【０００１】
【発明の属する技術分野】
本発明は、例えば、玉葱、レタス、キャベツ、タバコ等のソイルブロック苗を、苗トレイのポット部から１つずつ取り出して移植する移植機の苗取り出し方法及びその装置に関する。
【０００２】
【従来の技術】
移植機は、走行機体に、縦横に多数のポット部を備えた苗トレイを載置する苗載せ台と、畝に苗を植え付ける植付部と、苗載せ台上の苗トレイのポット部から苗を１つずつ取り出して植付部へと供給する苗取出装置とを備え、畝に沿って走行しながら畝長手方向に間隔をおいて順次自動的に苗を植え付ける。
この種の従来技術としては、特開平６−３１１８０５号公報及び特許３２３８５９７号公報に開示されたものがある。
【０００３】
前記前者従来技術は、苗取り爪を支持している爪支持台を、苗トレイのポット部に対向する方向に遊星ギヤ機構で往復直線移動させると共に、その往復直線移動中に苗取り爪の姿勢をポット部に対向する姿勢から植付部の植付カップに向かう姿勢に姿勢変更するように構成されている。
また、左右一対の苗取り爪を苗に突き刺すときに、左右苗取り爪の基部間に配置したカムを介して、苗取り爪先端の間隔を狭めことにより苗の取り出しを確実にし、苗取り爪に嵌合した苗株押出部材を苗取り爪先端側へ移動することにより、苗取り爪から苗を放出するように構成されている。
【０００４】
前記後者従来技術は、カムを使用して爪支持台に対して苗取り爪を苗トレイのポット部に対向する方向に往復直線移動させながら、別のカムを使用して支持台の姿勢を変更して、苗取り爪をポット部内で略Ｖ字状を描かせ、また、ポット部から植付部の植付カップに向かう姿勢に姿勢変更するように構成されている。
また、左右一対の苗取り爪を前進させて苗に突き刺すときに、爪ガイドを苗取り爪の基部側に移動して苗取り爪先端の間隔を狭め、この爪ガイドを前進している苗取り爪の先端側へ移動して苗取り爪から苗を放出するように構成されている。
【０００５】
【発明が解決しようとする課題】
前記前者従来技術においては、苗取り出し時において苗取り爪先端を収縮させるだけで、その収縮期間内での収縮速度については高低の変化は付けられていなく、前記後者従来技術においては、苗取り出し時における苗取り爪先端の収縮は、苗取り爪自体の移動によって苗取り補助具から収縮作用を受ける構造であるため、苗取り爪のポット部内への進入量、進入速度と略比例している。
そのため、両従来技術では左右一対の苗取り爪を前進しながら苗の挟持は可能であるが、ポット部の奥へ行くに従って挟む根鉢の土が少なくなり、土が崩れ易く、強固で安定した苗挟持が困難になっている。
【０００６】
本発明は、このような従来技術の問題点を解決できるようにした移植機の苗取り出し方法及びその装置を提供することを目的とする。
本発明は、左右苗取り爪の収縮を苗取り爪の進入初期よりも進入終期に急激に行わせることにより、左右苗取り爪が主にポット部の奥へ行ったところで根鉢の土を挟持し、強固で安定した苗挟持をできるようにした移植機の苗取り出し装置を提供することを目的とする。
【０００７】
【課題を解決するための手段】
本発明における課題解決のための具体的手段は次の通りである。
第１に、左右一対の苗取り爪３２で苗トレイＴのポット部Ｐ内の苗Ｎを取り出すために、苗取り爪３２をポット部Ｐ内に進入するときに先端が左右苗取り爪３２に嵌合した苗取り補助具３４を苗取り爪３２の先端側から基部側へ相対移動して左右苗取り爪３２の先端間距離Ｌを収縮させる移植機の苗取り出し方法において、
前記左右苗取り爪３２の収縮を苗取り爪３２の進入初期よりも進入終期に急激に行わせることである。
【０００８】
これによって、左右苗取り爪３２が主にポット部Ｐの奥へ行ったところで苗Ｎを挟持し、強固で安定した苗挟持ができ、苗取り出しの作業精度を高めることができる。
第２に、苗爪台３３に左右一対の苗取り爪３２を先端拡縮可能に設け、この左右苗取り爪３２に先端が嵌合した苗取り補助具３４を長手方向相対移動自在に設けており、前記苗爪台３３を苗トレイＴのポット部Ｐに略対向する方向に往復運動をさせて、その往復運動の一端側で苗取り爪３２をポット部Ｐに進退させて苗Ｎを取り出し、前記苗取り爪３２をポット部Ｐの外側から往復運動の他端側との間で、前記苗爪台３３に苗取り爪３２の姿勢をポット部Ｐに対向する姿勢から略下向きに姿勢変更する略円弧軌跡運動を与え、苗取り爪３２をポット部Ｐに進入するときに苗取り補助具３４を苗取り爪３２の先端側から基部側へ移動して左右苗取り爪３２の先端間距離Ｌを収縮させ、この左右苗取り爪３２の収縮を苗取り爪３２の進入初期よりも進入終期に急激に行わせることである。
【０００９】
これによって、左右苗取り爪３２の主に進入終期に苗Ｎを挟持し、強固で安定した苗挟持ができ、苗取り出しの作業精度を高めることができる。
第３に、前記苗取り補助具３４を苗取り爪３２の姿勢が略下向きになったときに苗取り爪３２の先端側へ移動させて、苗取り爪３２が取り出した苗Ｎを苗取り爪３２から放出させることである。
これによって、苗取り補助具３４で苗Ｎの放出もできる。
第４に、苗爪台３３に基部が枢支されかつ先端が拡縮可能に取り付けられた左右一対の苗取り爪３２と、この左右苗取り爪３２に先端が嵌合しかつ苗爪台３３に苗取り爪３２長手方向相対移動自在に支持された苗取り補助具３４と、前記苗爪台３３を介して苗取り爪３２をポット部Ｐに進退させて苗Ｎを取り出させる手段とを有し、前記苗取り補助具３４と苗爪台３３との間に苗取り爪３２をポット部Ｐに進入するときに苗取り補助具３４を苗取り爪３２の先端側から基部側へ移動して前記左右苗取り爪３２の先端間距離Ｌを収縮させかつその収縮を進入初期よりも進入終期に急激に行わせる補助具作動手段３９を設けていることである。
【００１０】
これによって、左右苗取り爪３２の主に進入終期に苗Ｎを挟持し、強固で安定した苗挟持ができ、苗取り出しの作業精度を高めることができる。
第５に、苗爪台３３に基部が枢支されかつ先端が拡縮可能に取り付けられた左右一対の苗取り爪３２と、この左右苗取り爪３２に先端が嵌合しかつ苗爪台３３に苗取り爪３２長手方向相対移動自在に支持された苗取り補助具３４と、前記苗爪台３３を苗トレイＴのポット部Ｐに略対向する方向に往復運動させかつその往復運動の一端側で苗取り爪３２をポット部Ｐに進退させて苗Ｎを取り出させる往復動手段３６と、前記苗取り爪３２がポット部Ｐの外側から往復運動の他端側との間にあるときに、前記苗爪台３３に苗取り爪３２の姿勢をポット部Ｐに対向する姿勢から略下向きに姿勢変更する略円弧軌跡運動をさせる姿勢変更手段３７とを有し、前記苗取り補助具３４と苗爪台３３との間に苗取り爪３２をポット部Ｐに進入するときに苗取り補助具３４を苗取り爪３２の先端側から基部側へ移動して前記左右苗取り爪３２の先端間距離Ｌを収縮させる補助具作動手段３９を設けており、この補助具作動手段３９は苗取り補助具３４の移動速度を苗取り爪３２の進入初期よりも進入終期で高速に設定してあることである。
【００１１】
これによって、左右苗取り爪３２の主に進入終期に苗Ｎを挟持し、強固で安定した苗挟持ができ、苗取り出しの作業精度を高めることができ、しかもそれを、苗爪台３３に対して苗取り補助具３４を苗取り爪３２長手方向に相対移動するだけで行うことができる。
第６に、前記補助具作動手段３９は、一端が苗爪台３３に枢支されかつ他端が苗取り補助具３４に連結された揺動アーム４０と、前記苗取り補助具３４又は揺動アーム４０と苗爪台３３との間に設けられていて苗取り補助具３４を苗取り爪３２の先端側へ弾圧する付勢手段６２と、往復動手段３６からの動力で回転して前記付勢手段６２に抗して苗取り補助具３４を苗取り爪３２の基部側へ移動すべく前記揺動アーム４０を揺動させるカム体４１とを有しており、前記カム体４１には苗取り補助具３４を苗取り爪３２の進入初期よりも進入終期で高速移動させる急速揺動カム面４１ａを設けていることである。
【００１２】
これによって、カム体４１に急速揺動カム面４１ａを設けるだけで、苗取り補助具３４を苗取り爪３２の進入初期よりも進入終期で高速移動させて、強固で安定した苗挟持を行うことができる。
第７に、前記カム体４１には、苗取り爪３２の姿勢が略下向きになったときに、付勢手段６２による苗取り補助具３４の苗取り爪３２の先端側への移動を許容するカム凹部４１ｃを有することである。
これによって、１つのカム体４１で苗取り補助具３４に苗放出動作をさせることができる。
【００１３】
【発明の実施の形態】
以下、本発明の実施の形態を図面に基づいて説明する。
図１〜１２に第１実施形態を示しており、図４には移植機１の全体を示している。
図４において、移植機１は、走行機体２の後部に移植装置３及び操縦ハンドル４を備えた２条植え４輪歩行型を例示しており、畝Ｒを跨いだ状態で畝長手方向（図４の左右方向）に前進走行しながら、ソイルブロック苗（根鉢付きの苗。以下、苗Ｎという）を畝Ｒに所定間隔をおいて自動的に植え付ける。
【００１４】
走行機体２は、ミッションケース５の前部に架台６を前方突出状に固定し、この架台６にエンジン、燃料タンク、バッテリー等の車両機器を搭載し、かつ左右一対の前輪９及び後輪（駆動輪）１０を縣架している。
前記前輪９は、架台６の前部に枢支された前輪支軸１１の左右端部に支持アーム１２を介して設けられ、後輪１０は、ミッションケース５の左右両側から外方突出した後輪支軸１３の外端部に、後下方へ傾斜した伝動ケース１４を介して設けられている。
【００１５】
左右同側にある前輪支軸１１と後輪支軸１３とは連動ロッド１５及びアームを介して連動連結されており、架台６に支持したアクチュエータ（油圧シリンダ）１６を作動することで、連動部材１７及び前記連動ロッド１５等を介して前輪支軸１１と後輪支軸１３とが連動して回動し、これにより左右の前後輪９、１０が同時に昇降して、走行機体２を畝Ｒに対して高さ調整できるように構成されている。
エンジンの動力はミッションケース５から左右の後輪支軸１３内の伝動軸及び伝動ケース１４内の伝動手段等を介して後輪１０に伝動される。また、ミッションケース５からは、後方に突出された第１ＰＴＯ軸１８と、左右両側に突出した第２ＰＴＯ軸１９とから動力が取り出せるようになっている。
【００１６】
前記前輪支軸１１の左右両側又は左右一側（右側）及び後輪支軸１３の左右両側又は左右一側は、伸縮自在に構成されており、畝Ｒの左右幅に対応してトレッド調整可能とされている。
従って、移植機１は、左右一側の前輪支軸１１及び後輪支軸１３を伸長させることにより、移植装置３が畝Ｒの左右他側（左側）にオフセットされ、この状態で移植機１を畝Ｒの長手方向に往復移動させることによって、４条分の苗が畝Ｒに植え付けられるように構成されている。
【００１７】
前記移植装置３は、走行機体２の後部に装着された移植フレーム２１に設けられており、苗Ｎを畝Ｒに植え付ける植付機構２２と、苗トレイＴを載置して縦横に送る苗供給機構２３と、この苗供給機構２３上の苗トレイＴから苗Ｎを取り出して植付機構２２へ供給する苗取出機構２４とから主構成されている。
移植フレーム２１は、前部がミッションケース５に固定された固定フレーム２１Ａと、前部が第２ＰＴＯ軸１９に軸心回りに回動自在に取り付けられた可動フレーム２１Ｂとを有し、固定フレーム２１Ａに苗供給機構２３と苗取出機構２４（両者で苗供給部が構成される）が備えられていると共にハンドル４が固定され、可動フレーム２１Ｂに植付機構２２が備えられている。
【００１８】
図１、２において、前記苗トレイＴは、プラスチック製で、薄肉に形成されていて可撓性を有し、縦横に所定ピッチで碁盤目状に配列された多数のポット部Ｐを備えている。
苗トレイＴは正面視でポット部縦配列方向に長い長方形に形成されており、ポット部Ｐに床土を充填し、そこへ播種し育苗することでソイルブロック苗Ｎが育成されており、例えば、ポット部Ｐの数は、１０×２０＝２００個、１２×２４＝２８８個等となっており、苗トレイＴの大きさは一定であるので、ポット部数が異なると、１つのポット部Ｐの大きさは異なり、図７には２種類の大きさを示している。
【００１９】
前記ポット部Ｐは、奥に行くに従って次第に狭くなる略四角錐形状（又は円錐形状）で、角部はＲ面取りが施されており、底壁には通気、排水用の奥底孔Ｐａが形成されている。従って、苗トレイＴを送り姿勢にしたときのポット部Ｐの上下側壁Ｐｂは奥細りテーパ面となる。ポット部Ｐの中心線を符号Ｓで示している。
