FI127863B

FI127863B - Planting Device

Info

Publication number: FI127863B
Application number: FI20175082A
Authority: FI
Inventors: Tuomas Tennilä
Original assignee: Tennilae Tuomas
Priority date: 2017-01-31
Filing date: 2017-01-31
Publication date: 2019-04-15
Also published as: SE1850109A1; SE542207C2; FI20175082L

Abstract

A planting device 100 for planting juvenile plants is provided comprising a wheeled chassis 30, an articulated boom assembly 31 and a planting head 10 coupled to the articulated boom assembly 31 in an actuator-controlled manner. The planting device 100 further comprises a sliding arrangement 35 mounted onto the longitudinal sides L1, L2 of the chassis 30 and configured to propel the articulated boom assembly 31 therealong. The planting head 10 of the planting device 100 is configured to automatically deliver plants into a planting tube, to set said plants into a substrate and to pack the substrate therearound.

Description

FIELD OF THE INVENTION

Generally invention relates to planting equipment. In particular, the present invention concerns a compact, lightweight planting device for transplanting plants in a semiautomatic manner.

BACKGROUND

Automatic and semi-automatic planting of juvenile plants has been recognized for decades. Many agricultural crops, as well as some trees are generally propagated in special beds and nurseries and then transferred (transplanted) into a field or a forest. Vast spaces intended for crops and/or forestlands often require 15 employment of mechanical transplanting aids. Systems and devices used therein generally aim at transferring juvenile plants and trees from trays into soil by means of various mechanical tools thus eliminating the need in manual planting; and are often configured to function in a (semi)automatic maimer. Such systems and devices are generally equipped with a ground conditioning and/or digging 20 appliance(s), a tray for storing transplants and a feeding- and/or delivery mechanism, configured to transfer the transplant from the tray to soil with subsequent backfilling and stamping the soil around the plant.

Historically, (semi)automatic planting devices have been mounted onto heavy25 duty machines, such as excavators, for example, to replace a shovel positioned at a knuckle boom. A planting machine of the kind has been disclosed in the International patent application publication WO 2013/190176 (Aikala). Said planting machine is configured to transfer root-plug plants from a tray to soil via a planting tube, towards which the plants are delivered by means of a separate 30 transfer device and a feeding device equipped with at least two adjacent grippers.

Each gripper is a pair of jaws that consists of two horizontal arms and is configured to grip a vertical stem of the seedling.

FI94477B (Ilves) further discloses a compact planting arrangement connectable 35 to a working machine, such as a tractor, by means of an articulated boom. In said arrangement root-plug plants are conveyed towards the planting tube by means of a conveyor belt.

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WO 2013/135971 (Peltonen et al) discloses an apparatus for continuous and automated planting of tree seedlings, comprising a scarification and planting head movable by means of a telescopic frame structure for forming a planting spot in the ground and for planting a tree seedling in the formed planting spot.

The apparatus is intended for use with heavy machinery, such as a forwarder, agricultural tractor, or similar work machine. A tree transplanting apparatus connectable to a digger bucket is also disclosed in KR 20070099179 (Jung Jong II).

US 3,351,221 (Smalley) discloses an excavator having a wheeled frame and a sliding arrangement arranged on the frame. The excavator comprises a pivotal mounting for a vertical pivot post with a jib. The aforesaid assembly is provided on a carriage or platform slidably mounted on parallel cross members that mediate shifting movement of said platform widthwise of the frame.

US 4,625,662 (Heinzen) describes a self-contained transplanter towable by an automobile, small conventional truck or small garden tractor. The transplanter comprises a hydraulically actuated extractor head equipped with a plurality of blades which form, when totally inserted into ground, a solid walled container 20 around a rootball. A transplanting device mountable on an off-road vehicle is also disclosed in FI47148B (Siren et al). The device comprises a telescopic arm terminating with three planting jaws, wherein seedlings, three at a time, are moved towards the jaws via a channel arranged in the arm by means of compressed air.

Abovementioned solutions, although generally usable, are still constrained by several common drawbacks. One of the major problems encountered hereby is that in order to attain cost-effective planting over vast areas, which naturally requires carrying at least few hundreds of root-plug plants “on-board”, heavy30 duty machines, such as excavators, harvesters, and tractors are generally utilized.

Apart from being cumbersome and slow, the abovementioned heavy-duty machines are typically configured to perform solely large-amplitude movements; moreover, operation thereof requires special skills/qualifications and a licence. Moreover, for individual farmers and tree-planters, as well as for small-sized 35 farms and tree-planting related facilities, purchasing or even renting a heavy-duty machine may be often economically nonviable.

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Apart from being mountable onto the heavy-duty machinery, a majority of the currently recognized (semi)automatic transplanting devices are further restricted by substantial weight and bulkiness thereof, as well as by structural and mechanical complexity. It is obvious that heavyweight transplanting solutions in 5 the form of a transplanting head, for example, are incompatible with small-sized working machines.

