JP3521037B2 - Potting equipment - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a pot raising device for transplanting seedlings from a seedling raising tray to a transplanting tray, for example, to grow germinated seedlings to an appropriate size. . [0002] This seed raising operation is usually performed by hand, but the work efficiency is low, and the seedlings are mechanically transplanted from the seedling raising tray to the transplant tray to raise the pot. When performing seedling raising, the height of the seedling tray and the transplanting tray and the pitch between each pot are different, so the structure is not only extremely complicated, but also if the plant is missing when seedlings are harvested, the transplanting tray side There is an inconvenience that the seedling planting pot remains as a missing stock. Accordingly, the present invention provides a tray conveyor for transporting a seedling raising tray and a transplanting tray, a claw moving mechanism for moving a transplanting claw between these tray conveyors, and a At the movement stop position, a nail swinging mechanism that swings the transplanting nail up and down to perform seedling picking and planting is provided. in potted device Ru provided seedlings sensor that detects, on each tray conveyor
Seedlings and transplants to detect the presence of seedlings and transplant trays
Lay sensor and detect the stop position of seedling and transplantation tray
Tray stop position sensor that detects the seedlings
Seed seedling sensor and right / center / left rotation position of nail swing mechanism
Right, center, and left sensors to detect
Left, origin, and right movement position sensors that detect center and right movement positions
And intermittently and continuously drive the tray conveyor.
With a conveyor motor for seedlings and transplant trays,
The extremely simple construction means enables the seedlings in the nursery tray to be automatically transplanted to the transplanting tray accurately, and also detects the missing strain during the transplanting operation to improve the accuracy and efficiency of the potting operation. Is what makes it possible. An embodiment of the present invention will be described below in detail with reference to the drawings. FIG. 1 is an explanatory view showing the lateral movement of the transplant nail, FIG. 2 is an overall front view, FIG. 3 is a right side view thereof, and FIG. 4 is a left side view thereof, and transports a nursery tray (1) as a seedling supply tray. And a belt-type tray conveyor (4) for transporting a transplant tray (3), which is a tray for raising pots, are arranged adjacently in parallel in plan view.
The seedling raising tray (1) holds seedlings, for example, 12 rows x 24
A row of 288 pots (1a) and a transplant tray (3) having, for example, 20 rows of pots (3a) of 4 columns × 5 rows, and seedlings are grown at predetermined positions on each conveyor (2) (4). Transplanting tray (3) by transplanting seedlings in tray (1) with transplanting nail (5)
It is configured so that it can be transplanted to a pot to perform a potting operation. As shown in FIG. 5, the tray conveyors (2) and (4) are conveyed intermittently at the pitches (P1) and (P2) of the pots (1a) and (3a) in the direction of the arrow. The seedling raising tray (1) is operated by operating the nail moving mechanism (7) of the transplanting nail (5) at a position below the lateral movement mechanism (6) of the transplanting nail (5) provided substantially orthogonally at the center of the feeding of (4). The seedlings are taken out from the plant and planted in the transplant tray (3). As shown in FIG. 6, the tray conveyors (2) and (4) can be vertically adjusted by moving the respective conveyor bases (10) and (11) on a frame (8) of the machine through an adjusting plate (9). Conveyor stand (10)
The upper end of the U-shaped adjusting plate (9) is fixed to the left and right ends of (11), and the middle of the adjusting plate (9) is connected to the frame (8) via the guide pin (12) and the elongated hole (13). Nut member at lower end of adjustment plate (9)
An adjustment screw shaft (1) extending below the lower end of the frame (8)
5), and the height of the conveyors (2) and (4) is adjusted up and down within the range of the elongated hole (13) by rotating the screw shaft (15). Then, the pot (3a) is placed on the conveyor (2) of the seedling raising tray (1) having a small shape of the pot (1a).
The conveyor (4) of the large transplant tray (3)
The trays (1) and (3) are arranged so as to be lower by a fixed height by a substantially difference (T) in height so that the upper surfaces of the trays (1) and (3) are aligned on the same plane. As shown in FIGS. 7 to 10, the transplanting claw (5) can be freely moved between left and right conveyors (2) and (4) by a lateral moving mechanism (6), and a claw swinging mechanism (7). The moving mechanism (6) is provided with a rail (1) perpendicular to the right and left direction above each of the conveyors (2) and (4).
6) A base (17) and a table (19) for fitting a guide (18) to the rail (16) slidably back and forth.
And a timing belt (2) in which a table (19) is fixed to the outer side and the endless inner peripheral gear surface (20a) is wound around the left and right timing pulleys (21) and (22).
