JP3820200B2

JP3820200B2 - Transplanter seedling removal device

Info

Publication number: JP3820200B2
Application number: JP2002249699A
Authority: JP
Inventors: 守安松; 健吉野坂; 恭史福高; 隆雄溝口; 将人杉岡; 仁志福本
Original assignee: Kubota Corp
Current assignee: Kubota Corp
Priority date: 2002-08-28
Filing date: 2002-08-28
Publication date: 2006-09-13
Anticipated expiration: 2022-08-28
Also published as: JP2004081161A

Description

【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相対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、苗取り爪先端の拡縮と苗取り爪からの苗の放出とは別個の手段で行っており、苗株押出部材で苗取り爪先端の拡縮を行うことは困難になっている。
また、前記後者従来技術においては、爪支持台に対して苗取り爪を往復直線移動させる必要があると共に、爪支持台に対して苗取り爪を前進させた状態で、爪ガイドを前進している苗取り爪の先端側へ移動させる必要があり、苗取り出し及び苗放出の高速化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、苗取り爪を苗爪台に対して取り付け、苗取り爪先端の拡縮と苗取り爪からの苗の放出とを行う苗取り補助具を、苗爪台及び苗取り爪に対して長手方向相対移動自在に支持することにより、苗取り出し及び苗放出の高速化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、苗爪台３３と、この苗爪台３３に基部が枢支されかつ先端間隔Ｌが拡縮可能に取り付けられた左右一対の苗取り爪３２と、この苗取り爪３２を苗トレイＴのポット部Ｐに進退させて苗Ｎを突き刺して取り出すべく前記苗爪台３３を移動させる手段と、前記左右苗取り爪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ている苗取り補助具３４と、前記左右苗取り爪３２をポット部Ｐに進入したときに左右苗取り爪３２の先端間隔Ｌを収縮させるべく前記苗取り補助具３４を苗取り爪３２の先端側から基部側へ移動し、ポット部Ｐの外で苗取り爪３２から苗Ｎを押し出すべく前記苗取り補助具３４を苗取り爪３２の基部側から先端側への移動させる補助具作動手段３９とを有しており、前記補助具作動手段３９は、前記左右苗取り爪３２をポット部Ｐに進入させる際に前記先端間隔Ｌを該左右苗取り爪３２の進入初期よりも進入終期に急激に収縮させるべく、該進入初期よりも進入終期に前記苗取り補助具３４を苗取り爪３２の先端側から基部側に向けて高速に移動させることを特徴とする。
【０００８】
これによって、苗爪台３３と左右一対の苗取り爪３２とを一体的に移動して苗取り出し動作させながら、苗爪台３３及び苗取り爪３２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させることにより、左右苗取り爪３２の先端間隔Ｌを拡縮したり、苗取り爪３２が取り出した苗Ｎの放出ができ、苗取り出し及び苗放出が高速化される。
第２に、前記苗爪台３３を移動させる手段は、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を突き刺して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とを有する。
【０００９】
これによって、苗爪台３３と左右一対の苗取り爪３２とを一体的に移動して苗取り出し動作させるのを、苗爪台３３を苗トレイＴに遠近させる往復運動と姿勢を変更する姿勢変更運動とを合成して行わせることができ、苗取り出し及び苗放出が高速化される。
第３に、前記苗爪台３３は、往復動手段３６及び姿勢変更手段３７と連結された台本体３３Ａと、左右苗取り爪３２を装着しかつ苗取り補助具３４の移動を案内する支持ブロック３３Ｂとを有し、この支持ブロック３３Ｂを台本体３３Ａに対して苗取り爪３２長手方向位置調整自在に装着している。
【００１０】
これによって、左右苗取り爪３２を苗トレイＴに対して遠近位置調整することができ、また、苗取り出し及び苗放出するための苗取り爪３２の往復運動及び姿勢変更運動を、台本体３３Ａと往復動手段３６及び姿勢変更手段３７との関係で構成することができる。
第４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の先端側へ弾発する付勢手段６２と、前記苗爪台３３を移動させる手段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は、苗取り爪３２を前記ポット部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るべく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を有すると共に、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を有している。
【００１１】
これによって、苗取り出し時及び苗放出時の苗取り補助具３４の動作をカム体４１で設定することができ、動作設定が容易であると共に動作を確実に行わせることができる。
【００１２】
【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。
【００１３】
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。
【００１４】
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。
【００１５】
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。
【００１６】
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。
【００１７】
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。
【００１８】
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。
【００１９】
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。
【００２０】
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。
【００２１】
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。
【００２２】
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。
【００２３】
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。
【００２４】
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。
【００２５】
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。
【００２６】
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。
【００２７】
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。
【００２８】
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。
【００２９】
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。
【００３０】
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。
【００３１】
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。
【００３２】
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。
【００３３】
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。
【００３４】
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。
【００３５】
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。
【００３６】
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。
【００３７】
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。
【００３８】
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。
【００３９】
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。
【００４０】
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）。
【００４１】
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。
【００４２】
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。
【００４３】
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。
【００４４】
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。
【００４５】
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。
【００４６】
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。
【００４７】
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。
【００４８】
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。
【００４９】
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。
【００５０】
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。
【００５１】
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。
【００５２】
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。
【００５３】
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。
【００５４】
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。
【００５５】
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）。
【００５６】
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。
【００５７】
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。
【００５８】
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。
【００５９】
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。
【００６０】
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）。
【００６１】
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。
【００６２】
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。
【００６３】
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。
【００６４】
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。
【００６５】
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。
【００６６】
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。
【００６７】
【発明の効果】
以上詳述した本発明によれば、苗爪台３３と左右一対の苗取り爪３２とを一体的に移動して苗取り出し動作させながら、苗爪台３３及び苗取り爪３２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させることにより、左右苗取り爪３２の先端間隔Ｌを拡縮したり、苗取り爪３２が取り出した苗Ｎの放出ができ、苗取り出し及び苗放出の高速化ができる。
【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]
BACKGROUND OF THE INVENTION
The present invention relates to a seedling extraction device for a transplanter that extracts and transplants soil block seedlings such as onions, lettuce, cabbage, and tobacco one by one from a pot portion of a seedling tray.
[0002]
[Prior art]
The transplanting machine has a seedling placing table on which a seedling tray having a large number of pot parts in length and breadth is placed on a traveling machine, a planting part for planting seedlings in a basket, and a seedling tray from a pot part of the seedling tray on the seedling placing table. A seedling picking device for taking out the seedlings one by one and feeding them to the planting part, and planting the seedlings automatically in order at intervals in the longitudinal direction of the cocoon while running along the cocoon.
As this type of prior art, there are those disclosed in Japanese Patent Application Laid-Open No. 6-31805 and Japanese Patent No. 3238597.
[0003]
In the former prior art, the claw support that supports the seedling removing 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 removing claw is moved during the reciprocating linear movement. The posture is changed from a posture facing the pot portion to a posture toward the planting cup of the planting portion.
In addition, when a pair of left and right seedling picking nails are pierced into the seedling, the seedling picking nails are secured by narrowing the distance between the tips of the seedling picking nails through a cam arranged between the bases of the left and right seedling picking nails. By moving the seedling stock pushing member fitted to the tip of the seedling removing nail, the seedling is ejected from the seedling removing nail.
[0004]
The latter prior art uses a cam to change the posture of the support base using another cam while reciprocating linearly moving the seedling picking claw with respect to the claw support base in the direction facing the pot portion of the seedling tray. Then, the seedling claw is configured to have a substantially V shape in the pot portion, and the posture is changed from the pot portion to the planting cup of the planting unit.
