JP3598446B2 - Cell seedling transplanter - Google Patents

Description

TECHNICAL FIELD OF THE INVENTION
The present invention relates to a small and inexpensive cell seedling transplantation device that can realize a high-speed, high-precision transplantation operation.
[Prior art]
BACKGROUND ART Conventionally, plant seedlings generally have large individual differences due to living things and are delicate. In the past, mechanization has been difficult and many rely on manual work.
Recently, the development of cell seedling transplantation machines has been tried in various fields.
For example, as shown in FIG. 14, a method in which the cell seedling 100 is picked up by a screw-shaped gripping piece 101 as if a wine cork is pulled out with a screw, or as shown in FIG. Although methods such as pinching have been attempted, in all cases, since the cell seedling 100 is forcibly inserted into the root site, the cell seedling 100 is particularly damaged at its root, and many adverse effects such as disease infection and seedling withering are caused. To cell seedlings.
Furthermore, the equipment that has been tested so far is a system that transplants cell seedlings directly to a plantation such as a field, like a rice transplanter. In the field of cell seedling production and pot transplantation, all equipment depends on manual work. That is the current situation.
[Problems to be solved by the invention]
As described above, in the method of picking up the cell seedlings, etc., the cell seedlings are damaged, and in the seedling production, particularly in the cell seedling production field, poor seedling quality, disease infection and subsequent growth are hindered. It has given you obstacles.
At the present time, a cell seedling having a 100% commercial value was transplanted by replacing a high-quality cell seedling while removing ungerminated seedlings and defective seedlings from the cell tray to the cell tray, a machine for transplanting cell seedlings into pots. Most of these operations now rely on manual labor, as devices for obtaining cell trays are not common in the country.
On the other hand, in foreign countries, the 1995 Dutch International Horticultural Exposition (NTV) introduces a device for potting cell seedlings or replacing cell trays using shape recognition technology, but this device is very large. And it is an expensive device.
In order to solve the above current situation, when picking up the cell seedlings, it is necessary to pick up the cell seedlings without inserting tweezers or wires into the root portion of the cell seedlings. Also, considering the domestic demand, it is necessary to make the device small and inexpensive.
Therefore, an object of the present invention is to provide a cell seedling transplantation device which is improved in a method of picking up a cell seedling and which can realize a small and inexpensive, high-speed, high-precision transplantation operation.
[Means for Solving the Problems]
The cell seedling transplantation device according to the invention according to claim 1 , wherein a three-dimensional casing, and a plurality of cell trays, which are arranged on the upper side of the casing and contain cell seedlings in which seedlings are planted in cell parts, are placed on the seedling side. Belt-type cell tray transport means for transporting the cell outside, a belt conveyor-type transplant pot transport means disposed below the cell tray transport means and transporting a large number of transplant pots for transplanting the cell seedlings, and the casing A robot body supported by the body, a positioning rotary cylinder or rotary actuator for rotating the robot body from a horizontal position to a vertical position, and a crank mechanism, and a transplanting nail slide attached to the robot body. A cylinder part, a nail holder supported by the transplant nail slide cylinder part, and a closing drive held by the nail holder. It is characterized in that it has a cell seedling transplantation means comprising a graft claw portion having a plurality of pawls sandwiching the cell portion of the cell seedling.
In the cell seedling transplanting device according to the second aspect of the present invention, the cell nail transplanting means of the cell seedling transplanting device according to the first aspect of the present invention has four nail pieces with respect to the nail holder. Are mounted so that the protruding end sides thereof gradually approach each other, and a rotary plate, which is disposed at a position slightly apart from the claw holder and in which the four claw pieces penetrate, is rotationally driven to thereby rotate the four claw pieces. Is configured to expand and contract a pinching region formed by the protruding end side of the claw piece.
Next, the operation of each of the above-described inventions will be described.
According to the cell seedling transplanting apparatus according to the first aspect of the present invention, the robot main body is positioned by the positioning rotary cylinder and the crank mechanism, and the cell portion of each cell seedling conveyed by the cell tray conveying means is replaced with a cell. Individually sandwiched by a plurality of nail pieces of the transplanting nail portion of the seedling transplanting means, the transplanting nail portion is slid by the transplanting nail sliding cylinder portion, each cell seedling is extracted, and the positioning rotary cylinder or rotary actuator and the crank mechanism portion are used. Then, the transplanting nail portion holding the extracted cell seedling is moved together with the robot main body onto each transplanting pot conveyed by the transplanting pot conveying means, and the transplanting nail portion is slid by the transplanting nail slide cylinder portion to move the cellling seedling. Are placed in each transplanting pot, and thereafter, the plurality of nail pieces are driven open to transfer the cell seedling to each transplanting pot. Ported to. As a result, a small, inexpensive, high-speed, high-precision transplant operation can be realized.