0) and an AC servo-type pawl moving motor (25) connected to the pulley shaft (23) of the right pulley (22) via a belt transmission mechanism (24), and the table is driven by forward / reverse driving of the motor (25). The belt (20) having (19) is reciprocated in the left-right direction, and the transplanting nail (5) supported below the table (19) via the mounting frame (26) is moved left and right. . The claw swinging mechanism (7) includes a claw swinging arm drive motor (2) fixed to the mounting frame (26).
7) and a swinging pawl arm (30) interlockingly connected to a motor shaft (28) of the motor (27) via a joint (29).
Input side inner shaft (31) and the arm (3) of the inner shaft (31).
0) A fixed connecting plate (32) for integrally connecting the arm (30) and the inner shaft (31) at the protruding end, and an arm (30) outside the arm (30) on the output inner shaft (33) at the tip of the arm (30). )
And a mounting frame (26) rotatably fitted to the outside of the input-side inner shaft (31).
Input side outer shaft (35) fixed to the
Output outer shaft (36) rotatably fitted to the outside of 3)
And a chain (39) wound between the fixed sprockets (37) and (38) of the input and output outer shafts (35) and (36). The inner shaft (3) is driven by the motor (27) in forward and reverse directions.
By rotating the arm (30) clockwise or counterclockwise as needed by the rotation of 1), the mounting posture of the output side outer shaft (36) connecting the transplanting claw (5) to the protruding end of the arm (30) is changed to the arm (30). It is configured to maintain a constant value irrespective of the swing of the motor. As shown in FIGS. 13 to 15, the transplanting nail (5) is formed into a chopstick-like shape by combining two fixed and movable wires (5a) and (5b) as one set. The tip of 5b) is appropriately opened and closed by a claw opening / closing mechanism (40) to hold and release the seedling. The outer end of the outer shaft (36) is integrated with a fixing pin (41) or a key via a key or the like. A fixed claw holder (42) which is fixedly mounted on the fixing wire (5a), and an open / close shaft (43) attached to the claw holder (42).
A movable claw holder (44) for pivotally connecting the lower end through the base and mounting the base end of the inner movable wire (5b); and an outer shaft (3) on the side of the arm (30) of the claw holder (44).
6) A cam contact body (45) fixed at a position facing 180 degrees around the center, and the fixed and movable claw holder (42).
A spring seat hole (46) formed in the upper end side of (44) so as to face each other.
A compression pawl opening / closing spring (48) interposed between (47) and swinging the movable pawl holder (44) about the shaft (43).
And the cam contact body (45) supported on the outer shaft (36) so as to be fixed in the axial direction of the outer shaft (36) and movable around the axis between the movable claw holder (44) and the arm (30). An opening / closing cam (50) having a cam groove (49) on the side surface as a cam surface with which the arm (30) engages, and a shaft (31) of the arm (30) protruding from the opening / closing cam (50) of the arm (30). The pawl opening / closing mechanism (40) includes a cam operating body (53) for bringing the opening / closing cam (50) into contact with the closing and opening cam levers (51) and (52) at the end of the swing of about 180 degrees around the center. When the arm (30) is rotated 90 degrees to the right from the original position in the upright state on the seedling raising tray (1) side, the cam lever (51) is brought into contact with the operating body (53) to rotate the cam (50). Then, the cam contact body (45) is engaged and protrudes into the cam groove (49) of the cam (50), The upper end side of the movable claw holder (44) is pivoted about the shaft (43) in the direction away from the fixed claw holder (42) by the force of a spring (48), and conversely, the movable wire (5b) is rotated. ) Is brought close to the fixing wire (5a) to perform the closing operation of the claw (5), and when the arm (30) is turned approximately 180 degrees, the other cam lever (52) is brought into contact with the operating body (53). By doing so, the cam contact body (45) is forcibly disengaged from the cam groove (49) and the pawl (5) is opened. As shown in FIG. 11, FIG. 12, and FIG. 16, ring-shaped seedling pressing members (54) are fitted around the lower ends of the wireless members (5a) and (5b), respectively. ) Is fixedly supported on the receiving plate (55) of the interconnecting portion (54a) of the upper extending end. The mounting plate (56) fixed to the upper end of the fixed claw holder (42) is attached to the receiving plate (55). ) Is vertically guided and supported, and a pressing spring (58) is provided on the outer periphery of the rod (57) between the receiving plate (55) and the mounting plate (56). The pressing body (54) is always moved downward by the pressing spring force of (58). A lock arm (59) for holding the seedling pressing body (54) at the uppermost movement position is provided, and the arm (59) is interlockedly connected to the movable claw holder (44). ) Has a lock plate (60) at the lower end to be engaged with the outside of the bottom of the receiving plate (55), and the middle is supported by the fixed claw holder via the pivot shaft (61) and the pivot plate (62). The upper end is a slot (63) and a pin (64)
A lock arm (5) that is linked to a movable claw holder (44) via an interlock to hold the seedling pressing body (54) at the uppermost position.