苗供給機構２３には、苗トレイＴを上部を後方へ倒した状態に載置する苗載せ台２５と、この苗載せ台２５を左右方向に往復移動自在に支持する支持手段と、苗載せ台２５を１つのポット部Ｐづつ間欠的に横配列方向（左右方向）に横送りする横送り手段と、苗載せ台２５上の苗トレイＴを１列づつ上から下へ縦送りする縦送り手段とを有する。
【００２０】
前記苗供給機構２３は、苗載せ台２５を横送りしながら、苗トレイＴのポット部Ｐから苗取出機構２４により苗Ｎを取り出し、横一列の総てのポット部Ｐから苗Ｎを取り出した後、縦送り手段によってポット部Ｐの１ピッチ分だけ苗トレイＴを縦送りをし、次の横一列のポット部Ｐから苗Ｎを取り出し可能としている。前記苗取出機構２４は苗載せ台２５の前方側に配置されており、２条植えに対応するべく１つの苗トレイＴに対して左右一対の苗取出装置３０を備えており、左右苗取出装置３０は、１つの苗トレイＴの横配列方向のポット部Ｐの数の半分のピッチ分の間隔をおいて並設されている。
【００２１】
各苗取出装置３０は、第１ＰＴＯ軸１８からの動力で駆動されており、先端部に左右一対の断面Ｌ字状の苗取り爪３２（苗取出部材）を備えていて、この苗取り爪３２をポット部Ｐ内の床土を有する苗鉢に突き刺して苗Ｎを保持し、この苗Ｎをポット部Ｐから取り出し、植付機構２２の植付カップ２６に供給するように構成している。
植付機構２２は、畝Ｒに植え穴を形成すると共にそこに苗Ｎを放出する植付カップ２６と、この植付カップ２６を上下移動させる植付駆動機構と、植え穴に放出された苗Ｎの左右両側から株際に土を押圧して苗Ｎの床土を埋める覆土手段２７とを有しており、前記植付カップ２６は植付駆動機構によって、前後に幅のある上下に長い楕円軌跡（図１９に示す軌跡Ｇ）を描いて、上部の苗供給位置と下部の苗放出位置との間を昇降する。
【００２２】
左右苗取出装置３０の一方は、固定フレーム２１Ａに装着された支持台５７にギヤボックス５８を装着し、このギヤボックス５８に第１ＰＴＯ軸１８からの動力が伝達される伝動軸５９を支持し、この伝動軸５９の両端をギヤボックス５８から突出して一端を太陽軸４３とし、他端からギヤ伝動手段又はチェーン伝動手段等を介して、他方の苗取出装置３０の太陽軸４３に動力を伝達するように構成されており、前記ギヤボックス５８からは苗供給機構２３へ伝達する動力も取り出されている。
【００２３】
各苗取出装置３０は、左右一対の苗取り爪３２と、左右苗取り爪３２に先端が嵌合した苗取り補助具３４と、前記苗取り爪３２及び苗取り補助具３４を支持した苗爪台３３と、この苗爪台３３を苗トレイＴのポット部Ｐに略対向する方向に沿う往復運動をさせて苗取り爪３２にポット部Ｐ内の苗Ｎを取り出させる往復動手段３６と、前記苗爪台３３に苗取り爪３２の姿勢をポット部Ｐに対向する姿勢から略下向きに姿勢変更させる姿勢変更手段３７とを有し、往復動手段３６及び姿勢変更手段３７の作動によって、苗取り爪３２の先端３２ａに略楕円軌跡Ｄと略円弧軌跡Ｅとを合成した総合軌跡Ｍを描く運動をさせる。
【００２４】
前記左右各苗取り爪３２は、爪部材３２Ａの基部に設けた縦軸３２Ｂを介して先端間隔拡縮自在に苗爪台３３に枢支されており、爪部材３２Ａは縦軸３２Ｂから直径方向に延びており、左右の爪部材３２Ａの基部にはその先端を収縮方向に付勢するバネ製の収縮部材６０が設けられている。
両苗取り爪３２の爪部材３２Ａは幅方向断面略くの字状（又は略Ｌ字状）に屈曲した帯板を丸棒材（針形状）に固着して形成しており、先端３２ａが丸く、下縁３２ｂを基部から先端３２ａまで略直線状に形成し、上縁３２ｃを途中から先端３２ａまで下向き傾斜させて先端傾斜面３２ｄを形成しており、前記下縁３２ｂと先端傾斜面３２ｄとがなす挟角は、ポット部Ｐの周壁Ｐｂのテーパ角又はその前後の角度であることが好ましい。
【００２５】
左右苗取り爪３２は、先端部がポット部Ｐの断面側面形状と近似した形状であり、苗Ｎの根鉢との接触面積を可及的に大きくしており、ポット部Ｐ内に進入して、苗Ｎの根鉢を中心線より下側で最深部まで突き刺して、左右から強制的に挟み込んで抱きかかえるように挟持する。
前記苗爪台３３は、爪支軸６１に回動自在に支持された台本体３３Ａに支持ブロック３３Ｂを設けて構成されている。支持ブロック３３Ｂは台本体３３Ａに形成した長孔３３ａとボルト３３ｂとを介して台本体３３Ａに装着され、苗取り爪３２と平行に位置調整自在になっている。
【００２６】
この支持ブロック３３Ｂに両苗取り爪３２の縦軸３２Ｂが枢支されており、前後位置調整により、爪支軸６１から苗取り爪３２の先端３２ａまでの距離を調整できる。
苗爪台３３の前記支持ブロック３３Ｂには貫通孔が形成され、苗取り補助具３４の押動杆３４Ａが摺動自在に挿通支持されており、この押動杆３４Ａの先端に左右爪部材３２Ａに同時に嵌合する嵌合部材３４Ｂが設けられている。この嵌合部材３４Ｂの先端面は、苗取り爪３２に突き刺した苗Ｎを押し出す押出面３４ａとなっている。
【００２７】
前記嵌合部材３４Ｂは、爪部材３２Ａの下縁３２ｂから上部近く（又は上縁３２ｃ）まで嵌合する左右対称状の溝３４ｂを有しており、この溝３４ｂは正面視略くの字状（又はＬ字状）でかつその上部が上方に開放しており、左右くの字状の溝３４ｂの間隔は前記左右縦軸３２Ｂの間隔より狭く設定され、この苗取り補助具３４を前後相対移動することにより、左右苗取り爪３２の先端間距離Ｌを拡縮できるように構成されている。嵌合部材３４Ｂが苗取り爪３２の先端側に位置するとき、距離Ｌは縮小されて最小（Ｌ１）になり、苗取り爪３２の基部側に位置するとき、距離Ｌは拡大されて最大になる。
【００２８】
なお、嵌合部材３４Ｂは左右溝３４ｂの間隔の異なるものが複数用意されていて、ポット部Ｐの大きさに合わせて取り替えて、爪部材３２Ａがポット部Ｐ内に適正に進入できるように案内するようにしている。
前記苗爪台３３の台本体３３Ａには揺動アーム４０が支軸６５を介して揺動自在に支持され、この揺動アーム４０の先端がリンク６６を介して押動杆３４Ａの後端に連結され、揺動アーム４０の中途部に設けらカムフォロア６７がカム体４１の外周のカム面に当接している。
【００２９】
苗爪台３３の台本体３３Ａと揺動アーム４０との間には、嵌合部材３４Ｂを爪部材３２Ａの先端方向へ弾発するコイルスプリング製の付勢手段６２が設けられている。この付勢手段６２は、コイルスプリングを支持ブロック３３Ｂと嵌合部材３４Ｂとの間で押動杆３４Ａに嵌装して構成してもよい。
前記揺動アーム４０、リンク６６、カム体４１及び付勢手段６２等は、苗取り補助具３４を駆動するための補助具作動手段３９を構成しており、苗爪台３３とカム体４１との相対回動により、揺動アーム４０は支軸６５を中心に往復揺動し、押動杆３４Ａを直線移動させる。
【００３０】
苗取り爪３２でポット部Ｐの苗Ｎを突き刺すときは、嵌合部材３４Ｂが苗取り爪３２の基部側へ移動し、補助具作動手段３９は先端間距離Ｌを収縮させる爪拡縮手段となり、苗取り爪３２がポット部Ｐから取り出した苗Ｎを放出するときは、カム体４１の小径部をカムフォロア６７に急激に移行させて、付勢手段６２の弾発力で嵌合部材３４Ｂを苗取り爪３２の先端側へ急激に移動する苗放出手段となる。
前記カム体４１の立ち上がりカム面は、立ち上がり始めよりも後半が急激に立ち上がった急速揺動カム面４１ａを形成しており、苗取り爪３２をポット部Ｐに進入するときの苗取り補助具３４の移動速度を、進入初期よりも進入終期に急激に行わせ、苗取り爪３２が進入終期になったときに苗Ｎを挟持するように構成されている。
【００３１】
急速揺動カム面４１ａに続く円弧カム面が、苗取り補助具３４を苗取り爪３２の基部側へ移動した位置に保持する作用面４１ｂとなっており、この作用面４１ｂの後端は急激に落ちていて小径のカム凹部４１ｃを形成しており、苗取り爪３２の基部側での苗取り補助具３４の保持を解除して、付勢手段６２で苗取り爪３２先端側へ弾発できるようにしている。
前記爪支軸６１とギヤボックス５８との間には往復動手段３６が設けられている。前記太陽軸４３には太陽歯車４２が固定されると共にギヤケース４７が回動自在に嵌装されており、このギヤケース４７には遊星軸４６が支持され、その内部では、遊星軸４６に装着された遊星歯車４５と前記太陽歯車４２とにアイドラ歯車４４が噛合している。
【００３２】
また、ギヤケース４７から突出している遊星軸４６の端部には回動アーム４８の一端が着脱自在に装着され、この回動アーム４８の他端に前記爪支軸６１が固定されている。爪支軸６１は苗爪台３３の回動中心となっている。
前記往復動手段３６は遊星歯車機構となっており、太陽軸４３からの動力で太陽歯車４２が自転すると、アイドラ歯車４４及び遊星歯車４５が回転して回動アーム４８が遊星軸４６の廻りを自転し、これと同時に遊星歯車４５はギヤケース４７と共に太陽軸４３の廻りを公転する。
【００３３】
図３において、遊星軸４６から太陽軸４３までの距離（遊星歯車４５の公転半径）Ｋ１に対して、遊星軸４６から爪支軸６１までの距離（回動アーム４８の長さ）Ｋ２は短く設定されており、爪支軸６１の運動軌跡は往路と復路とが上下に乖離した略楕円軌跡Ｄを描くことになる。
前記距離Ｋ１対距離Ｋ２は１８対１７、又はその前後のリンク比率に設定されており、距離Ｋ１対距離Ｋ２が１対１の場合（従来技術）、爪支軸６１の軌跡は直線状になるが、長さに差が有る場合、往動と復動とでは爪支軸６１の通る点が異なり、軌跡の両端でリターンし、途中で上下に離れていて、中央で厚みのある楕円を扁平にしたような軌跡となる。
【００３４】
即ち、太陽歯車４２が図３矢印方向（反時計方向）に回転する場合、爪支軸６１は略楕円軌跡Ｄの下側軌跡Ｄｄを通って中心線Ｄａのポット部Ｐ側端部に至り、中心線Ｄａ上から上側軌跡Ｄｕを通って中心線Ｄａのポット部Ｐから最遠の端部に至ることになる。これによって、苗取り爪３２には苗トレイＴのポット部Ｐに略対向する方向の略楕円軌跡Ｄの運動が与えられ、苗取り爪３２はその略楕円軌跡Ｄの運動の一端下側でポット部Ｐに進入して苗Ｎに突き刺さり、その後にリターンして略楕円軌跡Ｄの一端上側でポット部Ｐから後退して突き刺さした苗Ｎを取り出す。
【００３５】
前記距離Ｋ１は距離Ｋ２より短く設定することもでき、その場合は、太陽歯車４２を時計方向に回転させれば、爪支軸６１に略楕円軌跡Ｄのポット部Ｐ側端部で下側軌跡Ｄｄから上側軌跡Ｄｕへ移行するように運動させることができる。
前記略楕円軌跡Ｄの中心線Ｄａは、角度Ｑだけ水平線に対して後下向きに傾斜している。この傾斜角度Ｑは、苗供給機構２３上の苗トレイＴの苗取り出し位置にあるポット部Ｐの下側の側壁Ｐｂと略平行に配置されており、また、苗取り爪３２の下縁３２ｂ及び押動杆３４Ａとも略平行になっている。
【００３６】
中心線Ｄａは、太陽軸４３と遊星軸４６と爪支軸６１とが一直線上に並ぶときの中心線であり、図３は苗取り爪３２が苗Ｎを突き刺してポット部Ｐ内に最大に突入する状態であり、苗取り爪３２の下縁３２ｂを苗取り出し位置にあるポット部Ｐの下側の側壁Ｐｂと略平行にするために、前記傾斜角度Ｑが設定されている。
しかし、苗取り爪３２の下縁３２ｂを苗取り出し位置にあるポット部Ｐの下側の側壁Ｐｂに対して上向き又は下向きに傾斜させる場合は、後述するカム部材５０の位置又は姿勢を変更することにより、傾斜角度Ｑを所要角度に変更設定することができる。
【００３７】
図１、２、５〜８において、前記姿勢変更手段３７は、苗爪台３３に装着されている連動部材４９と、この連動部材４９の先端の軸４９Ｂに設けたコロ４９Ａと係合してその移動を案内するカム部材５０とを有し、このカム部材５０は、溝を形成することにより略円弧形状のカム面５０Ａを形成しており、取り付け具７０を介してギヤボックス５８に固定の取り付け板７０に前後位置、上下位置或いは傾斜角度調整自在に固定されている。
この姿勢変更手段３７は、太陽軸４３の回りを自転しながら公転する爪支軸６１上の苗取り爪３２の姿勢を制御するものであり、前記苗取り爪３２がポット部Ｐの外側から略楕円軌跡Ｄの往復運動の遠方端側（苗トレイＴから遠い側）との間にあるときに、連動部材４９の先端のコロ４９Ａを略円弧軌跡Ｅで案内して、苗取り爪３２の姿勢をポット部Ｐに対向する姿勢から略下向きに姿勢変更するように、前記苗爪台３３の姿勢を変更する。
【００３８】
