WO2017082152A1 - Dispositif de transplantation de plants, mécanisme de préhension de morceau de lit pour plants, et élément de préhension - Google Patents

Dispositif de transplantation de plants, mécanisme de préhension de morceau de lit pour plants, et élément de préhension 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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WIPO (PCT)
Prior art keywords
piece
seedbed
gripping
nursery
holding
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PCT/JP2016/082719
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English (en)
Japanese (ja)
Inventor
豪 伊藤
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株式会社椿本チエイン
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Publication of WO2017082152A1 publication Critical patent/WO2017082152A1/fr

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G9/00—Cultivation in receptacles, forcing-frames or greenhouses; Edging for beds, lawn or the like
    • A01G9/08—Devices for filling-up flower-pots or pots for seedlings; Devices for setting plants or seeds in pots
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G31/00—Soilless cultivation, e.g. hydroponics
    • A01G31/02—Special apparatus therefor
    • Y—GENERAL 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
    • Y02P60/20—Reduction of greenhouse gas [GHG] emissions in agriculture, e.g. CO2
    • Y02P60/21—Dinitrogen oxide [N2O], e.g. using aquaponics, hydroponics or efficiency measures

Definitions

  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the both-side sandwich piece is located at a position shifted laterally from the longitudinal cut on the surface of the seedbed piece.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the gripping mechanism 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the contact portion can come into surface contact with the nursery piece when the nursery piece is sandwiched.
  • the seedbed piece 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.
  • the contact portion can contact the nursery piece at a plurality of locations when the nursery piece is sandwiched.
  • 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.
  • 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.
  • the seedling transplanting device can enjoy the same effects as the gripping mechanism.
  • the front view which shows schematic structure of one Embodiment of a seedling transplanting apparatus.
  • the block diagram which shows the control structure of a seedling transplanting apparatus.
  • the perspective view which shows a nursery typically.
  • the top view which expands and shows a part of nursery bed.
  • the perspective view of a seedbed support panel The perspective view of a fixed planting panel.
  • the perspective view of the holding mechanism of the seedbed piece in a state where a pair of holding members are closed.
  • FIG. 11 is a front view showing a state where the gripping mechanism is opened from the state of FIG. 10.
  • grip mechanism raises further from the state of FIG.
  • grip mechanism raises further from the state of FIG.
  • grip mechanism raises further from the state of FIG. The principal part expanded sectional view when a holding
  • hung from the state of FIG. The front view which shows the state which the holding
  • FIG. 4F is a diagram in which a pair of gripping members are open. 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. 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.
  • FIG. 4F is a diagram in which a pair of gripping members are open. 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. 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.
  • 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.
  • a mat-shaped seedbed 15 on which the seedling N is planted is supported via a seedbed support panel 16.
  • 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.
  • 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.
  • 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. .
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • a CPU 24 having a logical operation function
  • a ROM 25 for storing predetermined information in a readable manner
  • a digital computer having a RAM 26 for storing various types of information in a readable and readable manner.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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).
  • 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.
  • 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.
  • a plurality (seven in this embodiment) of substantially triangular plate-shaped protrusions 38 are directed toward one inner edge on the inner side. Projected.
  • the protrusions 38 are provided at intervals corresponding to the width direction (X direction) dimensions of the seedbed piece 17.
  • 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.
  • 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.
  • 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.
  • 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 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).
  • 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.
  • 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.
  • 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 gripping member 20 in the present embodiment has technical characteristics particularly in the shape of the tip.
  • 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.
  • 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.
  • 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.
  • 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.
  • the tip of the gripping member 20 in the gripping mechanism 14 is disposed directly below the hole 22.
  • 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.
  • 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.
  • the pair of gripping members 20 of the gripping mechanism 14 are closed (see FIG. 1).
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the holding member 20 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.
  • the gripping mechanism 14 stops rising at that height position.
  • 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.
  • 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.
  • 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.
  • the pair of gripping members 20 are pressed against the seedbed piece 17 from both sides at the contact portions 43 of each other.
  • 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.
  • 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.
  • 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.
  • 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.
  • the gripping member 20 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the following effects can be acquired.
  • 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.
  • 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.
  • the seedbed piece 17 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.
  • 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.
  • the gripping member 20 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Hydroponics (AREA)
  • Cultivation Receptacles Or Flower-Pots, Or Pots For Seedlings (AREA)