Also, when the pair of left and right seedling picking nails are advanced and pierced into the seedling, the nail guide is moved relatively to the base side of the seedling picking nail to narrow the interval between the tips of the seedling picking nails, and the seedling that has advanced this nail guide It moves to the front end side of a nail | claw and is comprised so that a seedling may be discharge | released from a seedling nail | claw.
[0005]
[Problems to be solved by the invention]
In the former prior art, the expansion / contraction of the tip of the seedling nail and the release of the seedling from the seedling nail are performed by different means, and it becomes difficult to expand / contract the tip of the seedling nail with the seedling pushing member. ing.
In the latter prior art, it is necessary to move the seedling picking claw back and forth linearly with respect to the claw support, and the nail guide is advanced with the seedling picking claw advanced with respect to the claw support. Therefore, it is difficult to speed up the removal of the seedling and the release of the seedling.
[0006]
It is an object of the present invention to provide a transplanter seedling removal method and apparatus capable of solving the problems of the prior art.
The present invention provides a seedling removal assisting tool for attaching a seedling removing nail to a seedling nail base, expanding and contracting the seedling removing nail tip and releasing the seedling from the seedling removing nail. It is an object of the present invention to provide a seedling removal device for a transplanter that can support the relative movement in the longitudinal direction to increase the speed of seedling removal and seedling release.
[0007]
[Means for Solving the Problems]
  Specific means for solving the problems in the present invention are as follows.
  First, the seedling claw base 33, a pair of left and right seedling claw 32 whose base is pivotally supported on the seedling claw base 33 and attached so that the tip interval L can be expanded and contracted, and the seedling claw 32 are attached to the seedling tray T. Advancing and retreating to the pot part P, pierce the seedling N and take it outAllAnd a means for moving the seedling claw stand 33, and a seedling removal aid 34 whose tip is fitted to the left and right seedling claw 32 and is supported by the seedling claw base 33 so as to be relatively movable in the longitudinal direction. When the left and right seedling picking claws 32 enter the pot portion P, the seedling removal aid 34 is moved from the tip side of the seedling picking claws 32 to the base side so as to contract the tip interval L between the left and right seedling picking claws 32. Auxiliary tool actuating means 39 for moving the seedling removal aid 34 from the base side to the tip side of the seedling removal claw 32 in order to push the seedling N out of the seedling removal claw 32 outside the pot portion P is provided.When the left and right seedling picking claws 32 are caused to enter the pot portion P, the auxiliary tool actuating means 39 contracts the tip interval L more rapidly at the end of entry than when the left and right seedling picking claws 32 enter. Therefore, the seedling removal assisting tool 34 is moved at a higher speed from the distal end side to the base side of the seedling removing claws 32 at the end of the entry than at the beginning of the entry.
[0008]
As a result, the seedling picking aid 34 is placed on the seedling claw stand 33 and the seedling picking claws 32 while the seedling picking base 33 and the pair of right and left seedling picking claws 32 are moved integrally to perform the seedling picking operation. 32. By relatively moving in the longitudinal direction, the tip interval L between the left and right seedling picking claws 32 can be expanded or reduced, and the seedling N taken out by the seedling picking claws 32 can be released, and the speed of seedling picking and seedling release is increased.
Second, the means for moving the seedling claw base 33 reciprocates the seedling claw base 33 in a direction substantially opposite to the pot portion P of the seedling tray T, and the seedling claw 32 is moved at one end of the reciprocating movement. When the reciprocating means 36 for advancing and retreating the pot portion P to pierce and take out the seedling N and the seedling picking claws 32 are between the outside of the pot portion P and the other end side of the reciprocating motion, 33 includes posture changing means 37 for performing a substantially arc locus motion for changing the posture of the seedling picking claw 32 from a posture facing the pot portion P to a substantially downward direction.
[0009]
As a result, the seedling claw base 33 and the pair of right and left seedling picking claws 32 are integrally moved to perform the seedling picking operation, the reciprocating movement that moves the seedling claw base 33 closer to the seedling tray T and the attitude change that changes the attitude. It can be combined with exercise, and seedling removal and seedling release are accelerated.
Thirdly, the seedling claw stand 33 is provided with a base body 33A connected to the reciprocating means 36 and the posture changing means 37, and a support block for attaching the left and right seedling picking claws 32 and guiding the movement of the seedling picking aid 34. 33B, and the support block 33B is attached to the base body 33A so that the position of the seedling picking claw 32 can be adjusted in the longitudinal direction.
[0010]
  Accordingly, the right and left seedling picking claws 32 can be adjusted in a perspective position with respect to the seedling tray T, and the reciprocating motion and posture changing motion of the seedling picking claws 32 for taking out seedlings and discharging seedlings are performed with the base body 33A. The reciprocating means 36 and the posture changing means 37 can be configured.
  Fourth, the auxiliary tool actuating means 39 includes a swing arm 40 having one end pivotally supported by the seedling claw base 33 and the other end connected to the seedling picking aid 34, and the seedling picking aid 34 or the swinging. It is provided between the arm 40 and the seedling claw stand 33, and the seedling removal aid 34 is moved toward the tip side of the seedling removal claw 32.DepartureBiasing means 62 forMeans for moving the seedling claw stand 33And a cam body 41 that swings the swing arm 40 so as to move the seedling assisting tool 34 toward the base side of the seedling catching claws 32 against the biasing means 62 by rotating with power from The cam body 41Is a rapid rocking in which the second half of the seedling picking nail 32 rises more rapidly than the beginning of the rise in order to cause the movement speed of the seedling removal aid 34 when the seedling removal nail 32 enters the pot portion P to be performed more rapidly at the end of the entry than at the beginning of the entry. Having a cam surface 41a,It has a cam recess 41c that allows the urging means 62 to move the seedling removal assisting tool 34 toward the distal end side of the seedling removal claw 32.
[0011]
Thereby, the operation of the seedling removal assisting tool 34 at the time of taking out the seedling and at the time of releasing the seedling can be set by the cam body 41, so that the operation setting is easy and the operation can be surely performed.
[0012]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
1st Embodiment is shown in FIGS. 1-12, and the whole transplanter 1 is shown in FIG.
In FIG. 4, the transplanter 1 illustrates a two-row planted four-wheel walking type having a transplanter 3 and a steering handle 4 at the rear part of the traveling machine body 2, and the longitudinal direction of the heel (see FIG. 4), a soil block seedling (a seedling with a root pot; hereinafter referred to as a seedling N) is automatically planted on the heel R at a predetermined interval.
[0013]
The traveling machine body 2 has a gantry 6 fixed to the front portion of the transmission case 5 so as to protrude forward, and mounted on the gantry 6 with vehicle equipment such as an engine, a fuel tank, and a battery, and a pair of left and right front wheels 9 and rear wheels ( Drive wheel) 10 is mounted.
The front wheel 9 is provided on left and right ends of a front wheel support shaft 11 pivotally supported on the front portion of the gantry 6 via support arms 12, and the rear wheel 10 is projected outward from both left and right sides of the transmission case 5. It is provided at the outer end portion of the wheel support shaft 13 via a transmission case 14 inclined rearward and downward.
[0014]
The front wheel support shaft 11 and the rear wheel support shaft 13 on the left and right sides are interlocked with each other via an interlocking rod 15 and an arm. By operating an actuator (hydraulic cylinder) 16 supported on the gantry 6, an interlocking member is obtained. The front wheel support shaft 11 and the rear wheel support shaft 13 are rotated in conjunction with each other through the interlocking rod 15 and the like 17 so that the left and right front and rear wheels 9 and 10 are moved up and down at the same time. The height can be adjusted.