前記略円弧軌跡Ｅの下部を形成するカム部材５０のカム面５０Ａには、苗取り爪３２がポット部Ｐ内に突入する略楕円軌跡Ｄの往復運動の近傍端側にあるときにも苗爪台３３の姿勢を制御する部分５０Ａａを形成しているが、この部分５０Ａａは略直線形状で、ポット部Ｐの下側の側壁Ｐｂ、苗取り爪３２の下縁３２ｂ及び押動杆３４Ａ等と略平行に形成されており、先端３２ａがポット部Ｐ内にあるときに苗取り爪３２の姿勢を可及的に変化させないようになっている。
しかし、カム面５０Ａの部分５０Ａａの形状を、苗取り爪３２の下縁３２ｂがポット部Ｐ内でより最適な軌跡で移動するように苗取り爪３２の姿勢を制御する形状に形成してもよい。
【００３９】
前記略円弧軌跡Ｅの上部を形成するカム部材５０のカム面５０Ａには、苗取り爪３２が略下向きの姿勢になったときに、その姿勢を可及的に変更しないように維持する部分５０Ａｂを形成しており、この部分５０Ａｂは略円弧軌跡Ｅから逆方向に曲がった円弧を経て直線に近い形状となっている。苗取り爪３２は下向き姿勢にしたまま、略楕円軌跡Ｄの遠方端側で可及的に静止させることが好ましく、前記部分５０Ａｂでそのように苗取り爪３２を姿勢制御している。
前記往復動手段３６による略楕円軌跡Ｄの往復運動と、前記姿勢変更手段３７による略円弧軌跡Ｅの往復運動とによって、苗取り爪３２の先端３２ａは合成された苗取り出し軌跡Ｍを描く運動をする。
【００４０】
次に、前述した第１実施形態における苗取り出し方法を説明する。
図１０は苗取り爪３２がポット部Ｐに進入する直前の状態であり、往復動手段３６が作動して、太陽軸４３の回転によって遊星軸４６を自転しながら公転させ、苗取り爪３２を取り付けた苗爪台３３の爪支軸６１を、苗トレイＴのポット部Ｐに略対向する方向に沿う略楕円軌跡Ｄを描きながら往復運動をさせて、その略楕円軌跡運動の下側軌跡Ｄｄを通って略楕円軌跡Ｄの長手方向の略中央に位置する状態になっている。
【００４１】
また、姿勢変更手段３７が作動して、連動部材４９及びカム部材５０を介して苗取り爪３２の姿勢を略下向きから略横向きのポット部Ｐに略向く姿勢に変更してきている。そしてこのような姿勢で、苗取り爪３２は取り出し位置のポット部Ｐに近づいて行き、苗Ｎの茎葉をすくい込むように、上昇しながら茎葉の下側に近づいてきている。
このような状態から更に太陽軸４３が回転すると、爪支軸６１は略楕円軌跡Ｄの運動のポット部Ｐ側端部の下側軌跡Ｄｄに入り、連動部材４９のコロ４９Ａはカム部材５０の部分５０Ａａに達し、苗取り爪３２の姿勢は略楕円軌跡Ｄの中心線Ｐａと略平行で、下縁３２ｂはポット部Ｐの下側の側縁Ｐｂと略平行になり、ポット部Ｐ内の苗Ｎの根鉢に突き刺さり始める（部分軌跡Ｍ１を描く）。
【００４２】
また、これと同時に補助具作動手段３９が作動を開始しており、カム体４１が揺動アーム４０を付勢手段６２に抗して揺動し、苗取り補助具３４をポット部Ｐから引き離す方向に移動させ、苗取り爪３２が苗Ｎの根鉢に突き刺さり始めるのを妨害しない状態に移行させていく。苗取り補助具３４が苗取り爪３２の根本側へ移動することにより、左右苗取り爪３２の先端間距離Ｌは縮小し始められるが、この付近では、嵌合部材３４Ｂの溝と爪部材３２Ａとの間の遊びが無くなる程度、又は極めて僅かに縮小する程度である。
【００４３】
前記図１１の状態から太陽軸４３が回転すると、図１〜３の状態に移行することになり、ここでは、爪支軸６１は略楕円軌跡Ｄの運動のポット部Ｐ側端部の下側軌跡Ｄｄを先端側まで移動し、連動部材４９のコロ４９Ａはカム部材５０の部分５０Ａａ内を移動することになり、苗取り爪３２はポット部Ｐに略向く姿勢で略直線的にポット部Ｐ内へ進入し、苗Ｎに突き刺さる。
このとき、苗取り爪３２の爪部材３２Ａは下縁３２ｂがポット部Ｐの下側の側縁Ｐｂと略平行に進入し、その先端３２ａはポット部Ｐの奥底孔Ｐａから突出する位置まで突入する。この苗取り爪３２が苗Ｎの根鉢に完全に突き刺さった状態では、先端傾斜面３２ｄはポット部Ｐの上側の側縁Ｐｂと略平行になる。また、板材で形成した爪部材３２Ａの先端部は下側も上側も、奥が次第に狭くなるポット部Ｐの下側壁Ｐｂ及び上側壁Ｐｂに略沿うように形成されている。
【００４４】
苗Ｎの根鉢上面に対する爪部材３２Ａの先端３２ａの突入開始位置は、根鉢の上面中央に対して左右両側で若干下方であり、四角形ポット部Ｐの左右コーナ部近傍であり、先端３２ａの突入完了位置は根鉢の底の中央近くとなり、ポット部Ｐの中心線Ｓ上に略位置するが、先端３２ａが奥底孔Ｐａを通過するときは、中心線Ｓよりも下側であることが好ましい。
また、補助具作動手段３９の作動は、カム体４１の急速揺動カム面４１ａが揺動アーム４０を揺動することになり、苗取り補助具３４はポット部Ｐから離れる方向に急速移動され、苗取り爪３２が苗Ｎの根鉢に完全に突き刺さるとき、又はその若干手前から収縮部材６０に抗して左右苗取り爪３２の先端を収縮し、先端間距離Ｌは収縮して距離Ｌ１となり、苗Ｎの根鉢を挟持することになる。即ち、苗取り補助具３４は苗取り爪３２によるポット部Ｐへの進入初期よりも進入終期で移動が高速化され、苗取り爪３２を突き刺しの略後半で急激に収縮させて苗Ｎの挟持を確実かつ安定的に行わせる。
【００４５】
苗取り爪３２が苗Ｎの根鉢に完全に突き刺さった後は、往復動手段３６の作動による苗爪台３３の爪支軸６１の運動は、略楕円軌跡Ｄのポット部Ｐ側端部の上側軌跡Ｄｕを通ることになり、略楕円軌跡Ｄの下側軌跡Ｄｄから上側軌跡Ｄｕへ側面視略Ｖ字状に移動することにより（部分軌跡Ｍ２を描く）、苗取り爪３２はポット部Ｐに略向いた姿勢のまま、若干持ち上がりながらポット部Ｐから抜け出すことになる。
前記部分軌跡Ｍ２は、図２に示すように、ポット部Ｐの奥側で上側の側壁Ｐｂと略平行になっており、ポット部Ｐの口側で上下方向中央に近づいており、そのため、苗Ｎの根鉢はポット部Ｐの下側の側壁Ｐｂと摺接することも上側の側壁Ｐｂと摺接することも殆どなく、下側の側壁Ｐｂから上方へ分離しながら上側の側壁Ｐｂとも分離することができる。
【００４６】
これによって、苗Ｎがポット部Ｐから抜け出るときの抵抗が小さくなり、根鉢の土が崩壊されることなく、苗Ｎをポット部Ｐから取り出せる。そして、爪支軸６１が略楕円軌跡Ｄの中央にくるころには、図１２に示すように、姿勢変更手段３７の略円弧状カム面５０Ａの作用によって姿勢変更が開始される。
爪支軸６１が略楕円軌跡Ｄの中央からポット部Ｐから遠い側の端部まで移動する間（部分軌跡Ｍ３を描く）に、姿勢変更手段３７は苗取り爪３２を大きくかつ急激に姿勢変更し、苗取り爪３２が略下向きになったとき、又はその前後にカムフォロア６７がカム体４１の作用面４１ｂから外れてカム凹部４１ｃに落ち、揺動アーム４０の戻り揺動が許容される状態になり、これにより付勢手段６２の弾発力で補助具作動手段３９の苗取り補助具３４を苗取り爪３２先端側へ突出し、押出面３４ａで苗取り爪３２に突き刺している苗Ｎを下方に待機している植付カップ２６へ放出する。
【００４７】
このとき、連動部材４９のコロ４９Ａはカム部材５０の部分５０Ａｂ内を移動することになり、苗取り爪３２は苗トレイＴから離れる方向の移動が停止された状態になり、略下向き姿勢になった状態が僅かな時間でも静止されることにより、コロ４９Ａがカム部材５０の略円弧軌跡Ｅを移動するときの姿勢変更（前方移動）の慣性力が減少し、苗取り爪３２が取り出した苗Ｎを慣性力を減少させた状態で、苗取り補助具３４による下方放出を可能にする。
苗Ｎの供給を受けた植付カップ２６は、苗受領待機位置から畝Ｒまで下降して、孔を開けながら苗Ｎを植え付ける。
【００４８】
苗放出後の苗取り爪３２は、略楕円軌跡Ｄの下側軌跡Ｄｄを通ってポット部Ｐに近づく戻り動作（部分軌跡Ｍ４を描く）をし、姿勢変更手段３７によって略下向き姿勢から横向き姿勢（緩い角度の後下向き傾斜姿勢）に変更され、図１０の状態に戻り、苗取り爪３２の先端３２ａは総合軌跡Ｍを完成する１サイクルを終了する。
前記往復動手段３６及び姿勢変更手段３７等は、構造が簡単であり、質量が小さいので運動の慣性力が少なくなっており、前記１サイクルを高速化することができる。
【００４９】
図１４〜１８は第２実施形態を示しており、左右各苗取り爪３２の爪部材３２Ａには丸棒材で形成された針が使用されており、苗取り補助具３４の嵌合部材３４Ｂには左右爪部材３２Ａが貫通する２つの孔が形成されたメガネ状部材が使用されている。
また、押動杆３４Ａを案内する苗爪台３３の支持ブロック３３Ｂは、案内方向前後に２分割されており、基部支持ブロック３３Ｂａは台本体３３Ａに固着され、苗取り爪３２の縦軸３２Ｂを枢支する先端支持ブロック３３Ｂｂは基部支持ブロック３３Ｂａ及び台本体３３Ａに対して前後位置調整自在に装着されており、苗取り爪３２の前後位置を調整可能にしている。
【００５０】
前記 この第２実施形態では、往復動手段３６は第１実施形態と略同一であり、姿勢変更手段３７は、連動部材４９の案内に、カム部材を設ける代わりに、揺動部材５１を有し、滑り構造の溝カムを使用せずに、耐久性がよく、軌跡のズレが少ないピンジョイント構造にしている。
この揺動部材５１は円筒部材の両端に連結部材を螺合した長さ調整自在なリンク部材であり、その一端が軸４９Ｂを介して連動部材４９に連結され、他端がギヤボックス５８に固定の取り付け板７０に支点軸７１を介して枢支されており、連動部材４９の端部を略円弧軌跡Ｅを描かせるように案内している。
【００５１】
前記揺動部材５１は円筒部材を直線形状に形成しているが、円弧形状、特に苗爪台３３等から離れる方向に弯曲した形状に形成してもよく、また、前記取り付け板７０は太陽軸４３の周囲で位置調整自在であることが好ましい。
この第２実施形態では、図１４において、往復動手段３６を作動して、太陽軸４３の回転によって遊星軸４６を自転しながら公転させ、苗取り爪３２を取り付けた苗爪台３３の爪支軸６１を、苗トレイＴのポット部Ｐに略対向する方向に沿う略楕円軌跡Ｄを描きながら往復運動をさせて、その略楕円軌跡Ｄの運動のポット部Ｐ側端部の下側軌跡Ｄｄに入る。
【００５２】
また、姿勢変更手段３７が作動して、連動部材４９が揺動部材５１に案内されて、軸４９Ｂは略円弧軌跡Ｅを画きながら運動し、この連動部材４９及び揺動部材５１を介して苗取り爪３２の姿勢を略下向きから横向きのポット部Ｐに略向く姿勢に変更し、苗取り爪３２は取り出し位置のポット部Ｐの苗Ｎに近づいて行き、苗Ｎの茎葉をすくい込むように、上昇しながら茎葉の下側に近づいた後、苗取り爪３２が苗Ｎの根鉢に突き刺さり始める。
苗取り爪３２が苗Ｎの根鉢に突き刺さり始めるときの揺動部材５１の揺動は、苗取り爪３２の長手方向と略平行な運動であり、略楕円軌跡Ｄの下側軌跡Ｄｄと略円弧軌跡Ｅの略直線的な部分との合成により、苗取り爪３２の先端３２ａに部分軌跡Ｍ１を描かせながら、ポット部Ｐ内の苗Ｎの根鉢に突き刺し始める。
【００５３】
これと同時に補助具作動手段３９が作動を開始しており、カム体４１が揺動アーム４０を付勢手段６２に抗して揺動し、苗取り補助具３４をポット部Ｐから引き離す方向に移動させ、苗取り爪３２が苗Ｎの根鉢に突き刺さり始めるの妨害しない状態に移行させ、苗取り補助具３４が苗取り爪３２の根本側へ移動することにより、左右苗取り爪３２の先端間距離Ｌは縮小し始められる。
前記図１４の状態から太陽軸４３が回転すると、図１５の状態に移行することになり、ここでは、爪支軸６１は略楕円軌跡Ｄの運動のポット部Ｐ側端部の下側軌跡Ｄｄを先端側まで移動し、苗取り爪３２はポット部Ｐに略向く姿勢で略直線的にポット部Ｐ内へ進入し、苗Ｎに突き刺さる。
【００５４】
このとき、苗取り爪３２の爪部材３２Ａは下縁３２ｂがポット部Ｐの下側の側縁Ｐｂに対して、側面視において、ポット部Ｐの口側ではポット部中心線から離れていて、奥で中心線に近づく又は中心線と交差する方向に進入し、その先端３２ａはポット部Ｐの奥底孔Ｐａの手前まで突入する。
即ち、苗Ｎの根鉢上面に対する爪部材３２Ａの先端３２ａの突入開始位置は、根鉢の上面中央に対して左右両側で若干下方であり、四角形ポット部Ｐの左右コーナ部近傍であり、先端３２ａの突入完了位置は根鉢の底の中央近く又は若干上側となる。
【００５５】
前記爪部材３２Ａの進入方向は、ポット部Ｐの下側の側縁Ｐｂに対して略平行でもよく、到達位置は奥底孔Ｐａから突出する位置でもよい。
また、補助具作動手段３９の作動は、カム体４１の急速揺動カム面４１ａが揺動アーム４０を揺動することになり、苗取り補助具３４はポット部Ｐから離れる方向に急速移動され、苗取り爪３２が苗Ｎの根鉢に完全に突き刺さるとき、又はその若干手前から収縮部材６０に抗して左右苗取り爪３２の先端を収縮し、先端間距離Ｌは収縮して距離Ｌ１となり、苗Ｎの根鉢を挟持することになる。