9) is unlocked in synchronization with the opening operation of the claw holder (44), and the seedling pressing body (54) is moved down by the force of the spring (58) so as to promote detachment of the seedling from the claw (5). It is composed. Further, a lock lever (65) for returning the seedling pressing body (54) to the upward movement position when the arm (30) operating to return to the closed state from the open state of the claw (5) to the right rotation from the end of the left rotation. A base end of the lever (65) is fixed to the outer end of the inner shaft (33), and an upper movement return roller (66) provided at the upper end of the receiving plate (55) is provided with a lever (65) from below. The tip is brought into contact, the seedling pressing body (54) is moved upward in conjunction with the right rotation of the arm (30), and the cam (53) is moved to the closing cam lever (52) immediately before the end of the arm (30) right rotation. Comes into contact with the movable claw holder (44) and the cam (5
When the claw (5) is moved to the 0) side and the claw (5) is closed, the lock plate (60) faces the lower side of the receiving plate (55), and the seedling pressing body (54) is locked at the highest position. It is configured as follows. Then, as shown in FIG. 17, an operation unit (67) having various operation buttons and the like, a seedling on each of the conveyors (2) and (4) and a transmission for detecting the presence or absence of the transplant trays (1) and (3). Type seedling and transplant tray sensor (6
8) (69), transmission type tray stop position sensors (70), (71) for detecting the respective stop positions of the seedling raising and transplantation trays (1), (3), and a lower front surface of the mounting frame (26). A seedling sensor (72) for detecting a seedling when the arm (30) passes through the original point after the transplanting nail (5) is picked up, and a detection cam (27) for the joint (29) provided on the mounting frame (26). 73) arm rotation right / center / left sensors (74), (75), (76) for detecting the right / center / left rotation position of the arm (30), respectively; and a table (19) in the lateral movement mechanism (6). Left, original point and right movement position sensors (7
7) (78) (79) and the tray conveyor (2)
A conveyor motor (80) (81) for raising seedlings and transplanting trays that drives (4) intermittently and continuously, and a controller (82) composed of a computer has the operation unit (67) and various sensors (68) to (72) ・ (7
4) to (79) are connected for output, and the motor (2) is connected.
5) Controller (82) at (27) (80) (81)
Are connected for output, and various sensors (68) to (72)
(74)-(79) and a program preset in the controller (82) to automatically perform a pot raising control operation. This embodiment is constructed as described above, and as shown in FIGS. 18 to 20, during automatic control, the seedling raising and transplanting trays (1) and (3) are placed at predetermined seedling collecting and seedling transplanting positions. The tray sensor (68) (6)
9) When detecting, the conveyor motor (80) (81)
Is stopped, the table (19) at the original position is moved to the seedling raising tray (1) side by a predetermined distance set in the program and stopped, and the arm (30) is rotated clockwise to the nail (5).
Is moved down, the nail (5) is changed from open to closed, and the seedling in the pot (1a) is taken. Thereafter, the arm (30) is rotated counterclockwise to stop at the center position, the seedling is raised to the uppermost position, the seedling is detected by the seedling sensor (72), and the seedling is normally clamped by the nail (5). To do this, move the arm toward the transplant tray (3) by a predetermined distance set by the program and stop the arm. Then, turn the arm (30) counterclockwise to lower the nail (5) and close the nail (5) from the closed position. After opening, the seedlings are planted in the pot (3a), and after planting, the arm (30) is rotated clockwise to stop at the center position. The seedling sensor (7
When the seedling is not detected when the seedling is detected in 2), the seedling is immediately returned to the pot (1a) position where the next seedling removal is performed, and the seedling is placed in the same pot (3a) on the transplant tray (3) side. To prevent stock out in the transplant tray (3). Then, plant the seedlings in the transplant tray (3),
When the arm (30) is stopped at the center position and the horizontal 12 rows of the pot (1a) of the seedling raising tray (1) or the horizontal 4 rows of the pot (3a) of the transplant tray (3) are not completed, the table (19) is again moved to the seedling raising tray (1) side by a predetermined distance, returned to the pot (1a) position for picking the next seedling, and the seedling picking operation is performed again, while 12 rows of the trays (1) and (3). Alternatively, when picking or planting of four rows is completed, the conveyors (2) and (4) of the trays (1) and (3) that have been completed are driven to feed the trays (1) and (3) by one line pitch. After that, the 12 rows or 4 rows of seedlings or seedlings in this row are to be picked up or planted in the same manner as the previous time.