The power of the engine is transmitted from the transmission case 5 to the rear wheel 10 via a transmission shaft in the left and right rear wheel support shaft 13 and a transmission means in the transmission case 14. Further, from the mission case 5, power can be taken out from the first PTO shaft 18 protruding rearward and the second PTO shaft 19 protruding left and right.
[0015]
The left and right sides or the left and right sides (right side) of the front wheel support shaft 11 and the left and right sides or the left and right sides of the rear wheel support shaft 13 are configured to be telescopic, and can be adjusted for tread according to the left and right width of the heel R. It is said that.
Therefore, the transplanter 1 extends the front wheel support shaft 11 and the rear wheel support shaft 13 on the left and right sides, so that the transplanter 3 is offset to the left and right other side (left side) of the heel R. In this state, the transplanter 1 By reciprocating the cocoon R in the longitudinal direction of the cocoon R, four seedlings are configured to be planted in the cocoon R.
[0016]
The transplanting device 3 is provided on a transplanting frame 21 mounted on the rear part of the traveling machine body 2. A planting mechanism 22 for planting the seedling N on the ridge R and a seedling supply for placing the seedling tray T and feeding it vertically and horizontally. The mechanism 23 mainly includes a mechanism 23 and a seedling extraction mechanism 24 that extracts the seedling N from the seedling tray T on the seedling supply mechanism 23 and supplies the seedling N to the planting mechanism 22.
The transplant frame 21 has a fixed frame 21A whose front part is fixed to the transmission case 5, and a movable frame 21B whose front part is rotatably attached to the second PTO shaft 19 around its axis. Are provided with a seedling supply mechanism 23 and a seedling extraction mechanism 24 (both of which constitute a seedling supply section), the handle 4 is fixed, and the movable frame 21B is provided with a planting mechanism 22.
[0017]
1 and 2, the seedling tray T is made of plastic, has a thin wall, has flexibility, and includes a large number of pot portions P arranged in a grid pattern at a predetermined pitch in the vertical and horizontal directions. .
The seedling tray T is formed in a rectangular shape that is long in the pot portion vertical arrangement direction when viewed from the front, and the soil block seedling N is grown by filling the pot portion P with floor soil, sowing and raising seedlings there, The number of pot parts P is 10 × 20 = 200, 12 × 24 = 288, and the size of the seedling tray T is constant. Therefore, if the number of pot parts is different, one pot part P FIG. 7 shows two types of sizes.
[0018]
The pot portion P has a substantially quadrangular pyramid shape (or conical shape) that gradually narrows toward the back, the corner portion is rounded with a chamfer, and a bottom hole Pa for ventilation and drainage is formed on the bottom wall. ing. Therefore, the upper and lower side walls Pb of the pot portion P when the seedling tray T is set to the feeding posture are narrowed and tapered surfaces. A center line of the pot portion P is indicated by a symbol S.
The seedling supply mechanism 23 includes a seedling mounting base 25 for mounting the seedling tray T in a state where the upper part is tilted backward, a supporting means for supporting the seedling mounting base 25 so as to be capable of reciprocating in the left-right direction, and a seedling mounting base 25 which feeds the pots 25 intermittently in the horizontal arrangement direction (left and right direction) by one pot part P, and the vertical feed means which feeds the seedling trays T on the seedling table 25 vertically from top to bottom one row at a time. And have.
[0019]
The seedling supply mechanism 23 takes out the seedling N from the pot portion P of the seedling tray T by the seedling extraction mechanism 24 while laterally feeding the seedling placing table 25, and takes out the seedling N from all the pot portions P in a horizontal row. Thereafter, the seedling tray T is vertically fed by one pitch of the pot portion P by the vertical feeding means, and the seedling N can be taken out from the next horizontal row of pot portions P.
The seedling extracting mechanism 24 is disposed on the front side of the seedling placing stand 25, and includes a pair of left and right seedling extracting devices 30 for one seedling tray T so as to correspond to double row planting. 30 are juxtaposed at intervals of a pitch that is half the number of pot portions P in the horizontal arrangement direction of one seedling tray T.
[0020]
Each seedling extraction device 30 is driven by the power from the first PTO shaft 18, and includes a pair of left and right L-shaped seedling extraction claws 32 (seedling extraction members) at the tip portion. Is inserted into a seedling pot having floor soil in the pot portion P to hold the seedling N, and the seedling N is taken out from 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 discharges 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 left and right sides of the N to fill the floor soil of the seedling N, and the planting cup 26 is long in the vertical direction with the planting drive mechanism. An elliptical trajectory (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.
[0021]
One of the left and right seedling extraction devices 30 is mounted with a gear box 58 on a support base 57 mounted on the fixed frame 21A, and a gear shaft 58 that 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 is used as the sun shaft 43, and power is transmitted from the other end to the sun shaft 43 of the other seedling extractor 30 through the gear transmission means or the chain transmission means. The power transmitted from the gear box 58 to the seedling supply mechanism 23 is also taken out.
[0022]
Each seedling extraction device 30 includes a pair of left and right seedling picking claws 32, a seedling picking aid 34 having a tip fitted to the left and right seedling picking claws 32, and a seedling picking nail that supports the seedling picking claws 32 and the seedling picking aid 34. A reciprocating means 36 for causing the seedling claw 32 to take out the seedling N in the pot part P by reciprocating the base 33 and the seedling claw base 33 along a direction substantially facing the pot part P of the seedling tray T; The seedling claw base 33 has a posture changing means 37 for changing the posture of the seedling claw 32 from a posture facing the pot portion P to a substantially downward direction. By the operation of the reciprocating means 36 and the posture changing means 37, the seedling The tip 32a of the claw 32 is moved to draw a general trajectory M obtained by synthesizing a substantially elliptical trajectory D and a substantially arc trajectory E.
[0023]
Each of the left and right seedling collecting claws 32 is pivotally supported by a seedling claw base 33 through a vertical axis 32B provided at the base of the claw member 32A so that the tip interval can be expanded and contracted, and the claw member 32A is diametrically extended from the vertical axis 32B. Extending, and a base member of the left and right claw members 32A is provided with a spring contraction member 60 that urges its tip in the contraction direction.
The claw members 32A of the both seedling claw 32 are formed by fixing a strip bent in a substantially U-shaped (or substantially L-shaped) cross-section in the width direction to a round bar (needle shape), and a tip 32a is formed. The lower edge 32b is formed in a substantially straight line 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. The lower edge 32b and the tip inclined surface 32d The included angle is preferably the taper angle of the peripheral wall Pb of the pot portion P or the angle before and after the taper angle.
[0024]
The right and left seedling picking claws 32 have a shape that approximates the cross-sectional side shape of the pot portion P at the tip, increases the contact area of the seedling N with the root pot as much as possible, and enters the pot portion P. Then, the root pot of the seedling N is stabbed to the deepest part below the center line, and is clamped so as to be forcibly sandwiched and held from the left and right.
The seedling claw stand 33 is configured by providing a support block 33B on a base body 33A that is 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 picking claws 32.
[0025]
The vertical axis 32B of the both seedling catching claws 32 is pivotally supported by the support block 33B, and the distance from the claw support spindle 61 to the tip 32a of the seedling catching claws 32 can be adjusted by adjusting the front and rear positions.
A through hole is formed in the support block 33B of the seedling claw stand 33, and a pushing rod 34A of the seedling collecting aid 34 is slidably inserted and supported. The right and left claw members 32A are provided at the tip of the pushing rod 34A. A fitting member 34B that fits simultaneously is provided. The front end surface of the fitting member 34 </ b> B is an extrusion surface 34 a that pushes out the seedling N that has pierced the seedling picking claws 32.