【００５６】
苗取り爪３２が苗Ｎの根鉢に完全に突き刺さった後は、往復動手段３６の作動による苗爪台３３の爪支軸６１の運動は、略楕円軌跡Ｄのポット部Ｐ側端部の上側軌跡Ｄｕを通ることになり、略楕円軌跡Ｄの下側軌跡Ｄｄから上側軌跡Ｄｕへ側面視略Ｖ字状に移動することにより、苗取り爪３２はポット部Ｐに略向いた姿勢のまま、若干持ち上がりながらポット部Ｐから抜け出し、部分軌跡Ｍ２を描くことになる（図１６参照）。
爪支軸６１が略楕円軌跡Ｄの中央からポット部Ｐから遠い側の端部まで移動する間に、姿勢変更手段３７は苗取り爪３２を前方移動しながら大きく姿勢変更し、部分軌跡Ｍ３を移行してきた苗取り爪３２が略下向きになったとき、又はその直前にカム体４１の作用面４１ｂから揺動アーム４０のカムフォロア６７が外れてカム凹部４１ｃに落ち、付勢手段６２の弾発力で補助具作動手段３９の苗取り補助具３４を苗取り爪３２先端側へ突出させ、押出面３４ａで苗取り爪３２に突き刺している苗Ｎを下方で待機している植付カップ２６へ放出する（図１７参照）。
【００５７】
このとき、連動部材４９の先端の軸４９Ｂの軌跡Ｅは略垂直部分とになり、苗取り爪３２は苗トレイＴから離れる方向の移動が停止された状態になり、略下向き姿勢になった状態が僅かな時間でも静止されることにより、苗取り爪３２の姿勢変更（前方移動）の慣性力が減少し、苗取り爪３２が取り出した苗Ｎを慣性力を減少させた状態で、苗Ｎの下方放出を可能にする。
苗Ｎの供給を受けた植付カップ２６は畝Ｒまで下降して、孔を開けながら苗Ｎを植え付ける。
【００５８】
苗Ｎ放出後の苗取り爪３２は、略楕円軌跡Ｄの下側軌跡Ｄｄを通ってポット部Ｐに近づく戻り動作をし、姿勢変更手段３７によって略下向き姿勢から横向き姿勢に変更され、これらによって苗取り爪３２は部分軌跡Ｍ４を描いて図１８の状態を移行し、苗取り爪３２の先端３２ａは総合軌跡Ｍを完成する１サイクルを終了する。
図１９〜２３は第３の実施の形態を示しており、左右各苗取り爪３２の爪部材３２Ａは第１実施形態と同様に帯状平板を折り曲げたものを使用しており、往復動手段３６、姿勢変更手段３７、補助具作動手段３９等は第２実施形態と略同一であり、第２実施形態と異なる点は、姿勢変更手段３７の揺動部材５１の支点軸７１を移動する姿勢制御手段３８を備えていることである。なお、苗取り爪３２、連動部材４９及び揺動部材５１等は簡略化して図示してある。
【００５９】
支点軸７１はギヤボックス５８及び取り付け板７０に対しては支持されていなく、支点揺動体５２の先端に支持されており、この支点揺動体５２の基部が取り付け板７０又はギヤボックス５８に基軸７２を介して枢支されている。
姿勢制御手段３８は、前記支点揺動体５２と、カム板で形成されかつ太陽軸４３に装着された作動部材５３とを有し、支点揺動体５２に設けたカムフォロア７３が作動部材５３の外周のカム面５３ａと当接しており、作動部材５３の回転によって支点揺動体５２を揺動し、揺動部材５１の支点軸７１に短い円弧軌跡Ｈを描くように往復揺動させる。
【００６０】
この第３実施形態では、図２０、２１において、往復動手段３６を作動して、太陽軸４３の回転によって遊星軸４６を自転しながら公転させ、苗取り爪３２を取り付けた苗爪台３３の爪支軸６１を、苗トレイＴのポット部Ｐに略対向する方向に沿う略楕円軌跡Ｄを描きながら往復運動をさせて、その略楕円軌跡Ｄの運動のポット部Ｐ側端部の下側軌跡Ｄｄに移行させ、これと同時に連動部材４９を揺動部材５１で案内する。
苗取り爪３２が苗Ｎの根鉢に突き刺さり始めるときの揺動部材５１の揺動は、苗取り爪３２と略平行な運動であり、先端３２ａに部分軌跡Ｍ１を描かせながら、ポット部Ｐ内の苗Ｎの根鉢に突き刺し始める。そして、爪支軸６１は略楕円軌跡Ｄの運動のポット部Ｐ側端部の下側軌跡Ｄｄを先端側まで移動し、苗取り爪３２はポット部Ｐに略向く姿勢で略直線的にポット部Ｐ内へ進入し、苗Ｎに突き刺さる。
【００６１】
また、姿勢変更手段３７が作動して、支点軸７１を中心に揺動部材５１を揺動し、苗取り爪３２の姿勢を略下向きから横向きのポット部Ｐに略向く姿勢に変更し、苗取り爪３２は取り出し位置のポット部Ｐの苗Ｎに近づくに従って、苗Ｎの茎葉をすくい込むように上昇しながら茎葉の下側に近づいた後、苗取り爪３２が苗Ｎの根鉢に突き刺さり始める。
苗取り爪３２が苗Ｎの根鉢に完全に突き刺さった後は、往復動手段３６の作動による苗爪台３３の爪支軸６１の運動は、略楕円軌跡Ｄのポット部Ｐ側端部の上側軌跡Ｄｕを通ることになり、略楕円軌跡Ｄの下側軌跡Ｄｄから上側軌跡Ｄｕへ側面視略Ｖ字状に移動することにより、苗取り爪３２は部分軌跡Ｍ１から部分軌跡Ｍ２を描きながら側面視略Ｖ字状に移行し、苗取り爪３２はポット部Ｐに略向いた姿勢のまま、若干持ち上がりながらポット部Ｐから抜け出す（図２１、２２参照）。
【００６２】
爪支軸６１が略楕円軌跡Ｄの中央からポット部Ｐから遠い側の端部まで移動する間（苗取り爪３２は部分軌跡Ｍ３を描く）に、姿勢変更手段３７は苗取り爪３２を前方移動させながら大きく姿勢変更し、苗取り爪３２が略下向きになったとき、又はその直前に揺動アーム４０のカムフォロア６７がカム体４１の作用面４１ｂから外れてカム凹部４１ｃに落ち、付勢手段６２の弾発力で補助具作動手段３９の苗取り補助具３４を苗取り爪３２の先端側へ突出し、押出面３４ａで苗取り爪３２に突き刺している苗Ｎを、下方に待機している植付カップ２６へ放出する。
【００６３】
このとき、作動部材５３のカム面５３ａがカムフォロア７３を介して支点揺動体５２を揺動し、支点軸７１に軌跡Ｈを描かせる円弧運動を行わせ、揺動部材５１の揺動支点を移動して、苗取り爪３２を略下向き姿勢のまま上昇させ、総合軌跡Ｍの部分軌跡Ｍ３と部分軌跡Ｍ４との間に上昇部分軌跡Ｍ５を描かせる（図２３を参照）。
このように苗取り爪３２は苗トレイＴから離れる方向の移動が停止された状態になり、略下向き姿勢になった状態が僅かな時間でも静止されることにより、苗取り爪３２の姿勢変更（前方移動）の慣性力が減少し、苗取り爪３２が取り出した苗Ｎを慣性力を減少させた状態で下方放出を可能にする。苗Ｎの供給を受けた植付カップ２６は畝Ｒまで下降して、孔を開けながら苗Ｎを植え付ける。植付カップ２６の軌跡Ｇは図１９に示す。
【００６４】
苗Ｎ放出後、苗爪台３３が往復動手段３６によって略楕円軌跡Ｄの下側軌跡Ｄｄを通ってポット部Ｐに近づく戻り動作し、姿勢変更手段３７によって略下向き姿勢がら横向き姿勢に変更する動作をし、これらによって苗取り爪３２の先端３２ａは部分軌跡Ｍ４を描くことになり、図２０に示す状態まで戻って総合軌跡Ｍを完成する１サイクルを終了する。
前記姿勢制御手段３８の作動部材５３のカム面５３ａには、苗放出時に支点揺動体５２を揺動して上昇部分軌跡Ｍ５を形成するための突出部分以外にも、複数の突出部分が形成されており、例えば、第３実施形態の総合軌跡Ｍを第１、２実施形態の総合軌跡Ｍと比較すると明らかになるように、苗取り爪３２の部分軌跡Ｍ１が略直線になるように姿勢変更手段３７の動作を修正する突出部分等が形成されており、第２実施形態で得られる苗取り爪３２の軌跡Ｍを修正して、苗トレイＴからの苗Ｎの取り出し及び植付カップ２６への苗放出をより正確にできるようにしている。
【００６５】
この第３実施形態では、姿勢制御手段３８で姿勢変更手段３７を制御することにより、苗取り爪３２の総合軌跡Ｍを姿勢変更手段３７のみの場合よりも多様に制御でき、特に、苗Ｎの受け渡し時の苗取り爪３２の動きを遅くして、苗受け渡しを確実にする等に有効である。
なお、本発明は前記各実施の形態における各部材の形状、構造及びそれぞれの前後・左右・上下の位置関係は、図１〜２３に示すように構成することが最良である。しかし、各実施形態の構成に限定されるものではなく、種々変形したり、構成の組み合わせを変更したりすることもできる。
【００６６】
例えば、第１実施形態においては、カム部材５０の下部に支点を設け、上部を第３実施形態の姿勢制御手段３８で揺動するように構成してもよい。第２実施形態においては、苗取り爪３２及び苗爪台３３を第１実施形態と同一のものを使用してもよい。
なおまた、従来技術と同様に、遊星軸４６から太陽軸４３までの距離Ｋ１と遊星軸４６から爪支軸６１までの距離Ｋ２を同一にしておいて、遊星歯車機構で苗取り爪３２に直線往復運動を与え、姿勢変更手段３７のカム部材５０のカム面５０Ａに往動用のカム面と復動用のカム面とを乖離して形成しておいて、その乖離状態によって、苗取り爪３２の往復運動中に略Ｖ字状の軌跡Ｍ１、Ｍ２を画かせ、それによって、苗取り爪３２を苗トレイＴのポット部Ｐに略対向する方向の運動を与えながら、その軌跡運動の一端下側で苗取り爪３２をポット部Ｐに進入させた後に一端上側で苗取り爪３２をポット部Ｐから後退させて苗Ｎを取り出し、苗Ｎを取り出した後に、苗取り爪３２をポット部Ｐの外側から軌跡運動の他端側との間で苗取り爪３２の姿勢をポット部Ｐに対向する姿勢から略下向きに姿勢変更させるように構成することも可能である。
【００６７】
しかしながら、カム部材５０に往動用のカム面と復動用のカム面とを乖離して形成しかつ各カム面にカムフォロア４９Ａを当接させるようにすることは可能であるが、動作の確実性が低くなる。これに対して、前記実施形態のように、距離Ｋ１と距離Ｋ２とを異ならせる方が、動作の確実性が高く、構造が簡単で製作が容易になる。
【００６８】
【発明の効果】
以上詳述した本発明によれば、左右苗取り爪３２が主に進入後期のポット部Ｐの奥へ行ったところで苗Ｎを挟持させ、強固で安定した苗挟持ができ、苗取り出しの作業精度を高めることができる。
【図面の簡単な説明】
【図１】本発明の第１実施形態の苗突き刺し完了時を示す全体側面図である。
【図２】苗突き刺し完了時の要部の側面図である。
【図３】往復動手段の説明図である。
【図４】移植機の全体を示す側面図である。
【図５】苗取出装置の側面図である。
【図６】苗取出装置の平面図である。
【図７】苗取り爪の平面図である。
【図８】苗取出装置の一部断面正面図である。
【図９】往復動手段の側面図である。
【図１０】苗突き刺し前の苗取出装置の要部の側面図である。
【図１１】苗突き刺し中の苗取出装置の要部の側面図である。
【図１２】苗取り出し直後の苗取出装置の要部の側面図である。
【図１３】苗放出時の苗取出装置の要部の側面図である。
【図１４】本発明の第２実施形態の苗突き刺し中の苗取出装置の側面図である。
【図１５】第２実施形態の苗突き刺し完了時の苗取出装置の側面図である。
【図１６】第２実施形態の苗取り出し中の苗取出装置の側面図である。
【図１７】第２実施形態の苗放出時の苗取出装置の側面図である。
【図１８】第２実施形態の苗突き刺し前の苗取出装置の側面図である。
【図１９】本発明の第３実施形態の苗突き刺し完了時の苗取出装置の概略側面図である。
【図２０】第３実施形態の苗突き刺し前の苗取出装置の概略側面図である。
【図２１】第３実施形態の苗突き刺し完了時の苗取出装置の概略側面図である。
【図２２】第３実施形態の苗取り出し中の苗取出装置の概略側面図である。
【図２３】第３実施形態の苗放出時の苗取出装置の概略側面図である。
【符号の説明】
１ 移植機
２４ 苗取出機構
３０ 苗取出装置
３２ 苗取り爪
３２Ａ 爪部材
３２Ｂ 縦軸
３２ａ 先端
３３ 苗爪台
３３Ａ 台本体
３３Ｂ 支持ブロック
３４ 苗取り補助具
３４Ａ 押動杆
３４Ｂ 嵌合部材
３４ａ 押動面
３６ 往復動手段
３７ 姿勢変更手段
３９ 補助具作動手段
４０ 揺動アーム
４１ カム体
４１ａ 急速揺動カム面
４１ｂ 作用面
４１ｃ カム凹部
Ｄ 略楕円軌跡
Ｅ 略円弧軌跡
Ｌ 先端間距離
Ｎ 苗
Ｐ ポット部
Ｔ 苗トレイ[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a method and an apparatus for taking out seedlings of a transplanting machine that takes out, for example, soil block seedlings such as onions, lettuce, cabbage, and tobacco one by one from a pot portion of a seedling tray and transplants them.