Abstract

Selon l'invention, un mécanisme (14) permettant de saisir un morceau de lit pour plants, le mécanisme (14) étant disposé sur un dispositif de transplantation de plants (11) permettant de séparer un morceau de lit pour plants (17) qui constitue une partie d'un lit pour plants (15) du lit pour plants (15) et de transplanter le morceau de lit pour plants (17) dans un panneau de plantation (18), comporte une pluralité d'éléments de préhension (20) qui peuvent agripper le morceau de lit pour plants (17), le morceau de lit pour plants (17) étant déplacé tout en étant agrippé par les éléments de préhension (20), le morceau de lit pour plants (17) peut ainsi être séparé du lit pour plants (15), des parties à surface courbe (40) saillantes étant situées sur les bouts des éléments de préhension (20).
PCT/JP2016/082719 2015-11-11 2016-11-03 Dispositif de transplantation de plants, mécanisme de préhension de morceau de lit pour plants, et élément de préhension WO2017082152A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2015221271A JP2017085988A (ja) 2015-11-11 2015-11-11 苗移植装置、苗床片把持機構及び把持部材
JP2015-221271 2015-11-11

Publications (1)

Publication Number Publication Date
WO2017082152A1 true WO2017082152A1 (fr) 2017-05-18

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Cited By (3)

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Publication number Priority date Publication date Assignee Title
US20180064042A1 (en) * 2016-09-07 2018-03-08 Rodney Sidloski Plant nursery and storage system for use in the growth of field-ready plants
CN112997867A (zh) * 2021-02-25 2021-06-22 济宁市农业科学研究院 一种花生根系培养观察装置及其使用方法
JP2022030950A (ja) * 2020-08-07 2022-02-18 株式会社椿本チエイン 移植装置及び苗の移植方法

Families Citing this family (3)

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Publication number Priority date Publication date Assignee Title
JP6421215B1 (ja) * 2017-06-02 2018-11-07 株式会社椿本チエイン 移植装置
JP6733074B2 (ja) 2018-05-28 2020-07-29 有限会社アイエムエイ 苗の移植装置
JP6865472B2 (ja) * 2018-10-09 2021-04-28 株式会社大橋製作所 把持装置及び分割装置、並びにこれらを用いた移植装置及び移植システム

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JPS459546Y1 (fr) * 1965-06-24 1970-05-04
JPS5293665U (fr) * 1976-01-09 1977-07-13
JP2000032850A (ja) * 1999-07-15 2000-02-02 Kanzaki Kokyukoki Mfg Co Ltd 仮植装置の苗植付機構
JP2001299103A (ja) * 2000-04-20 2001-10-30 Yanmar Agricult Equip Co Ltd 鉢上げ装置
US20090158650A1 (en) * 2007-12-19 2009-06-25 Johnson Edward L Garden tool
JP2015077086A (ja) * 2013-10-16 2015-04-23 アップシステム株式会社 移植装置及び移植方法

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JPS459546Y1 (fr) * 1965-06-24 1970-05-04
JPS5293665U (fr) * 1976-01-09 1977-07-13
JP2000032850A (ja) * 1999-07-15 2000-02-02 Kanzaki Kokyukoki Mfg Co Ltd 仮植装置の苗植付機構
JP2001299103A (ja) * 2000-04-20 2001-10-30 Yanmar Agricult Equip Co Ltd 鉢上げ装置
US20090158650A1 (en) * 2007-12-19 2009-06-25 Johnson Edward L Garden tool
JP2015077086A (ja) * 2013-10-16 2015-04-23 アップシステム株式会社 移植装置及び移植方法

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20180064042A1 (en) * 2016-09-07 2018-03-08 Rodney Sidloski Plant nursery and storage system for use in the growth of field-ready plants
US20200045893A1 (en) * 2016-09-07 2020-02-13 Rodney Sidloski Plant nursery and storage system for use in the growth of field-ready plants
JP2022030950A (ja) * 2020-08-07 2022-02-18 株式会社椿本チエイン 移植装置及び苗の移植方法
JP7092167B2 (ja) 2020-08-07 2022-06-28 株式会社椿本チエイン 移植装置及び苗の移植方法
JP2022113794A (ja) * 2020-08-07 2022-08-04 株式会社椿本チエイン 移植装置
CN112997867A (zh) * 2021-02-25 2021-06-22 济宁市农业科学研究院 一种花生根系培养观察装置及其使用方法
CN112997867B (zh) * 2021-02-25 2022-08-02 济宁市农业科学研究院 一种花生根系培养观察装置及其使用方法

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