[0026]
The fitting member 34B has a symmetrical groove 34b that fits from the lower edge 32b of the claw member 32A to the upper part (or the upper edge 32c), and the groove 34b has a generally U-shape when viewed from the front. (Or L-shaped) and the upper part is open upward, and the gap between the left and right grooves 34b is set to be narrower than the gap between the left and right vertical axes 32B. By moving, the distance L between the tips of the left and right seedling picking claws 32 can be increased or decreased. When the fitting member 34B is located on the tip side of the seedling claw 32, the distance L is reduced to the minimum (L1), and when it is located on the base side of the seedling claw 32, the distance L is enlarged and maximized. Become.
[0027]
Note that a plurality of fitting members 34B having different spacings between the left and right grooves 34b are prepared and replaced according to the size of the pot portion P, so that the claw member 32A can properly enter the pot portion P. Like to do.
A swing arm 40 is swingably supported on the base body 33A of the seedling claw stand 33 via a support shaft 65, and the tip of the swing arm 40 is connected to the rear end of the push rod 34A via a link 66. A cam follower 67 that is connected and provided in the middle portion of the swing arm 40 is in contact with the cam surface on the outer periphery of the cam body 41.
[0028]
Between the base body 33A of the seedling claw base 33 and the swing arm 40, a biasing means 62 made of a coil spring that repels the fitting member 34B toward the tip of the claw member 32A is provided. The urging means 62 may be configured by fitting a coil spring to the push 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 auxiliary tool operating means 39 for driving the seedling collecting auxiliary tool 34. As a result of the relative rotation, the swing arm 40 reciprocally swings around the support shaft 65 to move the push rod 34A linearly.
[0029]
When the seedling nail 32 pierces the seedling N of the pot part P, the fitting member 34B moves to the base side of the seedling collecting nail 32, and the auxiliary tool operating means 39 becomes a nail expansion / contraction means for contracting the distance L between the tips, When the seedling picking claw 32 releases the seedling N taken out from 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 seeded by the resilient force of the urging means 62. This is a seedling discharge means that moves rapidly toward the tip end of the claw 32.
The rising cam surface of the cam body 41 forms a rapidly swinging cam surface 41a that rises sharply in the latter half from the beginning of rising, and the seedling removal aid 34 when the seedling picking claws 32 enter the pot portion P. The moving speed is set to be more rapid at the end of entry than at the beginning of entry, and the seedling N is held when the seedling claw 32 reaches the end of entry.
[0030]
The arc cam surface following the quick swing cam surface 41a serves as a working surface 41b that holds the seedling removal aid 34 at a position moved to the base side of the seedling catching claw 32, and the rear end of this working surface 41b is abrupt. And a small-diameter cam recess 41c is formed, the holding of the seedling removal aid 34 on the base side of the seedling catching claw 32 is released, and the urging means 62 is elastically moved toward the distal end side of the seedling catching claw 32. I can do it.
A reciprocating means 36 is provided between the claw 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 therein. A planet shaft 46 is supported on 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.
[0031]
One end of a rotating arm 48 is detachably attached to the 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 rotating arm 48. The claw support shaft 61 is the rotation center of the seedling claw 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 planetary gear 45 rotate to rotate the rotating arm 48 around the planet shaft 46. At the same time, the planetary gear 45 revolves around the sun shaft 43 together with the gear case 47.
[0032]
In FIG. 3, the distance from the planetary shaft 46 to the claw support shaft 61 (length of the rotating arm 48) K2 is shorter than the distance from the planetary shaft 46 to the sun shaft 43 (revolution radius of the planetary gear 45) K1. The movement trajectory of the claw support shaft 61 draws a substantially elliptical trajectory D in which the forward path and the backward path deviate vertically.
The distance K1 to distance K2 is set to 18 to 17, or a link ratio before and after the distance K1, and when the distance K1 to distance K2 is 1: 1 (conventional technology), the trajectory of the claw support shaft 61 is linear. However, when there is a difference in length, the point where the claw support shaft 61 passes is different between forward movement and backward movement, returning at both ends of the trajectory, moving up and down halfway, and flattening a thick ellipse at the center The trajectory looks like
[0033]
That is, when the sun gear 42 rotates in the arrow direction (counterclockwise) in FIG. 3, the claw support shaft 61 passes through the lower locus Dd of the substantially elliptic locus D and reaches the pot portion P side end of the center line Da. From the center line Da to the farthest end portion through the upper locus Du from the pot portion P of the center line Da. Thereby, the seedling claw 32 is given a motion of a substantially elliptic locus D in a direction substantially opposite to the pot portion P of the seedling tray T, and the seedling catching claw 32 is potted below one end of the motion of the substantially elliptic locus D. It enters the portion P and pierces the seedling N, and then returns to take out the pierced seedling N that has retreated from the pot portion P at one upper end of the substantially elliptical locus D.
[0034]
The distance K1 can also be set shorter than the distance K2. In this case, if the sun gear 42 is rotated in the clockwise direction, the lower locus at the pot portion P side end portion of the substantially elliptic locus D on the claw support shaft 61. The movement can be performed so as to shift from Dd to the upper locus Du.
The center line Da of the substantially elliptic locus D is inclined rearward and downward with respect to the horizontal line by an angle Q. This inclination angle Q is disposed 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, and the lower edge 32b of the seedling catching claw 32 and It is also substantially parallel to the push rod 34A.
[0035]
The center line Da is a center line when the sun axis 43, the planetary axis 46, and the claw support shaft 61 are aligned in a straight line. FIG. The inclination angle Q is set so that the lower edge 32b of the seedling picking claw 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 claw 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 is changed. Thus, the inclination angle Q can be changed and set to a required angle.
[0036]
1, 2, 5-8, the posture changing means 37 is engaged with an interlocking member 49 mounted on the seedling claw base 33 and a roller 49A provided on a shaft 49B at the tip of the interlocking member 49. And a cam member 50 that guides the movement. The cam member 50 forms a substantially arc-shaped cam surface 50 </ b> A by forming a groove, and is fixed to the gear box 58 via a mounting tool 70. It is fixed to the mounting plate 70 so that the front / rear position, the vertical position or the tilt angle can be adjusted.
This posture changing means 37 controls the posture of the seedling-removing claw 32 on the claw support shaft 61 that revolves while rotating around the sun shaft 43, and the seedling-removing claw 32 is substantially from the outside of the pot portion P. The posture of the seedling catching claw 32 is guided by a substantially arc locus E on the roller 49A at the tip of the interlocking member 49 when it is between the far end side (the side far from the seedling tray T) of the reciprocating motion of the elliptical locus D. The posture of the seedling claw stand 33 is changed so that the posture is changed substantially downward from the posture facing the pot portion P.
[0037]
The cam surface 50A of the cam member 50 that forms the lower part of the substantially circular arc locus E also has a seedling claw 32 when the seedling claw 32 is on the side near the end of the reciprocating motion of the substantially elliptical locus D that enters the pot portion P. A portion 50Aa for controlling the posture of the base 33 is formed. The portion 50Aa is substantially linear, and includes a side wall Pb on the lower side of the pot portion P, a lower edge 32b of the seedling claw 32, a push rod 34A, and the like. They are formed substantially in parallel so that the posture of the seedling catching 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 catching claw 32 so that the lower edge 32b of the seedling catching claw 32 moves in the pot portion P with a more optimal locus. Good.