According to the cell seedling transplanting device according to the second aspect of the present invention, the cell seedling transplanting device according to the first aspect of the present invention is configured such that the cell nail transplanting means has four transplanting nails with respect to the nail holder. By attaching the claw pieces so that their protruding end sides gradually approach each other, and rotating and driving a rotary plate arranged so that the four claw pieces penetrate at a position slightly away from the claw holder, the Since the pinch region formed by the protruding end sides of the four claw pieces is configured to be expanded or contracted, the cell seedling formed by the four claw pieces is only driven by the rotation of the rotating plate. The sandwiching region can be enlarged and reduced, and the operation of picking up the cell seedling and the operation of transplanting it into the transplanting pot can be reliably performed with a simple configuration.
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail.
The cell seedling transplanting apparatus shown in FIGS. 1 to 3 includes a substantially rectangular parallelepiped casing 1 as a whole, and has a cell on one side of the casing 1 extending from an upper portion to a substantially middle portion in a height direction. Cell tray conveying means 3 for conveying a large number of cell trays 2 containing seedlings 50 is provided.
Further, below the cell tray transporting means 3, a transplanting pot transporting means 4 for transporting a large number of transplanting pots 6 for transplanting the cell seedlings 50 in an arrow direction in FIG. 1 is provided.
A cell seedling potting robot 5 as cell seedling transplanting means supported by the housing 1 is disposed between the cell tray transporting means 3 and the transplant pot transporting means 4 in the housing 1.
The cell tray transport means 3 includes a cell tray transport conveyor 10 and an empty tray transport conveyor 11 mounted vertically on the housing 1, and a cell tray for transporting the cell tray 2 from the cell tray transport conveyor 10 to the empty tray transport conveyor 11. A first drive motor for driving the transport truck 12, the cell tray transport conveyor 10, and the empty tray transport conveyor 11 via a pair of cell tray circumferential drive tractors 45 connected to both ends of the cell tray transport truck 12 in the width direction. 13 is provided.
The transplanting pot transporting means 4 is horizontally disposed at a position further below the empty tray transporting conveyor 11 with respect to the housing 1 and has a transplanting pot 6 attached so as to penetrate the housing 1. 1 and a second drive motor (not shown) for driving the transplant pot transport conveyor 15 in the direction of the arrow in FIG.
4 and 6, the cell seedling potting robot 5 is attached to the positioning rotary cylinder 21 having one end supported by the housing 1 and the other end of the positioning rotary cylinder 21. A crank mechanism 22 driven by the positioning rotary cylinder 21; a robot body 23 driven by the crank mechanism 22 to reciprocate in a range of 90 degrees from a horizontal position to a vertical position; A lateral movement positioning robot part 24 attached to the part 23; a transplant nail slide cylinder part 25 connected to an air pressure source (not shown) via a connection port 25a attached to the lateral movement positioning robot part 24; Claw holder movably supported (movable in the direction of the arrow shown in FIG. 7) and slidably driven by the cylinder portion 25 26 and a transplant nail 27 having four nails 29 held by the nail holder 26, and a protruding end of each of the four nails 29 attached to the supporting piece 28 of the transplant nail 27. And a rotary actuator 30 for opening and closing the cell seedling 50 in a state where the cell seedling 50 is sandwiched or released by contracting or expanding the sandwiching region 32 formed in the cell seedling 50.
In the present invention, instead of the positioning rotary cylinder 21, another driving source, for example, a rotary actuator (not shown) is used to position the robot main body 23 in the cell seedling potting robot 5. May be rotated.
As shown in FIG. 4, the transplanting nail portion 27 is further disposed at a position away from the support piece 28 on the tip side of each of the four nail pieces 29, and each of the four nail pieces is A rotating plate 31 is provided to penetrate, and the rotating force of the opening / closing rotary actuator 30 is transmitted to the rotating plate 31 via a transmission mechanism 33, thereby rotating the rotating plate 31 as shown in FIG. In this way, the sandwiching region 32 formed by the protruding end sides of the four claw pieces 29 is enlarged and reduced. FIG. 4 shows a state in which the sandwiching region 32 shrinks and sandwiches the cell seedling 50, and FIG. 5 shows a state in which the sandwiching region 32 expands and the sandwiching of the cell seedling 50 is released.