[0002]
[Prior art]
The transplanting machine is composed of a seedling mounting table for mounting a seedling tray having a large number of pots vertically and horizontally, a planting section for planting seedlings in ridges, and a seedling tray on the seedling mounting table. And a seedling take-out device for taking out the seedlings one by one and supplying the seedlings to the planting portion, and automatically runs the seedlings sequentially at intervals in the ridge longitudinal direction while running along the ridges.
As this kind of conventional technology, there are those disclosed in JP-A-6-31805 and JP-A-3238597.
[0003]
In the former prior art, the claw support supporting the seedling picking claw is reciprocated linearly by a planetary gear mechanism in a direction facing the pot portion of the seedling tray, and the posture of the seedling picking claw during the reciprocating linear movement. The posture is changed from the posture facing the pot portion to the posture toward the planting cup of the planting portion.
Also, when the pair of left and right seedling picking nails are pierced into the seedling, the distance between the tips of the seedling picking nails is narrowed through a cam arranged between the bases of the left and right seedling picking nails, thereby ensuring the removal of the seedlings. By moving the seedling pushing member fitted to the to the tip of the seedling picking nail, the seedlings are released from the seedling picking nail.
[0004]
The latter prior art uses a different cam to change the posture of the support table while using a cam to reciprocate the seedling picking claw relative to the claw support table in a direction facing the pot portion of the seedling tray. Then, the seedling picking nail is drawn in a substantially V shape in the pot portion, and the posture is changed from the pot portion to the planting cup of the planting portion.
Also, when a pair of left and right seedling picking nails are advanced and pierce the seedling, the nail guide is moved to the base side of the seedling picking nail to reduce the interval between the tip of the seedling picking nail, and this nail guide is moved forward. It is configured to move to the tip of the nail and release the seedling from the seedling collecting nail.
[0005]
[Problems to be solved by the invention]
In the former conventional technique, only the tip of the seedling removing nail is contracted at the time of removing the seedling, and the contraction speed during the contraction period is not changed in height, and in the latter conventional technique, the removal of the seedling is performed. The shrinkage of the tip of the seedling picking nail in the above is a structure which receives a contracting action from the seedling picking aid by movement of the seedling picking nail itself, and is substantially proportional to the amount of the seedling picking nails entering the pot portion and the approach speed.
Therefore, in both prior arts, it is possible to pinch the seedlings while advancing the pair of left and right seedling picking claws, but the soil of the root pot sandwiched as going deeper into the pot part is reduced, the soil is easily collapsed, strong and stable It is difficult to pinch the seedlings.
[0006]
An object of the present invention is to provide a method and an apparatus for removing a seedling of a transplanter, which can solve such problems of the related art.
According to the present invention, the contraction of the left and right seedling removing nails is performed more rapidly at the end stage than the initial stage of the entering of the seedling removing nails, so that the soil of the root pot is held when the left and right seedling removing nails mainly go deep into the pot portion. In addition, an object of the present invention is to provide a seedling removal device for a transplanter that can firmly and stably hold a seedling.
[0007]
[Means for Solving the Problems]
The specific means for solving the problems in the present invention are as follows.
First, in order to take out the seedlings N in the pot portion P of the seedling tray T with the pair of right and left seedling picking nails 32, the tips are brought into contact with the left and right seedling picking nails 32 when the seedling picking nails 32 enter the pot portion P. In a method for removing seedlings of a transplanter, in which the fitted seedling removing aid 34 is relatively moved from the distal end side of the seedling removing nail 32 to the base side to reduce the distance L between the distal ends of the left and right seedling removing nails 32,
The contraction of the left and right seedling removing claws 32 is to be performed more abruptly at the end stage than at the initial stage of the approach of the seedling removing nails 32.
[0008]
Thereby, the seedling N is pinched when the left and right seedling picking claws 32 mainly go to the depth of the pot portion P, and a firm and stable seedling holding can be performed, and the work accuracy of picking the seedling can be enhanced.
Secondly, a pair of left and right seedling picking claws 32 are provided on the seedling claw base 33 so as to be capable of expanding and contracting the tip, and a seedling picking aid 34 whose tip is fitted to the left and right seedling picking claw 32 is provided so as to be relatively movable in the longitudinal direction. The seedling N is taken out by causing the seedling claw 33 to reciprocate in a direction substantially opposite to the pot portion P of the seedling tray T, causing the seedling picking claw 32 to advance and retreat to the pot portion P at one end of the reciprocation. The attitude of the seedling picking claw 32 is changed from a position facing the pot portion P to a position substantially downward from the position facing the pot portion P between the seedling picking claw 32 and the other end of the reciprocating motion from outside the pot portion P. When a substantially circular locus motion is given and the seedling picking nail 32 enters the pot portion P, the seedling picking aid 34 is moved from the tip side of the seedling picking nail 32 to the base side, and the distance L between the left and right seedling picking nails 32 is changed. Is contracted, and the contraction of the right and left seedling picking nails 32 is reduced from the initial stage of the entry of the seedling picking nails 32. It is possible to rapidly carried out in the entry end.
[0009]
Thereby, the seedlings N are pinched mainly at the final stage of the entry of the left and right seedling picking claws 32, so that the seedlings can be firmly and stably pinched, and the work accuracy of picking out the seedlings can be improved.
Thirdly, the seedling picking tool 34 is moved to the tip side of the seedling picking nail 32 when the posture of the seedling picking nail 32 is substantially downward, and the seedling N picked up by the seedling picking nail 32 is removed. 32.
Thereby, the seedling N can be released by the seedling collecting aid 34.
Fourth, a pair of right and left seedling picking nails 32 whose bases are pivotally supported and whose tips are scalably attached to the seedling picking bases 33, the tips of which are fitted to the left and right seedling picking nails 32 and are attached to the seedling holding bases 33. There is a seedling picking assisting tool 34 supported so as to be relatively movable in the longitudinal direction relative to the seedling picking nail 32, and means for moving the seedling picking nail 32 into and out of the pot portion P via the seedling nail base 33 to take out the seedling N. When the seedling removing claw 32 enters the pot portion P between the seedling removing aid 34 and the seedling claw base 33, the seedling removing aid 34 is moved from the distal end side of the seedling removing claw 32 to the base side. The auxiliary tool operating means 39 is provided to reduce the distance L between the tips of the right and left seedling removing claws 32 and to perform the contraction more rapidly at the end of entry than at the beginning of entry.
[0010]
Thereby, the seedlings N are pinched mainly at the final stage of the entry of the left and right seedling picking claws 32, so that the seedlings can be firmly and stably pinched, and the work accuracy of picking out the seedlings can be improved.
Fifth, a pair of right and left seedling picking nails 32 whose bases are pivotally supported on the seedling nail base 33 and whose tips are scalably attached to the seedling nail base 33, the tips of which fit into the left and right seedling picking nails 32 and The seedling picking tool 32 is reciprocally moved in a direction substantially opposite to the pot portion P of the seedling tray T, and the seedling picking tool 33 supported so as to be relatively movable in the longitudinal direction is moved at one end of the reciprocating movement. When the seedling picking claw 32 is moved between the pot portion P and the reciprocating means 36 for taking out the seedling N, and the seedling picking claw 32 is located between the outside of the pot portion P and the other end of the reciprocating motion, The seedling claw base 33 has a posture changing means 37 for performing a substantially circular locus motion for changing the posture of the seedling picking nail 32 from the position facing the pot portion P to a substantially downward position. When the seedling claw 32 enters the pot P between the table 33 and the seedling, There is provided auxiliary tool operating means 39 for moving the auxiliary tool 34 from the tip side of the seedling picking nail 32 to the base side to reduce the distance L between the front ends of the left and right seedling picking nails 32. That is, the moving speed of the picking aid 34 is set to be higher at the end stage of the seedling picking claw 32 than at the initial stage thereof.
[0011]
Thereby, the seedling N is pinched mainly at the final stage of entry of the left and right seedling picking nails 32, and a firm and stable holding of the seedlings can be achieved, and the work accuracy of picking out the seedlings can be increased. This can be done simply by moving the seedling collecting aid 34 relative to the seedling collecting nail 32 in the longitudinal direction.
Sixth, the auxiliary tool operating means 39 includes a swing arm 40 having one end pivotally supported by the seedling claw stand 33 and the other end connected to the seedling collecting aid 34, An urging means 62 provided between the arm 40 and the seedling claw base 33 to resiliently press the seedling picking tool 34 toward the tip end of the seedling picking claw 32, A cam body 41 for swinging the swing arm 40 so as to move the seedling collecting aid 34 toward the base of the seedling collecting claw 32 against the urging means 62; A quick swing cam surface 41a is provided to move the picking aid 34 at a higher speed at the end of the seedling picking stage 32 than at the initial stage of the movement.
[0012]
Thus, only by providing the cam body 41 with the quick swing cam surface 41a, the seedling collecting aid 34 is moved at a high speed at the final stage of the seedling collecting claw 32 from the initial stage thereof, so that a firm and stable seedling holding is performed. Can be.
Seventh, the cam body 41 allows the urging means 62 to move the seedling-removing aid 34 toward the tip of the seedling-removing claw 32 when the posture of the seedling-removing claw 32 is substantially downward. This is to have the cam recess 41c.
Thereby, the seedling removal assisting tool 34 can perform the seedling releasing operation with one cam body 41.
[0013]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
1 to 12 show a first embodiment, and FIG. 4 shows the entire transplanter 1.
In FIG. 4, the transplanting machine 1 illustrates a two-row planting four-wheel walking type including a transplanting device 3 and a steering handle 4 at a rear portion of a traveling body 2, and the ridge R is stretched in a longitudinal direction (FIG. 4), soil block seedlings (seedlings with root pots; hereinafter referred to as seedlings N) are automatically planted at predetermined intervals in the ridges R while traveling forward.
[0014]
The traveling body 2 has a gantry 6 fixed to a front portion of a transmission case 5 in a forwardly protruding manner, and vehicle equipment such as an engine, a fuel tank, and a battery are mounted on the gantry 6, and a pair of left and right front wheels 9 and a rear wheel ( Drive wheels) 10 are suspended.
The front wheel 9 is provided via a support arm 12 at the left and right ends of a front wheel support shaft 11 pivotally supported at the front of the gantry 6, and the rear wheel 10 projects outward from both left and right sides of the transmission case 5. It is provided at the outer end of the wheel support shaft 13 via a transmission case 14 inclined rearward and downward.
[0015]
The front wheel support shaft 11 and the rear wheel support shaft 13 on the same side are linked and connected via an interlocking rod 15 and an arm, and by operating an actuator (hydraulic cylinder) 16 supported on the gantry 6, an interlocking member is provided. The front wheel support shaft 11 and the rear wheel support shaft 13 rotate in conjunction with each other via the interlocking rod 17 and the interlocking rod 15 and the like, whereby the left and right front and rear wheels 9 and 10 are simultaneously moved up and down, and the traveling body 2 is It is configured so that the height can be adjusted.
The power of the engine is transmitted from the transmission case 5 to the rear wheels 10 via transmission shafts in the left and right rear wheel support shafts 13 and transmission means in the transmission case 14. Further, power can be taken out of the transmission case 5 from a first PTO shaft 18 protruding rearward and a second PTO shaft 19 protruding left and right.
[0016]
The left and right sides or one side (right side) of the front wheel support shaft 11 and the left and right sides or one left and right side of the rear wheel support shaft 13 are configured to be expandable and contractable, and tread can be adjusted according to the left and right width of the ridge R. It has been.
Therefore, the transplanter 1 is offset to the other left and right sides (left side) of the ridge R by extending the front wheel support shaft 11 and the rear wheel support shaft 13 on one side of the left and right sides. Is reciprocated in the longitudinal direction of the ridge R, so that four rows of seedlings can be planted in the ridge R.
[0017]
The transplanting device 3 is provided on a transplanting frame 21 mounted on a rear portion of the traveling machine body 2, and includes a planting mechanism 22 for planting the seedlings N on the ridges R, and a seedling supply on which a seedling tray T is placed and fed vertically and horizontally. It mainly comprises a mechanism 23 and a seedling removal mechanism 24 for taking out the seedlings N from the seedling tray T on the seedling supply mechanism 23 and supplying the seedlings N to the planting mechanism 22.
The transplant frame 21 includes a fixed frame 21A having a front portion fixed to the transmission case 5 and a movable frame 21B having a front portion rotatably mounted on the second PTO shaft 19 about an axis. A seedling supply mechanism 23 and a seedling removal mechanism 24 (both of which constitute a seedling supply unit) are provided, the handle 4 is fixed, and a movable frame 21B is provided with a planting mechanism 22.
[0018]
1 and 2, the seedling tray T is made of plastic, has a small thickness, is flexible, and has a large number of pot portions P arranged in a grid pattern at predetermined pitches in the vertical and horizontal directions. .