[0038]
On the cam surface 50A of the cam member 50 forming the upper part of the substantially circular arc locus E, when the seedling claw 32 is in a substantially downward posture, a portion 50Ab for maintaining the posture so as not to be changed as much as possible. This portion 50Ab has a shape close to a straight line through an arc that is bent in the reverse direction from the substantially arc locus E. The seedling claw 32 is preferably kept as stationary as possible on the far end side of the substantially elliptical locus D while keeping the downward posture, and the posture of the seedling claw 32 is controlled in this way by the portion 50Ab.
By the reciprocating motion of the substantially elliptical locus D by the reciprocating means 36 and the reciprocating motion of the substantially arc locus E by the posture changing means 37, the tip 32a of the seedling picking claw 32 performs a motion to draw a combined seedling taking locus M. To do.
[0039]
Next, the seedling extraction method in the first embodiment described above will be described.
FIG. 10 shows a state immediately before the seedling picking claw 32 enters the pot portion P. The reciprocating means 36 is operated, and the planetary shaft 46 is rotated and revolved by the rotation of the sun shaft 43. The claw support shaft 61 of the attached seedling claw stand 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. It is in the state located in the approximate center of the longitudinal direction of the substantially elliptic locus | trajectory D through.
[0040]
In addition, the posture changing means 37 is activated 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 claw 32 approaches the pot portion P at the removal position, and approaches the lower side of the foliage while ascending 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 locus Dd of the end portion on the pot portion P side of the movement of the substantially elliptic locus D, and the roller 49A of the interlocking member 49 moves to the cam member 50. Reaching the portion 50Aa, the posture of the seedling claw 32 is substantially parallel to the center line Pa of the elliptical trajectory D, and the lower edge 32b is substantially parallel to the lower side edge Pb of the pot part P. It begins to pierce the root pot of the seedling N (draws a partial trajectory M1).
[0041]
At the same time, the auxiliary tool operating means 39 starts operating, and the cam body 41 swings against the swinging arm 40 against the biasing means 62, and the seedling collecting auxiliary tool 34 is pulled away from the pot portion P. It moves to the direction, and it is made to transfer to the state which does not prevent that the seedling nail | claw 32 begins to pierce the root pot of the seedling N. The distance L between the tips of the left and right seedling catching claws 32 starts to decrease as the seedling removal aid 34 moves to the root side of the seedling catching claws 32, but in this vicinity, the groove of the fitting member 34B and the claws 32A To the extent that there is no play between them, or a slight reduction.
[0042]
When the sun shaft 43 rotates from the state of FIG. 11, the state shifts to the state of FIGS. 1 to 3, where the claw support shaft 61 is located below the end portion on the pot portion P side of the movement of the substantially elliptical locus D. The locus Dd is moved to the distal end side, the roller 49A of the interlocking member 49 moves in the portion 50Aa of the cam member 50, and the seedling picking claw 32 is substantially linearly oriented in a posture substantially facing the pot portion P. Enter inside and pierce the seedling N.
At this time, the claw member 32A of the seedling picking claw 32 enters the lower edge 32b substantially parallel to the lower side edge Pb of the pot portion P, and the tip 32a enters the position protruding from the deep hole Pa of the pot portion P. To do. In a state where the seedling picking claws 32 are 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. Further, the claw member 32A formed of a plate member is formed so that the lower end and the upper end of the claw member 32A are substantially along the lower side wall Pb and the upper side wall Pb of the pot part P whose back is gradually narrowed.
[0043]
The entry start position of the tip 32a of the claw member 32A with respect to the top surface of the root pot of the seedling N is slightly lower on both the left and right sides with respect to the center of the top surface of the root pot, near the left and right corner portions of the quadrangular pot portion P, The entry completion position is near the center of the root of the root pot and is substantially located on the center line S of the pot portion P, but when the tip 32a passes through the deep hole Pa, it may be below the center line S. preferable.
Further, the operation of the auxiliary tool operating means 39 is such that the quick swing cam surface 41a of the cam body 41 swings the swing arm 40, and the seedling collecting support tool 34 is rapidly moved away from the pot portion P. When the seedling nail 32 pierces the root pot of the seedling N completely, or slightly before that, the tip of the left and right seedling nail 32 contracts against the contracting member 60, and the distance L between the tips contracts to the distance L1. Then, the root pot of the seedling N is pinched. That is, the seedling removal assisting tool 34 moves faster at the end of entry than the beginning of entry into the pot portion P by the seedling removal nail 32, and the seedling removal nail 32 is rapidly contracted substantially in the latter half of the piercing to pinch the seedling N. To ensure that it is carried out reliably and stably.
[0044]
After the seedling claw 32 has completely pierced the root pot of the seedling N, the movement of the claw support shaft 61 of the seedling claw stand 33 by the operation of the reciprocating means 36 causes the end of the substantially elliptical locus D on the pot part P side end. By passing the upper locus Du and moving from the lower locus Dd of the substantially elliptic locus D to the upper locus Du in a substantially V shape in a side view (drawing a partial locus M2), the seedling picking claws 32 are placed in the pot portion P. In this state, the pot portion P comes out of the pot portion P while being lifted slightly.
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 pot of N is hardly slidably contacted with the lower side wall Pb of the pot portion P or slidably contacted with the upper side wall Pb, and is separated from the upper side wall Pb while being separated upward from the lower side wall Pb. Can do.
[0045]
Thereby, the resistance when the seedling N comes out of the pot portion P is reduced, and the seedling N can be taken out from the pot portion P without the soil of the root pot being collapsed. Then, 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 arcuate cam surface 50A of the posture changing means 37 as shown in FIG.
While the claw support shaft 61 moves from the center of the substantially elliptical trajectory D to the end far from the pot portion P (draws a partial trajectory M3), the posture changing means 37 changes the posture of the seedling claw 32 large and suddenly. The cam follower 67 is detached from the action surface 41b of the cam body 41 and falls into the cam recess 41c before or after the seedling claw 32 is turned downward, and the swinging arm 40 is allowed to swing back. Accordingly, the seedling removal assisting tool 34 of the assisting tool actuating means 39 protrudes toward the distal end side of the seedling catching claw 32 by the elastic force of the biasing means 62, and the seedling N pierced into the seedling catching claw 32 by the pushing surface 34a. It discharges to the planting cup 26 which is waiting below.
[0046]
At this time, the roller 49A of the interlocking member 49 moves within the portion 50Ab of the cam member 50, and the seedling claw 32 is stopped from moving in the direction away from the seedling tray T, and is in a substantially downward posture. When the roller 49A moves on the substantially circular arc locus E of the cam member 50, the inertia force of posture change (forward movement) is reduced and the seedling picking claw 32 takes out. In the state where the inertial force is reduced, N can be released downward by the seedling removal aid 34.
The planting cup 26 that has received the supply of the seedling N descends from the seedling receiving standby position to the ridge R, and plantes the seedling N while opening a hole.
[0047]
After the seedling is released, the seedling picking claw 32 performs a returning operation (drawing a partial trajectory M4) that approaches the pot portion P through the lower trajectory Dd of the substantially elliptical trajectory D, and the posture changing means 37 changes from a substantially downward posture to a lateral posture. The posture is changed to (a downward downward inclined posture at a gentle angle) and the state returns to the state of FIG. 10, and the tip 32a of the seedling picking claw 32 completes one cycle for completing the overall locus M.
The reciprocating means 36, the posture changing means 37, etc. are simple in structure and have a small mass, so that the inertial force of movement is reduced, and the one cycle can be speeded up.
[0048]
14 to 18 show a second embodiment, in which a needle formed of a round bar is used for the claw member 32A of each of the left and right seedling collecting claws 32, and the fitting member 34B of the seedling removal aid 34 is shown. A glasses-like member having two holes through which the left and right claw members 32A pass is used.