In FIGS. 1 and 3, reference numeral 35 denotes a caster attached to the lower surface of the housing 1. On the back side of the cell tray transport truck 12, a cell seedling extruding actuator using air water or the like, which is an extruding mechanism 40, is provided.
Next, the operation of the above-described cell seedling transplantation apparatus will be described with reference to FIGS.
First, as shown in FIG. 6, the cell tray transported on the cell tray transport conveyor 10 of the cell tray transport means 3 and further transported toward the empty tray transport conveyor 11 by the cell tray circumferential drive tractor 45 and the cell tray transport truck 12. The robot main body 23 is horizontally positioned by the positioning rotary cylinder 21 or the rotary actuator and the crank mechanism 22 with respect to the cell seedlings 50 accommodated in the cell 2. Each nail piece 29 is made to face the cell seedling 50. At this time, as shown in FIG. 6, the plurality of nail pieces of the transplant nail part 27 operate the opening / closing rotary actuator 30 to open the sandwiching region 32.
Next, the transplant nail slide cylinder section 25 is actuated, and the robot main body section 23 is slid to the cell seedling 50 side as shown in FIG. It is set to a state where it enters the cell tray 2 side further than the part.
In this state, as shown in FIG. 8, one cell seedling 50 is extruded by the extruding mechanism 40 using air water or the like, and cell parts 50 a of the cell seedling 50 are formed at the respective tips of the four nail pieces 29. The transition is made into the sandwich region 32. Then, in this state, the rotating force of the opening / closing rotary actuator 30 is transmitted to the rotating plate 31 via the transmission mechanism 33, whereby the rotating plate 31 is rotated as shown in FIG. The pinching region 32 formed by the protruding ends of the nail pieces 29 is contracted, and the cell portion 50a of the cell seedling 50 is sandwiched between the four nail pieces 29.
Next, the transplanting nail slide cylinder section 25 is operated to separate the transplanting nail section 27 sandwiching the cell seedling 50 to the side of the cell tray transporting track 12 as shown in FIG. The robot main body 23 is vertically rotated by the rotary cylinder 21 or the rotary actuator and the crank mechanism 22, and is transferred onto the transplanting pot 6 on the transplanting pot transfer conveyor 15 as shown in FIG. .
Then, the transplant nail slide cylinder section 25 is operated, and the robot section main body 23 is slid to the transplant pot 6 side as shown in FIG. 12, and the cell seedling 50 sandwiched by the four nail pieces 29 is transferred to the transplant pot 6. To enter. Then, the rotational force reverse to that described above is transmitted to the rotating plate 31 again by the opening / closing rotary actuator 30 via the transmission mechanism 33, and the pinch area formed by the protruding end sides of the four claw pieces 29 is formed. 32 is released to release the state of being caught by the four claw pieces 29, and the robot main body 23 is moved above the transplant pot 6 by the operation of the transplant claw slide cylinder 25.
By such an operation, the cell seedling 50 can be transplanted to the transplant pot 6 at high speed and with high accuracy by the cell seedling transplanting apparatus of the present embodiment having a small and inexpensive structure. Further, although not shown, these operations can be made to correspond to various cell trays and various transplant pots by computer control.
FIG. 13 shows another example of the configuration of the transplanting nail portion 27 in the cell seedling potting robot 5. The transplanting nail portion 27 </ b> A shown in FIG. 13 is supported by the robot main body portion 23 and has a short length. A cell seedling detection sensor 51 for detecting an undeveloped cell seedling 50 or a defective cell seedling 50; a cell seedling extruding actuator 52 supported by the robot body 23 and extruding the cell seedling 50 with two pushing claws 53; Is added.
By using such a transplanted nail part 27A, it is possible to use the detection signal of the cell seedling detection sensor 51 to transfer a short undeveloped cell seedling 50 or a defective cell seedling 50 to the transplanting pot 6. The cell seedlings 50 can be transplanted to the transplanting pot 6 more smoothly by the pushing operation of the cell seedling pushing-out actuator 52.