Further drawback encountered in previously known planting equipment relates to replacing empty trays by new (prefilled) ones. For example, the planting 10 arrangement according to the aforementioned patent publication FI94477B comprises a cassette-type dispensing table with the conveyor belt, further equipped with a toothed wheel-type dispenser for feeding the seedlings into the planting tube one at a time. It is clear that replacing such kind of assembly will be rather time-consuming and inconvenient.

In this regard, it would be desirable to update the field of technology related to planting equipment in view of providing flexible and less heavyweight construction in a cost-effective manner, thus increasing attractiveness of the (semi)automatic planting machinery in the eyes of the consumer and improving 20 accessibility to said machinery for the latter, respectively.

SUMMARY OF THE INVENTION

An objective of the present invention is to at least alleviate each of the problems 25 arising from the limitations and disadvantages of the related art. The objective is achieved by various embodiments of a planting device provided in an aspect of the invention, according to what is defined in the independent claim 1.

In preferred embodiment a planting device for planting juvenile plants is 30 provided comprising a wheeled chassis, an articulated boom assembly and a planting head coupled to a forearm of said articulated boom assembly in an actuator-controlled manner, which planting device further comprises a sliding arrangement arranged on the longitudinal sides of the chassis, wherein the articulated boom assembly, by means of a base element thereof, is mounted onto 35 said sliding arrangement, wherein said base element is configured to propel along the sliding arrangement over a total length of the chassis, while supporting the articulated boom assembly mounted thereon.

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In some embodiment, in said planting device the sliding arrangement comprises at least two sliding rails mounted onto guide railings arranged at both sides of the chassis along a total length thereof.

In some embodiment the planting device further comprises a steering element configured to control the sliding movement of the base element on the sliding arrangement.

The planting device preferably comprises of the articulated boom assembly with 10 a telescopic forearm.

In some embodiments, in said planting device the chassis is a four-wheeled, twoaxis cart or a trailer.

In one preferred embodiment, in said planting device the planting head comprises a framework; a plant transfer rack configured to receive a planting tray comprising a transplant tube array with a plurality of transplant tubes arranged into a number of adjacent parallel rows, each transplant tube being configured to receive a root-plug plant; a tubular planting tool configured to deliver and set the 20 root-plug plant from each transplant tube into a substrate, and a base plate with an aperture, said aperture being superposed with an inlet to the tubular planting tool, wherein the plant transfer rack with the planting tray received thereby is configured to perform reciprocating linear motion in a horizontal plane along the base plate by means of a primary transfer rack actuator, thereupon the array is 25 shifted such, that each transplant tube is superposed, one at a time, with the aperture in the base plate thereby allowing the root-plug plant to be dropped, via said aperture, into the tubular planting tool in an unobstructed maimer.

In some further embodiment, in said planting device the planting head comprises 30 the plant transfer rack with a planting tray received thereby further configured to perform reciprocating linear motion in a vertical plane within the framework by means of a secondary transfer rack actuator.

In some embodiment, in said planting device the planting head comprises the 35 tubular planting tool configured at its lower end as a beak with a hinged jaw and a fixed jaw, wherein opening and closing of the hinged jaw is mediated by a related actuator.

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In some embodiment, in said planting device the planting head further comprises a tamping tool for tamping and packing the substrate around the root-plug plant set thereto, wherein motion of said tamping tool is mediated by a related actuator.

In some embodiment, said planting device further comprises an at least one actuator positioned at the forearm of the articulated boom assembly and configured to control motion of the planting head with respect to the articulated boom assembly and the substrate.

In some embodiment, each actuator comprised into said planting device is a linear actuator selected from the group consisting of: a mechanical actuator, an electrical actuator, a hydraulic actuator, a pneumatic actuator, and an electiohydraulic actuator.

The utility of the present invention arises from a variety of reasons depending on each particular embodiment thereof

At first, relatively low weight and compact size (in terms of external dimensions) of the planting device provided hereby allow said planting device to be towed 20 even by a (sub)compact vehicle, such as a quadrocycle or another utility vehicle of a (sub)compact size. Moreover, transportation of said planting device from one site to another can be realized in a conventional trailer pulled by a passenger vehicle (a passenger car). Most of the aforesaid vehicles can be driven by a driver with a common category B driving license, thus eliminating the need in 25 exploiting heavy-duty machines and avoiding extra costs associated with purchasing or renting such machines, accordingly. Lightweight structure and simple design further contribute to lower manufacturing costs, in comparison with conventional planting machines. From the other hand, the planting device of the present invention eliminates the need in manual planting largely utilized 30 when planting trees, such as spruce or pine.

Furthermore, the planting device according to the present invention is controlled in a semi-automatic manner, that allows for (trans)planting a plurality of plants by mechanical means, wherein operation of said mechanical means is at least 35 partly governed by an operator.

Additionally, the planting device provides means for fast and simple replacing a planting tray therewithin that saves time, and improves the planting process in

20175082 prh 21 -01-2019 term of cost-effectiveness. The planting tray in the present planting device can be replaced in about 30 seconds.

