JPH0466016A - Device for fix planting - Google Patents

Abstract

PURPOSE:To put a nursery bed picked up from a seedling raising box and held in holes of fix planting plate in an attitude of excellent growth by installing a holding arm of grasping a nursery bed from a seedling raising table and a tapered pan arm of guiding a pan to a given hole of the fix plating plate. CONSTITUTION:A work 121 of a nursery bed 12 on an X-Y transfer stand 11 is separated by a holding piece 143 of holding arm 14, held and received by a tapered pan 172 of a pan arm 17. The work 121 is introduced and planted through a hole 131 of a fix planting plate 13 into a hole by a stretching arm 18. By this device, the nursery bed can be planted in the hole of fix planting plate in an attitude of excellent growth without inclining the nursery bed.

Description

DETAILED DESCRIPTION OF THE INVENTION [Purpose of the Invention (Field of Industrial Application) This invention relates to a planting device for transplanting seedlings grown in a nursery bed to planting boards for cultivation (growth).

(Conventional Technology) Today, food supply systems are undergoing major changes, with agriculture that relies on nature being replaced by facility cultivation, and facility cultivation being further developed into hydroponic cultivation.

In hydroponic cultivation, seedlings that have grown to a certain size in a nursery bed are transplanted and grown in a fixed planting bed where the growth environment is controlled. For the seedling bed, a sea surface material such as rock wool or urethane foam impregnated with nutrient solution is used. For transplanting, seedlings are planted into holes formed in the planting board while still in the nursery bed.

By the way, the number of seedlings that can be grown in one nursery bed is about 10 to 100 for plants with small leaf areas, but for plants with small leaf areas, such as salad greens and lettuce, In the case of large plants, growing multiple plants in one nursery bed will affect the growth. For this reason, for plants with large leaf areas, only one or a few plants can be grown in one nursery bed. Therefore, in the transplanting work, a bed for raising only one seedling or a few seedlings must be moved, and the amount of work is enormous.

(Problem to be Solved by the Invention) A planting device for transplanting seedlings grown in a nursery bed onto a planting board picks up the seedling from the nursery bed and inserts it into a planting hole formed in the planting board. After inserting the seedbed into the hole, the arm must be removed from the hole without disturbing the planting position of the seedbed and the shape of the hole. Hitherto, no means has been provided to quickly perform such insertion/extraction operations without causing the above-mentioned malfunctions.

Therefore, the present invention has been devised so that the seedlings picked up from the nursery bed and held by the gripping arm are planted in the holes of the planting board in a posture that will promote good growth, and the gripping arm can be removed without changing the planting posture. The purpose of this invention is to provide a planting device that provides

[Structure of the Invention] (Means for Solving the Problems) The present invention includes a gripping arm for gripping a seedling bed from a seedling raising table, a planting plate having a hole into which the seedling bed is planted, and a planting board having a tapered shape from the socket to the bottom opening. A thin receiving tray is attached to the arm that rotates in the tapered direction, and the gripping arm gripping the seedbed is received from the receiving hole, and the tray is guided to a predetermined hole of the planting board, leaving the seedling bed and the gripping arm is removed. A retractable receiving tray arm and a pulling arm for pulling the workpiece to be received by the receiving tray into the hole through the bottom opening are provided.

(Function) According to such a configuration, the gripping arm that grips the seedbed fits into the tray from the socket while gripping the seedbed, and the seedbed is stably held by the taper of the tray. after that,
The gripping arm is quickly retracted from the tray. Since the bottom of the tray is open, the seedbed remaining in the tray is pulled into the hole in the planting board by pulling the seedbed facing through the bottom opening with a tension arm. Thereby, the seedlings can be planted in the holes of the planting board in a normal posture for good growth without tilting the seedling bed.

(Example) Hereinafter, the present invention will be explained in detail with reference to illustrated examples.

FIG. 1 is a plan view showing an embodiment of a planting device according to the present invention. Further, FIGS. 2 to 4 are configuration diagrams for clarifying the configuration of FIG. 1, and FIGS. 5 to 9 are explanatory diagrams for explaining the operation of FIG. 1.

In FIGS. 1 to 3, 11 is an X-Y transfer table.

The X-Y transfer table 11 has an upper table 111 and a lower table 112. The upper table 111 has a seedbed 12 in which a predetermined number of seedlings have been grown vertically and horizontally, and the lower table 112 has transplant holes 131, 131, etc. - Place the perforated planting board 13. The seedbed 12 is a seedbed that is separably connected to a single-tank seedbed (hereinafter referred to as a work) in a seedling cylinder as shown in FIG. This planting device separates the workpiece 121 from the seedling bed 12 placed on the upper table 111 and places it on the lower table 111.
This is a device for transplanting onto 12 planting boards 3.