In addition, since the transplanting nail | claw part 27 of this invention has a simple and reliable mechanism as a picking operation | movement, it is highly useful not only in the agricultural field but also in other industrial fields.
【The invention's effect】
According to the present invention described above, the following effects can be obtained.
According to the first aspect of the present invention, it is possible to provide a cell seedling transplantation device that can realize a high-speed and high-accuracy transplantation operation with a small and inexpensive configuration using a transplanted nail having a plurality of nail pieces.
According to the second aspect of the present invention, it is possible to expand and contract the cell seedling sandwiching region formed by the four claw pieces only by rotating and driving the rotating plate. It is possible to provide a cell seedling transplantation device that can surely perform a transplanting operation into the inside with a simple configuration.
[Brief description of the drawings]
FIG. 1 is a front view showing an embodiment of a cell seedling transplantation apparatus of the present invention.
FIG. 2 is a plan view showing an embodiment of the cell seedling transplantation apparatus of the present invention.
FIG. 3 is a side view showing an embodiment of the cell seedling transplantation apparatus of the present invention.
FIG. 4 is a perspective view showing a nail piece of a transplant nail portion in the cell seedling transplant apparatus of the present embodiment.
FIG. 5 is a perspective view showing a nail piece of a transplant nail portion in the cell seedling transplant apparatus of the present embodiment.
FIG. 6 is an explanatory diagram showing a transplanting operation of the cell seedling of the cell seedling transplanting apparatus of the present embodiment.
FIG. 7 is an explanatory diagram showing a transplanting operation of the cell seedling of the cell seedling transplanting apparatus of the present embodiment.
FIG. 8 is an explanatory view showing a transplant operation of a cell seedling of the cell seedling transplanting apparatus of the present embodiment.
FIG. 9 is an explanatory diagram showing a cell seedling transplanting operation of the cell seedling transplanting apparatus of the present embodiment.
FIG. 10 is an explanatory view showing a transplant operation of a cell seedling of the cell seedling transplanting apparatus of the present embodiment.
FIG. 11 is an explanatory diagram showing a transplant operation of a cell seedling of the cell seedling transplanting apparatus of the present embodiment.
FIG. 12 is an explanatory diagram showing a cell seedling transplanting operation of the cell seedling transplantation apparatus of the present embodiment.
FIG. 13 is a schematic sectional view showing another embodiment of the transplant nail portion of the cell seedling transplant device of the present invention.
FIG. 14 is an explanatory view showing an operation of grasping a cell seedling in a conventional cell seedling transplanting apparatus.
FIG. 15 is an explanatory view showing another gripping operation of the cell seedling in the conventional cell seedling transplanting apparatus.
[Explanation of symbols]
Reference Signs List 1 housing 2 cell tray 3 cell tray transport means 4 transplant pot transport means 5 cell seedling potting robot 10 cell tray transport conveyor 11 empty tray transport conveyor 12 cell tray transport truck 15 transplant pot transport conveyor 21 positioning rotary cylinder 22 crank mechanism section 23 robot body Reference numeral 24: a lateral movement positioning robot unit 25: a transplanting nail slide cylinder unit 26: a nail holder 27; a transplanting nail unit 28;

Claims (2)

A three-dimensional housing,
A belt conveyor-type cell tray conveying means that is arranged on the upper side of the housing and conveys a large number of cell trays containing cell seedlings in which the seedlings are planted in the cell portion, with the seedling side outward,
Belt conveyor type transplanting pot transporting means for transporting a large number of transplanting pots for transplanting the cell seedlings arranged below the cell tray transporting means,
A robot main body supported by the housing, a positioning rotary cylinder or rotary actuator for rotating the robot main body from a horizontal arrangement to a vertical arrangement, a crank mechanism, and a transplanting claw attached to the robot main body A slide cylinder portion, a nail holder supported by the transplant nail slide cylinder portion, and a transplant nail portion having a plurality of nail pieces held by the nail holder and sandwiching the cell portion of the cell seedling by closing drive. And a cell seedling transplanting device . The transplanting nail portion of the cell seedling transplanting means attaches four nail pieces to the nail holding member such that the protruding end sides thereof gradually approach each other, and mounts the four nail pieces at a position slightly apart from the nail holding member. The cell seedling according to claim 1, wherein a rotating region, which is disposed in a state where the nail pieces penetrate, is driven to rotate, thereby enlarging / reducing a sandwich region formed by the protruding end sides of the four nail pieces. Transplant device .

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