Power/capacity estimate (according to a conservative estimate method) for the planting device according to the present invention has been calculated as about

170 plants per hour. Based on this estimate it has been computed that in spruce planting (2,000 plants per hectare) the (tians)planting process implemented by said planting device can be accomplished at least two times faster as compared to manual tree planting (calculated for about 105 hectares per planting season). In 10 addition to accelerated planting process, exploitation of the planting device provided hereby can yield in monetary savings of about 6,500 euros per planting season, calculated as a salary of one planter (about 10,500 euros), with the operating- and servicing costs (about 4,000 euros) for the planting device subtracted therefrom.

In the present disclosure the term “planting” is utilized with regard to juvenile plants as a synonym to the term “transplanting”, unless explicitly provided otherwise. The terms “planting” and transplanting” are utilized hereby to indicate a process of transferring a plant from one location to another, wherein the plant is 20 a juvenile tree, such as a seedling (a very young tree) or a sapling (a tree at the next stage of development after the seedling), and/or a crop plant, planted and grown in a greenhouse, for example, prior to being transferred into the field.

The term “transplant” relates in present disclosure to a juvenile tree- or crop25 related plant, being transferred from one location to another, accordingly.

The term “semi-automatic” relates in present disclosure to transplanting devices and systems configured to automatically place a transplant into a planting tube (planting tool), but requiring manual replacement of a planting tray. Such semi30 automatic device and systems are further driven and at least partly controlled by an operator.

The expression “a number of’ refers herein to any positive integer starting from one (1), e.g. to one, two, or three. The expression “a plurality of’ refers herein to 35 any positive integer starting from two (2), e.g. to two, three, or four.

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The term “element” may refer herein also to a multi-part element with multiple physically and/or functionally connected elements in addition to single-part or integrated elements.

The terms “first” and “second” are used herein to distinguish an element from another element and not to denote any particular order or importance if not otherwise explicitly indicated.

Different embodiments of the present invention will become apparent by 10 consideration of the detailed description and accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

Figs. 1A and IB show a perspective view of a planting device 100, in accordance 15 with an aspect of the invention, in transportation- and operation positions, respectively.

Figs. 2A and 2B show a perspective view of a planting head 10 of the planting device 100 in accordance with some embodiment, with a planting tray mounted 20 and a planting tray detached therefrom, respectively.

Figs. 3A and 3B illustrate a planting tray 14 with and without a detachable bottom plate, respectively; Fig. 3C illustrates the planting tray 14 mounted into a transfer rack.

DETAILED DESCRIPTION OF THE EMBODIMENTS

Detailed embodiments of the present invention are disclosed herein with the 30 reference to accompanying drawings. The same reference characters are used throughout the drawings to refer to same members. Following citations are used for the members:

100 - a planting device;

- a planting head;

11 - a transfer rack;

- a latch for the transfer rack 11;

- a detachable bottom plate for a planting tray;

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- a planting tray with walls 14A and a bottom grate 14B;

- a transplant tube array with a plurality of tubes 15 A;

- a base plate for the planting head 10;

- an aperture in the base plate;

18 - a planting tool;

A, 18B - a moving jaw and a fixed jaw of the planting tool (beak);

- a tamping tool;

20A-E - actuators;

- a framework for the planting head 10;

22 - a connector between the planting head 10 and the articulated boom;

- a plate connector for the planting tool 18;

- a chassis;

- an articulate boom assembly;

311 - a base of the assembly 31;

312, 313, 314 - a lower arm, an upper arm and a forearm, respectively, of the assembly 31;

- a bearer foot;

- wheel(s);

- a connector appliance to connect the chassis 30 to a towing vehicle;

35 - a sliding arrangement;

- a steering element;

- a root-plug plant.

Figs. 1A and IB illustrate at 100 a concept underlying various embodiments of a 25 planting device for planting juvenile plants, in accordance with an aspect of the present invention. In terms of dimensions and weight thereof, including, but not limited to total mass, load capacity, loading length, etc., the planting device 100 is particularly suitable to be mounted into a conventional trailer towed by a passenger vehicle (a passenger car) that can be driven by a driver with a common 30 category B driving license. Alternatively, the plant device itself can be implemented suitable to be towed by said passenger car.

The planting device 100 is thus configured to perform each of the four primary planting related functions, viz.: (i) transportation of juvenile plants to a site of transplanting; (ii) digging a hole in the ground for such a plant; (iii) placing the 35 plant into the hole; and (iv) packing the ground around said plant. The planting device 100 will be further described in relation to each of these functions.

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The planting device 100 thus comprises a wheeled chassis 30, an articulated boom assembly 31 and a planting head 10 flexibly coupled to the end of a forearm 314 of said articulated boom assembly 31 in an actuator-controlled maimer.

The chassis 30 is mounted on wheels 33. In preferred embodiment the chassis 30 is a four-wheeled, two-axis cart or a trailer of an open (hoodless) type having a body with a bottom and sidewalls or -railings.

The articulated boom assembly 31 is preferably configured as a boom of a so called folding type and comprises a number of sections (arms) joined together by 10 means of hinge joints. In overall, provision of the articulated boom assembly 31 corresponds to that of conventional knuckleboom-/swing arm equipment. In one preferred embodiment (Figs. 1A, IB) the articulated boom assembly 31 comprises a base element 311, a lower arm 312, an upper arm 313, and a forearm 314, to which (to the forearm 314) the planting head 10 can be attached.