When all the operations of (3) are completed, the conveyors (2) and (4) are continuously driven until the next tray (1) (3) comes to the seedling picking or seedling planting position. As is apparent from the above examples, the present invention provides a tray conveyor (2) (4) for transporting a seedling raising tray (1) and a transplanting tray (3), respectively, and the tray conveyor (2). And (4) a nail moving mechanism (6) for moving the transplanted nail (5), and a transplanting nail (5) is swung up and down at a movement stop position above each tray conveyor (2) (4) to collect seedlings. And a nail swing mechanism (7) for planting seedlings, and a seedling sensor (72) for detecting a lack of seedlings in a locus of movement of seedlings from transplanting of the nails (5) to planting of seedlings. Establishment
Tray conveyor (2) (4)
Of the seedlings and transplant trays (1) and (3) above
Seedling and transplant tray sensors (68) and (69)
And a tray for detecting the stop positions of the transplant trays (1) and (3)
-Stop position sensor (70) (71)
A seedling sensor (72) for detecting seedlings after picking the seedlings;
Right / center / left to detect right / center / left rotation position of structure (7)
Left sensor (74) (75) (76) and claw moving mechanism
(6) Left, origin, and right to detect left, center, and right movement positions
Moving position sensors (77), (78), (79) and the tray
-Conveyor (2) (4) intermittently and continuously driven
Conveyor motor for seedling and transplant tray (80) (81)
It is possible to automatically transfer the seedlings of the seedling raising tray (1) to the transplanting tray (3) by extremely simple constitution means, and also to accurately detect the lack of a plant during the transplanting operation. This makes it possible to increase the precision and efficiency of the leverage work. [0021]

[Brief description of the drawings] FIG. 1 is an explanatory view showing lateral movement of a transplant nail. FIG. 2 is an overall front view. FIG. 3 is an overall left side view. FIG. 4 is an overall right side view. FIG. 5 is an explanatory plan view of the whole. FIG. 6 is an explanatory diagram showing vertical adjustment of a conveyor. FIG. 7 is an explanatory view of a laterally moving portion of a transplant nail. FIG. 8 is an explanatory diagram of a claw swing mechanism. FIG. 9 is an explanatory sectional view of an arm portion. FIG. 10 is an explanatory diagram showing a swinging state of an arm. FIG. 11 is an explanatory view of a transplant nail portion. FIG. 12 is an explanatory view of a transplant nail portion. FIG. 13 is an explanatory diagram of a claw holder. FIG. 14 is an explanatory diagram of a movable claw holder. FIG. 15 is an explanatory diagram of an opening / closing cam. FIG. 16 is an explanatory plan view of a seedling pressing member. FIG. 17 is a control circuit diagram. FIG. 18 is a flowchart. FIG. 19 is a flowchart. FIG. 20 is a flowchart. [Explanation of symbols] (1) (3) Tray (2) (4) Conveyor (3a) Pot (5) Transplant nail (6) Claw moving mechanism (7) Claw swing mechanism (72) Seedling sensor

Continuing from the front page (72) Inventor Hiroshi Ichinose 739-6 Ote, Yamada, Yoshida-cho, Takada-gun, Hiroshima Prefecture Inside (72) Inventor Minoru Yukino 739-Yamate, Yamada, Yoshida-cho, Takada-gun, Hiroshima Prefecture 6. Keibunsha Manufacturing Co., Ltd. (56) References JP-A-8-23788 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) A01G 9/08 A01C 11/02

Claims (1)

(57) [Claims] [Claim 1] Raising seedling tray (1) and transplanting tray (3)
Conveyors (2) and (4) for transporting the trays respectively, a claw moving mechanism (6) for moving the transplanting claw (5) between the tray conveyors (2) and (4), and each tray conveyor (2)
(4) A nail swinging mechanism (7) for swinging the transplanting nail (5) up and down at the upper movement stop position to perform seedling collection and planting is provided. A seedling sensor (7) that detects a lack of seedlings in the locus of seedling movement until planting
In potted device Ru provided 2), each tray conveyor
(2) Raising seedlings and transplanting trays on (4) (1) (3)
Seedling and transplant tray sensor (68) (6)
9) and the stop positions of the seedling and transplant trays (1) and (3)
Tray stop position sensors (70) and (71) for detecting
Seedling sensor (72) for detecting seedlings after picking seedlings (5)
And the right, center and left rotation positions of the pawl swing mechanism (7) are detected.
Right / center / left sensors (74) (75) (76)
Detecting the left, center and right movement positions of the moving mechanism (6)
Original point / right movement position sensor (77) (78) (79)
The tray conveyors (2) and (4) are intermittently and continuously driven.
Conveyor motor for moving seedlings and transplant trays (80)
(81) A pot raising device comprising: