-06-25 Johnson Edward L Garden tool
JP2015077086A (en) * 2013-10-16 2015-04-23 アップシステム株式会社 Transplantation device and transplantation method

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS459546Y1 (en) * 1965-06-24 1970-05-04
JPS5293665U (en) * 1976-01-09 1977-07-13
JP2000032850A (en) * 1999-07-15 2000-02-02 Kanzaki Kokyukoki Mfg Co Ltd Mechanism for planting seedling in temporary planting device
JP2001299103A (en) * 2000-04-20 2001-10-30 Keibunsya Seisakusho:Kk Potting apparatus
US20090158650A1 (en) * 2007-12-19 2009-06-25 Johnson Edward L Garden tool
JP2015077086A (en) * 2013-10-16 2015-04-23 アップシステム株式会社 Transplantation device and transplantation method

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