The articulated boom assembly 31 is at least extendable and foldable (Figs. 1A, IB). In one preferred embodiment the forearm 314 of said assembly 31 is telescopic. In some embodiment the lower arm 312 supported on the base element 311 of the articulated boom assembly 31 is further configured to rotate about its longitudinal (vertical) axis to ensure maximum area coverage during 20 planting.

The planting device 100 further comprises an at least one bearer foot that secures said device 100 on the ground while in operation. On Figs. 1A and IB a V-shaped bearer foot 32 is shown. Said bearer foot can be raised above the ground during transportation; in some further embodiments the bearer foot may be detachable.

In one preferred embodiment the chassis 30 is a cart suitable to be mounted into a body of a conventional 02-class trailer configured to be towed by a passenger car. The 02-class trailers have a total mass in the range of 750 - 3,500 kg and an obligatory brake system. The planting device 100 can be thus transported from one site to another by means of said trailer. Hereby, an exemplary Muuli 1800LJ 30 trailer, having a load capacity of 948 kg and internal dimensions of 350 x 180 cm, or a trailer of similar kind can be utilized.

In dimensional terms, the chassis 30 is configured to accommodate inside the body of the aforesaid conventional trailer; in the example above the chassis 30 is preferably about 250-330 cm long and about 100-160 cm wide.

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Alternatively, the chassis 30 can be configured as the aforesaid trailer suitable to be towed by a passenger car.

The planting device 100 is further advantageously configured to be pulled by a compact or subcompact utility vehicle, a quadrocycle, or a (sub)compact (so 5 called mini-) working machine, such as a tractor or a digger.

Hence, the chassis 30 preferably comprises a connecting means 34 for a vehicle (Figs. 1A, IB). The connecting means 34 may be a standard connector appliance that mediates connection of a conventional trailer to a towing vehicle, such as an aforementioned passenger car, for example.

The chassis 30 can be further modified such to be pulled by horse(s).

The chassis 30 is configured to receive a number of planting trays 14 “on-board”; in some embodiments the number of planting trays 14 may vary from 4 to 10, in particular from 6 to 8.

The articulated boom assembly 31 further comprises a sliding arrangement 35 15 arranged on the longitudinal sides LI, L2 of the chassis 30. The sliding arrangement 35 advantageously comprises at least two sliding rails mounted onto guide railings (banisters) arranged at both sides LI, L2 of the chassis 30 along a total length Lt thereof. Thus, each guide railing has an at least one sliding rail mounted thereto. Provision of e.g. two sliding rails running aside each other 20 along each guide railing is not excluded. The sliding arrangement 35 is further configured to receive the base element 311 of the articulated boom assembly 31 such, that said base element 311 is configured to smoothly propel along the sliding arrangement 35 over a total length Lt of the chassis 30, while supporting the articulated boom assembly 31 mounted thereon. The sliding arrangement 35 25 and the base element 311 together form a slider assembly, in which the base element 311 forms a carrier configured to smoothly propel along the rails of the sliding arrangement 35. The base element 311 further comprises a number of appropriate appliances, such as wheels, gears, grooves, etc., configured to mediate unobstructed sliding movement along the rails (not shown).

Apart from the rails, other configurations of the sliding arrangement 35 are not excluded, as long as said arrangement supports and mediates an unhindered movement of the carrier (formed by the base element 311 hereby) therealong.

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The sliding arrangement 35 thus mediates a smooth sliding movement of the entire articulated boom assembly 31 over a total length Lt of the chassis 30.

The planting device 100 further comprises a steering element 36 configured to control propelling of the base element 311 on and along the sliding arrangement 5 35. The steering element may be implemented as a steering lever/-bar, a steering wheel, or in any other appropriate maimer.

Fig.lA illustrates the planting device 100 in a transportation position, with the articulated boom assembly 31compactly folded and the bearer foot 32 raised above the ground. The articulated boom assembly 31 is positioned at a “front 10 end” of the chassis 30, i.e. at the end by which the chassis 30 is connectable to a towing or pulling vehicle. The articulated boom assembly 31 and/or the steering element 36 are further secured to the chassis 30, in order to prevent accidental drift of the boom assembly 31 along the rails of the sliding arrangement 35 during transportation.

Fig. IB shows the planting device 100 in a functional position with the boom fully extended. The articulated boom assembly 31 is propelled towards a “rear end” of the chassis 30. Fig. IB further illustrates telescopic implementation of the forearm 314.