Further, the support block 33B of the seedling claw base 33 for guiding the push rod 34A is divided into two in the front and rear directions, the base support block 33Ba is fixed to the base body 33A, and the vertical axis 32B of the seedling claw 32 is The tip support block 33Bb that pivots is attached to the base support block 33Ba and the base body 33A so that the front-rear position can be adjusted, and the front-rear position of the seedling claw 32 can be adjusted.
[0049]
In the second embodiment, the reciprocating means 36 is substantially the same as that of the first embodiment, and the posture changing means 37 has a swing member 51 instead of providing a cam member for guiding the interlocking member 49. The pin joint structure has good durability and little misalignment without using a sliding cam groove.
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 the swinging member 51 is connected to the interlocking member 49 via a shaft 49B and the other end is fixed to the gear box 58. Is pivotally supported via a fulcrum shaft 71 to guide the end of the interlocking member 49 so as to draw a substantially arc locus E.
[0050]
The oscillating member 51 has a cylindrical member formed in a linear shape, but may be formed in an arc shape, in particular, a shape bent in a direction away from the seedling claw stand 33 and the like. It is preferable that the position can be adjusted around 43.
In the second embodiment, the reciprocating means 36 is operated in FIG. 14 to revolve the planetary shaft 46 while rotating by rotating the sun shaft 43, and the claw support of the seedling claw base 33 to which the seedling claw 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 end of the substantially elliptical locus D on the end of the pot portion P side. to go into.
[0051]
Further, the posture changing means 37 is activated, the interlocking member 49 is guided by the swinging member 51, and the shaft 49B moves while drawing a substantially circular arc locus E, and the seedling is transmitted through the interlocking member 49 and the swinging member 51. The posture of the nail 32 is changed from a substantially downward direction to a substantially horizontal position of the pot part P, and the seedling nail 32 approaches the seedling N of the pot part 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 claw 32 begins to pierce the root pot of the seedling N.
The swinging of the swinging member 51 when the seedling catching nail 32 starts to pierce the root pot of the seedling N is a movement substantially parallel to the longitudinal direction of the seedling catching 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 root locus of the seedling N in the pot portion P starts to be stabbed while the partial locus M1 is drawn at the tip 32a of the seedling picking claw 32.
[0052]
At the same time, the auxiliary tool actuating means 39 starts operating, the cam body 41 swings against the swinging arm 40 against the biasing means 62, and the seedling collecting aid 34 is pulled away from the pot portion P. The tip of the right and left seedling claw 32 is moved by moving the seedling removal claw 32 to the state where it does not interfere with the seedling nail 32 starting to pierce the root pot of the seedling N and moving the seedling removal aid 34 to the root side of the seedling removal claw 32. The distance L begins to shrink.
When the sun shaft 43 rotates from the state of FIG. 14, the state shifts to the state of FIG. 15. Here, the claw support shaft 61 is a lower locus Dd of the end of the pot portion P side of the movement of the substantially elliptic locus D. Is moved to the tip side, and the seedling claw 32 enters the pot part P substantially linearly in a posture substantially facing the pot part P, and pierces the seedling N.
[0053]
At this time, the claw member 32A of the seedling claw 32 has a lower edge 32b away from the pot part center line on the mouth side of the pot part P in a side view with respect to the lower side edge Pb of the pot part P. It approaches in the direction approaching the center line or intersecting the center line at the back, and the tip 32a enters the front of the 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 both the left and right sides with respect to the center of the upper surface of the root pot, and in the vicinity of the left and right corner portions of the square pot portion P. The entry completion position of 32a is close to or slightly above the center of the root of the root pot.
[0054]
The approach 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 deep hole Pa.
Further, the operation of the auxiliary tool operating means 39 is such that the quick swing cam surface 41a of the cam body 41 swings the swing arm 40, and the seedling collecting support tool 34 is rapidly moved away from the pot portion P. When the seedling nail 32 pierces the root pot of the seedling N completely, or slightly before that, the tip of the left and right seedling nail 32 contracts against the contracting member 60, and the distance L between the tips contracts to the distance L1. Then, the root pot of the seedling N is pinched.
[0055]
After the seedling claw 32 has completely pierced the root pot of the seedling N, the movement of the claw support shaft 61 of the seedling claw stand 33 by the operation of the reciprocating means 36 causes the end of the substantially elliptical locus D on the pot part P side end. By passing through the upper locus Du and moving from the lower locus Dd of the substantially elliptic locus D to the upper locus Du in a substantially V shape in a side view, the seedling claw 32 remains in a posture substantially facing the pot portion P. Then, while lifting slightly, it slips out of the pot portion P and draws a partial trajectory M2 (see FIG. 16).
While the claw support shaft 61 moves from the center of the substantially elliptical locus D to the end on the side far from the pot portion P, the posture changing means 37 changes the posture greatly while moving the seedling collecting claw 32 forward, and the partial locus M3 is changed. When the transferred seedling catching claw 32 becomes substantially downward, or just before that, the cam follower 67 of the swing arm 40 is detached from the action surface 41b of the cam body 41 and falls into the cam recess 41c, and the urging means 62 is released. The seedling assisting tool 34 of the assisting tool actuating means 39 is projected to the tip end side of the seedling catching claw 32 by force, and the seedling N piercing the seedling catching nail 32 with the pushing surface 34a is put on the planting cup 26 waiting below. Release (see FIG. 17).
[0056]
At this time, the locus E of the shaft 49B at the tip of the interlocking member 49 is a substantially vertical portion, and the seedling claw 32 is in a state in which the movement in the direction away from the seedling tray T is stopped and is in a substantially downward posture. Is stationary even for a short time, the inertia force of posture change (forward movement) of the seedling picking nail 32 is reduced, and the seedling N is reduced in a state where the inertial force of the seedling N taken out by the seedling picking nail 32 is reduced. Allows downward release.
The planting cup 26 that has received the supply of the seedling N descends to the ridge R and plantes the seedling N while opening a hole.
[0057]
The seedling claw 32 after releasing the seedling N performs a return operation that approaches the pot portion P through the lower trajectory Dd of the substantially elliptical trajectory D, and is changed from the substantially downward posture to the horizontal posture by the posture changing means 37, thereby The seedling claw 32 draws a partial trajectory M4 and shifts to the state of FIG. 18, and the tip 32a of the seedling claw 32 completes one cycle of completing the overall trajectory M.
19 to 23 show a third embodiment, and the claw members 32A of the left and right seedling collecting claws 32 are formed by bending a belt-like flat plate as in the first embodiment. The posture changing means 37, the auxiliary tool actuating means 39 and the like are substantially the same as those of the second embodiment. The difference from the second embodiment is the posture control 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 picking claw 32, the interlocking member 49, the swinging member 51, and the like are illustrated in a simplified manner.
[0058]
The fulcrum shaft 71 is not supported by the gear box 58 and the mounting plate 70 but is supported at the tip of the fulcrum rocking body 52, and the base of the fulcrum rocking body 52 is supported by the mounting plate 70 or the gear box 58 on the base shaft 72. It is pivoted through.
The attitude control means 38 includes the fulcrum rocking body 52 and an operating member 53 formed of a cam plate and attached to the sun shaft 43, and 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 actuating member 53, and is reciprocally oscillated so as to draw a short arc locus H on the fulcrum shaft 71 of the oscillating member 51.