The gripping arm 14 that separates the workpiece 121 from the seedbed 12 is attached to a support 1 provided corresponding to the height of the upper table 111.
It is installed in 5. That is, the gripping arm 14 is driven in the thrust direction by a cylinder 141 attached to the support 15, and has a pipe 142 that transmits the output (hydraulic pressure or pneumatic pressure) of the cylinder 141, and a pipe 142 that is connected to the cylinder 15 at its tip. It is comprised of an output converter 144 that converts output into mechanical motion, and a pair of gripping pieces 143, 143.

With such a configuration, the gripping arm 14 can be attached to the pipe 142.
When the gripping piece 14 moves forward toward the upper table 111 side, the gripping piece 14
3, 143 is closed, and the pipe 142 is connected to the upper table 111.
When retracting from the position, the gripping pieces 143.143 are closed. When the gripping arm 14 is retracted, the gripping pieces 143, 143 are separated from the upper table 111.

In addition, the upper table 111 is used for positioning the seedbed 12 with the projecting frame 1.
It is positioned and placed at step 11a. Placed seedbed 12
is higher than the projecting frame 111a, and the side surface of the seedbed is higher than the projecting frame 111a.
It's coming out more. In this device, fixing walls 10A and 10B are provided for fixing works other than the separating tree 21 so as to come into contact with the side surface of the seedbed protruding from the projecting frame 111a. The upper table 111 is attached to the fixed wall 10A.
.

The workpiece 121 to be separated is moved to one position defined by 10B. The support body 15 is attached to the upper table 1 by means not shown.
11 to the lower table 112 side.

Next, the lower support 112 is removed from the gripping arm 14 by the glue.
a saucer arm 17 that receives a tray arm 121;
A tension arm 18 that grips and pulls the workpiece 121 received at step 7 and draws it into the planting hole 131 is attached. These saucer arms 17 and tension arms 17 are shown in FIG. 2(a).
, (b) and as shown in FIG.

That is, as shown in FIG. 2(a), the saucer arm 17 supports an arm 171, a saucer 172 attached to the tip of the arm 171, and the arm 171 in a pendulum interlocking manner in the direction of the arrow in FIG. It is composed of a support box 173. The support box 173 includes a plurality of (here, two) parallel rods 173a rotatably attached to fixed points within the box.
Arm 171 is rotatably attached via 173b. Parallel rods 173a, 173b are tensioned by tension spring 173C. Thereby, the arm 171 is held at the top dead center of the pendulum movement. The stopper 173d stops the arm 171 so as to form the above-mentioned top dead center. The tray arm 17 is the gripping arm 14
When the workpiece 121 is received from the workpiece 121, the tension spring 173C is pulled by its weight and rotates downward. As shown in FIG. 2(b), the tray 172 has a rectangular upper opening 172a and a bottom opening 17.
It has a tapered shape towards 2b. Furthermore, one side of the rectangle to which the arm 171 connects is the socket 172a.
A groove 172C is bored from the bottom to the bottom. Work 1
The gripping arm 14 that has descended while gripping the gripper 21 has its gripping pieces 143 and 143 fitted into the grooves 1720. As a result, the diameter of the socket 172a is widened.

On the other hand, the tension arm 18 is moved from the support 16 to the tray 172.
A cylinder 182 is attached to the tip of an arm 181 extending downward, and a vibrator 183 is connected to the cylinder 182 to drive it in the thrust direction (see arrow in FIG. 1). Pipe 183 is connected to tension actuator 185 via a delay 184 that delays the output of cylinder 182.

FIG. 3 is a cross-sectional view of the tension actuator 185. The tension actuator 185 has a forceps-like claw 1 inside a cylinder 186 that is driven in the direction of the arrow in the figure by the delay device 184.
87a and 187b are housed therein. These nails 18
7a and 187b, when the cylindrical body 186 is in a downward state not receiving any force from the cylinder 1824, its mouth is opened by its own weight.

Note that the X-Y transfer table 11 connects the upper table 111 and the lower table 112 by a Y-axis moving body 113 that is transferred in the Y direction. The Y-axis moving body 113 is the main body 11
It is attached to an X-axis moving body 115 that moves in the X-axis direction within 4. In this way, the X-Y transport body 11 can move the upper and lower tables 111, 112 to arbitrary X-Y positions.

In addition, the lower table 112 has a fifth guide hole 11 corresponding to the hole 131 of the planting board 13, as shown in the fifth figure, which will be described later.
2a is perforated.

The present planting device is constructed as described above, and its operation will be explained next.

First, the upper support 15 holds the gripping arm 14 against the projecting frame 1.
It is stopped at a fixed position where it can be guided to one workpiece 121 in the seedbed 12 beyond 11a.