The reference is further made to Figs. 2A and 2B illustrating a planting head 10 20 of the planting device 100, according to some preferred embodiment. The planting head 10 is flexibly coupled to an end of the forearm 314 by means of a connector 22. The connector 22 thus mediates flexible coupling provided in the present disclosure as detachable connection with rotational- and tilt functions. Connection is preferably realized in an actuator-controlled maimer such, that an 25 at least one actuator device (hereby, an actuator) is provided at the forearm 314, said actuator being configured to receive signals from an at least one sensor device positioned within the planting head 10 and/or the forearm 314, and to adjust spatial position of the planting head 10 with regard to the chassis 30 and the substrate (such as ground), respectively. In one exemplary embodiment an at 30 least one actuator is positioned at the forearm 314 of the articulated boom assembly 31 and is indicated by the reference number 20E (Figs. 1A, IB). Said actuator is disposed at the end of the forearm 314; however, position thereof within the forearm 314 may vary. The actuator 20E is preferably configured to coordinate motion of the planting head 10 with respect to the articulated boom 35 assembly 31 and the substrate, such as at least tilt-/ inclination motion. The

20175082 prh 21 -01-2019 actuator 20E is further preferably configured to control rotational motion of the planting head 10 about a longitudinal axis. Data collection and signal transmission is preferably realized by an at least one sensor device (not shown), such as a gyro-sensor, for example.

The planting head 10 (Figs. 2A, 2B) comprises a framework 21, a plant transfer rack 11 configured to receive a planting tray 14, a base plate 16 and a tubular planting tool (a planting tube) 18. Provision of the planting head 10 is such that its total weight, when including the planting tray 14 filled with transplants, is 10 within the range of 75 to 85 kg, preferably approximately 80 kg.

The framework 21 represents a backbone of the planting head 10 and is configured to receive the plant transfer rack 11 such, to support reciprocating linear motion of said planting rack 11 along the base plate 18 and within the 15 framework 21 in horizontal and vertical planes. The framework 21 thus comprises various appliances, such as rails, for example, that support and mediate an unhindered movement of the plant transfer rack 11 therewithin (not shown).

The plant transfer rack 11 is configured to receive the planting tray 14. Fig. 2A thus shows the planting head 10 with the planting tray 14 mounted thereto; Fig. 2B - the same in an absence of the planting tray. The planting tray 14 is secured in the transfer rack 11 by means of a latch arrangement 12. The latch arrangement 12 is preferably a so called quick-release latch that allows replacing the planting tray in the rack in about 30 seconds. The plant transfer rack also comprises an at least one comer hinge connector (not shown) to allow opening of the plant transfer rack 11 upon release of the latch 12 in a gate-like manner.

The planting tray 14 is shown in detail on Figs. 3A-3C. In one preferred embodiment the planting tray 14 is a rectangular container with four sidewalls 14A and a bottom represented by a detachable plate 13. The planting tray 14 further comprises a transplant tube array 15 with a plurality of transplant tubes 15A arranged into a number of adjacent parallel rows, each transplant tube 15A being configured to receive a root-plug plant 41. Each transplant tube 15A is a tubular element with open ends, having 5-10 cm in diameter. In some exemplary embodiment the array 15 consists of 63 transplant tubes 15A.

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A root-plug (rootball) plant is a green plant (a seedling, a sapling, etc.) grown elsewhere in a pot and taken away therefrom in a maimer that the plant contains a soil plug around its roots. Root-plug plants are normally taken off their pots and placed into the transplant tubes 15A before the planting tray 14 is loaded into the 5 planting head 10 and/or the planting device 100. Ready-for-use planting tray 14 thus comprises a root-plug plant 41 placed into each transplant tube 15A of the array 15.

It is preferred that the array 15 can be placed into the tray and taken away 10 therefrom as an entity. All transplant tubes 15A in the array 15 are preferably joined to each other by permanent or temporary attachment means. Permanent joining can be realized via gluing or welding; thereupon the transplant tubes 15A cannot be separated one from another. Temporary joining can be realized via magnetic or mechanical connectors; thereupon the transplant tubes can be 15 separated from each other with some effort (required to disengage magneticallyor hook-and-loop connected elements, for example). Nevertheless, an embodiment comprising a plurality of separate transplant tubes 15A can also be realized, thereupon all transplant tubes are provided as separate elements that must be placed into the tray one by one.

Fig. 3B shows the tray 14 with sidewalls 14A made transparent such as to demonstrate the arrangement of transplant tubes 15 A within the array 15. In order to retain the array 15 and/or transplant tubes 15A in the planting tray 14 in an absence of the detachable bottom plate 13 (as explained further below), the 25 planting tray 14 further comprises a bottom grate 14B (Fig. 3B). Bottom grate 14B is a rectangular perforated plate, configured to receive the array 15 such that each transplant tube 15A is nested in its own aperture. In terms of aperture size the bottom grate 14B is configured to provide unhindered passage of the rootplug plants 41 therethrough.

Fig.3C, in turn, shows the planting tray 14 with the array 15 secured in the plant transfer rack 11.

The planting tray 14 is preferably made of a polymeric material, in particular, of 35 polystyrene. Other thermoplastic materials, such as polyethylene or polyvinyl chloride, as well as sustainable plastics, can also be utilized. The planting tray 14 may comprise all elements (such as the array 15, sidewalls 14A, the bottom grate 14B) manufactured from the same polymeric material; alternatively, some- or all

20175082 prh 21 -01-2019 aforementioned elements may be manufactured from different polymeric materials.