[0059]
In this third embodiment, the reciprocating means 36 is actuated in FIGS. 20 and 21 to revolve the planetary shaft 46 while rotating by rotating the sun shaft 43. The claw support shaft 61 is reciprocated while drawing a substantially elliptical locus D along the direction substantially opposite to the pot portion P of the seedling tray T, and the lower side of the end portion on the pot portion P side of the movement of the substantially elliptical locus D At the same time, the interlocking member 49 is guided by the swing member 51.
The swinging of the swinging member 51 when the seedling catching nail 32 starts to pierce the root pot of the seedling N is a movement substantially parallel to the seedling catching nail 32, and the pot portion P is drawn while drawing the partial locus M1 on the tip 32a. It begins to pierce the root pot of the seedling N inside. Then, the claw support shaft 61 moves the lower locus Dd of the end portion on the pot portion P side of the movement of the substantially elliptic locus D to the tip side, and the seedling picking claws 32 are substantially linearly potted in a posture substantially facing the pot portion P. Enter the part P and pierce the seedling N.
[0060]
Further, the posture changing means 37 is actuated to swing the swinging member 51 about the fulcrum shaft 71 to change the posture of the seedling collecting claw 32 from a substantially downward direction to a posture that is substantially directed to the pot portion P in the horizontal direction. As the nail 32 approaches the seedling N of the pot portion P at the take-out position, the nail 32 approaches the underside of the stem and leaves while scooping up the stem and leaves of the seedling N, and then the seedling nail 32 pierces the root pot of the seedling N start.
After the seedling claw 32 has completely pierced the root pot of the seedling N, the movement of the claw support shaft 61 of the seedling claw stand 33 by the operation of the reciprocating means 36 causes the end of the substantially elliptical locus D on the pot part P side end. By passing through the upper locus Du and moving from the lower locus Dd of the substantially elliptic locus D to the upper locus Du in a substantially V shape when viewed from the side, the seedling claw 32 draws the partial locus M2 from the partial locus M1. It shifts to a substantially V shape when viewed from the side, and the seedling claw 32 comes out of the pot portion P while being lifted slightly while keeping the posture substantially facing the pot portion P (see FIGS. 21 and 22).
[0061]
While the claw support shaft 61 moves from the center of the elliptical trajectory D to the end far from the pot portion P (the seedling claw 32 draws a partial trajectory M3), the posture changing means 37 moves the seedling claw 32 forward. When the posture is changed greatly while being moved and the seedling catching claw 32 becomes substantially downward, or just before that, the cam follower 67 of the swing arm 40 is detached from the action surface 41b of the cam body 41 and falls into the cam recess 41c, and is biased. The seedling removal assisting tool 34 of the assisting tool actuating means 39 protrudes toward the distal end side of the seedling catching claw 32 by the elastic force of the means 62, and the seedling N that pierces the seedling catching claw 32 with the pushing surface 34a waits downward. To the planting cup 26.
[0062]
At this time, the cam surface 53a of the actuating member 53 swings the fulcrum oscillating body 52 via the cam follower 73, causing the fulcrum shaft 71 to perform an arc motion that draws the locus H, and moves the oscillating fulcrum of the oscillating member 51. Then, the seedling claw 32 is lifted in a substantially downward posture, and a rising partial locus M5 is drawn between the partial locus M3 and the partial locus M4 of the general locus M (see FIG. 23).
In this way, the seedling claw 32 is in a state where movement in the direction away from the seedling tray T is stopped, and the posture of the seedling claw 32 is changed even when the state of the substantially downward posture is stopped even for a short time ( The inertia force of the forward movement is reduced, and the seedling N taken out by the seedling picking claws 32 can be released downward with the inertial force reduced. The planting cup 26 that has received the supply of the seedling N descends to the ridge R and plantes the seedling N while opening a hole. The locus G of the planting cup 26 is shown in FIG.
[0063]
After the seedling N is released, the seedling claw base 33 is moved back and forth by the reciprocating means 36 to approach the pot portion P through the lower locus Dd of the substantially elliptical locus D, and the posture changing means 37 is changed to the horizontal posture from the substantially downward posture. Thus, the tip 32a of the seedling claw 32 draws a partial trajectory M4, and the process returns to the state shown in FIG.
On the cam surface 53a of the operating member 53 of the posture control means 38, a plurality of protruding portions are formed in addition to the protruding portion for swinging the fulcrum swinging body 52 to form the rising portion locus M5 when the seedling is released. For example, the posture is changed so that the partial trajectory M1 of the seedling catching nail 32 is substantially straight so that it becomes clear when the overall trajectory M of the third embodiment is compared with the overall trajectory M of the first and second embodiments. A projecting portion or the like for correcting the operation of the means 37 is formed, and the locus M of the seedling picking claw 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. The seedlings can be released more accurately.
[0064]
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 claws 32 can be controlled more variously than the case of only the posture changing means 37. This is effective for slowing the movement of the seedling picking claws 32 during delivery to ensure delivery of seedlings.
In the present invention, the shape and structure of each member in each of the above embodiments and the positional relationship between the front, rear, left, and right are best configured as shown in FIGS. However, the present invention is not limited to the configuration of each embodiment, and various modifications and combinations of configurations can be made.
[0065]
For example, in the first embodiment, a fulcrum may be provided at the lower portion of the cam member 50 and the upper portion may be swung by the attitude control means 38 of the third embodiment. In the second embodiment, the same seedling claw 32 and seedling claw stand 33 as those in the first embodiment may be used.
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 claw support shaft 61 are made the same, and the seedling claw 32 is linearly moved by the planetary gear mechanism. A reciprocating motion is provided, and the cam surface for forward movement and the cam surface for backward movement are formed on the cam surface 50A of the cam member 50 of the posture changing means 37 so as to be separated from each other. During the reciprocating motion, substantially V-shaped trajectories M1 and M2 are drawn, thereby giving the seedling claw 32 a motion in a direction substantially opposite to the pot portion P of the seedling tray T, while lowering one end of the trajectory motion. After the seedling claw 32 has entered the pot part P, the seedling claw 32 is retracted from the pot part P on one end and the seedling N is taken out. After the seedling N is taken out, the seedling claw 32 is placed on the pot part P. Seedling claw 32 between the outside and the other end of the locus movement It is also possible to configure so as to position change substantially downwardly from the posture facing the posture pot portion P.
[0066]
However, although it is possible to form the cam surface for the forward movement and the cam surface for the backward movement on the cam member 50 so as to be separated from each other, and to make the cam follower 49A abut on each cam surface, the reliability of the operation is improved. 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 the operation is high, the structure is simple, and the manufacture is easy.
[0067]
【The invention's effect】
According to the present invention described in detail above, seedling removal is performed with respect to the seedling claw stand 33 and the seedling removal claw 32 while integrally moving the seedling claw stand 33 and the pair of right and left seedling removal claws 32 to perform the seedling removal operation. By moving the auxiliary tool 34 in the longitudinal direction of the seedling catching claw 32, the tip interval L between the right and left seedling catching claws 32 can be expanded or reduced, and the seedling N taken out by the seedling catching claws 32 can be released. Can be speeded up.
[Brief description of the drawings]
FIG. 1 is an overall side view showing a seedling piercing completion according to a first embodiment of the present invention.
FIG. 2 is a side view of the main part when the seedling piercing is completed.
FIG. 3 is an explanatory diagram of reciprocating means.
FIG. 4 is a side view showing the whole transplanter.
FIG. 5 is a side view of the seedling extraction device.
FIG. 6 is a plan view of the seedling extraction device.
FIG. 7 is a plan view of a seedling claw.
FIG. 8 is a partial cross-sectional front view of the seedling extraction device.
FIG. 9 is a side view of the reciprocating means.
FIG. 10 is a side view of a main part of the seedling picking device before the seedling piercing.
FIG. 11 is a side view of the main part of the seedling extraction device during seedling piercing.
FIG. 12 is a side view of the main part of the seedling removal device immediately after the seedling removal.
FIG. 13 is a side view of a main part of the seedling extraction device when seedlings are released.
FIG. 14 is a side view of a seedling extraction device during seedling piercing according to a second embodiment of the present invention.
FIG. 15 is a side view of the seedling removal device when the seedling piercing is completed according to the second embodiment.
FIG. 16 is a side view of the seedling removal device during seedling removal according to the second embodiment.
FIG. 17 is a side view of the seedling extraction device at the time of seedling discharge according to the second embodiment.
FIG. 18 is a side view of the seedling extraction device before the seedling piercing of the second embodiment.
FIG. 19 is a schematic side view of the seedling removal device when the seedling piercing is completed according to the third embodiment of the present invention.
FIG. 20 is a schematic side view of the seedling extraction device before the seedling piercing of the third embodiment.
FIG. 21 is a schematic side view of the seedling removal device when the seedling piercing is completed according to the third embodiment.
FIG. 22 is a schematic side view of the seedling removal device during seedling removal according to the third embodiment.
FIG. 23 is a schematic side view of the seedling extraction device during seedling release according to the third embodiment.
[Explanation of symbols]
1 transplanter
24 Seedling removal mechanism
30 Seedling device
32 Seedling nails
32A Claw member
32B vertical axis
32a Tip
33 Seedling claw stand
33A base
33B Support block
34 Nursery aid
34A Pusher
34B Fitting member
34a Pushing surface
36 Reciprocating means
37 Posture change means
39 Auxiliary tool operating means
40 Swing arm
41 Cam body
41a Quick swing cam surface
41b Working surface
41c Cam recess
D nearly elliptical trajectory
E Outline arc trajectory
L Distance between tips
N seedling
P pot part
T seedling tray

Claims

苗爪台（３３）と、
この苗爪台（３３）に基部が枢支されかつ先端間隔（Ｌ）が拡縮可能に取り付けられた左右一対の苗取り爪（３２）と、
この苗取り爪（３２）を苗トレイ（Ｔ）のポット部（Ｐ）に進退させて苗（Ｎ）を突き刺して取り出すべく前記苗爪台（３３）を移動させる手段と、
前記左右苗取り爪（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ている苗取り補助具（３４）と、
前記左右苗取り爪（３２）をポット部（Ｐ）に進入したときに左右苗取り爪（３２）の先端間隔（Ｌ）を収縮させるべく前記苗取り補助具（３４）を苗取り爪（３２）の先端側から基部側へ移動し、ポット部（Ｐ）の外で苗取り爪（３２）から苗（Ｎ）を押し出すべく前記苗取り補助具（３４）を苗取り爪（３２）の基部側から先端側への移動させる補助具作動手段（３９）とを有しており、
前記補助具作動手段（３９）は、前記左右苗取り爪（３２）をポット部（Ｐ）に進入させる際に前記先端間隔（Ｌ）を該左右苗取り爪（３２）の進入初期よりも進入終期に急激に収縮させるべく、該進入初期よりも進入終期に前記苗取り補助具（３４）を苗取り爪（３２）の先端側から基部側に向けて高速に移動させることを特徴とする移植機の苗取り出し装置。A seedling claw stand (33),
A pair of left and right seedling picking nails (32), the base of which is pivotally supported on the seedling claw stand (33) and the tip interval (L) is attached to be expandable / contractable;
Means for moving the seedling-up claw (32) of the seedling tray (T) pot part is advanced and retreated seedlings (N) all rather the seedling claw block Eject pierce to (P) in (33),
A seedling removal aid (34) having a tip fitted to the left and right seedling claw (32) and supported by the seedling claw base (33) so as to be movable in the longitudinal direction relative to the seedling claw (32);
When the left and right seedling picking nails (32) have entered the pot portion (P), the seedling picking aid (34) is placed on the seedling picking nails (32) so as to contract the tip interval (L) between the left and right seedling picking nails (32). ) From the front end side to the base side and the seedling removal aid (34) is moved to the base of the seedling picking nail (32) to push out the seedling (N) from the seedling picking nail (32) outside the pot part (P). and it possesses the aid actuating means for moving the distally (39) from the side,
The auxiliary tool actuating means (39) enters the tip interval (L) from the initial entry of the left and right seedling picking claws (32) when the left and right seedling picking claws (32) are advanced into the pot portion (P). order to rapidly contracted at the end, characterized by Rukoto move at high speed toward the base side該進input initial said seedling taking aid the entrance end than the (34) from the distal end side of the seedling-up claw (32) Transplanter seedling removal device.

前記苗爪台（３３）を移動させる手段は、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）を突き刺して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）とを有することを特徴とする請求項１に記載の移植機の苗取り出し装置。 The means for moving the seedling claw stand (33) reciprocates the seedling claw base (33) in a direction substantially opposite to the pot portion (P) of the seedling tray (T) and seedlings at one end of the reciprocating movement. Reciprocating means (36) for moving the take-off claw (32) back and forth to the pot part (P) to pierce and take out the seedling (N), and the seedling take-off claw (32) to reciprocate from the outside of the pot part (P). When the position is between the other end side, a substantially circular locus movement is performed to change the posture of the seedling claw (32) on the seedling claw stand (33) from a posture facing the pot portion (P) to a substantially downward direction. The transplanter seedling extraction device according to claim 1, further comprising posture changing means (37) for causing transplantation.

前記苗爪台（３３）は、往復動手段（３６）及び姿勢変更手段（３７）と連結された台本体（３３Ａ）と、左右苗取り爪（３２）を装着しかつ苗取り補助具（３４）の移動を案内する支持ブロック（３３Ｂ）とを有し、この支持ブロック（３３Ｂ）を台本体（３３Ａ）に対して苗取り爪（３２）長手方向位置調整自在に装着していることを特徴とする請求項２に記載の移植機の苗取り出し装置。 The seedling claw stand (33) is equipped with a base body (33A) connected to the reciprocating means (36) and the posture changing means (37), the left and right seedling claw (32), and the seedling removal aid (34). ), And the support block (33B) is mounted on the base body (33A) so that the position of the seedling claw (32) can be adjusted in the longitudinal direction. The seedling extraction device for a transplanter according to claim 2.

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）の先端側へ弾発する付勢手段（６２）と、前記苗爪台（３３）を移動させる手段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）は、苗取り爪（３２）を前記ポット部（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るべく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）を有すると共に、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）を有していることを特徴とする請求項１〜３のいずれかに記載の移植機の苗取り出し装置。The auxiliary tool actuating 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 auxiliary tool (34), and the seedling collecting auxiliary tool. (34) or biasing means for resiliently swing arm (40) and Naetsumedai (33) provided between the in seedling-up aid (34) toward the distal end of the seedling-up claw (32) ( 62) and the seedling claw base (33) are rotated by power from the means for moving the seedling claw stand (33) to resist the biasing means (62) and the seedling removal aid (34) is on the base side of the seedling claw (32). A cam body (41) for swinging the swing arm (40) to move to
The cam body (41) rises so that the moving speed of the seedling picking aid (34) when the seedling picking claw (32) enters the pot portion (P) is more rapidly applied at the end of entry than at the beginning of entry. It has a rapidly swinging cam surface (41a) that rises sharply in the latter half of the beginning, and allows the seedling picking tool (34) to move toward the tip of the seedling picking nail (32) by the biasing means (62). The seedling taking-out device for a transplanter according to any one of claims 1 to 3, further comprising a cam recess (41c).