The X-Y transfer table 11 moves each movable body 113, 115 to move the position of the workpiece 121 to be separated from the fixed wall 10.
Align with the work area partitioned by A and 10B. At this time, the gripping arm 14 is located on a diagonal line of one side of the workpiece 121 to be gripped. Next (cylinder 1
41 operates to advance the gripping arm 14. The gripping arm 14 has gripping pieces 143 and 143 located at the workpiece 12.
It stops at a position that coincides with one side of 1. Thereafter, the gripping arm 14 immediately begins to retreat due to the action of the cylinder 141. At the same time as the gripping arm 14 begins to retreat, the gripping pieces 143 close 1 and grip one side of the workpiece 121. As the gripping arm 14 continues to retreat further, a portion of the gripped workpiece 121 is pulled in the axial direction of the arm, and the workpiece 121 can be separated from the seedbed 12.

The gripping arm 14, which has separated and gripped the workpiece 121, further retreats and leaves the upper table 111, waiting for the next process.

When the gripping arm 14 holds the workpiece 121 and enters the standby state, the upper stage support body 15 descends. At this lowered position of the gripping arm 14, the tray arm 17 is waiting. To be precise, the receiving tray 172 of the receiving arm 17 is located directly below the grasping piece 143, 143 of the grasping arm 17, and the workpiece 121 grasped by the grasping arm 14 is
As shown, it is received within a tray 172. To explain in detail, the workpiece 121 gripped by the gripping arm 14 is
Each of the four dice-shaped tops falls down to match the four tops of the saucer 172. Moreover, the gripping piece 143,
Part 143a where 143 grips the workpiece 121
(FIG. 5) corresponds to groove 1720. When the palms of hands 143a enter the groove 172C, the diameter of the socket 172a of the receiving tray 172 is expanded, and the workpiece 121 does not collide with the end of the receiving socket, and the receiving tray 172 is held in a stable posture.
Received by. When the workpiece 121 is received, the X-Y transfer table 11 moves to the receiving tray 172 and the tension actuator 18.
The movable bodies 113 and 115 are moved to align the position of the hole 131 into which the workpiece 121 is to be implanted. In addition, in synchronization with the transfer of the X-Y transfer table 11, the cylinder 182
operates and the tension actuator 185 is activated as shown in FIG.
The gripping arm 14 rises, and the gripping arm 14
evacuates from the tray 172.

When the gripping arm 14 retreats from the receiving tray 172, it retreats with the gripping pieces 143° 143 opened by the force of the cylinder 141, that is, with the groove 172c expanded. Therefore, the workpiece 121 is received in a stable posture without being tilted due to a catch or the like while the gripping arm 14 is retracting.
left within.

The tension actuator 185 passes through the guide hole 112a, passes through the hole 131 of the planting plate 112, and maintains the open leg state as shown in FIG. When it comes into contact with the cylindrical body 186
are respectively increased by the output of the delay device 184. As a result, each forceps-like tip of the tension actuator 185 is closed and grips the spongy bottom of the workpiece 121. The retracting operation of the gripping arm described above is not performed until the tension actuator 185 grips the workpiece 121. cylinder 18
2 lowers the pipe 183 from the state shown in FIG. pipe 1
83 is lowered, the tension actuator 185 can pull the workpiece 121 down into the hole 131, as shown in FIG.

When the workpiece 121 is inserted into the planting hole 131, the tray arm 17 is moved upward by a predetermined distance from the hole 131 (see FIG. 9), and the tension arm 18 is pulled out from the guide hole 112a. In this way, the porting of one work is completed. X
-Y transfer table 11 moves to align upper table 111 with fixed walls 10A, 10B in order to transfer the next workpiece.

As described above, the present device performs the planting work while maintaining the posture quality of the workpiece well.

Note that the above-mentioned embodiment is just an example, and various modifications can be made to the configuration of the tension actuator and the like.

[Effects of the Invention] As described above, according to the present invention, the seedlings can be planted in the holes of the planting board in a posture that provides good growth conditions without tilting the seedling bed.

[Brief explanation of the drawing]

FIG. 1 is a configuration diagram showing an embodiment of the planting device according to the present invention, FIGS. 2 to 4 are configuration diagrams for explaining the configuration of FIG. 1 in detail, and FIGS. 5 to 9 FIG. 2 is an operation explanatory diagram for explaining the present invention in detail. 11...X-Y transfer table, 12... Nursery, 13...
Planting board, 14...Gripping arm, 15.16...,
Support, 17... saucer arm, 18... tension arm.

Claims (1)

[Scope of Claims] A gripping arm that grips a seedling bed from a seedling raising table, a planting plate having a hole for planting the seedling bed, and a saucer tapered from the socket to the bottom opening in the tapered direction. a tray arm that is attached to a rotating arm and is configured to receive the gripping arm holding a seedbed from a receiving hole, guide the tray to a predetermined hole of the planting board, and retract the gripping arm while leaving the seedbed; A planting device comprising: a pulling arm that pulls the workpiece received in the receiving tray into the hole through the bottom opening.