With reference back to Figs. 2A and 2B, the planting head 10 further comprises a tubular planting tool 18 configured to deliver and set the root-plug plant 41 from each transplant tube 15A into a substrate, such as soil. The tubular planting tool 18 is preferably configured as a planting tube, having a tubular body, an inlet and an outlet in the form of a beak with a hinged jaw 18A and a fixed jaw 18B. Manual planting tube devices of that kind are known in the art. Provision of the 10 tubular planting tool 18 in the present disclosure is, however, such that opening and closing of the hinged jaw 18A is preferably realized in an automated maimer, as explained further below. Automatic opening and closing of said hinged jaw 18A is mediated by a related actuator 20C. The tubular planting tool 18 is fixedly attached to the framework 21 by means of a plate connector 23 (Figs. 2A, 2B).

The planting head 10 further comprises a base plate 16 with an aperture 17, said base plate aperture 17 being superposed with an inlet to the tubular planting tool 18. Provision of the planting head 10 is such, that when the planting tray 14 is mounted thereinto and secured within the plant transfer rack 11, the planting tray 20 14, the base plate 16 and the tubular planting tool 18 are arranged with respect to each other such, that the base plate aperture 17 is superposed with the inlet to the tubular planting tool 18 and with one of the transplant tubes 15 A within the array 15 provided in the tray 14.

It is essential that the planting tray 14 has no physical contact with the base plate 18. The planting tray 14 is thus positioned slightly above the base plate 18, in order to allow unhindered linear motion of the planting tray 14 along said base plate 18. A gap between the base plate 18 and the planting tray 14 (Fig. 2A) may constitute 0,5-2 cm. Such an arrangement allows easy removal of the detachable 30 bottom plate 13 under the planting tray 14, once the planting tray 14 is mounted into the planting head 10. Since the transplant tube array 15 is retained within the planting tray 14 by means of the perforated bottom grate 14B (Fig. 3B), the detachable bottom plate 13 (Fig. 3A) ensures that the root-plug plants 41 do not drop down upon loading the trays into the planting device 100.

The planting head 10 further comprises a tamping tool 19 advantageously configured to perform tamping and packing of the substrate around the root-plug

20175082 prh 21 -01-2019 plant 41 set thereto, wherein said tamping and packing movement is mediated by a related actuator 20D (Figs. 2A, 2B).

Planting process, provided in the present disclosure as transplanting of the rootplug plants 41 into a substrate, is implemented in batches, wherein one batch 5 corresponds to emptying a pre-filled planting tray 14. The process starts at positioning the planting tray 14 within the planting head 10 such that the transplant tube array 15 aligns with the base plate aperture 17 by one of its comers. The transplant tube 15A localized in one said comer thus forms a first transplant tube for a batch process. However, alignment of the base plate aperture 10 17 to any transplant tube 15 A in the array 15 is not excluded.

Once the planting tray 14 has been mounted into the planting head 10 and secured within the plant transfer rack 11, an articulated boom assembly 31 mediated movement of the planting head 10, causing the tubular planting tool 18 15 to hit the (ground) substrate, can be initiated. Prior to or after the tubular planting tool 18 hits the ground, the detachable bottom plate 13 is pulled out. Thereupon the aforesaid first root-plug plant 41 drops down, through the base plate aperture 17, into the tubular planting tool 18. As discussed above, such dropdown action requires superposition of the base plate aperture 17 with said first transplant tube 20 15A and the tubular planting tool 18.

Dropdown of the transplant into the tubular planting tool 18 triggers the opening of the hinged jaw 18A; thereupon the root-plug plant 41 is delivered and set to the substrate. Setting is completed by tamping and packing the substrate around said plant 41 by means of the tamping tool 19.

When the first transplanting action is complete the planting head 10 is raised above the ground and shifted to a predetermined position; thereafter a new (hereby, second) transplanting action is initiated, resulting in delivering and setting the second transplant into the substrate. The transplanting actions are repeated until all root-plug plants 41 in the planting tray 14 are transplanted, 30 thereupon the batch is complete.

Provision of the planting device 100 is preferably such, that control over the planting head 10, as well replacing the trays 14 therewithin, is performed by an operator, whereas movement of the planting tray 14 within the planting head 10 and continuous supply of the root-plug plants 41 into the tubular planting tool 18, 35 are implemented in an automated maimer, as described herein below. Tamping

20175082 prh 21 -01-2019 and packing the substrate around the plant by means of the tamping tool 19 may be implemented in an automated- or in an operator-controlled maimer.

In the planting head 10, the plant transfer rack 11 with the planting tray 14 received thereby is configured to perform reciprocating linear motion in a horizontal plane along the base plate 16, thereupon the array 15 is shifted such that each transplant tube 15 A is superposed, one at a time, with the aperture 17 in the base plate 16 thereby allowing the root-plug plant 41 to be dropped, via said aperture 17, into the planting tool 18 in an unobstructed maimer. As already mentioned elsewhere in this disclosure, the planting tray 14 is disposed above the 10 base plate 16 without directly contacting the latter.

On the other hand, position of the tubular planting tool 18 with regard to the base plate 16 remains constant, wherein said planting tool 18 is fixedly connected to the framework 21 by means of the plate connector 23.

The plant transfer rack 11 with a planting tray 14 received thereby is further 15 configured to perform reciprocating linear motion in a vertical plane within the framework 21.

Reciprocating linear motion in a horizontal plane along the base plate 18 is mediated by means of a primary transfer rack actuator 20A, whereas the same in a vertical plane within the framework 21 is mediated by means of a secondary 20 transfer rack actuator 20B (Figs. 2A, 2B).

In one exemplary embodiment the actuators 20A and 20B are jointly controlled, wherein the “vertical movement” related actuator 20B coordinates the plant transfer rack 11 (and the planting tray 14 secured therein), whereas the “horizontal movement” related actuator 20A coordinates both the “vertical 25 movement” related actuator 20B and the plant transfer rack 11.

Functionality of the planting device 100 is preferably mediated by a number of actuators 20A-20E and coordinated via a control system comprising a control terminal and a number of sensors devices (not shown) that control the actuators 30 20A-20E. Control is preferably realized via a control loop feedback mechanism.

In some embodiment the control mechanism is PID-based (Proportional Integral Derivative).

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The control terminal may be provided directly within the planting device 100 or within a towing vehicle, and configured to acquire direct functional connection with each of the sensor devices.

In one exemplary embodiment the planting device 10 comprises at least five 5 actuators, wherein actuators 20A, 20B mediate linear motion of the plant transfer rack 11 (and the planting tray 14, accordingly); the actuator 20C mediates opening and closing of the tubular planting tool 18; the actuator 20D mediates motion of the tamping tool 19; and the at least one actuator 20E mediates motion of the planting head 10 with respect to the articulated boom assembly 31 and the 10 substrate. The actuators 20A-20E may be positioned within the planting head 10;

alternatively, the actuator 20E may be positioned outside the planting head 10 and within the articulated boom assembly 31, such as at the end of the forearm 314, as described hereinabove.

Each of aforesaid actuators is controlled by an at least one appropriate sensor 15 device, including, but not limited to gyro sensors, proximity sensors, acceleration sensors, and motion sensors.

The actuators 20A, 20B, 20C, 20D and/or 20E are preferably linear actuators selected from the group consisting of: a mechanical actuator, an electrical actuator, a hydraulic actuator, a pneumatic actuator, and an electrohydraulic 20 actuator.

In one particularly preferred embodiment electric linear motors are utilized. In some other embodiment hydraulic cylinders can be utilized. Within the planting device 100 all actuators 20A-20E may be provided of the same or similar type. Alternatively, the planting device 100 may comprise actuators of different types 25 (e.g. mechanical and electrical, etc.).

Each of the aforesaid actuators 20A-20E may be configured to perform its function automatically and/or in an operator-controlled maimer. It is preferred, that in order to perform the actuating function the related actuating device is configured to request confirmation from the control terminal. Said confirmation 30 action may be either pre-programmed or performed by the operator. For the purposes of the invention it is preferred, that control over the actuating devices 20A-20E is at least partly automated.

It is clear to a person skilled in the art that with the advancement of technology the basic ideas of the present invention are intended to cover various modifications included in the spirit and the scope thereof. The invention and its embodiments are thus not limited to the examples described above; instead they may generally vary within the scope of the appended claims.

Claims

PatenttivaatimuksetThe claims

1. Nuorien kasvien istuttamiseen tarkoitettu istutuslaite (100), joka käsittää pyörillä varustetun rungon (30), nivelletyn puomikokoonpanon (31) jaA planter (100) for planting young plants, comprising a wheeled body (30), an articulated boom assembly (31), and

2. Patenttivaatimuksen 1 mukainen istutuslaite (100), tunnettu siitä, että nivelletyn puomikokoonpanon (31) etuvarsi (314) on teleskooppinen.Planter (100) according to claim 1, characterized in that the front arm (314) of the articulated boom assembly (31) is telescopic.

2020

3. Jonkin edeltävistä patenttivaatimuksista mukainen istutuslaite (100), tunnettu siitä, että mainittu laite käsittää lisäksi ohjaus elementin (36), joka on konfiguroitu ohjaamaan jalustaelementin (311) kulkua liukujärjestelyä (35) pitkin.Planting device (100) according to one of the preceding claims, characterized in that said device further comprises a control element (36) configured to control the passage of the base element (311) along the sliding arrangement (35).

20175082 prh 21 -01-201920175082 prh 21 -01-2019

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4. Jonkin edeltävistä patenttivaatimuksista mukainen istutuslaite (100), tunnettu siitä, että mainittu runko (30) on nelipyöräinen, kaksiakselinen kärry tai perävaunu.Planting device (100) according to one of the preceding claims, characterized in that said frame (30) is a four-wheeled, two-axle cart or trailer.

5. Jonkin edeltävistä patenttivaatimuksista 1-3 mukainen istutuslaite (100),Planting device (100) according to one of the preceding claims 1 to 3,

30 tunnettu siitä, että runko (30) on kärry, joka on konfiguroitu asennettavaksi henkilöautolla vedettävissä olevaan tavanomaiseen 02luokan perävaunuun.30, characterized in that the body (30) is a trolley configured to be mounted on a conventional 02 class trailer that can be towed by a passenger car.