The seedling tray T is formed in a rectangular shape that is long in the vertical arrangement direction of the pot portion when viewed from the front. The soil portion N is grown by filling the pot portion P with floor soil, sowing and raising the seedling. , The number of pot portions P is 10 × 20 = 200, 12 × 24 = 288, etc., and the size of the seedling tray T is constant. Are different, and FIG. 7 shows two types of sizes.
[0019]
The pot portion P has a substantially quadrangular pyramid shape (or conical shape) that gradually narrows toward the back, and the corner portion is rounded, and the bottom wall is formed with a bottom hole Pa for ventilation and drainage. ing. Therefore, the upper and lower side walls Pb of the pot portion P when the seedling tray T is set in the feeding posture have tapered tapered surfaces. The center line of the pot portion P is indicated by the symbol S.
The seedling supply mechanism 23 includes a seedling mounting table 25 for mounting the seedling tray T in a state where the upper portion thereof is tilted backward, support means for supporting the seedling mounting table 25 to be reciprocally movable in the left-right direction, and a seedling mounting table. A horizontal feed means for intermittently feeding the seedlings 25 in a horizontal arrangement direction (lateral direction) by one pot portion P, and a vertical feeding means for vertically feeding the seedling trays T on the seedling mounting table 25 one by one from top to bottom. And
[0020]
The seedling supply mechanism 23 takes out the seedlings N from the pot portions P of the seedling tray T by the seedling take-out mechanism 24 while moving the seedling placing table 25 sideways, and takes out the seedlings N from all the pot portions P in a row. Thereafter, the seedling tray T is vertically fed by one pitch of the pot portion P by vertical feeding means, so that the seedlings N can be taken out from the next horizontal row of pot portions P. The seedling removal mechanism 24 is disposed in front of the seedling mounting table 25, and includes a pair of left and right seedling removal devices 30 for one seedling tray T to cope with double-row planting. Numerals 30 are arranged side by side at an interval of a half pitch of the number of the pot portions P in the lateral arrangement direction of one seedling tray T.
[0021]
Each seedling extracting device 30 is driven by power from the first PTO shaft 18, and has a pair of left and right seedling picking claws 32 (seedling picking members) having L-shaped cross sections at the distal ends. Is pierced into a seedling pot having floor soil in the pot portion P to hold the seedling N. The seedling N is taken out of the pot portion P and supplied to the planting cup 26 of the planting mechanism 22.
The planting mechanism 22 includes a planting cup 26 that forms a planting hole in the ridge R and releases the seedling N therein, a planting drive mechanism that moves the planting cup 26 up and down, and a seedling that is released into the planting hole. And soil covering means 27 that presses the soil from the right and left sides of the plant N to fill the floor of the seedling N, and the planting cup 26 is elongated vertically by a planting drive mechanism. The elliptical locus (trajectory G shown in FIG. 19) is drawn and moved up and down between the upper seedling supply position and the lower seedling discharge position.
[0022]
One of the left and right seedling removal devices 30 mounts a gear box 58 on a support base 57 mounted on the fixed frame 21A, and supports a transmission shaft 59 to which power from the first PTO shaft 18 is transmitted. Both ends of the transmission shaft 59 protrude from the gear box 58 and one end serves as a sun shaft 43, and the other end transmits power from the other end to the sun shaft 43 of the other seedling extracting device 30 via a gear transmission means or a chain transmission means. The power transmitted to the seedling supply mechanism 23 is also taken out from the gear box 58.
[0023]
Each of the seedling removing devices 30 includes a pair of left and right seedling picking nails 32, a seedling picking aid 34 having a tip fitted to the left and right seedling picking nails 32, and a seedling nail supporting the seedling picking nail 32 and the seedling picking aid 34. A table 33 and reciprocating means 36 for causing the seedling claw 33 to reciprocate along a direction substantially opposite to the pot portion P of the seedling tray T to cause the seedling picking nail 32 to take out the seedling N in the pot portion P; The seedling claw base 33 has a posture changing means 37 for changing the posture of the seedling picking nail 32 substantially downward from the posture facing the pot portion P. The operation of the reciprocating means 36 and the posture changing means 37 causes The tip 32a of the catching claw 32 is caused to make a motion to draw a comprehensive trajectory M obtained by combining the substantially elliptical trajectory D and the substantially circular trajectory E.
[0024]
Each of the right and left seedling removing claws 32 is pivotally supported on a seedling claw base 33 via a longitudinal axis 32B provided at the base of the claw member 32A so as to be capable of expanding and contracting a tip interval, and the claw member 32A is diametrically moved from the longitudinal axis 32B. The left and right claw members 32 </ b> A are provided at their bases with spring-made contracting members 60 that urge their tips in the contracting direction.
The claw member 32A of each of the two seedling removing claws 32 is formed by fixing a band plate bent in a substantially U-shaped (or substantially L-shaped) cross section in a width direction to a round bar material (needle shape). Round, the lower edge 32b is formed substantially linearly from the base to the tip 32a, and the upper edge 32c is inclined downward from the middle to the tip 32a to form a tip inclined surface 32d, and the lower edge 32b and the tip inclined surface 32d are formed. Preferably, the included angle is a taper angle of the peripheral wall Pb of the pot portion P or an angle before and after the taper angle.
[0025]
The left and right seedling picking claws 32 have a shape similar to the cross-sectional side shape of the pot portion P at the tips, and make the contact area of the seedling N with the root pot as large as possible. Then, the root pot of the seedling N is pierced to the deepest portion below the center line, and is forcibly pinched from the left and right and held so as to hold it.
The seedling claw base 33 is configured by providing a support block 33B on a base body 33A rotatably supported by a claw support shaft 61. The support block 33B is mounted on the base body 33A via a long hole 33a and a bolt 33b formed in the base body 33A, and the position of the support block 33B can be adjusted in parallel with the seedling removing claw 32.
[0026]
The longitudinal axis 32B of both seedling removing claws 32 is pivotally supported by the support block 33B, and the distance from the nail supporting shaft 61 to the tip 32a of the seedling removing nail 32 can be adjusted by adjusting the front-rear position.
A through-hole is formed in the support block 33B of the seedling claw base 33, and a pushing rod 34A of a seedling removal assisting tool 34 is slidably inserted and supported. A left and right claw member 32A is provided at the tip of the pushing rod 34A. Is provided with a fitting member 34B that fits at the same time. The distal end surface of the fitting member 34B is an extruded surface 34a that pushes out the seedlings N that have pierced the seedling removing claws 32.
[0027]
The fitting member 34B has a left-right symmetrical groove 34b that fits from the lower edge 32b of the claw member 32A to the vicinity of the upper portion (or the upper edge 32c). (Or L-shape), the upper part of which is open upward, the interval between the right and left grooves 34b is set narrower than the interval between the left and right vertical axes 32B. By moving, the distance L between the tips of the right and left seedling removing claws 32 can be enlarged and reduced. When the fitting member 34B is located on the tip side of the seedling removing claw 32, the distance L is reduced to a minimum (L1), and when located on the base side of the seedling removing claw 32, the distance L is enlarged and maximized. Become.
[0028]
A plurality of fitting members 34B with different intervals between the left and right grooves 34b are prepared, and are replaced according to the size of the pot portion P, and are guided so that the claw member 32A can properly enter the pot portion P. I am trying to do it.
A swing arm 40 is swingably supported on a base body 33A of the seedling claw base 33 via a support shaft 65. The tip of the swing arm 40 is connected to the rear end of the push rod 34A via a link 66. The cam follower 67 is connected to a cam surface on the outer periphery of the cam body 41 and is provided at an intermediate portion of the swing arm 40.
[0029]
Between the base body 33A of the seedling claw base 33 and the swing arm 40, there is provided an urging means 62 made of a coil spring for resiliently engaging the fitting member 34B toward the distal end of the claw member 32A. The biasing means 62 may be configured by fitting a coil spring to the pushing rod 34A between the support block 33B and the fitting member 34B.
The swing arm 40, the link 66, the cam body 41, the biasing means 62, and the like constitute an auxiliary tool operating means 39 for driving the seedling collecting auxiliary tool 34. The swing arm 40 reciprocally swings around the support shaft 65 by the relative rotation of, and linearly moves the pushing rod 34A.
[0030]
When piercing the seedling N of the pot portion P with the seedling picking nail 32, the fitting member 34B moves to the base side of the seedling picking nail 32, and the auxiliary tool operating means 39 becomes a nail expanding / contracting means for contracting the distance L between the tips, When the seedling picking nail 32 releases the seedling N taken out of the pot portion P, the small diameter portion of the cam body 41 is rapidly shifted to the cam follower 67, and the fitting member 34B is moved by the elastic force of the urging means 62. It serves as a seedling releasing means that moves abruptly to the tip side of the claw 32.
The rising cam surface of the cam body 41 forms a rapid rocking cam surface 41a that rises sharply in the latter half from the beginning of rising, and the seedling collecting aid 34 when the seedling collecting claw 32 enters the pot portion P. Is moved more rapidly at the end of the approach than at the beginning of the approach, so that the seedling N is clamped when the seedling-taking claw 32 is at the end of the approach.
[0031]
The arcuate cam surface following the quick swing cam surface 41a is an operation surface 41b that holds the seedling collecting aid 34 at a position moved toward the base side of the seedling picking claw 32. The rear end of the operation surface 41b is abrupt. To form a small-diameter cam concave portion 41c, release the holding of the seedling collecting aid 34 at the base side of the seedling collecting nail 32, and urge the urging means 62 toward the tip of the seedling collecting nail 32. I can do it.
A reciprocating means 36 is provided between the pawl support shaft 61 and the gear box 58. A sun gear 42 is fixed to the sun shaft 43, and a gear case 47 is rotatably fitted thereto. A planet shaft 46 is supported by the gear case 47, and is mounted on the planet shaft 46 inside thereof. An idler gear 44 meshes with the planetary gear 45 and the sun gear 42.
[0032]
One end of a turning arm 48 is detachably attached to an end of the planetary shaft 46 protruding from the gear case 47, and the claw support shaft 61 is fixed to the other end of the turning arm 48. The nail support shaft 61 is the center of rotation of the seedling nail stand 33.
The reciprocating means 36 is a planetary gear mechanism. When the sun gear 42 rotates by the power from the sun shaft 43, the idler gear 44 and the planet gear 45 rotate, and the rotating arm 48 rotates around the planet shaft 46. The planetary gear 45 revolves around the sun shaft 43 together with the gear case 47 at the same time.
[0033]
In FIG. 3, the distance (the length of the rotating arm 48) K2 from the planetary shaft 46 to the pawl support shaft 61 is shorter than the distance (the revolving radius of the planetary gear 45) K1 from the planetary shaft 46 to the sun shaft 43. The movement trajectory of the claw support shaft 61 is set as a substantially elliptical trajectory D in which the forward path and the backward path are vertically separated.
The distance K1 to the distance K2 is set to 18:17 or a link ratio before and after that, and when the distance K1 to the distance K2 is 1: 1 (prior art), the locus of the claw support shaft 61 is linear. However, when there is a difference in the length, the point where the pawl support shaft 61 passes differs between the forward movement and the backward movement, returning at both ends of the trajectory, separating vertically in the middle, The trajectory looks like this.
[0034]
That is, when the sun gear 42 rotates in the direction indicated by the arrow in FIG. 3 (counterclockwise), the claw support shaft 61 reaches the end of the center line Da on the pot portion P side through the lower locus Dd of the substantially elliptical locus D. From the center line Da to the farthest end from the pot portion P of the center line Da through the upper trajectory Du. Thereby, the movement of the substantially elliptical trajectory D in the direction substantially opposite to the pot portion P of the seedling tray T is given to the seedling removing claw 32, and the seedling removing claw 32 is potted at one lower side of the movement of the substantially elliptical trajectory D. After entering the part P, the seedling N is stabbed, and then returns and retreats from the pot part P at one upper end of the substantially elliptical locus D to take out the stabbed seedling N.
[0035]
The distance K1 can be set to be shorter than the distance K2. In this case, when the sun gear 42 is rotated clockwise, the claw support shaft 61 is moved downward by the pot portion P-side end of the substantially elliptical locus D. It can be moved so as to move from Dd to the upper trajectory Du.
The center line Da of the substantially elliptical locus D is inclined rearward and downward with respect to the horizontal line by an angle Q. This inclination angle Q is arranged substantially parallel to the lower side wall Pb of the pot portion P at the seedling take-out position of the seedling tray T on the seedling supply mechanism 23. The push rod 34A is also substantially parallel.
[0036]
The center line Da is a center line when the sun shaft 43, the planet shaft 46, and the claw support shaft 61 are aligned in a straight line, and FIG. The inclination angle Q is set so that the lower edge 32b of the seedling picking nail 32 is substantially parallel to the lower side wall Pb of the pot portion P at the seedling removal position.
However, when the lower edge 32b of the seedling picking nail 32 is inclined upward or downward with respect to the lower side wall Pb of the pot portion P at the seedling removal position, the position or posture of the cam member 50 described later must be changed. Thereby, the inclination angle Q can be changed and set to the required angle.
[0037]
1, 2 and 5 to 8, the posture changing means 37 is engaged with an interlocking member 49 mounted on the seedling claw table 33 and a roller 49A provided on a shaft 49B at the tip of the interlocking member 49. And a cam member 50 for guiding the movement. The cam member 50 forms a substantially arc-shaped cam surface 50A by forming a groove, and is fixed to the gear box 58 via a mounting member 70. It is fixed to the mounting plate 70 so that the front and rear position, the vertical position and the inclination angle can be adjusted.
The posture changing means 37 controls the posture of the seedling picking nail 32 on the nail support shaft 61 which revolves while rotating around the sun axis 43. When the elliptical locus D is between the far end of the reciprocating motion (far side from the seedling tray T), the roller 49A at the tip of the interlocking member 49 is guided by a substantially circular locus E, and the posture of the seedling picking claw 32 is set. The posture of the seedling claw stand 33 is changed so that the posture of the seedling claw 33 is changed substantially downward from the posture facing the pot portion P.
[0038]
The cam surface 50A of the cam member 50 which forms the lower part of the substantially circular arc locus E also has a seedling claw even when the seedling picking claw 32 is near the reciprocating movement of the substantially elliptical locus D which enters the pot portion P. A portion 50Aa for controlling the attitude of the table 33 is formed. The portion 50Aa has a substantially linear shape and includes a lower side wall Pb of the pot portion P, a lower edge 32b of the seedling removing claw 32, a pushing rod 34A, and the like. It is formed substantially in parallel, so that the posture of the seedling removing claw 32 is not changed as much as possible when the tip 32a is in the pot portion P.
However, even if the shape of the portion 50Aa of the cam surface 50A is formed in a shape that controls the posture of the seedling picking claw 32 such that the lower edge 32b of the seedling picking claw 32 moves in a more optimal locus within the pot portion P. Good.
[0039]
A portion 50Ab of the cam surface 50A of the cam member 50 that forms the upper portion of the substantially circular locus E maintains the posture of the seedling removing claw 32 as little as possible when the seedling removing claw 32 is in a substantially downward posture. This portion 50Ab has a shape close to a straight line through a circular arc bent in the opposite direction from the substantially circular arc trajectory E. It is preferable that the seedling picking nail 32 be kept stationary as far as possible on the far end side of the substantially elliptical locus D while keeping the seedling picking nail 32 in the downward attitude, and the attitude of the seedling picking nail 32 is controlled in the above-described portion 50Ab.
By the reciprocating motion of the substantially elliptical locus D by the reciprocating means 36 and the reciprocating motion of the substantially circular locus E by the posture changing means 37, the tip 32a of the seedling picking claw 32 moves to draw the synthesized seedling removal locus M. I do.
[0040]
Next, a method for removing seedlings in the first embodiment will be described.
FIG. 10 shows a state immediately before the seedling pick 32 enters the pot portion P, and the reciprocating means 36 is operated to revolve while rotating the planetary shaft 46 by the rotation of the sun shaft 43, and the seedling pick 32 is moved. The nail support shaft 61 of the attached seedling claw base 33 is reciprocated while drawing a substantially elliptical locus D along a direction substantially opposite to the pot portion P of the seedling tray T, and a lower locus Dd of the substantially elliptical locus motion. And is located at the approximate center of the substantially elliptical locus D in the longitudinal direction.
[0041]
Further, the posture changing means 37 is operated to change the posture of the seedling picking claw 32 from the substantially downward direction to the substantially horizontal pot portion P via the interlocking member 49 and the cam member 50. In such a posture, the seedling removing claw 32 approaches the pot portion P at the take-out position, and approaches the lower side of the foliage while rising so as to scoop the foliage of the seedling N.
When the sun shaft 43 further rotates from such a state, the claw support shaft 61 enters the lower trajectory Dd of the pot portion P side end of the movement of the substantially elliptical trajectory D, and the roller 49A of the interlocking member 49 After reaching the portion 50Aa, the posture of the seedling picking nail 32 is substantially parallel to the center line Pa of the substantially elliptical locus D, and the lower edge 32b is substantially parallel to the lower side edge Pb of the pot portion P. Begin to pierce the root mortar of seedling N (draw partial locus M1).
[0042]
At the same time, the auxiliary tool operating means 39 has started to operate, and the cam body 41 swings the swing arm 40 against the urging means 62, thereby separating the seedling collecting aid 34 from the pot portion P. In the direction, so that the seedling picking nail 32 does not prevent the seedling N from piercing the root pot of the seedling N. When the seedling-removing aid 34 moves to the root side of the seedling-removing claw 32, the distance L between the distal ends of the left and right seedling-removing claws 32 starts to decrease, but in the vicinity of this, the groove of the fitting member 34B and the claw member 32A. To the extent that there is no play between them, or a very slight reduction.
[0043]
When the sun shaft 43 rotates from the state of FIG. 11, the state shifts to the state of FIGS. 1 to 3. Here, the claw support shaft 61 is located below the pot portion P-side end of the movement of the substantially elliptical locus D. The trajectory Dd is moved to the tip side, the roller 49A of the interlocking member 49 moves within the portion 50Aa of the cam member 50, and the seedling removing claw 32 is substantially straightened toward the pot portion P, and is substantially linearly moved toward the pot portion P. Enter the inside and pierce the seedling N.
At this time, the lower edge 32b of the claw member 32A of the seedling removing nail 32 enters substantially parallel to the lower side edge Pb of the pot P, and the tip 32a of the claw member 32A protrudes from the deep bottom hole Pa of the pot P. I do. In a state in which the seedling claw 32 is completely pierced into the root pot of the seedling N, the tip inclined surface 32d is substantially parallel to the upper side edge Pb of the pot portion P. The distal end of the claw member 32A formed of a plate material is formed so that both the lower side and the upper side are substantially along the lower side wall Pb and the upper side wall Pb of the pot portion P whose depth is gradually narrowed.
[0044]
The entry start position of the tip 32a of the claw member 32A with respect to the upper surface of the root pot of the seedling N is slightly lower on the left and right sides with respect to the center of the upper surface of the root pot, near the left and right corners of the square pot P, and The rush completion position is near the center of the bottom of the root pot and is substantially located on the center line S of the pot portion P. However, when the tip 32a passes through the inner bottom hole Pa, it may be located below the center line S. preferable.
When the auxiliary tool operating means 39 is operated, the quick swing cam surface 41a of the cam body 41 swings the swing arm 40, and the seedling collecting assist tool 34 is rapidly moved in a direction away from the pot portion P. When the seedling picking nail 32 is completely pierced into the root pot of the seedling N, or slightly before, the tips of the left and right seedling picking nails 32 contract against the contracting member 60, and the distance L between the tips shrinks to the distance L1. Then, the root pot of the seedling N is sandwiched. That is, the movement of the seedling picking aid 34 is accelerated at the final stage of entry into the pot portion P from the initial stage of entry into the pot portion P by the seedling picking nail 32, and the seedling picking nail 32 is rapidly contracted almost in the latter half of piercing, thereby holding the seedling N. Is performed reliably and stably.
[0045]
After the seedling picking nail 32 has completely pierced the root pot of the seedling N, the movement of the nail supporting shaft 61 of the seedling nail base 33 due to the operation of the reciprocating means 36 causes the movement of the substantially elliptical locus D at the pot P side end. By passing through the upper trajectory Du and moving from the lower trajectory Dd of the substantially elliptical trajectory D to the upper trajectory Du in a substantially V-shape in a side view (drawing a partial trajectory M2), the seedling removing claw 32 is moved to the pot portion P. Is pulled out of the pot portion P while being lifted slightly while keeping the posture substantially facing the.
As shown in FIG. 2, the partial trajectory M2 is substantially parallel to the upper side wall Pb on the back side of the pot portion P, and approaches the center in the vertical direction on the mouth side of the pot portion P. The root bowl of N hardly slides on the lower side wall Pb of the pot portion P nor slides on the upper side wall Pb, and separates from the lower side wall Pb while separating from the upper side wall Pb. Can be.
[0046]
Thereby, the resistance when the seedlings N fall out of the pot portion P is reduced, and the seedlings N can be taken out of the pot portion P without breaking the soil of the root pot. When the claw support shaft 61 comes to the center of the substantially elliptical locus D, the posture change is started by the action of the substantially arc-shaped cam surface 50A of the posture changing means 37 as shown in FIG.
While the nail support shaft 61 moves from the center of the substantially elliptical locus D to the end far from the pot P (draws the partial locus M3), the attitude changing means 37 changes the seedling removing nail 32 large and sharply. Then, when the seedling removing claw 32 is substantially downward, or before and after that, the cam follower 67 is disengaged from the working surface 41b of the cam body 41 and falls into the cam recess 41c, and the return swing of the swing arm 40 is allowed. With this, the seedling picking tool 34 of the auxiliary tool operating means 39 is projected toward the tip of the seedling picking nail 32 by the elastic force of the urging means 62, and the seedling N piercing the seedling picking nail 32 with the pushing surface 34a. Release to the planting cup 26 waiting below.
[0047]
At this time, the roller 49A of the interlocking member 49 moves within the portion 50Ab of the cam member 50, and the movement of the seedling picking claw 32 in the direction away from the seedling tray T is stopped, so that it is in a substantially downward posture. When the roller 49A moves along the substantially arc trajectory E of the cam member 50, the inertia force of the posture change (forward movement) when the roller 49A moves along the substantially circular locus E of the cam member 50 is reduced, and the seedlings caught by the seedling removing claw 32 are removed. In a state where the inertia force of N is reduced, downward release by the seedling collecting aid 34 is enabled.
The planting cup 26 receiving the supply of the seedlings N descends from the seedling receiving standby position to the ridge R, and plants the seedlings N while making holes.
[0048]
The seedling picking nail 32 after the release of the seedlings performs a return operation (draws a partial trajectory M4) approaching the pot P through the lower trajectory Dd of the substantially elliptical trajectory D, and the posture changing means 37 changes the posture from the substantially downward posture to the lateral posture. (The inclination angle is changed to a downward angle after a gentle angle). The state returns to the state shown in FIG. 10, and the tip 32 a of the seedling picking nail 32 ends one cycle of completing the comprehensive trajectory M.
The reciprocating means 36 and the posture changing means 37 have a simple structure and a small mass, so that the inertial force of the movement is reduced, and the one cycle can be sped up.
[0049]
14 to 18 show a second embodiment, in which a needle formed of a round bar is used as a claw member 32A of each of the left and right seedling picking claws 32, and a fitting member 34B of a seedling picking aid 34. The eyeglass-shaped member in which two holes through which the right and left claw members 32A penetrate is formed is used.
The support block 33B of the seedling claw stand 33 that guides the pushing rod 34A is divided into two parts in the front and rear direction, and the base support block 33Ba is fixed to the base body 33A. The pivotally supported tip support block 33Bb is attached to the base support block 33Ba and the base body 33A so as to be adjustable in the front-rear position, so that the front-rear position of the seedling removing claw 32 can be adjusted.
[0050]
In the second embodiment, the reciprocating means 36 is substantially the same as the first embodiment, and the posture changing means 37 has a swing member 51 for guiding the interlocking member 49 instead of providing a cam member. The pin joint structure has good durability and less trajectory deviation without using a grooved cam having a sliding structure.
The swinging member 51 is a link member having an adjustable length in which a connecting member is screwed to both ends of a cylindrical member, one end of which is connected to the interlocking member 49 via a shaft 49B, and the other end of which is fixed to the gear box 58. The supporting member 70 is pivotally supported via a fulcrum shaft 71, and guides the end of the interlocking member 49 so as to draw a substantially circular locus E.
[0051]
Although the rocking member 51 is formed by forming a cylindrical member into a linear shape, the rocking member 51 may be formed into an arc shape, in particular, a shape curved in a direction away from the seedling claw base 33 or the like. It is preferable that the position can be adjusted around 43.
In the second embodiment, in FIG. 14, the reciprocating means 36 is operated to revolve while rotating the planetary shaft 46 by the rotation of the sun shaft 43, and the nail support of the seedling nail stand 33 to which the seedling removing nail 32 is attached. The shaft 61 is reciprocated while drawing a substantially elliptical locus D along a direction substantially opposite to the pot portion P of the seedling tray T, and the lower locus Dd of the pot portion P side end of the motion of the substantially elliptical locus D to go into.
[0052]
Further, the posture changing means 37 is operated, the interlocking member 49 is guided by the swinging member 51, and the shaft 49 </ b> B moves while drawing a substantially arc trajectory E, and the seedling is moved via the interlocking member 49 and the swinging member 51. The posture of the picking claw 32 is changed from a substantially downward direction to a direction substantially facing the pot portion P in the horizontal direction, so that the seedling picking claw 32 approaches the seedling N of the pot portion P at the take-out position and scoops the foliage of the seedling N. After approaching the lower side of the foliage while ascending, the seedling picking nail 32 starts to pierce the root pot of the seedling N.
The swinging of the swinging member 51 when the seedling picking nail 32 starts to pierce the root pot of the seedling N is a movement substantially parallel to the longitudinal direction of the seedling picking nail 32 and is substantially the same as the lower locus Dd of the substantially elliptical locus D. By combining the arc locus E with the substantially linear portion, the tip 32a of the seedling picking nail 32 begins to pierce the root pot of the seedling N in the pot portion P while drawing the partial locus M1.
[0053]
At the same time, the auxiliary tool operating means 39 has started to operate, and the cam body 41 swings the swing arm 40 against the urging means 62, so that the seedling collecting aid 34 is pulled away from the pot portion P. The seedling removing claw 32 is moved to a state where it does not interfere with the start of piercing the seedling N into the root mortar of the seedling N, and the seedling removing aid 34 moves to the root side of the seedling removing nail 32, so that the tips of the left and right seedling removing nails 32 are moved. The distance L can be reduced.
When the sun shaft 43 rotates from the state shown in FIG. 14, the state shifts to the state shown in FIG. 15. Is moved to the tip side, and the seedling picking claw 32 substantially linearly enters the pot portion P in a posture substantially facing the pot portion P, and pierces the seedling N.
[0054]
At this time, the lower edge 32b of the claw member 32A of the seedling removing nail 32 is separated from the center line of the pot portion P on the mouth side of the pot portion P in a side view with respect to the lower side edge Pb of the pot portion P, At the back, it approaches the center line or enters in a direction intersecting the center line, and its tip 32a protrudes to a position short of the back bottom hole Pa of the pot portion P.
That is, the entry start position of the tip 32a of the claw member 32A with respect to the upper surface of the root pot of the seedling N is slightly lower on the left and right sides with respect to the center of the upper surface of the root pot, near the left and right corners of the square pot P. The entry completion position of 32a is near the center of the bottom of the root pot or slightly above.
[0055]
The entering direction of the claw member 32A may be substantially parallel to the lower side edge Pb of the pot portion P, and the reaching position may be a position protruding from the inner bottom hole Pa.
When the auxiliary tool operating means 39 is operated, the quick swing cam surface 41a of the cam body 41 swings the swing arm 40, and the seedling collecting assist tool 34 is rapidly moved in a direction away from the pot portion P. When the seedling picking nail 32 is completely pierced into the root pot of the seedling N, or slightly before, the tips of the left and right seedling picking nails 32 contract against the contracting member 60, and the distance L between the tips shrinks to the distance L1. Then, the root pot of the seedling N is sandwiched.
[0056]
After the seedling picking nail 32 has completely pierced the root pot of the seedling N, the movement of the nail supporting shaft 61 of the seedling nail base 33 due to the operation of the reciprocating means 36 causes the movement of the substantially elliptical locus D at the pot P side end. By passing through the upper trajectory Du and moving from the lower trajectory Dd of the substantially elliptical trajectory D to the upper trajectory Du in a substantially V-shape when viewed from the side, the seedling picking claw 32 remains in a posture substantially facing the pot portion P. Then, it comes out of the pot portion P while being slightly lifted, and draws a partial trajectory M2 (see FIG. 16).
While the nail support shaft 61 moves from the center of the substantially elliptical locus D to the end farther from the pot P, the posture changing means 37 largely changes the posture while moving the seedling picking claw 32 forward, and changes the partial locus M3. When the shifted seedling removing claw 32 is substantially downward or immediately before, the cam follower 67 of the swing arm 40 is disengaged from the working surface 41b of the cam body 41 and falls into the cam recess 41c, and the urging means 62 is resiliently pressed. With the force, the seedling collecting aid 34 of the auxiliary tool operating means 39 is protruded toward the tip of the seedling collecting claw 32, and the seedling N piercing the seedling collecting claw 32 on the pushing surface 34a is transferred to the planting cup 26 waiting below. Release (see FIG. 17).
[0057]
At this time, the trajectory E of the shaft 49B at the tip of the interlocking member 49 becomes a substantially vertical portion, the movement of the seedling picking claw 32 in the direction away from the seedling tray T is stopped, and the seedling claw 32 is in a substantially downward posture. Is stopped even for a short time, the inertia force of the posture change (forward movement) of the seedling picking nail 32 is reduced, and the seedling N taken out by the seedling picking nail 32 is reduced in the inertia force. Allows for downward release.
The planting cup 26 that has been supplied with the seedlings N descends to the ridge R, and plants the seedlings N while making holes.
[0058]
After the release of the seedlings N, the seedling picking nails 32 return to approach the pot portion P through the lower trajectory Dd of the substantially elliptical trajectory D, and are changed from a substantially downward posture to a lateral posture by the posture changing means 37. The seedling picking nail 32 draws a partial trajectory M4 and shifts to the state shown in FIG. 18, and the tip 32a of the seedling picking nail 32 ends one cycle of completing the comprehensive trajectory M.
19 to 23 show a third embodiment, in which the claw member 32A of each of the left and right seedling removing claws 32 is formed by bending a band-shaped flat plate in the same manner as in the first embodiment. The posture changing means 37, the assisting tool operating means 39, and the like are substantially the same as those of the second embodiment, and are different from the second embodiment in that the posture control means for moving the fulcrum shaft 71 of the swing member 51 of the posture changing means 37. Means 38 is provided. Note that the seedling removing claw 32, the interlocking member 49, the swinging member 51, and the like are illustrated in a simplified manner.
[0059]
The fulcrum shaft 71 is not supported by the gear box 58 and the mounting plate 70, but is supported by the tip of the fulcrum rocking body 52. The base of the fulcrum rocking body 52 is attached to the mounting plate 70 or the gear box 58 by the base shaft 72. Is pivoted through.
The attitude control means 38 has the fulcrum rocking body 52 and an operating member 53 formed of a cam plate and mounted on the sun shaft 43. A cam follower 73 provided on the fulcrum rocking body 52 is provided on the outer periphery of the operating member 53. The fulcrum oscillating body 52 is oscillated by the rotation of the operating member 53, and reciprocally oscillates on the fulcrum shaft 71 of the oscillating member 51 so as to draw a short arc locus H.
[0060]
In the third embodiment, in FIGS. 20 and 21, the reciprocating means 36 is operated to revolve the planetary shaft 46 while rotating by rotation of the sun shaft 43, and the seedling claw base 33 to which the seedling picking claw 32 is attached. The nail support shaft 61 is reciprocated while drawing a substantially elliptical locus D along a direction substantially opposite to the pot portion P of the seedling tray T, and the lower side of the pot portion P side end of the motion of the substantially elliptical locus D The movement is shifted to the locus Dd, and at the same time, the interlocking member 49 is guided by the swinging member 51.
The swing of the swinging member 51 when the seedling picking nail 32 starts to pierce the root pot of the seedling N is a movement substantially parallel to the seedling picking nail 32, and the tip portion 32a draws the partial trajectory M1 while moving the pot portion P. Start piercing the root pot of seedling N inside. Then, the claw support shaft 61 moves the lower trajectory Dd of the movement of the substantially elliptical trajectory D toward the front end of the pot portion P side end, and the seedling removing claw 32 is substantially linearly potted in a posture substantially facing the pot portion P. It enters the section P and pierces the seedling N.
[0061]
Further, the posture changing means 37 is operated to swing the swinging member 51 about the fulcrum shaft 71 to change the posture of the seedling picking claw 32 from a substantially downward direction to a substantially horizontal position toward the pot portion P. As the picking nail 32 approaches the seedling N of the pot portion P at the take-out position, it rises so as to scoop the foliage of the seedling N and approaches the lower side of the foliage. Then, the seedling picking nail 32 pierces the root pot of the seedling N. start.
After the seedling picking nail 32 has completely pierced the root pot of the seedling N, the movement of the nail supporting shaft 61 of the seedling nail base 33 due to the operation of the reciprocating means 36 causes the movement of the substantially elliptical locus D at the pot P side end. By passing through the upper trajectory Du and moving from the lower trajectory Dd of the substantially elliptical trajectory D to the upper trajectory Du in a substantially V-shape in side view, the seedling picking nail 32 draws a partial trajectory M2 from the partial trajectory M1. It shifts to a substantially V-shape when viewed from the side, and the seedling removing claw 32 is pulled out of the pot portion P while slightly lifted up while being substantially oriented toward the pot portion P (see FIGS. 21 and 22).
[0062]
While the nail support shaft 61 moves from the center of the substantially elliptical locus D to the end farther from the pot portion P (the seedling picking claw 32 draws a partial locus M3), the posture changing means 37 moves the seedling picking claw 32 forward. When the posture is greatly changed while moving, and immediately before or immediately before the seedling removing claw 32 is turned, the cam follower 67 of the swing arm 40 is disengaged from the working surface 41b of the cam body 41 and falls into the cam recess 41c, and the urging is performed. With the resilience of the means 62, the seedling collecting aid 34 of the auxiliary tool operating means 39 protrudes toward the tip of the seedling collecting claw 32, and the seedlings N piercing the seedling collecting claw 32 on the pushing surface 34a wait for the seedling N downward. To the planting cup 26 where it is.
[0063]
At this time, the cam surface 53a of the operating member 53 swings the fulcrum swinging body 52 via the cam follower 73, causing the fulcrum shaft 71 to perform an arc motion to draw a locus H, and moves the swinging fulcrum of the swinging member 51. Then, the seedling picking nail 32 is raised in a substantially downward posture, and a rising partial trajectory M5 is drawn between the partial trajectory M3 and the partial trajectory M4 of the comprehensive trajectory M (see FIG. 23).
As described above, the movement of the seedling picking nail 32 in the direction away from the seedling tray T is stopped, and the state in which the seedling picking nail 32 is substantially downward is stopped for a short time, thereby changing the posture of the seedling picking nail 32 ( The inertia force of the forward movement) is reduced, and the seedlings N taken out by the seedling removing claw 32 can be released downward with the inertia force reduced. The planting cup 26 that has been supplied with the seedlings N descends to the ridge R, and plants the seedlings N while making holes. The trajectory G of the planting cup 26 is shown in FIG.
[0064]
After the release of the seedling N, the seedling claw 33 is returned by the reciprocating means 36 to approach the pot portion P through the lower trajectory Dd of the substantially elliptical trajectory D, and is changed from the substantially downward attitude to the horizontal attitude by the attitude changing means 37. With these operations, the tip 32a of the seedling removing nail 32 draws a partial trajectory M4, and returns to the state shown in FIG. 20 to complete one cycle of completing the comprehensive trajectory M.
A plurality of protruding portions are formed on the cam surface 53a of the operating member 53 of the posture control means 38, in addition to the protruding portion for rocking the fulcrum rocking body 52 when the seedling is released to form the rising portion trajectory M5. For example, the posture is changed so that the partial trajectory M1 of the seedling removing nail 32 is substantially straight, as is apparent from a comparison between the comprehensive trajectory M of the third embodiment and the comprehensive trajectory M of the first and second embodiments. A protruding portion or the like for correcting the operation of the means 37 is formed, and the trajectory M of the seedling picking nail 32 obtained in the second embodiment is corrected to take out the seedling N from the seedling tray T and to the planting cup 26. So that the seedlings can be released more accurately.
[0065]
In the third embodiment, by controlling the posture changing means 37 by the posture control means 38, the total trajectory M of the seedling picking nail 32 can be controlled more variously than when only the posture changing means 37 is used. This is effective for, for example, slowing down the movement of the seedling picking claw 32 during delivery and ensuring delivery of the seedlings.
In the present invention, it is best that the shape and structure of each member and the positional relationship between front and rear, left and right, and up and down in each of the above embodiments are configured as shown in FIGS. However, the present invention is not limited to the configuration of each embodiment, and may be variously modified or a combination of the configurations may be changed.
[0066]
For example, in the first embodiment, a fulcrum may be provided at the lower part of the cam member 50, and the upper part may be configured to swing by the attitude control means 38 of the third embodiment. In the second embodiment, the same seedling removing nail 32 and seedling nail base 33 as those in the first embodiment may be used.
In addition, as in the prior art, the distance K1 from the planetary shaft 46 to the sun shaft 43 and the distance K2 from the planetary shaft 46 to the pawl support shaft 61 are set to be the same, and a straight line is formed on the seedling removing claw 32 by the planetary gear mechanism. A reciprocating motion is given to the cam surface 50A of the cam member 50 of the posture changing means 37 so that the cam surface for forward movement and the cam surface for backward movement are formed so as to be separated from each other. During the reciprocating motion, substantially V-shaped trajectories M1 and M2 are drawn, whereby the seedling picking claw 32 is moved in a direction substantially opposite to the pot portion P of the seedling tray T, and one end lower side of the trajectory motion. After the seedling picking nail 32 has entered the pot portion P, the seedling picking nail 32 is retracted from the pot portion P at one upper end to take out the seedling N. After the seedling N is taken out, the seedling picking nail 32 is moved to the pot portion P. Seedling claw 32 between the outside and the other end of the locus motion It is also possible to configure so as to position change substantially downwardly from the posture facing the posture pot portion P.
[0067]
However, it is possible to form the cam surface for forward movement and the cam surface for backward movement on the cam member 50 and make the cam followers 49A abut on each cam surface, but the reliability of operation is high. Lower. On the other hand, when the distance K1 and the distance K2 are different from each other as in the above-described embodiment, the reliability of operation is high, the structure is simple, and the manufacture is easy.
[0068]
【The invention's effect】
According to the present invention described in detail above, the seedling N is pinched when the left and right seedling picking nails 32 mainly go to the back of the pot portion P in the late stage of entry, and a firm and stable seedling holding can be performed, and the working accuracy of seedling removal is achieved. Can be increased.
[Brief description of the drawings]
FIG. 1 is an overall side view showing a first embodiment of the present invention when a seedling piercing is completed.
FIG. 2 is a side view of a main part when seedling piercing is completed.
FIG. 3 is an explanatory view of a reciprocating means.
FIG. 4 is a side view showing the entire transplanter.
FIG. 5 is a side view of the seedling removal device.
FIG. 6 is a plan view of the seedling removal device.
FIG. 7 is a plan view of a seedling removing nail.
FIG. 8 is a partial cross-sectional front view of the seedling removal device.
FIG. 9 is a side view of the reciprocating means.
FIG. 10 is a side view of a main part of the seedling removal device before piercing a seedling.
FIG. 11 is a side view of a main part of the seedling removal device during piercing of a seedling.
FIG. 12 is a side view of the main part of the seedling removal device immediately after the removal of the seedling.
FIG. 13 is a side view of a main part of the seedling removal device when the seedling is released.
FIG. 14 is a side view of the seedling removal device during piercing of a seedling according to the second embodiment of the present invention.
FIG. 15 is a side view of the seedling removal device according to the second embodiment when the seedling piercing is completed.
FIG. 16 is a side view of the seedling removal device during the removal of seedlings according to the second embodiment.
FIG. 17 is a side view of the seedling removing device according to the second embodiment when the seedling is released.
FIG. 18 is a side view of the seedling removal device according to the second embodiment before seedling piercing.
FIG. 19 is a schematic side view of a seedling removal device according to a third embodiment of the present invention at the time of completion of piercing of a seedling.
FIG. 20 is a schematic side view of a seedling removal device before seedling piercing according to a third embodiment.
FIG. 21 is a schematic side view of the seedling removal device according to the third embodiment when seedling piercing is completed.
FIG. 22 is a schematic side view of a seedling removal device during removal of seedlings according to a third embodiment.
FIG. 23 is a schematic side view of a seedling removal device according to a third embodiment at the time of release of seedlings.
[Explanation of symbols]
1 Transplanting machine 24 Seedling removal mechanism 30 Seedling removal device 32 Seedling claw 32A Claw member 32B Vertical axis 32a Tip 33 Seedling claw stand 33A Base body 33B Support block 34 Seedling removal aid 34A Pushing rod 34B Fitting member 34a Pushing surface 36 reciprocating means 37 posture changing means 39 assisting means operating means 40 swing arm 41 cam body 41a quick swing cam surface 41b working surface 41c cam recess D substantially elliptical trajectory E substantially arc trajectory L tip-to-tip distance N seedling P pot T Seedling tray