5 mainitun nivelletyn puomikokoonpanon (31) etuvarteen (314) toimilaitteella ohjatusti kytketyn istutuspään (10), tunnettu siitä, että mainittu istutuslaite (100) käsittää lisäksi liukujärjestelyn (35), joka on asennettu rungon (30) pitkille sivuille (LI, L2), jolloin nivelletty puomikokoonpano (31) on jalustaelementtinsä (311) avulla asennettu 10 mainitun liukujärjestelyn (35) päälle, jolloin mainittu jalustaelementti (311) on konfiguroitu kulkemaan liukujärjestelyä (35) pitkin rungon (30) koko pituudella (Lt) tukien samalla sille asennettua nivellettyä puomikokoonpanoa (31), ja jolloin liukujärjestely (35) käsittää ainakin kaksi liukukiskoa, jotka on asennettu rungon (30) molemmille sivuille (LI, 15 L2) sen koko pituudelle (Lt) järjestettyihin ohjauskaiteisiin.A planting head (10) operably coupled to the front arm (314) of said articulated boom assembly (31), characterized in that said planter (100) further comprises a sliding arrangement (35) mounted on the long sides (L1, L2) of the frame (30), wherein the articulated boom assembly (31) is mounted by its pedestal member (311) over said slider assembly (35), wherein said pedestal member (311) is configured to travel along the slider assembly (35) along the entire length (Lt) of the body (30) (31), and wherein the sliding arrangement (35) comprises at least two sliding rails mounted on guide rails arranged on both sides (L1, 15 L2) of the frame (30) over its entire length (L1).

6. Patenttivaatimuksen 1 mukainen istutuslaite (100), tunnettu siitä, että istutuspää (10) käsittää kehikon (21), kasvinsiirtotelineen (11), alustalevyn (16) ja putkimaisen istutustyökalun (18).Planting device (100) according to claim 1, characterized in that the planting head (10) comprises a frame (21), a plant transfer stand (11), a base plate (16) and a tubular planting tool (18).

7. Patenttivaatimuksen 6 mukainen istutuslaite (100), tunnettu siitä, että kasvinsiirtoteline (11) on istutuspäässä (10) konfiguroitu vastaanottamaan istutuslaatikko (14), joka käsittää joukolla kasvinsiirtoputkia (15A) varustetun kasvinsiirtoputkikokoonpanon (15), jolloin kukin 5 kasvinsiirtoputki (15) on konfiguroitu vastaanottamaan juuripaakkukasvi (41), ja putkimainen istutustyökalu (18) on konfiguroitu toimittamaan ja asettamaan juuripaakkukasvi (41) kustakin kasvinsiirtoputkesta (15A) alustaan.Planting device (100) according to claim 6, characterized in that the plant transfer rack (11) is configured at the planting head (10) to receive a planting box (14) comprising a plant transfer tube assembly (15) with a plurality of plant transfer tubes (15A), is configured to receive a root crop (41), and a tubular planting tool (18) is configured to supply and place a root crop (41) from each plant transfer tube (15A) into a substrate.

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8. Patenttivaatimuksen 6 mukainen istutuslaite (100), tunnettu siitä, että istutuspää (10) käsittää lisäksi tamppaustyökalun (19) alustan tamppaamiseksi ja tiivistämiseksi siihen asetetun juuripaakkukasvin (41) ympäriltä.Planting device (100) according to claim 6, characterized in that the planting head (10) further comprises a tamping tool (19) for tamping and sealing the substrate around the root crop plant (41) placed therein.

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9. Jonkin edeltävistä patenttivaatimuksista mukainen istutuslaite (100), tunnettu siitä, että laite käsittää lisäksi lukumäärän toimilaitteita (20A, 20B, 20C, 20D, 20E), jolloin kukin toimilaite (20A, 20B, 20C, 20D, 20E) on lineaarinen toimilaite, joka on valittu ryhmästä, johon kuuluvat: mekaaninen toimilaite, sähköinen toimilaite, hydraulinen toimilaite, 20 pneumaattinen toimilaite j a sähköhydraulinen toimilaite.Planting device (100) according to one of the preceding claims, characterized in that the device further comprises a plurality of actuators (20A, 20B, 20C, 20D, 20E), wherein each actuator (20A, 20B, 20C, 20D, 20E) is a linear actuator, which is selected from the group consisting of: mechanical actuator, electric actuator, hydraulic actuator, 20 pneumatic actuator and electro-hydraulic actuator.

10. Jonkin edeltävistä patenttivaatimuksista mukainen istutuslaite (100), tunnettu siitä, että istutuspää (10) on järjestetty sellaiseksi, että sen kokonaispaino sen sisältäessä siirrettävillä kasveilla täytetyn 25 istutuslaatikon (14) on alueella 75 - 85 kg, edullisesti noin 80 kg.Planting device (100) according to one of the preceding claims, characterized in that the planting head (10) is arranged so that its total weight, including the planting box (14) filled with transportable plants, is in the range 75-85 kg, preferably about 80 kg.